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I950 TA Table Positioning v7-04 en

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Nilo Aninon

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0% found this document useful (0 votes)

45 views730 pages

I950 TA Table Positioning v7-04 en

Uploaded by

Nilo Aninon

We take content rights seriously. If you suspect this is your content, claim it here.

Available Formats

Download as PDF, TXT or read online on Scribd

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Commissioning | EN

Inverters
i950 cabinet servo inverter
"Table Positioning" technology application
Contents

Contents
1 About this document 16
1.1 Document description 16
1.2 Further documents 16
1.3 Notations and conventions 17
2 Safety instructions 18
2.1 Basic safety instructions 18
2.2 Application as directed 18
2.3 Residual hazards 19
3 Product information 21
3.1 Features 21
3.2 Identification of the products 27
3.2.1 Product codes 27
3.2.2 Nameplates 28
3.3 License information 29
4 Commissioning 30
4.1 Important notes 30
4.2 Operating interfaces 31
4.2.1 Engineering tool »EASY Starter« 32
4.2.1.1 Generate a connection between inverter and »EASY Starter« 33
4.3 General information on parameter setting 34
4.3.1 Addressing of the parameters 34
4.3.2 Structure of the parameter descriptions 34
4.3.3 Parameter overview lists 34
4.3.4 Favorites 35
4.3.4.1 Configuring the "Favorites" 36
4.4 Commissioning steps 39
4.4.1 Setting and transferring safety parameters 40
4.5 Saving the parameter settings 42
4.5.1 Save parameter settings with »EASY Starter« 42
5 Basic setting 43
5.1 Technology Application 43
5.2 Device name 43
5.3 Mains voltage 44
5.4 Function assignment of the inputs and outputs (default setting) 45
5.5 Motor data 46
5.5.1 Select motor from motor catalog 47
5.5.2 Manual setting of the motor data 49
5.6 Motor control mode 52

3
Contents

6 Technology application (TA) basic settings 53

6.1 Interface selection 54
6.2 Kinematic settings 55
6.2.1 Mass inertia (load/motor) 55
6.2.2 Torque feedforward control 55
6.2.3 Motor/encoder mounting direction 55
6.2.4 Motor/encoder gearbox ratio 56
6.2.5 Motor/encoder feed constant 58
6.2.6 Motor/encoder travel ranges and cycle length 59
6.2.7 Virtual mode 61
6.3 Motion settings 62
6.3.1 Quick stop 62
6.3.2 Halt 63
6.3.3 Following error monitoring 63
6.3.4 Target position detection 64
6.3.5 Motor/encoder standstill detection 64
6.3.6 Conditioning of the encoder signal 64
6.3.7 Behaviour in the event of inverter disable 65
6.3.8 Control modes 66
6.3.9 Manual jog (inching mode) 67
6.3.10 Homing 68
6.3.10.1 Homing process 69
6.3.10.2 Homing modes 70
6.3.10.3 Digital input for reference switch 79
6.3.10.4 Position recovery after mains switching 80
6.3.11 Limitations 82
6.3.11.1 Internal torque limits 82
6.3.11.2 External torque limits 83
6.3.11.3 Maximum values for travel profiles 85
6.3.11.4 Hardware limit switches 86
6.3.11.5 Software limit switches 87
6.3.11.6 Safety limits 88
6.3.12 Dead time compensation 90
6.3.13 Status signals 91
6.4 Defining control sources 93
6.4.1 Source of quick stop 93
6.4.2 Source of error reset 94
6.4.3 Source of digital output 1 94
6.4.4 Source of monitoring signal 95
6.5 System bus communication 96
6.5.1 Inputs 96
6.5.2 Outputs 97
6.5.2.1 Master value output 97
6.5.2.2 Source of touch probe time stamp 98
6.5.3 Distribution of the master values by the master 99
6.5.3.1 Example: System bus master is master value master 100
6.5.3.2 Example: System bus slave is master value master 101
6.5.3.3 Example: Using time stamp of another axis 102
6.6 Monitoring 103

4
Contents

7 Configuring the "Table Positioning" TA 104

7.1 Control settings 104
7.2 Interface 105
7.2.1 Control signals 106
7.2.2 Status signals 108
7.2.3 Simulation of the interface 110
7.3 Travel profiles 112
7.3.1 Technology application travel profile parameters 113
7.3.2 External travel profile parameters 117
7.3.3 Travel profile linkage 119
7.4 Signal flow 119
7.5 Functions 120
7.5.1 Positioning modes 121
7.5.1.1 Absolute positioning 121
7.5.1.2 Absolute positioning in clockwise direction 122
7.5.1.3 Absolute positioning in anti-clockwise direction 122
7.5.1.4 Relative positioning 122
7.5.1.5 Continuous positioning 123
7.5.1.6 Positioning with final velocity 123
7.5.2 Source of hardware limit switch 124
7.5.3 Positioning to torque limit 125
7.5.4 Touch probe positioning 126
7.5.5 Source of reference switch (touch probe) 128
7.5.6 Executing and interrupting positioning 128
7.5.7 Flying homing 129
7.5.8 Connecting the speed override 130
7.6 Diagnostics 130
8 Configure position control 131
8.1 Basic setting 132
8.1.1 Following error detection and in-position detection 133
8.1.2 Interpolation 134
8.2 Operating mode "CiA 402 cyclic sync position mode (csp)" 135
8.2.1 Default mapping 135
8.2.2 Signal flow 136
8.2.3 Control commands and status information 138
8.3 Process input data (CiA 402 objects) 138
8.4 Process output data (CiA 402 objects) 138
8.5 Monitoring the position error 139
8.6 Position detection with touch probe (TP) 141
8.6.1 Default mapping 141
8.6.2 General mode of operation 142
8.6.3 Filtering of the touch probe signal 142
8.6.4 Compensation of runtime delays 143
8.6.5 Touch probe control word 144
8.6.6 Touch probe status word 145
8.6.7 Detected time stamp and positions 146
8.7 Setpoint diagnostics 147

5
Contents

9 Configure speed control 148

9.1 Basic setting 148
9.2 Operating mode "CiA 402 velocity mode (vl)" 149
9.2.1 Default mapping 149
9.2.2 Signal flow (servo control) 150
9.2.3 Signal flow (V/f characteristic control) 152
9.2.4 Setpoint factor 155
9.2.5 Dimension factor 155
9.3 Operating mode "CiA 402 cyclic sync velocity mode (csv)" 156
9.3.1 Default mapping 156
9.3.2 Signal flow (servo control) 157
9.3.3 Signal flow (V/f characteristic control) 159
9.3.4 Control commands and status information 161
9.4 Process input data (CiA 402 objects) 161
9.5 Process output data (CiA 402 objects) 161
9.6 Monitoring the speed deviation 162
10 Configuring the torque control 163
10.1 Basic setting 164
10.1.1 Torque limits 165
10.1.2 Speed limitation 166
10.2 Operating mode "CiA 402 cyclic sync torque mode (cst)" 167
10.2.1 Default mapping 167
10.2.2 Signal flow 168
10.2.3 Control commands and status information 170
10.3 Process input data (CiA 402 objects) 170
10.4 Process output data (CiA 402 objects) 170
10.5 Setpoint diagnostics 170

6
Contents

11 Configuring the feedback system 171

11.1 Configure feedback system for motor control 172
11.1.1 General settings 173
11.1.2 Resolver settings 175
11.1.2.1 Resolver error compensation 176
11.1.3 Encoder settings 179
11.1.3.1 SinCos encoder 179
11.1.3.2 SinCos absolute value encoder with HIPERFACE® protocol 180
11.1.3.3 SSI encoder 182
11.1.3.4 One cable technology (OCT) via HIPERFACE DSL® 185
11.1.3.5 Evaluation of the signal quality 189
11.1.4 Detection of changed settings of the feedback system 190
11.1.5 Diagnostics 190
11.2 Second feedback system for the techology application 191
11.2.1 General settings 191
11.2.2 Resolver settings 192
11.2.2.1 Resolver error compensation 193
11.2.3 Encoder settings 196
11.2.3.1 SinCos encoder 196
11.2.3.2 SinCos absolute value encoder with HIPERFACE® protocol 197
11.2.3.3 SSI encoder 199
11.2.3.4 Evaluation of the signal quality 202
11.2.4 Detection of changed settings of the feedback system 203
11.2.5 Diagnostics 203
11.3 Encoder: Evaluation of safely speed and position 204
11.4 Synchronous motor: Pole position identification (PPI) 209
11.4.1 Selection of the PPI method for CiA mode 210
11.4.2 Monitoring the pole position identification 210
11.4.3 Monitoring the validity of the pole position 210
11.4.4 Pole position identification (PPI) 360° 211
11.4.5 Pole position identification (PPI) with minimum movement 215
11.4.6 Pole position identification (PPI) without movement 218
11.5 Cable check 220

7
Contents

12 Configuring the motor control 224

12.1 Servo control for synchronous motor (SC-PSM) 225
12.1.1 Required commissioning steps 225
12.2 Servo control for asynchronous motor (SC-ASM) 226
12.2.1 Required commissioning steps 226
12.3 V/f characteristic control for asynchronous motor (VFC open loop) 227
12.3.1 Required commissioning steps 227
12.3.2 Basic setting 228
12.3.3 Define V/f characteristic shape 229
12.3.3.1 Linear V/f characteristic 229
12.3.3.2 Square-law V/f characteristic 229
12.3.3.3 User-definable V/f characteristic 230
12.3.4 Activate voltage vector control (Imin controller) 232
12.3.5 Set voltage boost 233
12.3.6 Set load adjustment 234
12.3.7 Set slip compensation 234
12.3.8 Set oscillation damping 235
12.3.9 Optimising the stalling behaviour 236
12.3.10 Flying restart circuit 237
12.4 Parameterisable motor functions 239
12.4.1 DC braking 239
12.4.2 Short-circuit braking 240
12.4.3 Holding brake control 241
12.4.3.1 Basic setting 242
12.4.3.2 Brake holding load 244
12.4.3.3 Torque feedforward control 244
12.4.3.4 Manual brake control 245
12.4.3.5 Reduction of brake supply voltage 245
12.5 Options for optimizing the control loops 246
12.5.1 Automatic motor identification (energized) 246
12.5.2 Tuning of the motor and the speed controller 247
12.5.3 Inverter characteristic 249
12.5.3.1 Compensating for inverter influence 250
12.5.3.2 Extended settings for identification 251
12.5.3.3 Load standard inverter characteristic 251
12.5.4 Motor equivalent circuit diagram data 252
12.5.5 Motor control settings 253
12.5.5.1 Automatic optimizing using auto-tuning 253
12.5.5.2 Speed controller 254
12.5.5.3 Current controller 257
12.5.5.4 ASM field controller 260
12.5.5.5 ASM field weakening controller 261
12.5.5.6 ASM field weakening controller (extended) 261
12.5.5.7 PSM operation outside the voltage range 262
12.5.5.8 Imax controller 263
12.5.5.9 Flying restart controller 263
12.5.5.10 Position controller 264

8
Contents

12.6 Fine adjustment of the motor model 265

12.6.1 Correction of the stator leakage inductance (Lss)... 266
12.6.2 Synchronous motor (SM): Compensate temperature and current influences 271
12.6.3 Asynchronous motor (ASM): Identifying Lh saturation characteristic 272
12.6.4 Estimate optimum magnetising current 274
12.7 Parameterise filter elements in the setpoint path 275
12.7.1 Jerk limitation 275
12.7.2 Notch filter (band-stop filter) 276
12.8 Motor protection 279
12.8.1 Motor overload monitoring (i²xt) 280
12.8.1.1 Parameters for the thermal model 281
12.8.1.2 Speed-dependent evaluation of the motor current 283
12.8.1.3 UL 508-compliant motor overload monitoring 286
12.8.2 Motor temperature monitoring 287
12.8.2.1 Individual characteristic for motor temperature sensor 289
12.8.3 Overcurrent monitoring 289
12.8.4 Motor phase failure detection 290
12.8.5 Motor speed monitoring 291
12.9 Frequency and speed limitations 291
12.10 Testing the motor control 292
12.10.1 General settings for test modes 293
12.10.2 Manual "tension/frequency" test mode 294
12.10.3 Manual "current/frequency" test mode 295
12.10.4 Manual "current pulse" test mode 296
13 I/O extensions and control connections 298
13.1 Configure digital inputs 298
13.1.1 Digital inputs 1 … 4 298
13.1.2 Digital inputs 5 … 9 300
13.2 Configure analog inputs 301
13.2.1 Analog input 1 301
13.3 Configure digital outputs 303
13.3.1 Digital output 1 303
13.3.2 Digital output 2 304
13.3.3 Digital outputs 2 … 6 304
14 Configure engineering port 305
14.1 Basic setting 306
14.2 NTP server addresses 308
14.3 Diagnostics 308

9
Contents

10
Contents

15.4 onboard EtherCAT - Operation as master or slave on the system bus 346
15.4.1 Commissioning 348
15.4.2 Basic setting and options 349
15.4.3 Process data transfer 350
15.4.3.1 Process output data 351
15.4.3.2 Process input data 352
15.4.4 Monitoring 353
15.4.5 Diagnostics 354
15.4.5.1 LED status displays 354
15.4.5.2 Information on the network 355
15.4.5.3 Device identification 357
15.5 EtherCAT 358
15.5.1 Commissioning 359
15.5.2 Basic setting and options 362
15.5.2.1 Parameterising additional functions 362
15.5.3 Process data transfer 365
15.5.3.1 Standard mapping 365
15.5.3.2 Dynamic (free) configuration 366
15.5.3.3 Expert settings 366
15.5.4 Parameter data transfer 367
15.5.5 Monitoring 367
15.5.6 Diagnostics 368
15.5.6.1 LED status display 368
15.5.6.2 Information on the network 369
15.5.6.3 EtherCAT master diagnostics 370
15.5.6.4 Error history buffer 378
15.5.6.5 Device identification 379

11
Contents

15.6 EtherNet/IP 380

15.6.1 Supported CIP objects 381
15.6.1.1 0x01-Identity Object 381
15.6.1.2 0x04-Assembly Object 382
15.6.1.3 0x28-Motor Data Object 387
15.6.1.4 0x29-Control Supervisor Object 388
15.6.1.5 0x2A-AC Drive Object 388
15.6.1.6 0x47-Device Level Ring (DLR) Object 389
15.6.1.7 0x48-Quality of Service (QoS) Object 389
15.6.1.8 0x67-Lenze Class Object 103 389
15.6.1.9 0x68-Lenze Class Object 104 389
15.6.1.10 0x6E-Lenze Class Object 110 390
15.6.1.11 0xF5-TCP/IP Interface Object 390
15.6.1.12 0xF6-Ethernet Link Object 391
15.6.2 Commissioning 392
15.6.2.1 Required commissioning steps 393
15.6.2.2 Save »RSLogix™« project/Load configuration into the Scanner 393
15.6.2.3 Restart of the communication 394
15.6.3 Basic setting and options 395
15.6.4 Process data transfer 396
15.6.4.1 Network configuration of the inverter with EDS file 397
15.6.4.2 Network configuration of the inverter without EDS file 403
15.6.5 Parameter data transfer 409
15.6.6 Monitoring 412
15.6.6.1 EtherNet/IP communication monitoring 413
15.6.6.2 Other monitoring 414
15.6.7 Diagnostics 415
15.6.7.1 LED status display 415
15.6.7.2 Information on the network 416
15.7 PROFINET 417
15.7.1 Commissioning 418
15.7.1.1 Settings in the »EASY Starter« 418
15.7.1.2 Restarting or stopping the communication 419
15.7.1.3 Settings in the Siemens »TIA Portal« 419
15.7.1.4 Device description file 420
15.7.1.5 Establishing a connection to the »EASY Starter« via PROFINET 420
15.7.2 Basic setting and options 421
15.7.2.1 Station name and IP configuration 421
15.7.2.2 Suppress diagnostic messages to the IO controller 422
15.7.3 Process data transfer 422
15.7.4 Parameter data transfer 423
15.7.5 Monitoring 424
15.7.6 Diagnostics 425
15.7.6.1 LED status display 425
15.7.6.2 Information on the network 426
15.7.7 PROFIsafe 427
15.7.8 PROFIenergy 428
15.7.8.1 Supported commands 428
15.7.8.2 Supported measured values 428

12
Contents

15.8 Monitoring 429

16 Device functions 430
16.1 Optical device identification 430
16.2 Reset parameters to default 431
16.3 Saving/loading the parameter settings 432
16.4 Enabling the device 434
16.5 Restart device 434
16.6 Start/stop application 434
16.7 Restarting Extended Safety 435
16.8 Export logbook 435
16.9 Delete logbook files 435
16.10 Activate loaded application 436
16.11 Uploading the application 436
16.12 Inverter control word 436
16.13 Access protection 437
16.13.1 Write access protection 437
16.13.1.1 Write access protection in the »EASY Starter« 439
16.13.2 Brand protection 441
16.14 Switching frequency changeover 441
16.15 Device overload monitoring (ixt) 442
16.16 Heatsink temperature monitoring 443
16.17 Update device firmware 443
16.17.1 Firmware download with »EASY Starter (firmware loader)« 443
16.17.1.1 Download via Ethernet connection 443
17 Additional functions 444
17.1 Brake energy management 444
17.1.1 Use of a brake resistor 445
17.2 Manual jog parameters 446
17.3 Mains failure control 447
17.4 Oscilloscope function 452

13
Contents

18 Safety functions 461

18.1 General information and basics 462
18.1.1 Stop functions 462
18.1.2 Prioritisation 462
18.1.3 Restart 463
18.2 Safe torque off (STO) 464
18.3 Safe stop 1 (SS1) 466
18.4 Safe stop 2 (SS2) 469
18.5 Ramp monitoring 471
18.6 Safe operating stop (SOS) 473
18.7 Safe stop emergency (SSE) 475
18.8 Safe maximum speed (SMS) 476
18.9 Safely-limited speed (SLS) 477
18.10 Safe speed monitor (SSM) 485
18.11 Safely-limited increment (SLI) 486
18.12 Safe direction (SDI) 488
18.13 Safely-limited position (SLP) 491
18.14 Safe homing (SHom) 494
18.14.1 Mini-homing 498
18.14.2 Slip compensation 499
18.15 Safe cam (SCA) 501
18.16 Position-dependent safe speed (PDSS) 503
18.17 Safe brake control (SBC) 507
18.18 STO cascading (CAS) 510
18.19 Operation mode selector (OMS) 512
18.20 Repair mode selector (RMS) 515
18.21 Enable switch (ES) 518
18.22 Safe Muting (MUT) 519
18.23 Safe network interfaces 521
18.23.1 PROFIsafe connection 522
18.23.2 FSoE connection 525
18.24 Connection to the applications 528
18.24.1 Safe inputs 528
18.24.2 Safe output 529
18.24.3 Control signals 530
18.24.4 Status signals 532
18.25 Safe parameter setting 536
18.25.1 Safety address 536
18.25.2 Parameter set information 536
18.26 Response times 537
18.27 Diagnostics 540
18.27.1 LED status display 540
18.27.1.1 LED status during parameter set transfer 541
18.27.2 Event history 542
18.27.3 Diagnostic parameters 544

14
Contents

19 Diagnostics and fault elimination 545

19.1 LED status display 545
19.2 Logbook 546
19.3 Diagnostic parameters 547
19.3.1 Inverter diagnostics 550
19.3.2 Motor diagnostics 553
19.3.3 Network diagnostics 554
19.3.4 I/O diagnostics 557
19.3.4.1 Digital inputs and outputs 558
19.3.4.2 Analog inputs and outputs 559
19.3.5 Diagnostics of the application 559
19.3.6 Service life diagnostics 559
19.3.7 Device identification 560
19.4 Error handling 561
19.4.1 Error types 561
19.4.1.1 Timeout for error response 561
19.4.2 Error configuration 561
19.4.3 Error reset 562
19.5 Error codes, causes and remedies 563
19.5.1 Error code overview 563
19.5.2 Causes and remedies 582
19.5.3 Extended Safety - Parameter set plausibility errors 686
20 Technical data 689
21 Appendix 690
21.1 Parameter attribute list 690
21.2 Glossary 729

15
About this document
Document description

1 About this document

WARNING!
Read this documentation carefully before starting any work.
▶ Please observe the safety instructions!

1.1 Document description

This documentation is valid up to firmware version:
Firmware version Software data version Date
V01.07.xx.xx V1_7_x_x 2022-04-26

1.2 Further documents

For certain tasks, information is available in further documents.
Document Contents/topics
Planning manual Basic information on project planning and ordering the product
Mounting and switch-on instructions Basic information on mounting and initial switch-on of the product

More information
For certain tasks, information is available in other media.
Medium Contents/topics
Engineering Tools For commissioning
AKB articles Additional technical information for users in the Application Knowledge Base
CAD data Download in different formats from the EASY Product Finder
EPLAN macros Project planning, documentation and management of projects for EPLAN P8.
Device descriptions Standardized files for network configuration

Information and tools with regard to the Lenze products can be found on the
Internet:
www.Lenze.com à Downloads

16
About this document
Notations and conventions

1.3 Notations and conventions

Conventions are used in this document to distinguish between different types of information.
Numeric notation
Decimal separator Point Generally shown as a decimal point.
Example: 1 234.56
Warnings
UL Warnings UL Are used in English and French.
UR warnings UR
Text
Engineering Tools "" Software
Example: "Engineer", "EASY Starter"
Icons
Page reference ¶ Reference to another page with additional information.
Example: ¶ 16 = see page 16
Documentation reference , Reference to other documentation with additional information.
Example: , EDKxxx = see documentation EDKxxx

Layout of the safety instructions

DANGER!
Indicates an extremely hazardous situation. Failure to comply with this instruction will result
in severe irreparable injury and even death.

WARNING!
Indicates an extremely hazardous situation. Failure to comply with this instruction may result
in severe irreparable injury and even death.

CAUTION!
Indicates a hazardous situation. Failure to comply with this instruction may result in slight to
medium injury.

NOTICE
Indicates a material hazard. Failure to comply with this instruction may result in material
damage.

17
Safety instructions
Basic safety instructions

2 Safety instructions
Disregarding the following basic safety measures and safety information may lead to severe
personal injury and damage to property!
Observe all specifications of the corresponding documentation supplied. This is the
precondition for safe and trouble-free operation and for obtaining the product features
specified.
Please observe the specific safety information in the other sections!

2.1 Basic safety instructions

Disregarding the following basic safety instructions and safety information may lead to severe
personal injury and damage to property!
• Only use the product as directed.
• Never commission the product in the event of visible damage.
• Never modify the product technically.
• Never commission the product before assembly has been completed.
• Never operate the product without the required covers.
• Connect/disconnect all pluggable connections only in deenergized condition!
• Only remove the product from the installation in the deenergized state.
• The product can – depending on their degree of protection – have live, movable or
rotating parts during or after operation. Surfaces can be hot.
• Observe all specifications of the corresponding documentation supplied. This is the
condition for safe and trouble-free operation and the achievement of the specified
product features.
• The procedural notes and circuit details given in the associated documentation are
suggestions and their transferability to the respective application has to be checked. The
manufacturer of the product does not take responsibility for the suitability of the process
and circuit proposals.
• All work with and on the product may only be carried out by qualified personnel.
IEC 60364 and CENELEC HD 384 define the qualifications 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.

2.2 Application as directed

• The product is a professional equipment intended for use by trades, specific professions or
industry and not for sale to the general public. IEC 60050 [IEV 161‑05‑05]
• To prevent personal injury and damage to property, higher-level safety and protection
systems must be used!
• All transport locks must be removed.
• The product may only be operated under the specified operating conditions and in the
specified mounting positions.
• The product is exclusively suitable for installation in control cabinets and, depending on
the protection class and design, for wall and motor mounting.
• The product must only be actuated with motors that are suitable for the operation with
inverters.
• The product must not be operated in private areas, in potentially explosive atmospheres
and in areas with harmful gases, oils, acids and radiation.

18
Safety instructions
Residual hazards

2.3 Residual hazards

Even if notes given are taken into consideration and protective measures are implemented,
the occurrence of residual risks cannot be fully prevented.
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
property!

Product
Observe the warning labels on the product!
Dangerous electrical voltage:
Before working on the product, make sure there is no voltage applied to the power terminals!
After mains disconnection, the power terminals will still carry the hazardous electrical voltage
for the time given next to the symbol!

Electrostatic sensitive devices:

Before working on the product, the staff must ensure to be free of electrostatic charge!

High leakage current:

Carry out fixed installation and PE connection in compliance with:
EN 61800‑5‑1 / EN 60204‑1

Hot surface:
Use personal protective equipment or wait until the device has cooled down!

Degree of protection - protection of persons and device protection

• Information applies to the mounted and ready-for-use state.
• Information does not apply to the wire range of the terminals.
- Terminals that are not wired have low protection against physical contact.
- Terminals for large cable cross-sections have lower classes of protection, e. g. from
15 kW IP10 only.
Device protection
• The maximum test voltage for insulation tests between a control potential of 24 V and PE
must not exceed 110 V DC (EN 61800‑5‑1).
Motor protection
With some settings of the inverter, the connected motor can be overheated.
• E. g. by longer operation of self-ventilated motors at low speed.
• E. g. by longer operation of DC-injection braking.
Protection of the machine/system
Drives can reach dangerous overspeeds.
• E. g. by setting high output frequencies in connection with motors and machines not
suitable for this purpose.
• The inverters do not provide protection against such operating conditions. For this
purpose, use additional components.

Switch contactors in the motor cable only if the controller is inhibited.

• Switching while the inverter is enabled is only permissible if no monitoring functions are
activated.
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! (e. g. 4-pole motor: residual movement max. 180°/2 =
90°).

19
Safety instructions
Residual hazards

NOTICE
High input voltage at the device.
Destruction of the device.
▶ Observe maximum permissible input voltage.
▶ Fuse device at the input against too high input voltage.

NOTICE
Short circuit at the device due to electrostatic discharge.
Destruction of the device.
▶ The personnel must be free of electrostatic charge prior to working on the device.

20
Product information
Features

3 Product information
3.1 Features
Power range 0.37 kW ... 4 kW
PE connection
X101 DC bus X100 Mains connection
Option IT screw
Shielding of control connections
X5 24-V-supply
Control electronics
X2x6 Network
Option Network status LEDs
X2x7 Network
Option X236 onboard EtherCAT IN
Inverter status LEDs
X237 onboard EtherCAT OUT
Extended Safety Status LEDs
X1 Basic Safety STO
Option S82
X82 X3 Control terminal
X83
X16 Engineering port
Commissioning, diagnostics
SD card
IT screw
Option
A Motor encoder Shielding of motor
Option connection
B Load encoder or master encoder Option
Option

X106 Motor holding brake

X107 24-V-supply
Motor holding brake

X109 PTC input

Motor encoder
HIPERFACE DSL® (OCT)
PE connection
X105 Motor connection
Shielding of motor Brake resistor
connection
Option

21
Product information
Features

Power range 5.5 kW ... 15 kW

X100 Mains connection X101 DC bus
PE connection Option

Shielding of control connections X5 24-V-supply

Control electronics
X2x6 Network Network status LEDs
Option

X2x7 Network
Option X236 onboard EtherCAT IN
Inverter status LEDs X237 onboard EtherCAT OUT

Extended Safety Status LEDs X1 Basic Safety STO

Option S82
X3 Control terminal
X82
X83 X16 Engineering port
Commissioning, diagnostics
SD card
Option
IT screw
A Motor encoder
Option
B Load encoder or master encoder
Option Shielding of motor
connection
Option

X105 Motor connection

Brake resistor
X106 Motor holding brake

X107 24-V-supply
Motor holding brake

PE connection X109 PTC input

Motor encoder
Shielding of motor HIPERFACE DSL® (OCT)
connection
Option

22
Product information
Features

Power range 22 kW
X100 Mains connection/DC bus PE connection

Shielding of
control connections X5 24-V-supply
Control electronics
X2x6 Network
Option Network status LEDs

X2x7 Network
X236 onboard EtherCAT IN
Option
X237 onboard EtherCAT OUT
Inverter status LEDs
X1 Basic Safety STO
X3 Control terminal
Extended Safety Status LEDs
SD card Option S82
Option X82
X83
A Motor encoder
Option

B Load encoder or master encoder X16 Engineering port

Option Commissioning,
diagnostics

X105 Motor connection

Brake resistor

PE connection

IT screw

X106 Motor holding brake

Shielding of X107 24-V-supply

motor connection Motor holding brake

X109 PTC input

23
Product information
Features

Power range 30 kW ... 45 kW

Shielding of control
X100 Mains connection connections

PE connection X5 24-V-supply
Control electronics
X2x6 Network
Option Network status LEDs
X2x7 Network
Option
X236 onboard EtherCAT IN
Inverter status LEDs
X237 onboard EtherCAT
X1 Basic Safety STO OUT

SD card Extended Safety Status LEDs

Option Option S82
X82
A Motor encoder X83
Option

B Load encoder or master encoder

Option X3 Control terminal

X16 Engineering port

Commissioning,
diagnostics

X105 Motor connection

Brake resistor
IT screw X106 Motor holding brake
PE connection
X107 24-V-supply
Motor holding brake

X109 PTC input

Shielding of motor connection

24
Product information
Features

Power range 55 kW ... 75 kW

Shielding of
X100 Mains connection/DC bus control connections

PE connection

IT screw X5 24-V-supply
X2x6 Network Control electronics
Option
X2x7 Network Network status LEDs
Option
X236 onboard EtherCAT IN
Inverter status LEDs
X1 Basic Safety STO X237 onboard EtherCAT OUT

SD card Extended Safety Status LEDs

Option Option S82
Motor encoder X82
A
X83
Option

Load encoder or
B master encoder
Option
X3 Control terminal
X16 Engineering port
Commissioning, diagnostics

X105 Motor connection

Brake resistor
X106 Motor holding brake
IT screw
X107 24-V-supply
PE connection Motor holding brake

X109 PTC input

Shielding of
motor connection

25
Product information
Features

Power range 90 kW ... 110 kW

X100 Mains connection/DC bus
Shielding of
PE connection control connections

IT screw
X5 24-V-supply
X2x6 Network Control electronics
Option Network status LEDs
X2x7 Network
Option
Inverter status LEDs X236 onboard EtherCAT IN

X1 Basic Safety STO X237 onboard EtherCAT OUT

SD card Extended Safety Status LEDs

Option Option S82
X82
A Motor encoder
X83
Option

Load encoder or
B master encoder
X3 Control terminal
Option
X16 Engineering port
Commissioning, diagnostics

X105 Motor connection X106 Motor holding brake

Brake resistor
X107 24-V-supply
Motor holding brake
IT screw
X109 PTC input

PE connection
Shielding of
motor connection

26
Product information
Identification of the products
Product codes

3.2 Identification of the products

3.2.1 Product codes

I 9 5 A E □□□ F 1 □ □ □ 0 □ □ □ □

Product type Inverters I

Product family i900 9
Product i950 5
Product generation Generation 1 A
Mounting type Control cabinet mounting E
Rated power 0.55 kW 155
(Examples) 4.0 kW 240
30 kW 330
110 kW 411
Mains voltage and connection 3/PE AC 230/240 V C
type 1/N/PE AC 230/240 V
D
3/PE AC 230/240 V
3/PE AC 400 V
F
3/PE AC 480 V
Motor connections Single axis 1
Integrated functional safety Basic Safety - STO A
Extended Safety C
Enclosure IP20 0
IP20, coated V
Interference suppression Without 0
Integrated RFI filter 1
Design types 0
SD card Without SD card Z
0 Application Credit 0
50 Application Credit 1
100 Application Credit 2
150 Application Credit 3
200 Application Credit 4
300 Application Credit 5
400 Application Credit 6
Load encoder (slot B) Blind cover, without load encoder 0
Resolver 2
Encoder (SinCos/HIPERFACE®/SSI/TTL) 3
Motor encoder (slot A) Blind cover, without motor encoder 0
Resolver 2
Encoder (SinCos/HIPERFACE®/SSI/TTL) 3
Blind cover, One Cable Technology (OCT) Q
Networks Without network 0
PROFINET R
EtherCAT T
EtherNet/IP G

27
Product information
Identification of the products
Nameplates

3.2.2 Nameplates
Position and meaning of the nameplates
Complete inverter Component (options)

① Nameplate at front top: Technical data, type and serial ① Type and serial number of the component
number of the inverter
② Nameplate at the side: Technical data of the inverter - -

28
Product information
License information

3.3 License information

Lenze Software may contain software elements that are licensed as free
software or open source. The licensing terms and conditions of the open source
software components used in this product will be available from firmware
1.3.5.1185 onwards.

PROFINET

The PROFINET firmware is optional.

The PROFINET firmware uses the following open source software packages
under a modified GPL license: eCos Operating System. These components are
used at the operating system level of the firmware. The protocol stack does not
use source code under a GPL license.
View license: http://ecos.sourceware.org/license-overview.html

Display licence information

1. Connect product to PC via Ethernet.
2. Read out IP address of the product via »EASY Starter« engineering tool.
3. Open browser and enter http://"IP address of the product"/index.html.
The licences used are displayed in the browser.

29
Commissioning
Important notes

4 Commissioning
The purpose of commissioning is to adapt the inverter as part of a machine with a variable-
speed drive system to its drive task.

4.1 Important notes

DANGER!
Incorrect wiring can cause unexpected states during the commissioning phase.
Possible consequences: death, severe injuries or damage to property
Ensure the following before switching on the mains voltage:
▶ Wiring must be complete and correct.
▶ Wiring must be free of short circuits and earth faults.
▶ The motor circuit configuration (star/delta) must be adapted to the inverter output voltage.
▶ The motor must be connected in-phase (direction of rotation).
▶ The "emergency switching off" function of the overall system must operate correctly.

DANGER!
Incorrect settings during commissioning may cause unexpected and dangerous motor and
system movements.
Possible consequences: death, severe injuries or damage to property
▶ Clear hazardous area.
▶ Observe safety instructions and safety clearances.

NOTICE
The set mains voltage is lower than the actual mains voltage.
Possible consequences: Destruction of a connected brake resistor.
Due to the mains voltage being set too low, the voltage threshold for braking operation
("brake chopper threshold") is within the permissible range of the DC-bus voltage. As a result,
the brake chopper is continuously in operation and the brake resistor is thermally overloaded.
▶ First switch on the 24 V supply and check whether the setting of the mains voltage
corresponds to the supply network: 40x2540:001 (Rated mains voltage).
▶ If it is ensured that the mains voltage is set correctly, the mains voltage can be switched on.

30
Commissioning
Operating interfaces

4.2 Operating interfaces

Depending on the inverter, there are one or several options for accessing the device
parameters that are available for customizing the drive task.
Simple access to the device parameters is provided by the Lenze Engineering
Tool »EASY Starter«. Connection X16 is used as an interface for an engineering PC in this case.
Alternatively, the inverter can also be accessed via the optional "PROFINET" network options
with the X256 or X257 connections, or EtherNet/IP with the X266 or X267 connections.

31
Commissioning
Operating interfaces
Engineering tool »EASY Starter«

4.2.1 Engineering tool »EASY Starter«

The »EASY Starter« is a PC software that is especially designed for the commissioning and
diagnostics of the inverter.
• »EASY Starter« Download
Sample screenshot:

The five main commissioning steps are shown in order towards the top of the Settings tab.
Clicking on a link displays a corresponding interface containing the most important parameters
that need to be set.
Commissioning step Description of the settings
Basic setting Settings for adjusting the inverter to a simple application based on the default settings.
Communication Settings for communication via the on-board EtherCAT, another network option, and the engineering port X16 (PC
interface).
Kinematics Basic settings of the technology application for adjusting the motor end and load side (gearbox ratio, mounting
direction, moments of inertia, etc.)
Motion Basic settings of the technology application for adjusting the motion control.
Technology application Settings for adjusting the technology application for the application.

Parameter fields
• The parameters are sorted thematically.
• The currently set parameter values are displayed.
• Fields highlighted in yellow indicate an online connection to the device.
• Pressing the [F1] key opens the program help.

32
Commissioning
Operating interfaces
Engineering tool »EASY Starter«

4.2.1.1 Generate a connection between inverter and »EASY Starter«

For commissioning the inverter with the »EASY Starter«, a communication link with the
inverter is required. This can be established in a wired manner only.
Additional information on network configuration: 4Configure engineering port ^ 305
Further information on how to create a communication link via "PROFINET":
4PROFINET ^ 417

How to establish a communication link via the X16 engineering port to the inverter:
Preconditions
• The inverter is ready for operation (mains voltage is switched on).
• No errors or faults.
Required accessories
• Engineering PC with installed »EASY Starter«
• Standard network cable
1. Insert the network cable into engineering port X16 of the inverter.
2. Use the network cable to connect the inverter to the PC on which »EASY Starter« is
installed.
3. Open the »EASY Starter« Start.
The "Add devices" dialog is shown.
4. Select the "Ethernet" connection.
5. Press the Insert button.
The »EASY Starter« searches the selected communication path for connected devices.
Following successful connection, the inverter is shown in the device list.
The »EASY Starter« tabs then provide access to the inverter parameters.

33
Commissioning
General information on parameter setting
Addressing of the parameters

4.3 General information on parameter setting

Certain device commands or settings which might cause a critical state of the
drive behavior can only be carried out when the device is disabled.

4.3.1 Addressing of the parameters

Each parameter features a 16-bit index as its address. Under this address, the parameter is
stored in the object directory of the device.
• Parameters that belong together functionally are combined in a data set. These
parameters 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 parameter settings that can be changed, and (diagnostic) parameters that can
only be read.

The following conventions are used in this documentation for specifying the
parameter address:
• The index is specified as a hexadecimal value.
• The subindex is specified as a decimal value.

4.3.2 Structure of the parameter descriptions

• 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.
Example: parameters with a setting range
Address Name / setting range / [default setting] Information
Index:Subindex Parameter designation Explanations & notes with regard to the parameter.
Minimum value ... [default setting] ... maximum value
• Optional information with regard to the parameter.

Example: parameters with a selection list

Address Name / setting range / [default setting] Information
Index:Subindex Parameter designation Explanations & notes with regard to the parameter.
• Optional information with regard to the parameter. Note: The corresponding selection number (here 0, 1, or 2) must be set.
Other values are not permissible.
0 Designation of selection 0 Optionally: Explanations & notes with regard to the corresponding
1 Designation of selection 1 selection.
The default selection is shown in bold.
2 Designation of selection 2

Example with bit coded display

Address Name / setting range / [default setting] Information
Index:Subindex Parameter designation Explanations & notes with regard to the parameter.
• 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
Bit 2 Designation of bit 2
... ...
Bit 15 Designation of bit 15

4.3.3 Parameter overview lists

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.
^ 690

34
Commissioning
General information on parameter setting
Favorites

4.3.4 Favorites
In order to gain quick access using the »EASY Starter«, frequently used parameters of the
inverter can be defined as "Favorites".
• »EASY Starter« provides quick access to the "Favorites" via the Favorites tab.

35
Commissioning
General information on parameter setting
Favorites

4.3.4.1 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 via network using the following parameters:
Parameter
Address Name / setting range / [default setting] Information
0x261C:001 Favorites settings: Parameter 1 Definition of the "Favorites" parameters.
0 ... [] ... 4294967295 • Format: 0xiiiiss00 (iiii = hexadecimal index, ss = hexadecimal subindex)
0x261C:002 Favorites settings: Parameter 2 • The lowest byte is always 0x00.
0 ... [] ... 4294967295 • The keypad can be used to select the desired parameter from a list.
0x261C:003 Favorites settings: Parameter 3
0 ... [] ... 4294967295
0x261C:004 Favorites settings: Parameter 4
0 ... [] ... 4294967295
0x261C:005 Favorites settings: Parameter 5
0 ... [] ... 4294967295
0x261C:006 Favorites settings: Parameter 6
0 ... [] ... 4294967295
0x261C:007 Favorites settings: Parameter 7
0 ... [] ... 4294967295
0x261C:008 Favorites settings: Parameter 8
0 ... [] ... 4294967295
0x261C:009 Favorites settings: Parameter 9
0 ... [] ... 4294967295
0x261C:010 Favorites settings: Parameter 10
0 ... [] ... 4294967295
0x261C:011 Favorites settings: Parameter 11
0 ... [] ... 4294967295

36
Commissioning
General information on parameter setting
Favorites

Address Name / setting range / [default setting] Information

0x261C:012 Favorites settings: Parameter 12
0 ... [] ... 4294967295
0x261C:013 Favorites settings: Parameter 13
0 ... [] ... 4294967295
0x261C:014 Favorites settings: Parameter 14
0 ... [] ... 4294967295
0x261C:015 Favorites settings: Parameter 15
0 ... [] ... 4294967295
0x261C:016 Favorites settings: Parameter 16
0 ... [] ... 4294967295
0x261C:017 Favorites settings: Parameter 17
0 ... [] ... 4294967295
0x261C:018 Favorites settings: Parameter 18
0 ... [] ... 4294967295
0x261C:019 Favorites settings: Parameter 19
0 ... [] ... 4294967295
0x261C:020 Favorites settings: Parameter 20
0 ... [] ... 4294967295
0x261C:021 Favorites settings: Parameter 21
0 ... [] ... 4294967295
0x261C:022 Favorites settings: Parameter 22
0 ... [] ... 4294967295
0x261C:023 Favorites settings: Parameter 23
0 ... [] ... 4294967295
0x261C:024 Favorites settings: Parameter 24
0 ... [] ... 4294967295
0x261C:025 Favorites settings: Parameter 25
0 ... [] ... 4294967295
0x261C:026 Favorites settings: Parameter 26
0 ... [] ... 4294967295
0x261C:027 Favorites settings: Parameter 27
0 ... [] ... 4294967295
0x261C:028 Favorites settings: Parameter 28
0 ... [] ... 4294967295
0x261C:029 Favorites settings: Parameter 29
0 ... [] ... 4294967295
0x261C:030 Favorites settings: Parameter 30
0 ... [] ... 4294967295
0x261C:031 Favorites settings: Parameter 31
0 ... [] ... 4294967295
0x261C:032 Favorites settings: Parameter 32
0 ... [] ... 4294967295
0x261C:033 Favorites settings: Parameter 33
0 ... [] ... 4294967295
0x261C:034 Favorites settings: Parameter 34
0 ... [] ... 4294967295
0x261C:035 Favorites settings: Parameter 35
0 ... [] ... 4294967295
0x261C:036 Favorites settings: Parameter 36
0 ... [] ... 4294967295
0x261C:037 Favorites settings: Parameter 37
0 ... [] ... 4294967295
0x261C:038 Favorites settings: Parameter 38
0 ... [] ... 4294967295
0x261C:039 Favorites settings: Parameter 39
0 ... [] ... 4294967295
0x261C:040 Favorites settings: Parameter 40
0 ... [] ... 4294967295
0x261C:041 Favorites settings: Parameter 41
0 ... [] ... 4294967295

37
Commissioning
General information on parameter setting
Favorites

Address Name / setting range / [default setting] Information

0x261C:042 Favorites settings: Parameter 42
0 ... [] ... 4294967295
0x261C:043 Favorites settings: Parameter 43
0 ... [] ... 4294967295
0x261C:044 Favorites settings: Parameter 44
0 ... [] ... 4294967295
0x261C:045 Favorites settings: Parameter 45
0 ... [] ... 4294967295
0x261C:046 Favorites settings: Parameter 46
0 ... [] ... 4294967295
0x261C:047 Favorites settings: Parameter 47
0 ... [] ... 4294967295
0x261C:048 Favorites settings: Parameter 48
0 ... [] ... 4294967295
0x261C:049 Favorites settings: Parameter 49
0 ... [] ... 4294967295
0x261C:050 Favorites settings: Parameter 50
0 ... [] ... 4294967295

38
Commissioning
Commissioning steps

4.4 Commissioning steps

Preconditions
• The mechanical and electrical installation of the inverter is complete.
• If necessary, the motor is mechanically decoupled from the system.
• Check whether the system can be mechanically damaged if the non-decoupled drive
makes uncontrolled movements.
• Check whether the mains voltage and motor data settings correspond to the actual
conditions.
• Supply the inverter with 24 V.
• Check mains voltage setting: 4Mains voltage ^ 44
• Check motor data settings: 4Motor data ^ 46
• If it has been ensured that the mains voltage and motor data settings correspond to
the actual conditions, the mains voltage can be connected.
• The connection between the inverter and the engineering PC with
installed »EASY Starter« has been established.
• The »EASY Starter« is open and connected to the inverter.
• The device list of the »EASY Starter« contains the inverter with the correct device
description.
• For an explanation of where the device list can be found, please consult the online help
of the »EASY Starter«. Press the F1 key to call up the online help.
• No fault is indicated by the inverter diagnostics.
• Check the LED status displays. LED status display ^ 545
• Check the error messages. Logbook ^ 546
• Check available application credit on the storage medium.

39
Commissioning
Commissioning steps
Setting and transferring safety parameters

4.4.1 Setting and transferring safety parameters

Safety-relevant parameters only have to be set for devices that feature

integrated safety engineering or safety modules.
Observe the online help information on the safety parameter list.

In »EASY Starter« and »PLC Designer«, safety parameters can only be set and transferred using
the safety parameter list. When a device featuring integrated safety engineering or a safety
module is selected in the device list, the safety parameter list becomes available in the form
of an additional tab.
Safe parameter setting

When using online communication via a bus system, several users can access
the same drive simultaneously and process the safe parameter set. After
transferring the safe parameters, check the checksums (CRC) in the safety
parameter list dialog. The checksums of the project must correspond to the
checksums of the safety option.
The consistency of the safe parameters must be ensured by organisational
measures because there are no technical means to avoid multiple users
accessing parameter sets at the same time.

Parameter setting
Safety-relevant parameters can only be transmitted to the safety option by safe parameter
setting. The parameter set is saved on the SD card and and in the safety option with a unique
safety address.
Safe parameter setting can only be performed in the service status. The service status means:
• Stop is active and the drive is switched to torqueless operation (STO).
• Communication via the safety bus is active but passivated.
The service status can be activated using the »Easy Starter«. Initializing the safety option
serves to deactivate the service status.

The service status is activated if the parameter set on the SD card does not
correspond to the parameter set of the safety option during the initialization.

Parameter setting using the Easy Starter

From »Easy Starter« version 01.11 onwards, a safe parameter setting is supported. The
functions of the Safety parameter list are documented in the online help.
Password
To save a safe parameter set, a password is required. The preset password is "Lenze Safety".
The password can be changed and must have at least six characters.
The command Reset safe parameter set in the device serves to delete the safe parameter set.
The safety functions must be re-parameterized after the reset. The password is reset to the
preset password "Lenze Safety".
Accept parameter set from the SD card
Safe parameter set acceptance is supported by means of a safe parameter set saved in the
device.

40
Commissioning
Commissioning steps
Setting and transferring safety parameters

Acknowledge parameter set or safety address

The parameter set and the safety address are acknowledged by the same
procedure.
At a response time above 2.5 seconds, the parameter set acceptance is aborted
and must be repeated.

How to acknowledge the parameter set or the safety address:

• "RDY" LED is illuminated.
• "ERR" LED is blinking.
1. Press and hold the S82 button.
a) The "RDY" LED is blinking.
b) The "RDY" LED goes off after 3 seconds.
2. Release the S82 button after a maximum of 2.5 seconds.
a) "RDY" LED is lit.
3. Press and hold the S82 button after a maximum of 2.5 seconds.
a) The "RDY" LED is blinking.
b) The "RDY" LED goes off after 3 seconds.
4. Release the S82 button after a maximum of 2.5 seconds.
The new parameter set or new safety address has been acknowledged.

The action is recorded in the inverter logbook.

If the parameter set is invalid, an error is reported and the "ERR" LED starts
blinking.

Parameter sets and axes

The unambiguousness of an axis with safety functions in a drive system can be achieved by
means of the safety address. When a safety option is initialized, e.g. when loading the safe
parameter set, the compliance of the safety address will be checked. If no compliance exists,
an initialization error is reported.

Clearly define the safety address in a drive system or plant.

Document the address in circuit diagrams and labels.
Ensure identical settings when replacing the module.

In drive systems with an activated safety bus, the safety address is also used as the safety bus
target address. The clear assignment of the safety address must be configured in the safety
PLC.
In drive systems without activated safety bus, unambiguousness and correct assignment of
the safety address must be checked. For this purpose, use the »Easy Starter« or the »PLC
Designer«.

41
Commissioning
Saving the parameter settings
Save parameter settings with »EASY Starter«

4.5 Saving the parameter settings

During operation with the CiA 402 device profile (Parameter 0x4000 = CiA [0]), no settings are
saved. The settings are transmitted when the master control is started. If applications are
used, the SD card with the license data also serves as storage medium.
The active application is displayed in the parameter. 40x2013:001
The application can be modified via the parameter. 40x4000
Use the "Save user data" device command to save the parameter settings of the controller
locally on the SD card of the device.

4.5.1 Save parameter settings with »EASY Starter«

If a parameter setting has been changed with the »EASY Starter« but not yet saved in the
memory medium with mains failure protection, the status line of the »EASY Starter« displays
the note "The parameter set was changed".
There are 3 options to save the parameter settings in the user memory of the storage
medium:
• Click the button in the toolbar of the »EASY Starter« .
• Press the function key F6.
• Execute the device command "Save user data": 0x2022:003 = "On / start [1]".

42
Basic setting
Technology Application

5 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.

5.1 Technology Application

In the "Technology application" dialogue of the »EASY Starter« software, the parameter
Application selection shows which technology application is active. The technology
application can be modified in this dialogue. 40x4000
Parameter
Address Name / setting range / [default setting] Information
0x4000 Application selection
• Setting can only be changed if the inverter is
disabled.
0 CiA 402
1 "CiA 402 advanced" technology application
5 "AC Drive Profile" technology application
10 "Speed Control" technology application
20 "Table Positioning" technology application
40 "Electronic Gearbox" technology application
41 "Sync and Correction" technology
application
50 "Winder Dancer" technology application
51 "Winder Tension" technology application
10000 "User" technology application
0x2824 Control via PDO/Application Selection of how the inverter is controlled.
• Setting can only be changed if the inverter is
disabled.
0 Off Control via PDO/application is switched off. The inverter can only be
controlled via SDO.
1 On The inverter is controlled via PDO/application.

5.2 Device name

Parameter
Address Name / setting range / [default setting] Information
0x2001 Device name Any device name can be set in this object for the purpose of device
["Device"] identification.

43
Basic setting
Mains voltage

5.3 Mains voltage

The rated mains voltage set for the inverter has an impact on the operating range of the
inverter.
Setting-up operation
For setup, the inverter can be operated with 15 V ... 60 V DC voltage.
• Setting: 40x2540:001 = [4] 60 V DC (setting-up operation).
• Supply via DC terminal X101 (+UG/-UG).
Details
By default, the rated mains voltage is set according to the product code of the inverter.
The set rated mains voltage determines the values for fixed monitoring thresholds:
• The error threshold and reset threshold for monitoring the DC-bus voltage
• The voltage threshold for braking operation ("brake chopper threshold").
Inverter Rated mains voltage 0x2540:001
Product code Mains connection Default setting Required setting
0x2000:001
i95xxxxxDxxxxxxxxx 230 V, 1/3-phase 230 Veff [0] 230 Veff [0]
i95xxxxxCxxxxxxxxx 230 V, 3-phase 230 Veff [0] 230 Veff [0]
i95xxxxxFxxxxxxxxx 400 V, 3-phase 400 Veff [1] 400 Veff [1]
480 V, 3-phase 480 Veff [2]

Check the setting of the rated mains voltage in 0x2540:001.

Make sure that this fits the supply network!
If the inverter is reset to the factory settings, the rated mains voltage is also
reset to the default setting!

Voltage thresholds for monitoring the DC-bus voltage

• The warning thresholds for monitoring are adjustable.
• The error thresholds and reset thresholds for monitoring result from the rated mains
voltage set.
Rated mains Undervoltage thresholds Overvoltage thresholds
voltage 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

44
Basic setting
Function assignment of the inputs and outputs (default setting)

Parameter
Address Name / setting range / [default setting] Information
0x2540:001 Mains settings: Rated mains voltage Selection of the mains voltage for actuating the inverter.
0 230 Veff
1 400 Veff
2 480 Veff
4 60 V DC (setting-up operation)
10 230 Veff/reduced LU level
11 400 Veff/reduced LU level
12 480 Veff/reduced LU level
0x2540:002 Mains settings: Undervoltage warning threshold Monitoring for undervoltage (LU) in the DC bus: Setting of the warning
0 ... [430] ... 800 V threshold.
• If the DC voltage in the DC bus falls below the threshold set, the
inverter outputs a warning.
• The warning is reset with a hysteresis of 10 V.
0x2540:003 Mains settings: Undervoltage error threshold Monitoring for undervoltage (LU) in the DC bus: Display of the fixed
• Read only: x V threshold.
• If the DC voltage in the DC bus falls below the threshold displayed, the
error"" response is triggered.
0x2540:004 Mains settings: Undervoltage reset threshold Display of the fixed reset threshold for monitoring DC bus undervoltage.
• Read only: x V
0x2540:005 Mains settings: Overvoltage warning threshold Monitoring for overvoltage (OU) in the DC bus: Setting of the warning
0 ... [795] ... 800 V threshold.
• If the DC bus voltage exceeds the threshold set, the inverter outputs a
warning.
• The warning is reset with a hysteresis of 10 V.
0x2540:006 Mains settings: Overvoltage error threshold Monitoring for overvoltage (OU) in the DC bus: Display of the fixed
• Read only: x V threshold.
• 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.
• Read only: x V
0x2540:008 Mains settings: DC link voltage critical Display of value "1": the DC-bus voltage has reached a critical value.
• Read only

5.4 Function assignment of the inputs and outputs (default setting)

"I/O extensions and control connections" describes the assignment of functions to inputs and
outputs. ^ 298

45
Basic setting
Motor data

5.5 Motor data

The term "motor data" comprises all parameters only depending on the motor and only
characterising the electrical behaviour of the motor. Motor data are independent of the
application in which the inverter and the motor are used.
Preconditions
The equivalent circuit data ("Settings" tab, path: "Basic setting\motor", parameterisation
dialog "Derived motor properties and equivalent circuit") apply to a motor in star connection.
In case of a motor in delta connection, the delta values must be converted into equivalent star
values.
Possible settings
If a Lenze motor is connected to the inverter, you can select the motor in the engineering tool
from the "motor catalogue".
• For details see chapter "Select motor from motor catalog". ^ 47
Otherwise the motor data must be set manually (for details see chapter "Manual setting of
the motor data“). ^ 49
Parameter
Address Name / setting range / [default setting] Information
0x2C08 Method for setting motor parameters Representation of the method selected for setting the motor
1 Select from catalogue (Lenze motors) parameters. (Is used by the engineering tools.)
2 Enter motor nameplate data (other motors)
3 Manual input (other motors)
4 Identification run (all motors)

46
Basic setting
Motor data
Select motor from motor catalog

5.5.1 Select motor from motor catalog

The following describes how to parameterise your drive system by selecting a Lenze motor
from the motor catalogue. Several processes 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«).
• Parameters can be set online or offline (with or without connected motor).
Required steps
1. Open the Lenze engineering tool that provides for the functionality of a “Motor catalog".
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 motor used in the "Select motor" dialog:

By entering filter criteria, you can restrict the selection.

Name (e. g. "MCS..."), rated power and C86 value can be found on the motor
nameplate.
4. Press the Please select button to select the thermal sensor.
This is not required for all motors. For older motors, such as MDSKA056-22 (C86=10), a
thermal sensor CANNOT be selected.

Observe the notes on the ? button.

5. Click the OK button to start the optimisation.

47
Basic setting
Motor data
Select motor from motor catalog

Parameterisation sequence
As soon as the parameterisation has been started, the following steps are initiated by the
engineering tool:
1. The motor rating data and the motor equivalent circuit diagram data are loaded from the
motor catalogue.
2. The motor controller settings and the speed controller settings are automatically calculated
based on the previously loaded data.

Notes:
• The data involved in this parameterisation are provided be the motor catalog alone.
Further user data is not required.
• The inverter characteristic is not changed by this optimisation.
Parameter
Address Name / setting range / [default setting] Information
0x2C01:010 Motor parameters: Motor name The name (e.g. " 1") can be freely selected by the user.
["MCS06C41"] 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").

48
Basic setting
Motor data
Manual setting of the motor data

5.5.2 Manual setting of the motor data

There are two options to parameterize a motor.
1. Enter nameplate data
Enter the following motor data:
40x2C01:001Number of pole pairs
40x2C01:002Stator resistance
40x2C01:003Stator leakage inductance
40x2C01:004 Rated speed
40x2C01:005Rated frequency
40x2C01:006Rated power
40x2C01:007Rated voltage
40x2C01:008Cosine phi
40x2C01:009Insulation class
40x6075Rated motor current
When you touch the "Estimate" button in the engineering tool, more parameters depending
on the motor are shown.

2. Enter data of the motor data sheet

The motor data and the parameters depending on the motor are entered. The parameters
mentioned under 1. are the following:
40x2D4C:001 Thermal time constant of the winding
40x2D4C:002 Thermal time constant - laminated core
40x2D4C:003 Influence of winding
40x2D4C:004 Starting value
40x6076Rated motor torque
Additionally for ASM:
40x2C02:001Rotor resistance
40x2C02:002Mutual inductance
40x2C02:003Magnetizing current
Additionally for PSM:
40x2C03:001 EMF constant
40x2C03:002 Resolver pole position
40x2C03:003Temperature coefficient magnets (kTN)
40x2C03:004Encoder pole position

After the motor data has been parameterized via one of the two options, the following
monitoring and limit values are initialized with motor-dependent preset values by touching
the "Initialize" button:
40x2D44:001 Overspeed monitoring threshold
40x2D46:001 Overcurrent monitoring threshold
40x2D49:003 Motor temperature monitoring warning threshold
40x2D49:004 Motor temperature monitoring error threshold
40x6073 Maximum current
40x6075Rated motor current

49
Basic setting
Motor data
Manual setting of the motor data

Parameter
Address Name / setting range / [default setting] Information
0x2822:037 Axis commands: Estimate all motor parameters based
on rated data
0 Off/Ready
1 On/Start
2 In progress
3 Action cancelled
4 No access
5 No access (controller inhibit)
0x2822:038 Axis commands: HIPERFACE (A): Set position with
synchronization
0 Off/Ready
1 On/Start
2 In progress
3 Action cancelled
4 No access
5 No access (controller inhibit)
0x2822:039 Axis commands: HIPERFACE (A): Set position with
synchronization
0 Off/Ready
1 On/Start
2 In progress
3 Action cancelled
4 No access
5 No access (controller inhibit)
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.
0x2C01:002 Motor parameters: Stator resistance General motor data.
0.0000 ... [13.5000] ... 125.0000 Ω Carry out settings as specified by manufacturer data/motor data sheet.
0x2C01:003 Motor parameters: Stator leakage inductance
0.000 ... [51.000] ... 500.000 mH 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.
0x2C01:004 Motor parameters: Rated speed General motor data.
0 ... [4050] ... 50000 rpm Carry out settings as specified by motor nameplate data.
0x2C01:005 Motor parameters: Rated frequency
0.0 ... [270.0] ... 1000.0 Hz Note!
When you enter the motor nameplate data, take into account the phase
0x2C01:006 Motor parameters: Rated power
connection implemented for the motor (star or delta connection). Only
0.00 ... [0.25] ... 655.35 kW
enter the data applying to the connection type selected.
0x2C01:007 Motor parameters: Rated voltage
0 ... [225] ... 65535 V
0x2C01:008 Motor parameters: Cosine phi
0.00 ... [0.80] ... 1.00
0x2C01:009 Motor parameters: Insulation class Insulation class of the motor (see motor nameplate).
0 Y (cut-off temperature = 90 °C)
1 A (cut-off temperature = 105 °C)
2 E (cut-off temperature = 120 °C)
3 B (cut-off temperature = 130 °C)
4 F (cut-off temperature = 155 °C)
5 H (cut-off temperature = 180 °C)
6 G (cut-off temperature > 180 °C)
0x2C02:001 Motor parameter (ASM): Rotor resistance Equivalent circuit data required for the motor model of the
0.0000 ... [0.0000] ... 214748.3647 Ω asynchronous machine.
0x2C02:002 Motor parameter (ASM): Mutual inductance
0.0 ... [0.0] ... 214748364.7 mH
0x2C02:003 Motor parameter (ASM): Magnetising current
0.00 ... [0.00] ... 500.00 A

50
Basic setting
Motor data
Manual setting of the motor data

Address Name / setting range / [default setting] Information

0x2C03:001 Motor parameter (PSM): Back EMF constant Voltage induced by the motor (rotor voltage / 1000 rpm).
0.0 ... [41.8] ... 100000.0 V/1000rpm For permanently excited synchronous motors, the e.m.f. constant
describes the r.m.s. value of the line-to-line voltage (phase voltage)
induced in idle state by the motor (reference: 1000 rpm, 20 °C).
Measured: Line to Line (L - L)
0x2C03:002 Motor parameter (PSM): Resolver pole position Equivalent circuit data required for the motor model of the synchronous
-179.9 ... [-90.0] ... 179.9 ° machine.
0x2C03:003 Motor parameter (PSM): Magnets temperature
coefficient (kTN)
-1.000 ... [-0.110] ... 0.000 %/°C
0x2C03:004 Motor parameter (PSM): Encoder pole position
-179.9 ... [0.0] ... 179.9 °
0x2D4C:001 Thermal model motor utilization (i²xt): Motor Setting of the time constant for the winding.
utilisation (i²xt)
1 ... [60] ... 36000 s
0x2D4C:002 Thermal model motor utilization (i²xt): Thermal time Setting of the time constant for the laminated core.
constant - laminations
1 ... [852] ... 36000 s
0x2D4C:003 Thermal model motor utilization (i²xt): Winding Part of the thermal motor model: distribution factor of the copper
influence winding influence.
0 ... [27] ... 100 %
0x6072 Max. torque • 100 % ≡ Rated motor torque 0x6076
0.0 ... [250.0] ... 3276.7 % • The torque limitation is both effective in the static and dynamic
operating points. It is used, for instance, as overload protection of the
mechanical transmission path/elements, starting from the motor
shaft.
• If a value is entered here that is higher than in 0x60E0 (Positive torque
limit) and 0x60E1 (Negative torque limit), the torque is limited to the
lowest value.
0x6073 Max. current Max. current of the inverter.
0.0 ... [150.0] ... 3276.7 % • 100 % = Rated motor current (0x6075)
• 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 modified dynamic behaviour fails to eliminate the excess
current consumption, the inverter outputs an error.
When 0x6078 (current actual value in %) exceeds 0x6073 (max. current
actual value in %) the message 0x238A is displayed. This status is also
displayed in the following network status word bits:
• 0x400C:001 bit 14
• 0x400C:002 bit 2
0x6075 Rated motor current The rated motor current that needs to be set here serves as a reference
0.001 ... [1.300] ... 500.000 A value for different parameters that involve a setting for/display of a
• Setting can only be changed if the inverter is current value in percent.
disabled. Example:
• Rated motor current = 1.7 A
• Max. current 0x6073 = 200 %
Rated motor current = 3.4 A
0x6076 Rated motor torque The rated motor torque to be set here serves as a reference value for
0.001 ... [0.600] ... 100000.000 Nm different parameters with a setting/display of a torque value in percent.
• Setting can only be changed if the inverter is Example:
disabled.
• Rated motor torque = 1.65 Nm
• Max. torque 0x6072 = 250 % Rated motor torque = 4.125 Nm
0x6080 Max. motor speed Limitation of the max. motor speed. Depending on the parameter setting
0 ... [6075] ... 480000 rpm of 0x2D44:001 (Overspeed monitoring: threshold), the speed limitation
(0x6080 / Max. motor speed) may become active before speed
monitoring.

51
Basic setting
Motor control mode

5.6 Motor control mode

The inverter supports different modes for closed-loop/open-loop motor control.
Parameter
Address Name / setting range / [default setting] Information
0x2C00 Motor control mode Selection of the motor control type.
• Setting can only be changed if the inverter is
disabled.
1 Servoregelung (SC-PSM) This control mode is used for servo control of a synchronous motor.
4Servo control for synchronous motor (SC-PSM) ^ 225
A motor encoder must be connected to the inverter. This motor encoder
serves as a feedback system for engine control.
2 Servo control (SC ASM) This control mode is used for servo control of an asynchronous motor.
A motor encoder must be connected to the inverter. This motor encoder
is used as a feedback system for the motor control.
4Servo control for asynchronous motor (SC-ASM) ^ 226
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 for asynchronous motor (VFC open loop)
^ 227

Supplementary chapters:
• Chapter "Configure feedback system for motor control" describes how to set resolvers or
sine/cosine encoders as motor feedback. ^ 172
• Chapter "Second feedback system for the techology application" describes how a higher-
level control loop can be used as an actual value feedback application for higher accuracy.
^ 191

The detailed description of each motor control type can be found in the chapter "Configuring
the motor control". ^ 224

52
Technology application (TA) basic settings

6 Technology application (TA) basic settings

This chapter describes the basic functions of the technology application.
Here you will find information on the following topics:
4Kinematic settings ^ 55
4Motion settings ^ 62
4Defining control sources ^ 93
4System bus communication ^ 96

53
Technology application (TA) basic settings
Interface selection

6.1 Interface selection

The selection of the interface determines whether the technology application is controlled via
the fieldbus network or via the system bus.
Depending on the selection, the status signals are also output to the fieldbus network or to
the system bus.
There are 8 control words and 8 status words with a data width of 32 bits per word available.
Their assignment depends on the selected technology application.

This selection only switches the 8 control words and 8 status words.

Details
How to select the interface in the »EASY Starter«:
1. Select the Settings tab.
2. Select the technology application parameter dialog.
3. Select the desired interface. 40x4001

To change the parameter, the inverter must be disabled. 4Disable operation

^ 318

The source for the 8 control words and the destination for the 8 status words are now set.
Fieldbus Interface selection Fieldbus
Control word 00 0x4001:000 Status word 00
Control word 01 Status word 01
Control word 02 Status word 02
Control word 03 Status word 03
Control word 04 Status word 04
Control word 05 TA control signals TA status signals Status word 05
Control word 06 TA control word 01 TA status word 01 Status word 06
Control word 07 TA control word 02 TA status word 02 Status word 07
TA control word 03 Technology application TA status word 03
onboard EtherCAT TA control word 04 TA status word 04 onboard EtherCAT
(system bus) TA control word 05 TA status word 05 (system bus)
Control word 00 TA control word 06 TA status word 06 Status word 00
Control word 01 TA control word 07 TA status word 07 Status word 01
Control word 02 Status word 02
Control word 03 Status word 03
Control word 04 Status word 04
Control word 05 Status word 05
Control word 06 Status word 06
Control word 07 Status word 07

Fig. 1: Principle of interface switching

For test purposes, you can simulate control words and status words manually.
4Simulation of the interface ^ 110

Parameter
Address Name / setting range / [default setting] Information
0x4001 Interface selection
Selecting the interface determines the interface that receives the signals.
0 Fieldbus network Control of the application via the fieldbus.
1 Onboard EtherCAT Activation of the application via the system bus.

54
Technology application (TA) basic settings
Kinematic settings
Mass inertia (load/motor)

6.2 Kinematic settings

The kinematic parameters describe, among other things, the motor end with regard to the
mechanics used:
4Mass inertia (load/motor) ^ 55
4Torque feedforward control ^ 55
4Motor/encoder mounting direction ^ 55
4Motor/encoder gearbox ratio ^ 56
4Motor/encoder feed constant ^ 58
4Motor/encoder travel ranges and cycle length ^ 59
4Virtual mode ^ 61
Settings in the »EASY Starter«:
• Tab Settings - Parameter dialog Kinematics

6.2.1 Mass inertia (load/motor)

The resulting moment of inertia consists of the moment of inertia of the motor and the
moment of inertia of the load.
Parameter
Address Name / setting range / [default setting] Information
0x2910:001 Inertia settings: Motor moment of inertia Setting of the moment of inertia of the motor, relating to the motor.
0.00 ... [0.14] ... 20000000.00 kg cm²
0x500A:037 Load moment of inertia Setting of the mass inertia of the load with regard to the gearbox output.
0.00 ... [0.00] ... 21474836.47 kg cm²

6.2.2 Torque feedforward control

For an optimal motion control, the motion axis has an automatic function for the torque
feedforward control.
The torque feedforward control is calculated from the current setpoint acceleration and the
resulting moment of inertia.

6.2.3 Motor/encoder mounting direction

Depending on the mounting direction, the direction of motor rotation or the encoder
direction of rotation can be inverted.
Parameter
Address Name / setting range / [default setting] Information
0x500A:035 Motor mounting direction If the parameter is set to CCW, a positive motion of the machine is
• Setting can only be changed if the inverter is inverted so that the direction of rotation of the motor becomes
disabled. negative.
false CW CW : Clockwise rotating motor = positive machine direction
true CCW CCW : Counter-clockwise rotating motor = negative machine direction
0x500B:035 Load encoder mounting direction The mounting direction of the additional load encoder is set in this
• Setting can only be changed if the inverter is parameter.
disabled.
false CW CW : Clockwise rotating motor = positive machine direction
true CCW CCW : Counter-clockwise rotating motor = negative machine direction

55
Technology application (TA) basic settings
Kinematic settings
Motor/encoder gearbox ratio

6.2.4 Motor/encoder gearbox ratio

The necessary data for configuring the gearbox ratio is listed in the gearbox
catalog.

For a precise specification of the gearbox ratio, the specified number of teeth
z1 ... z4 from the gearbox catalog must be used.

The gearbox ratio indicates how many motor axis revolutions equal one revolution of the load
axis.
The gearbox ratio is configured using a quotient (numerator/denominator).
The gearbox ratio for the motor is influenced by 4 parameters:
• Gearbox factor numerator 40x500A:033
• Gearbox factor denominator 40x500A:034
• Additional gearbox factor numerator 40x500A:025
• Additional gearbox factor denominator 40x500A:026
The gearbox ratio for the second encoder is influenced by 2 parameters:
• Gearbox factor numerator 40x500B:033
• Gearbox factor denominator 40x500B:034
Example:
After 58,667 rotations (i) of the motor axis, the spindle turns once.

i = 58.667

Fig. 2: Schematic diagram of the gearbox ratio

56
Technology application (TA) basic settings
Kinematic settings
Motor/encoder gearbox ratio

Parameter
Address Name / setting range / [default setting] Information
0x500A:025 Additional gearbox factor - numerator
1 ... [1] ... 4294967295
• Setting can only be changed if the inverter is
disabled.
0x500A:026 Additional gearbox factor - denominator
1 ... [1] ... 4294967295
• Setting can only be changed if the inverter is
disabled.
0x500A:033 Gearbox factor - nominator
1 ... [1] ... 4294967295
• Setting can only be changed if the inverter is
disabled.
0x500A:034 Gearbox factor - denominator
1 ... [1] ... 4294967295
• Setting can only be changed if the inverter is
disabled.
0x500B:033 Gearbox factor - nominator
1 ... [1] ... 4294967295
• Setting can only be changed if the inverter is
disabled.
0x500B:034 Gearbox factor - denominator
1 ... [1] ... 4294967295
• Setting can only be changed if the inverter is
disabled.

Example of how to calculate the ratio

Example calculation

0x500A : 033 z2 ´ z4 88 ´ 72 6336

i= = = = = 58.667
0x500A : 034 z1 ´ z3 12 ´ 9 108
Gearbox factor numerator 0x500A:033
Gearbox factor denominator 0x500A:034
Tab. 1: Example of how to calculate the gearbox ratio

57
Technology application (TA) basic settings
Kinematic settings
Motor/encoder feed constant

6.2.5 Motor/encoder feed constant

The feed constant corresponds to the machine motion for one revolution of the gearbox
output shaft.

When a turntable is used, the feed constant is = 360°/revolution when defined as an angle.
The feed constant of a conveyor drive results from the circumference of the drive roll.

d=200 mm

Calculation of the feed constant

p´ d
VK =
n
Symbol Description
FC Feed constant
d Diameter
n Revolution

Example:
The feed constant of a spindle drive (linear axis) results from the leadscrew pitch. The feed
constant indicates the distance travelled by the slide in one revolution (in the following
example 5,023 mm).

h = 5.023 mm

Fig. 3: Feed constant of a spindle drive

h Leadscrew pitch from the technical data of the linear axis

The kinematic parameters for the second encoder can be used to define how an imported
encoder position or encoder speed should be converted into machine units.
Parameter
Address Name / setting range / [default setting] Information
0x500A:032 Feed constant
0.0001 ... [360.0000] ... 214748.3647
• Setting can only be changed if the inverter is
disabled.
0x500B:032 Feed constant
0.0001 ... [360.0000] ... 214748.3647
• Setting can only be changed if the inverter is
disabled.

58
Technology application (TA) basic settings
Kinematic settings
Motor/encoder travel ranges and cycle length

6.2.6 Motor/encoder travel ranges and cycle length

Linearly limited travel range
• The travel range in the positive and negative direction is limited mechanically and on the
software side by limit switches.
• After travelling a defined distance, the drive returns in the opposite direction.

Fig. 4: Spindle drive (linear axis)

ϕ
❶
❷

t
❸

Fig. 5: Position representation

1 Setting of the home position 3 Position in the motor measuring
2 Position in the machine measuring system
system

Unlimited travel range (Modulo)

• The measuring system is repeated.
• When the set cycle length is exceeded, a defined overflow takes place.
• The cycle length corresponds to one revolution or tool distance of a turntable (end
position = starting position).
• Software limit switches are not active.
• Absolute targets can be approached by exceeding the measuring system limit.

M
❶

Fig. 6: Turntable
1 Cycle length (illustration = 60°)

59
Technology application (TA) basic settings
Kinematic settings
Motor/encoder travel ranges and cycle length

❶ ❶

t
❸

Fig. 7: Position representation

1 Cycle length 40x500A:031 3 Position in the motor measuring
2 Position in the machine measuring system
system
The kinematic parameters for the second encoder serve to define the conversion of an
imported encoder position or encoder speed in machine units.
Parameter
Address Name / setting range / [default setting] Information
0x500A:030 Travel range Selection of the traversing range for the motor
• Setting can only be changed if the inverter is
disabled.
0 Modulo Unlimited traversing range (turntable). The cycle length must also be
specified here.
1 Limited Linearly limited traversing range (spindle drive).
0x500A:031 Cycle length The cycle length for an unlimited traversing range defines the position
0.0001 ... [360.0000] ... 214748.3647 where the measuring system is repeated (position return to 0).
• Setting can only be changed if the inverter is
disabled.
0x500B:030 Travel range Selection of the traversing range with regard to the encoder position.
• Setting can only be changed if the inverter is
disabled.
0 Modulo Unlimited traversing range (turntable). The cycle length must also be
specified here.
1 Limited Linearly limited traversing range (spindle drive).
0x500B:031 Cycle length The cycle length for an unlimited traversing range defines the position
0.0001 ... [360.0000] ... 214748.3647 where the measuring system is repeated (position return to 0).
• Setting can only be changed if the inverter is
disabled.

60
Technology application (TA) basic settings
Kinematic settings
Virtual mode

6.2.7 Virtual mode

The application can be tested without a connected motor. For this purpose, the setpoint
selection for the drive can be interrupted.
When the virtual mode is active, the setpoints generated in the application are not
transmitted to the drive. The actual values (e. g. position and velocity) are generated from the
setpoints.
The kinematic parameters do not have any influence in the virtual mode. Only the parameters
travel range and cycle length are used for the machine measuring system.
Machine measuring system parameters
• Travel range 40x500A:030
• Cycle length 40x500B:031
For diagnostic purposes, an active virtual mode is displayed in the Status word parameter.
40x500A:005 Bit 0
Parameter
Address Name / setting range / [default setting] Information
0x500A:029 Virtual mode
• Setting can only be changed if the inverter is
disabled.
false Inactive
true Active

61
Technology application (TA) basic settings
Motion settings
Quick stop

6.3 Motion settings

Motion settings can be made for the following functions:
4Quick stop ^ 62
4Halt ^ 63
4Following error monitoring ^ 63
4Target position detection ^ 64
4Motor/encoder standstill detection ^ 64
4Conditioning of the encoder signal ^ 64
4Behaviour in the event of inverter disable ^ 65
4Control modes ^ 66
4Manual jog (inching mode) ^ 67
4Homing ^ 68
4Limitations ^ 82
Settings in the »EASY Starter«:
• Tab Settings - Parameter dialog Motion

6.3.1 Quick stop

The quick stop function is used for stopping the axis and in the event of an error.
The ramp used can be set via the following parameters:
• 40x500A:048
• 40x500A:049
If the quick stop function is active, it is displayed in the status word of the technology
application. 40x500A:005 Bit 13
The source for the signal for activating quick stop is set under the Application quick stop
source parameter. 40x5020:007
Special features of quick stop:
Special features
• The quick stop function starts with the acceleration "0".
Exception: If the axis is already in the deceleration phase, it is started with the active
setpoint acceleration to avoid prolonging the existing braking process.
• Setpoint generation for the quick stop function starts at the actual speed.
• During the deceleration it is changed to the speed-controlled operation.
• After reaching standstill, it is changed to the position control.
• During the stop, no torque reduction is effective.
Parameter
Address Name / setting range / [default setting] Information
0x500A:048 Application quick stop - deceleration
0.01 ... [3600.00] ... 21474836.47
0x500A:049 Application quick stop - jerk
0.00 ... [0.00] ... 21474836.47
0x5020:007 Application quick stop source Selection of the signal source for activating the quick stop.
0 FALSE
1 TRUE
2 Digital input 1
3 Digital input 2
4 Digital input 3
5 Digital input 4

62
Technology application (TA) basic settings
Motion settings
Halt

6.3.2 Halt
By triggering this function, the technology application enables the axis to be braked to
standstill with the values parameterised for deceleration and jerk based on the current
setpoints.
Parameter
Address Name / setting range / [default setting] Information
0x500A:186 Deceleration of Halt
0.00 ... [1800.00] ... 21474836.47
0x500A:187 Jerk of Halt
0.00 ... [0.00] ... 21474836.47

6.3.3 Following error monitoring

The difference between the setpoint position and the actual position is the following error.
The following error should be "0". If the position control is set optimally, only a minimal
following error will occur. The following error is compensated dynamically and does not grow
continuously.
However, certain processes impose a certain maximum limit in terms of the difference
between the setpoint position and the actual position. If the limit is exceeded, it might be (for
example) because of a failure to perform a movement within the machine, meaning that the
system component does not reach the defined position at the relevant point in time. In such
cases, it is appropriate to trigger an error response. The error response is adjustable.
40x500A:059
For diagnostic purposes, the current and maximum following error are displayed in the
diagnostic parameter. 40x500A:058

Behaviour when the following error monitoring is active (0x500A:054 = activated)

Two following error limits can be parameterised.

Exceedance of following error limit 1 (0x500A:055):
• A warning is displayed.
• The current movement of the axis is not interrupted.
Exceedance of following error limit 2 (0x500A:056):
• The set error response is executed. 0x500A:059
Parameter
Address Name / setting range / [default setting] Information
0x500A:054 Following error monitoring
false Inactive
true Active
0x500A:055 Following error: Warning threshold
0.0000 ... [180.0000] ... 214748.3647
0x500A:056 Following error: Error threshold
0.0000 ... [360.0000] ... 214748.3647
0x500A:057 Actual following error
• Read only
0x500A:058 Max. following error
• Read only
0x500A:059 Response to following error
19 Fault > Application quick stop > Quick stop
20 Fault > Application quick stop > Quick stop
21 Fault> Application quick stop > Inverter
disabled

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Technology application (TA) basic settings
Motion settings
Target position detection

6.3.4 Target position detection

The target position detection identifies whether the axis is in the symmetrical target position
window after the dwell time has elapsed.
The information is provided in the Status word parameter of the technology application.
• Status word — Axis:40x500A:005 Bit 23
• Status word — Virtual master axis:0x500C:005 Bit 23
Under these conditions, the "Axis in target" status (bit 23 = TRUE) is reset to FALSE:
• The actual position has left the target position window.
• A new motion task is started.
• The home position is reset.
Parameter
Address Name / setting range / [default setting] Information
0x500A:130 Position window size
0.0000 ... [0.0000] ... 214748.3647
0x500A:131 Position window dwell time
0.000 ... [0.000] ... 2147483.647 s
0x500A:135 Modulo positioning tolerance window
0.0000 ... [0.0000] ... 214748.3647

6.3.5 Motor/encoder standstill detection

The standstill detection identifies whether the axis is at standstill.
The information is provided in the status word parameter of the technology application.
• Axis status word:40x500A:005, bit 22
Parameter
Address Name / setting range / [default setting] Information
0x500A:132 Standstill window size (motor encoder)
0.0000 ... [0.0000] ... 214748.3647
0x500B:132 Standstill window size (load encoder)
0.0000 ... [0.0000] ... 214748.3647

6.3.6 Conditioning of the encoder signal

For further processing of encoder values in the technology application, it might be necessary
to condition the value so that interference within the signal does not detrimentally affect the
coupling.
The following separately adjustable filters are available for conditioning the actual value:
Parameter
Address Name / setting range / [default setting] Information
0x500B:065 Filter cycles of actual velocity
1 ... [1] ... 100
0x500B:066 Filter cycles of actual position
1 ... [1] ... 100

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Technology application (TA) basic settings
Motion settings
Behaviour in the event of inverter disable

6.3.7 Behaviour in the event of inverter disable

In standard cases, the setpoint position is compared against the actual position when the
inverter is disabled. A position window can be used to control the automatic comparison
between the setpoint position and actual position in the case of a disabled inverter. In the
position window, positive and negative deviations can be set separately. If the distance
between the last setpoint position before inverter disable and the current actual position is
smaller than the parametrised value, the setpoint position keeps its last value. The setpoint
position and the actual position will be compared upon exiting this window.
If the value is set to 0 units, the setpoint position is equated with the actual position in the
case of an inverter disable. The limit value set for the upper and lower limits of the window in
the parameters must not exceed the drift of the actual position at drive standstill plus an
additional safety margin.
If higher values are set, the position controller makes a jerky compensation after the inverter
is enabled. This is due to the existing system deviation.
Limit values:
40x500A:136
40x500A:137
Behaviour in case of an inverter disable during a movement
If the drive is disabled during a movement, for instance by the control word in the application
or via the STO safety function, an error is triggered.
The Resp. to inverter disable during motion parameter can be used to set a different
response. 40x500A:107
Parameter
Address Name / setting range / [default setting] Information
0x500A:107 Response to inverter disable during operation
0 No response
2 Warning
19 Fault > Application quick stop > Quick stop
0x500A:136 Tolerance window actual position=set position upper
limit
0.0000 ... [0.0000] ... 214748.3647
0x500A:137 Tolerance window actual position=set position lower
limit
0.0000 ... [0.0000] ... 214748.3647

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Technology application (TA) basic settings
Motion settings
Control modes

6.3.8 Control modes

With the default setting, the axis is always operated with activated speed control except the
function used in the application requires a different control mode. 40x500A:090
The speed control is used if no motor encoder is available.
The speed control is used in the first homing phase during the search for the reference signal.
The speed control is used during deceleration with the quick stop function.
The active control type is displayed in the Active control mode parameter. 0x500A:091
Parameter
Address Name / setting range / [default setting] Information
0x500A:090 Default control mode
• Setting can only be changed if the inverter is
disabled.
0 Position control via motor encoder
1 Position control via load encoder
10 Speed control via motor encoder
0x500A:091 Actual control mode
• Read only
0 Position control via motor encoder
1 Position control via load encoder
10 Speed control via motor encoder
20 Torque control
0x500A:092 Load encoder selection
• Setting can only be changed if the inverter is
disabled.
-
Encoder_Axis
0x500A:093 Position controller gain
0.0000 ... [20.0000] ... 214748.3647 1/s
0x500A:094 Load encoder output limit
0.0000 ... [100000.0000] ... 214748.3647
0x500A:095 Position controller output
• Read only

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Technology application (TA) basic settings
Motion settings
Manual jog (inching mode)

6.3.9 Manual jog (inching mode)

The "manual jog" function enables manual traversing of the drive ("inching mode").
"Manual jog" can be activated via 2 control signals in the technology application. "Manual jog"
is possible in the positive and negative directions.
• As long as the control bit is set, the drive moves.
• If both requests are set simultaneously, the drive stops.
• If the reference is known and the software limit switches are activated, positioning to the
corresponding software limit switch is carried out.
Exception: If the manual jog has been stopped manually before this by resetting the
control inputs, a positioning to the corresponding software limit switch is aborted.
The drive brakes with the set deceleration to the position of the corresponding hardware
limit switch.
• If the reference is not known or the software limit switches are not activated, the axis only
stops at the hardware limit switch.
Parameter
Address Name / setting range / [default setting] Information
0x500A:181 Manual jog velocity
0.0000 ... [360.0000] ... 214748.3647
0x500A:182 Manual jog acceleration
0.00 ... [720.00] ... 21474836.47
0x500A:183 Manual jog deceleration
0.00 ... [1440.00] ... 21474836.47
0x500A:184 Manual jog jerk
0.00 ... [0.00] ... 21474836.47

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Technology application (TA) basic settings
Motion settings
Homing

6.3.10 Homing
The zero point in the travel range is defined as a reference for absolute positions via the
reference run.
The activation takes place by the control word of the technology application.
The information that a home position has been recognized is provided in the status word of
the technology application. 40x500A:005, bit 5
Safety function: 4Safe homing (SHom) ^ 494
Profile data for homing
For the homing process, 2 profile data sets can be parameterized with different speeds and
accelerations. The time for homing is reduced and the accuracy is increased.
• Profile data set 1: Quick approach of the limit switch (depending on the selected mode).
• Profile data set 2: Slow and exact approach of the limit switch and positioning to the target
position.
• If speed 2 is set = "0" (initial value), there is no changeover to the profile data set 2.
Homing is carried out with the profile parameters of profile data set 1.

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Technology application (TA) basic settings
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Homing

6.3.10.1 Homing process

Parameter
Address Name / setting range / [default setting] Information
0x500A:070 Homing mode
-2 CwTorqueLimit
-1 CcwTorqueLimit
0 SetPositionDirect
1 CcwLimitSwitchCwTP
2 CwLimitSwitchCcwTP
3 CwRpCcwRnTP
5 CcwRpCwRnTP
17 CcwLimitSwitch
18 CwLimitSwitch
19 CwRpCcwRn
21 CcwRpCwRn
33 CcwTP
34 CwTP
97
98
99 Reset home position
0x500A:071 Action after "Home position detected" Action of the drive after the home position has been detected.
0 Stop positioning The drive stops.
1 Relative positioning Relative positioning by the distance set in 0x503F:072.
2 Absolute positioning Absolute positioning to the position set in 0x503F:072
0x500A:078 Homing: Torque limit Only for "homing to end stop":
0.00 ... [0.10] ... 21474836.47 Nm Homing mode
0x500A:079 Homing: Blocking time • 0x6098 = [-2] (CwTorqueLimit)
0.000 ... [1.000] ... 2147483.647 s • 0x6098 = [-1] (CcwTorqueLimit)
The reference is set when the drive is at standstill during the blocking
time and the actual torque is greater than the torque limit.
0x500A:080 Homing: Touch probe configuration Selection of the source for setting the home position
0 External source
1 TP1 - positive edge Edge of the touch probe sensor at DI1
2 TP1 - negative edge
3 TP1 - any edge
4 TP1 - zero pulse Zero pulse of the motor encoder
5
11 TP2 - positive edge Edge of the touch probe sensor at DI2
12 TP2 - negative edge
13 TP2 - any edge
14 TP2 - zero pulse Zero pulse of the motor encoder
15
21 TP3 - positive edge Edge of the touch probe sensor at DI3
22 TP3 - negative edge
23 TP3 - any edge
24 TP3 - zero pulse Zero pulse of the motor encoder
25
31 TP4 - positive edge Edge of the touch probe sensor at DI4
32 TP4 - negative edge
33 TP4 - any edge
34 TP4 - zero pulse Zero pulse of the motor encoder
35
0x500A:084 Home position
-214748.3648 ... [0.0000] ... 214748.3647

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Technology application (TA) basic settings
Motion settings
Homing

6.3.10.2 Homing modes

Designation Evaluated signals/sensors
0x500A:070 TP sensor Travel range limit switch Reference switch
Encoder zero pulse negative positive
CwTorqueLimit -2 Positive direction to torque limit
CcwTorqueLimit -1 Negative direction to torque limit
CcwLimitSwitchCwTP 1 X X
SetPositionDirect 0 Set reference directly
CwLimitSwitchCcwTP 2 X X
CwRpCcwRnTP 3 X X
CcwRpCwRnTP 5 X X
CcwLimitSwitch 17 X
CwLimitSwitch 18 X
CwRpCcwRn 19 X X
CcwRpCwRn 21 X X
CcwTP 33 X
CwTP 34 X
ResetHomeInfo 99 Reset of status "Reference known"

Homing mode 1: CcwLimitSwitchCwTP

0
1
Fig. 8: Negative direction with reversing limit switch to touch probe
A Touch probe/zero pulse B Negative travel range limit switch
Sequence of case ①:
1. The machine part moves in negative direction with profile data set 1.
2. The machine part reverses to the negative travel range limit switch (B) and changes to
profile data set 2.
3. The negative edge of the travel range limit switch (B) activates the touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor (A) sets the
reference.
5. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

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Technology application (TA) basic settings
Motion settings
Homing

Homing mode 2: CwLimitSwitchCcwTP

0
1
Fig. 9: Positive direction with reversing limit switch to touch probe
A Touch probe/zero pulse B Positive travel range limit switch
Sequence of case ①:
1. The machine part moves in positive direction with profile data set 1.
2. Machine part reverses to positive travel range switch (B) and changes to profile data set 2.
3. The negative edge of the travel range limit switch (B) activates the touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor (A) sets the
reference.
5. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

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Technology application (TA) basic settings
Motion settings
Homing

Reference run 3: CwRpCcwRnTP

①
②

0
1
Fig. 10: Positive direction with reversing limit switch and negative edge of the reference switch to touch probe
A Touch probe/zero pulse B Reference switch
Sequence of case ①:
The axis has not yet activated the reference switch:
1. The machine part moves in positive direction with profile data set 1.
2. The machine part reverses with positive edge of the reference switch (B) and changes to
profile data set 2.
3. The negative edge of the reference switch (B) activates the touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor (A) sets the
reference.
5. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning around a set target position.
• Absolute positioning to a set target position.
Sequence for case ②:
The axis has already activated the reference switch:
1. The machine part moves in negative direction with profile data set 2.
2. The negative edge of the reference switch (B) activates the touch probe detection.
3. The following positive edge of the encoder zero pulse/touch probe sensor (A) sets the
reference.
4. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning around a set target position.
• Absolute positioning to a set target position.

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Technology application (TA) basic settings
Motion settings
Homing

Homing mode 5: CcwRpCwRnTP

①
②

0
1
Fig. 11: Negative direction with reversing reference switch and negative edge of the reference switch to touch probe
A Touch probe/zero pulse B Reference switch
Sequence of case ①:
The axis has not yet activated the reference switch:
1. The machine part moves in negative direction with profile data set 1.
2. The machine part reverses with positive edge of the reference switch (B) and changes to
profile data set 2.
3. The negative edge of the reference switch (B) activates the touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor (A) sets the
reference.
5. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Sequence of case ②:
The axis has already activated the reference switch:
1. The machine part moves in positive direction with profile data set 2.
2. The negative edge of the reference switch (B) activates the touch probe detection.
3. The following positive edge of the encoder zero pulse/touch probe sensor (A) sets the
reference.
4. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

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Technology application (TA) basic settings
Motion settings
Homing

Homing mode 17: CcwLimitSwitch

①
0
Fig. 12: Negative direction to limit switch
A Negative travel range limit switch
Sequence of case ①:
1. The machine part moves in negative direction with profile data set 1.
2. The machine part reverses to negative travel range limit switch (A) and changes to profile
data set 2.
3. The following negative edge of the travel range limit switch (A) sets the reference.
4. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Homing mode 18: CwLimitSwitch

0
Fig. 13: Positive direction to limit switch
A Positive travel range limit switch
Sequence of case ①:
1. The machine part moves in positive direction with profile data set 1.
2. The machine part reverses to positive travel range limit switch (A) and changes to profile
data set 2.
3. The following negative edge of the travel range limit switch (A) sets the reference.
4. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

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Technology application (TA) basic settings
Motion settings
Homing

Homing mode 19: CwRpCcwRn

①
②

0
Fig. 14: Sequence representation of case 1 and case 2
A Reference switch
Sequence of case ①:
The axis has not yet activated the reference switch:
1. The machine part moves in positive direction with profile data set 1.
2. Machine part reverses with positive edge of the reference switch (A) and changes to
profile data set 2.
3. The negative edge of the reference switch (A) sets the reference.
4. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Sequence of case ②:
The axis has already activated the reference switch:
1. The machine part moves in negative direction with profile data set 2.
2. The negative edge of the reference switch (A) sets the reference.
3. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

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Technology application (TA) basic settings
Motion settings
Homing

Homing mode 21: CcwRpCwRn

①
②

0
Fig. 15: Sequence representation of case 1 and case 2
A Reference switch
Sequence of case ①:
The axis has not yet activated the reference switch:
1. The machine part moves in negative direction with profile data set 1.
2. The machine part reverses with positive edge of the reference switch (A) and changes to
profile data set 2.
3. The negative edge of the reference switch (A) sets the reference.
4. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Sequence of case ②:
The axis has already activated the reference switch:
1. The machine part moves in positive direction with profile data set 2.
2. The negative edge of the reference switch (A) sets the reference.
3. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Homing mode 33: CcwTP

0
Fig. 16: Negative direction to touch probe
A Touch probe/zero pulse
Sequence of case ①:
1. The machine part moves to negative direction with profile data set 1 and activates the
touch probe detection.
2. The following set edge of the encoder zero pulse/touch probe sensor (A) sets the
reference.
3. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

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Technology application (TA) basic settings
Motion settings
Homing

Homing mode 34: CwTP

0
Fig. 17: Positive direction to touch probe
A Touch probe/zero pulse
Sequence of case ①:
1. The machine part moves to positive direction with profile data set 1 and activates the
touch probe detection.
2. The following set edge of the encoder zero pulse/touch probe sensor (A) sets the
reference.
3. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Homing mode -1: CcwTorqueLimit

Fig. 18: Negative direction to torque limit

Sequence of case ①:
1. The machine part moves in negative direction with reduced torque and profile data set 1.
2. The reference is set if the following two conditions for the set blocking time are fulfilled at
the same time:
• The current speed is lower than the threshold set for standstill detection.
• The current torque is higher than the set torque limit (homing to end stop).
3. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

77
Technology application (TA) basic settings
Motion settings
Homing

Homing mode -2: CwTorqueLimit

Fig. 19: Positive direction to torque limit

Sequence of case ①:
1. The machine part moves in positive direction with reduced torque and profile data set 1.
2. The reference is set if the following two conditions for the set blocking time are fulfilled at
the same time:
• The current speed is lower than the threshold set for standstill detection.
• The current torque is higher than the set torque limit (homing to end stop).
3. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Parameter
Address Name / setting range / [default setting] Information
0x500A:070 Homing mode
-2 CwTorqueLimit
-1 CcwTorqueLimit
0 SetPositionDirect
1 CcwLimitSwitchCwTP
2 CwLimitSwitchCcwTP
3 CwRpCcwRnTP
5 CcwRpCwRnTP
17 CcwLimitSwitch
18 CwLimitSwitch
19 CwRpCcwRn
21 CcwRpCwRn
33 CcwTP
34 CwTP
97
98
99 Reset home position
0x500A:072 Homing: Target position • Distance if 0x503F:071 = [1] (Relative positioning)
-214748.3648 ... [0.0000] ... 214748.3647 • Absolute position if 0x503F:071 = [2] (Absolute positioning)
0x500A:073 Homing: Velocity 1
0.0000 ... [360.0000] ... 214748.3647
0x500A:074 Homing: Velocity 2
0.0000 ... [0.0000] ... 214748.3647
0x500A:075 Homing: Acceleration 1
0.00 ... [720.00] ... 21474836.47
0x500A:076 Homing: Acceleration 2
0.00 ... [360.00] ... 21474836.47
0x500A:077 Homing: Jerk Jerk for homing
0.00 ... [7200.00] ... 21474836.47

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Technology application (TA) basic settings
Motion settings
Homing

6.3.10.3 Digital input for reference switch

A reference switch is required for some homing modes.
Definition of the source: 40x5020:006

0x5020:006
Source of homing switch

FALSE Homing
TRUE
DigIn1
DigIn2
DigIn3 LS_Quickstop
-100 0 100 200

DigIn4

Fig. 20: “Reference switch” selection

Parameter
Address Name / setting range / [default setting] Information
0x5020:006 Source of homing switch Selection of the signal source for activating the reference switch.
0 FALSE
1 TRUE
2 Digital input 1
3 Digital input 2
4 Digital input 3
5 Digital input 4

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Technology application (TA) basic settings
Motion settings
Homing

6.3.10.4 Position recovery after mains switching

The home position can be saved when switching off (power off) in order to be able to do
without a reference run after switching on again. The inverter reconstructs the absolute actual
position and the home position with high precision based on the new values from the encoder
and the values stored at switch-off.
Preconditions
Position reconstruction is only possible with encoders that detect the absolute position at
least within one revolution.
• Suitable encoders:
• Absolute value encoder - HIPERFACE®-SinCos (single-turn, multi-turn)
• Absolute value encoder - SSI
• Absolute value encoder - SSI-SinCos
• Absolute value encoder - HIPERFACE DSL® (One Cable Technology, OCT)
• Two-pole resolvers (number of pole pairs = 1)
• Special SinCos encoder with increment/period number = 1 (the SinCos evaluation
enables the display of the absolute position over one revolution)
• The reference was known before switching off: 40x282A:004, bit 2 = [TRUE]
• The function is activated.
• Motor encoder: 40x500A:081 = 1 [TRUE].
• Load encoder: 40x500B:081 = 1 [TRUE].
• In the switched-off state, the drive was moved maximally within the permissible limits:
• Single-turn absolute value encoder and resolver: Max. ±180° = max. ±0.5 rev.
• Multi-turn absolute value encoder: Max. ±2048 rev. x
360° = max ±737280° = max. ±2048 rev.

The user must ensure that the current position can be recognized
unambiguously!
This means that the user must ensure that the drive does not move beyond the
maximum values when the power is off. For example, by using a holding brake.

Details
Behavior of the drive:
• If the angle of rotation is smaller than the maximum value, the absolute actual position is
reconstructed in relation to the home position. The drive changes to normal operation
without homing.
• If the angle of rotation is greater than the maximum value, the home position is deleted. A
new homing is necessary.

Referencing is always necessary for drives with high-pole resolvers with pole
pair number > 1.
Incremental encoders (SinCos, TTL) with a number of increments > 1

Additional monitoring of movement during power off

This monitoring can be used to detect a movement in a narrower tolerance range and process
this information in the application. Due to its principle, this monitoring can only evaluate
movements within the maximum display range of the absolute value encoder described
above.
This monitoring is not required for the position reconstruction itself.
Activate additional monitoring of movement during power off:
• Activate function.
• Motor encoder: 40x500A:082 ≠ 0°.
• Load encoder: 40x500B:081 ≠ 0°.
• Set the permissible angle of rotation.
• Single-turn absolute value encoder and resolver: -180° < value < ±180°
• Multi-turn absolute value encoder: -7372800° < value < +737280°

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Technology application (TA) basic settings
Motion settings
Homing

Parameter
Address Name / setting range / [default setting] Information
0x500A:081 Home position after mains switching Home position of motor encoder
false Delete A new homing is required.
true Retain Position reconstruction is performed.
0x500A:082 Max. angle of rotation after mains switching Setting of the maximum angle of rotation for the motor.
-2147483648.0000000000 ... [0.0000000000] ... Motor encoder: Additional monitoring of the torsion angle during power
2147483647.0000000000 ° off.
0.0000° = monitoring deactivated
• The angle of rotation must be parameterised smaller than half of the
maximum display area des Gebers.
• If the angle is parameterised to 0°, no check will be performed.
Activate only for special applications.
0x500B:081 Home position after mains switching Home position of load encoder
false Delete A new homing is required.
true Retain Position reconstruction is performed.
0x500B:082 Max. angle of rotation after mains switching Setting of the maximum angle of rotation for the encoder.
-2147483648.0000000000 ... [0.0000000000] ... Load encoder: Additional monitoring of the torsion angle during power
2147483647.0000000000 ° off.
0.0000° = monitoring deactivated
Activate only for special applications.
• The angle of rotation must be parameterised smaller than 50% of the
maximum display area of the encoder.
• If the angle is parameterised to 0°, there will be no check.

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Motion settings
Limitations

6.3.11 Limitations

6.3.11.1 Internal torque limits

Parameter
Address Name / setting range / [default setting] Information
0x500A:013 Actual torque
• Read only: x.xx Nm
0x500A:128 Positive torque limit
-3276.8 ... [200.0] ... 3276.7 %
0x500A:129 Negative torque limit Negative torque limit
-3276.8 ... [200.0] ... 3276.7 %
0x6076 Rated motor torque The rated motor torque to be set here serves as a reference value for
0.001 ... [0.600] ... 100000.000 Nm different parameters with a setting/display of a torque value in percent.
• Setting can only be changed if the inverter is Example:
disabled.
• Rated motor torque = 1.65 Nm
• Max. torque 0x6072 = 250 % Rated motor torque = 4.125 Nm
0x6077 Actual torque Display of the actual torque.
• Read only: x.x % • 100 % = Rated motor torque 0x6076
0x60E0 Positive torque limit Positive torque limit source for speed control with torque limitation.
0.0 ... [100.0] ... 3276.7 % • 100 % = Rated motor torque 0x6076
0x60E1 Negative torque limit Code previously C3687.
0.0 ... [100.0] ... 3276.7 % Negative torque limit source for speed control with torque limitation.
• 100 % = Rated motor torque 0x6076

82
Technology application (TA) basic settings
Motion settings
Limitations

6.3.11.2 External torque limits

An external torque limit is defined via the External torque limit parameter. 40x5030:017
The external torque limit is activated with bit 31 of the Control signal parameter.
40x5030:010
Bit 31 of the Status signals parameter indicates whether the external torque limit is active.
40x5030:110
As long as the external torque limit remains inactive, the two parameters Positive torque limit
and Negative torque limit define what torque limits apply. 40x500A:128 40x500A:129
The function mode of the external torque limit is set via the Impact of external speed limit
parameter. 40x5030:003
The following settings are possible via this parameter:

0x5030:003 = 0: Setting affects the positive and negative torque limit

0x5030:010, bit 31

0x60E0
0x5030:017
0x500A:128
0x60E1
0x5030:017
0x500A:129

0x5030:003 = 1: Setting affects the positive torque limit

0x5030:010, bit 31

0x60E0
0x5030:017
0x500A:128
0x60E1

0x500A:129

0x5030:003 = 2: Setting affects the negative torque limit

0x5030:010, bit 31

0x60E1
0x5030:017
0x500A:129
0x60E0

0x500A:128

83
Technology application (TA) basic settings
Motion settings
Limitations

Static torque limits can be defined for the axis, which are active during normal operation. The
definition is done via the parameters:
• Positive torque limit 40x500A:128
• Negative torque limit 40x500A:129
The torque limits can be deactivated in the technology application and can be replaced by
alternative torque limits.
The alternative torque limits are set in the technology application via a control word in the
inverter and via the L_MC1P_SetTorqueLimit function block in the Controller-based
Automation.
If the set torque limits in the technology application have been changed, this is indicated in
the Status word parameter in bit 20. 40x500A:005 Bit 20
The torque limits currently effective in the drive are displayed in the parameters Positive
torque limit source and Negative torque limit source. 40x60E0 40x60E1
0x005, bit 20
Torque limit from
application active

Positive torque limit 0x60E0

0x500A:128
from application

Negative torque limit 0x60E1

0x500A:129
from application

Parameter
Address Name / setting range / [default setting] Information
0x500A:128 Positive torque limit
-3276.8 ... [200.0] ... 3276.7 %
0x500A:129 Negative torque limit Negative torque limit
-3276.8 ... [200.0] ... 3276.7 %
0x5030:003 Effect of external torque limit Validity external torque limit
0 Positive and negative direction
1 Positive direction
2 Negative direction
0x5030:017 External torque limit Value of the external torque limit.
0.00 ... [0.00] ... 21474836.47 % Reference: Rated motor torque0x6076
0x5030:115 Actual torque Display of the actual torque
-214748.3648 ... [0.0000] ... 214748.3647 Nm
0x60E0 Positive torque limit Positive torque limit source for speed control with torque limitation.
0.0 ... [100.0] ... 3276.7 % • 100 % = Rated motor torque 0x6076
0x60E1 Negative torque limit Code previously C3687.
0.0 ... [100.0] ... 3276.7 % Negative torque limit source for speed control with torque limitation.
• 100 % = Rated motor torque 0x6076

84
Technology application (TA) basic settings
Motion settings
Limitations

6.3.11.3 Maximum values for travel profiles

The following parameters can be used to set maximum values for velocity, acceleration and
jerk.
These parameters depend on the mechanics (e.g. the tool used).
The respective limitation is only effective if a non-zero maximum value is set.
If a generated setpoint exceeds the set maximum value (e.g. the maximum velocity), the
motion axis triggers a configured error response.
If the axis is not in a synchronised movement, the profile parameters are automatically limited
to the set maximum values.
A non-synchronised movement is e.g. a positioning or the manual jog function.
A warning indicates that the profile data have been limited.
Parameter
Address Name / setting range / [default setting] Information
0x500A:045 Max. velocity
0.0000 ... [0.0000] ... 214748.3647
0x500A:046 Max. acceleration
0.00 ... [0.00] ... 21474836.47
0x500A:047 Max. jerk
0.00 ... [0.00] ... 21474836.47
0x500A:106 Response to error "max. values exceeded"
0 No response
2 Warning
19 Fault > Application quick stop > Quick stop
21 Fault> Application quick stop > Inverter
disabled
0x500B:045 Max. velocity
0.0000 ... [0.0000] ... 214748.3647

85
Technology application (TA) basic settings
Motion settings
Limitations

6.3.11.4 Hardware limit switches

Connection of the hardware limit switches
The hardware limit switches are assigned to the digital inputs via the Positive hardware limit
source and Negative hardware limit source parameters.
• Positive hardware limit source 40x5020:004
• Negative hardware limit source 40x5020:005
The limit switch evaluation responds to a positive edge.

If the limit switch connections for the digital inputs used are to be fail-safe,
change the terminal polarity of the corresponding digital inputs.

0x5020:004
Source of positive hardware limit switch

FALSE
TRUE
DigIn1
DigIn2
DigIn3
QSP Application
DigIn4
n
STOP
0x5020:005
Source of negative hardware limit switch
t

FALSE
TRUE
DigIn1
DigIn2
DigIn3
DigIn4

Fig. 21: “Hardware limit switch” selection

Activate the hardware limit switches
If either of the hardware limit switches is activated (TRUE signal is applied to input), the
parameterized error response is executed. 40x500A:104.
The error message "HWLimitPos" or "HWLimitNeg" is output, irrespective whether the axis
rotates and in which direction it moves.
Reset error to retract the limit switch.
After the error has been reset, only travel requests in the opposite direction are possible.
Travel requests in the direction of the limit switch are aborted in the event of an error.
Diagnostics
Status word of the technology application 40x500A:005, bits 9 and 10
Parameter
Address Name / setting range / [default setting] Information
0x500A:104 Response to hardware limit switch error
19 Fault > Application quick stop > Quick stop
21 Fault> Application quick stop > Inverter
disabled
0x5020:004 Source of positive hardware limit switch Selection of the digital inputs for the positive hardware limit switch.
0 FALSE Specification of the digital inputs for the positive hardware limit switch.
1 TRUE
2 Digital input 1
3 Digital input 2

86
Technology application (TA) basic settings
Motion settings
Limitations

Address Name / setting range / [default setting] Information

4 Digital input 3
5 Digital input 4
0x5020:005 Source of negative hardware limit switch Selection of the digital inputs for the negative hardware limit switch.
0 FALSE Specification of the digital inputs for the negative hardware limit switch.
1 TRUE
2 Digital input 1
3 Digital input 2
4 Digital input 3
5 Digital input 4

6.3.11.5 Software limit switches

The parameterisable software end switches limit the traversing range set via the software.

The software end switches are not active for the "Modulo" traversing range and
when a reference run is active.

In the following situations, the software end switches are evaluated, monitored, and shown in
the status word when triggered: 40x500A:005 Bit 6
• The home position is known to the drive. 40x500A:005 Bit 5
• The software limit switches are effectively switched. 40x500A:050
• The monitoring was not deactivated from within the application. 40x500A:005 Bit 24
In the device states "Deactivated" or "Error stop", traversing the software limit switch does
not result in an error.
If the software limit switches are exceeded, the set error response is triggered. 40x500A:105
The software limit switches can be retracted in the direction of the permitted traversing range.
Parameter
Address Name / setting range / [default setting] Information
0x500A:050 Enable software limit switches
false Inactive
true Active
0x500A:051 Software limit switch positive
-214748.3648 ... [0.0000] ... 214748.3647
0x500A:052 Software limit switch negative
-214748.3648 ... [0.0000] ... 214748.3647
0x500A:053 Action after "software limit switch reached"
0 Stop after software limit switch
1 Stop at software limit switch
0x500A:105 Response to software limit switch error
19 Fault > Application quick stop > Quick stop
21 Fault> Application quick stop > Inverter
disabled

87
Technology application (TA) basic settings
Motion settings
Limitations

6.3.11.6 Safety limits

The inverter has functions for supporting the safety technology. Depending on the required
safety function, automatic intervention in the setpoint value generation of the axis takes
place.
When safety engineering is used in coupled axes, it might be required that a requested safety
function does not respond in the single axes but that the responses are recognized centrally.
The virtual master is able to recognize the response.
The following safety functions can be restricted or deactivated:
4Safe torque off (STO) ^ 464
4Safe stop 1 (SS1) ^ 466
4Safe stop 2 (SS2) ^ 469
4Safely-limited speed (SLS) 1 ... 4 ^ 477
4Safe direction (SDI) positive/negative ^ 488
The requested safety function is displayed in the Status limiter parameter. 40x500A:163
It can be deactivated in the Deactivate safety functions parameter. 40x500A:162
The axis does not affect the setpoint if the functions are deactivated.
Safe stop 1 (SS1) / Safe stop 2 (SS2)
Limited stop 1 Limited stop 2
Status display0x500A:163 bit 1 Status display0x500A:163 bit 2
Quick stop application - deceleration 0x500A:048 Quick stop application - deceleration 0x500A:048
Quick stop application - jerk 0x500A:049 Quick stop application - jerk 0x500A:049
After standstill has been reached, the drive is disabled. The drive is braked to standstill with the parameters Quick stop
application - deceleration and Quick stop application - jerk.
After standstill has been reached, the position control of the drive
remains active.

Safely limited speed (SLS) 1 ... 4

The following parameters limit the speeds and set delay times of the axis:
Speed Deceleration time
Limited speed 1 0x500A:150 0x500A:151
Limited speed 2 0x500A:152 0x500A:153
Limited speed 3 0x500A:154 0x500A:155
Limited speed 4 0x500A:156 0x500A:157

• If the current setpoint speed exceeds the value set for the requested limited speed, the
setpoint speed is reduced to the requested limited speed within the parameterized delay
time.
• If several limited speeds are requested at the same time, the lowest speed is reduced with
the highest deceleration.
Status display in Status limiter parameter.40x500A:163, bit 4 ... Bit 7.
Master/slave coupling
In the event of an active master/slave coupling e. g. synchronism or cam profiler application,
the speed is not reduced automatically in the default setting. The speed is usually
automatically reduced by the master axis.
The automatic speed reduction is activated via the Follower - response to SLSparameter.
0x500A:160
If the automatic speed reduction is activated, the cyclically specified setpoints are reduced to
the limited speed. The synchronism of the master axis cannot be guaranteed anymore.
If an offset between master and slave occurs, it will be removed automatically by deactivating
the parameter. 0x500A:159
An excessive speed due to a following error compensation is avoided by limiting the setpoints
at the speed controller input. 0x500A:161

88
Technology application (TA) basic settings
Motion settings
Limitations

Parameter
Address Name / setting range / [default setting] Information
0x500A:150 SLS1
0.0000 ... [0.0000] ... 214748.3647
0x500A:151 SLS1 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500A:152 SLS2
0.0000 ... [0.0000] ... 214748.3647
0x500A:153 SLS2 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500A:154 SLS3
0.0000 ... [0.0000] ... 214748.3647
0x500A:155 SLS3 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500A:156 SLS4
0.0000 ... [0.0000] ... 214748.3647
0x500A:157 SLS4 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500A:159 Compensation velocity of SLS
0.0000 ... [0.0000] ... 214748.3647
0x500A:160 Follower - Response to SLS
false Inactive
true Active
0x500A:161 Speed controller limitation (SLS)
false Inactive
true Active
0x500A:162 Deactivate safety interface
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Bit 1 Ignore SS1 request
Bit 2 Ignore SS2 request
Bit 3 Ignore SLS1-4 request
Bit 4 Ignore SDI request
Bit 5 Ignore SBC request
0x500A:163 Limiter status
• Read only
Bit 0 STO active
Bit 1 SS1 active
Bit 2 SS2 active
Bit 3 SOS active
Bit 4 SLS1 active
Bit 5 SLS2 active
Bit 6 SLS3 active
Bit 7 SLS4 active
Bit 8 SDIpos active
Bit 9 SDIneg active

89
Technology application (TA) basic settings
Motion settings
Dead time compensation

6.3.12 Dead time compensation

Parameter
Address Name / setting range / [default setting] Information
0x500A:067 M-S compensation: Mode
• Setting can only be changed if the inverter is
disabled.
0 Off
1 Automatic - Set values
3 Manually
0x500A:068 M-S compensation: Time offset
-10.000 ... [0.000] ... 10.000 ms
0x500B:067 M-S compensation: Mode
• Setting can only be changed if the inverter is
disabled.
0 Off
2 Automatic - Actual values
3 Manually
0x500B:068 M-S compensation: Time offset
-10.000 ... [0.000] ... 10.000 ms

90
Technology application (TA) basic settings
Motion settings
Status signals

6.3.13 Status signals

Parameter
Address Name / setting range / [default setting] Information
0x2DE0:014 Overwrite bit 4 of CiA control word
0 No overwrite
1 Overwrite with FALSE
2 Overwrite with TRUE
0x500A:004 PLCopen status
• Read only
1 ErrorStop
2 Disabled
3 Standstill
4 Stopping
5 DiscMotion
6 SyncMotion
7 ContMotion
8 Homing
10 Service
0x500A:005 Status word
• Read only
Bit 0 Virtual mode active
Bit 1 Axis ready
Bit 2 Axis enabled
Bit 3 Warning active
Bit 4 Error active
Bit 5 Home position detected
Bit 6 Software limit switches enabled
Bit 7 Software limit switch positive
Bit 8 Software limit switch negative
Bit 9 Hardware limit switch positive
Bit 10 Hardware limit switch negative
Bit 11 STO active
Bit 12 Brake opened
Bit 13 Application quick stop active
Bit 14 Limitation active
Bit 16 "Following error" warning active
Bit 17 "Following error" error active
Bit 18 Homing active
Bit 19 Homing switch for touch probe reached
Bit 20 Application torque limits
Bit 21 Manual jog active
Bit 22 Standstill active
Bit 23 Set position reached
Bit 24 Software limit switches switched off
Bit 25
0x500A:010 Actual position
• Read only
0x500A:011 Actual velocity
• Read only
0x500A:012 Actual acceleration
• Read only
0x500A:014 Set position
• Read only
0x500A:015 Velocity setpoint
• Read only
0x500A:016 Acceleration setpoint
• Read only

91
Technology application (TA) basic settings
Motion settings
Status signals

Address Name / setting range / [default setting] Information

0x500A:017 Torque setpoint
• Read only: x.xx Nm
0x500B:005 Status word
• Read only
Bit 1 Encoder ready
Bit 3 Warning active
Bit 4 Error active
Bit 5 Home position detected
Bit 22 Standstill active
0x500B:010 Actual position The current position value is resolved with 4 decimal positions.
• Read only
0x500B:011 Actual velocity The current speed value is resolved with 4 decimal positions.
• Read only
0x500B:012 Actual acceleration
• Read only

92
Technology application (TA) basic settings
Defining control sources
Source of quick stop

6.4 Defining control sources

This chapter describes the selection of the control source for various control signals.
4Source of quick stop ^ 93
4Source of error reset ^ 94
4Source of digital output 1 ^ 94
4Source of monitoring signal ^ 95
Settings in the »EASY Starter«:
• Tab Settings - Parameter dialog Technology application

6.4.1 Source of quick stop

A quick stop can be requested via the control word or via a digital input. Use the Source for
quick stop parameter to select which input is used. 40x5020:007

Control signals, bit 2

Activate quick stop

0x5020:007
Application quick stop source

FALSE
TRUE n STOP
DigIn1 OR
DigIn2
DigIn3 t
DigIn4

Fig. 22: Selection for quick stop

Parameter
Address Name / setting range / [default setting] Information
0x5020:007 Application quick stop source Selection of the signal source for activating the quick stop.
0 FALSE
1 TRUE
2 Digital input 1
3 Digital input 2
4 Digital input 3
5 Digital input 4

93
Technology application (TA) basic settings
Defining control sources
Source of error reset

6.4.2 Source of error reset

An error can be reset via the fieldbus, the system bus or via a digital input. Use the Source for
error reset parameter to select which input is used. 40x5020:008

0x5020:008
Source of fault reset

FALSE
TRUE
DigIn1 Application
DigIn2
DigIn3
DigIn4

Fig. 23: "Reset error" selection

Parameter
Address Name / setting range / [default setting] Information
0x5020:008 Source of fault reset Selection of digital inputs for resetting errors.
0 FALSE
1 TRUE
2 Digital input 1
3 Digital input 2
4 Digital input 3
5 Digital input 4

6.4.3 Source of digital output 1

The signal for digital output 1 is selected via the Source for digital output 1 parameter.
40x5020:030
Parameter
Address Name / setting range / [default setting] Information
0x5020:030 Source of digital output 1 Signal selection for the digital output 1.
0 Ready to switch on
1 Fault
2 Homing done
3 Profile done
4 Brake opened
5 Network signal

94
Technology application (TA) basic settings
Defining control sources
Source of monitoring signal

6.4.4 Source of monitoring signal

A monitoring signal can be selected for status word 6 and status word 7 respectively.
• Selection for status word 6: 40x5030:006
• Selection for status word 7: 40x5030:007
Parameter
Address Name / setting range / [default setting] Information
0x5030:006 Display value 1 Signal selection for monitoring signal 1 on status word 6.
0 None
1 Actual motor temperature
2 Actual motor current
3 DC-bus voltage
4 Device utilisation
5 Motor utilisation
6 Analog input 1
16 Actual scaled torque
17 Set position
18 Set velocity
19 Set acceleration
20 Set torque
21 Actual motor speed
22 Following error
23 Digital inputs
0x5030:007 Display value 2 Signal selection for monitoring signal 2 on status word 7.
0 None
1 Actual motor temperature
2 Actual motor current
3 DC-bus voltage
4 Device utilisation
5 Motor utilisation
6 Analog input 1
16 Actual scaled torque
17 Set position
18 Set velocity
19 Set acceleration
20 Set torque
21 Actual motor speed
22 Following error
23 Digital inputs
0x5030:116 Display value 1 Display of the monitor signal "Display value 1"
0 ... [0] ... 4294967295 Selection: 40x5030:006
0x5030:117 Display value 2 Display of the monitor signal "Display value 2"
0 ... [0] ... 4294967295 Selection: 40x5030:007

95
Technology application (TA) basic settings
System bus communication
Inputs

6.5 System bus communication

The system bus is used for the transmission of cyclic-synchronous master values. Eight input
words and eight output words with a data width of 32 bits each are available for transmission.
The assignment of the double words is shown in the figure "Assignment of system bus input/
output".

System bus inputs System bus outputs

Cycle length (0x5021:150) Cycle length (0x5021:160)

Position (0x5021:151) Position (0x5021:161)
Velocity (0x5021:152) Velocity (0x5021:162)
Acceleration (0x5021:153) Control module Acceleration (0x5021:163)
System bus in parameter TM System bus out parameter
Torque (0x5021:154) FB Torque (0x5021:164)
FB
Time stamp TP (0x5021:155) Time stamp TP (0x5021:165)
TA specific (0x5021:XXX) TA specific (0x5021:XXX)
TA specific (0x5021:XXX) TA specific (0x5021:XXX)

Fig. 24: Assignment of system bus inputs/outputs

Information on network configuration4onboard EtherCAT - Operation as standard EtherCAT
slave ^ 338

6.5.1 Inputs
The following parameters are available for the diagnostics of the system bus input values:
Parameter
Address Name / setting range / [default setting] Information
0x5021:150 System bus diagnostics: Cycle length (input value) Cycle length of the master axis
• Read only
0x5021:151 System bus diagnostics: Position (input value) Master position value
• Read only
0x5021:152 System bus diagnostics: Velocity (input value) Speed conductivity
• Read only
0x5021:153 System bus diagnostics: Acceleration (input value) Acceleration conductivity
• Read only
0x5021:154 System bus diagnostics: Torque (input value) Torque of the master axis
• Read only: x.xxxx Nm
0x5021:155 System bus diagnostics: Time stamp (input value) Time stamp of the master axis
• Read only: x ns
0x5021:156 System bus diagnostics: Input data word 6 This system bus input word is currently not used, but can be connected
• Read only in the technology application by the user.
0x5021:157 System bus diagnostics: Input data word 7
• Read only

96
Technology application (TA) basic settings
System bus communication
Outputs

6.5.2 Outputs
The following parameters are available for the diagnostics of the system bus output values:
Parameter
Address Name / setting range / [default setting] Information
0x5021:160 System bus diagnostics: Cycle length (output value) Cycle length of the source set via Master value output of system bus
• Read only 0x5020:001.
0x5021:161 System bus diagnostics: Position (output value) Master position value of the source set via Master value output of
• Read only system bus 0x5020:001.
0x5021:162 System bus diagnostics: Velocity (output value) Master speed value of the source set via Master value output of system
• Read only bus 0x5020:001.
0x5021:163 System bus diagnostics: Acceleration (output value) Master acceleration value of the source set via Master value output of
• Read only system bus 0x5020:001.
0x5021:164 System bus diagnostics: Torque (output value) Torque of the master axis of the source set via Master value output of
• Read only: x.xxxx Nm system bus 0x5020:001.
0x5021:165 System bus diagnostics: Time stamp (output value) Time stamp of the touchprobe source in ns selected via source TP1
• Read only: x ns 0x5020:011.
0x5021:166 System bus diagnostics: Output data word 6 This system bus input word is currently not used, but can be connected
• Read only in the technology application by the user.
0x5021:167 System bus diagnostics: Output data word 7
• Read only

6.5.2.1 Master value output

The system bus is used to distribute process data in the network.
A technology application can provide its own setpoints and actual values or the setpoints and
actual values of an encoder optionally connected via slot (B) for other technology
applications. The values are transmitted independently of the role of the station in the system
bus (master or slave). The values are set via the parameter Master value output of system
bus. Each node sends the values.
0x5020:001
Master values output of system bus
System bus outputs
Cycle length (0x5021:160)
None: 0
Position (0x5021:161)
Own axis det values: 1
Own axis act values: 2 Velocity (0x5021:162)
Application feedback (B): 3 Acceleration (0x5021:163)
Virtual master: 4 Torque (0x5021:164)

Fig. 25: Selection of the source for the master value output
The "Virtual Master: 4" is selectable in the following technology applications:
• Electronic gearbox
• Sync and correction
• Cross cutter

97
Technology application (TA) basic settings
System bus communication
Outputs

6.5.2.2 Source of touch probe time stamp

The Source touch probe system bus parameter is used to set the source of the touch probe
time stamp. 40x5020:011

0x5020:011
TP1 source
Time stamp: System bus input
(0x5021:155)
DigIn1 - Positive edge System bus output
•
• Time stamp (0x5021:165)
•
•
•
DigIn4 - Negative edge
DigIn4 - Any edge

Fig. 26: Selection of the source of the touch probe time stamp
Parameter
Address Name / setting range / [default setting] Information
0x5020:011 TP1 source The sensor source and the edge to be evaluated are selected via the
parameter (rising, falling, any)
0 External source Source: System bus
1 Digital input 1, positive edge
2 Digital input 1, negative edge
3 Digital input 1, any edge
11 Digital input 2, positive edge
12 Digital input 2, negative edge
13 Digital input 2, any edge
21 Digital input 3, positive edge
22 Digital input 3, negative edge
23 Digital input 3, any edge
31 Digital input 4, positive edge
32 Digital input 4, negative edge
33 Digital input 4, any edge
0x5021:155 System bus diagnostics: Time stamp (input value) Time stamp of the master axis
• Read only: x ns
0x5021:165 System bus diagnostics: Time stamp (output value) Time stamp of the touchprobe source in ns selected via source TP1
• Read only: x ns 0x5020:011.

98
Technology application (TA) basic settings
System bus communication
Distribution of the master values by the master

6.5.3 Distribution of the master values by the master

The parameter settings for distributing the master values must be configured in the system
bus master.
In standard cases, no additional configuration needs to be performed for the slaves.

M (VM) S1 S2 Sn S15

●●●

Fig. 27: Distribution of master values via the master

Application examples:
4Example: System bus master is master value master ^ 100
4Example: System bus slave is master value master ^ 101
4Example: Using time stamp of another axis ^ 102

99
Technology application (TA) basic settings
System bus communication
Distribution of the master values by the master

6.5.3.1 Example: System bus master is master value master

In der Regel ist der Systembusmaster der Leitwertmaster. Alle weiteren Systembusteilnehmer
(Slaves) erhalten einen identischen Leitwert vom Master.

M (VM) S1 S2 Sn S15

●●●

Fig. 28: Example 1 - System bus master is master value master

M System bus master S Slave
VM Virtual master
In the system bus master, the available virtual master is used to generate master values. The
master values generated there are the master values for all system bus nodes so that all
parameters of the system bus matrix are set to "master" (default setting).
System bus Master Slave 1 Slave 2 ... Slave 15
Input words
00 Cycle length of the
master axis
(0x5021:150)
01 Master position value
(0x5021:151) 0x5021:010 0x5021:010
02 Master speed value 01: Master 01: Master
(0x5021:152)
03 Master acceleration
value
(0x5021:153)
...
04 Torque of the master 0x5021:020 0x5021:021 0x5021:022 0x5021:035
axis 01: Master 01: Master 01: Master 01: Master
(0x5021:154)
05 Time stamp of the 0x5021:040 0x5021:041 0x5021:042 0x5021:055
master axis 01: Master 01: Master 01: Master 01: Master
(0x5021:155)
06 Free input word 0x5021:060 0x5021:061 0x5021:062 0x5021:075
(0x5021:156) 01: Master 01: Master 01: Master 01: Master
07 Free input word 0x5021:080 0x5021:081 0x5021:082 0x5021:095
(0x5021:157) 01: Master 01: Master 01: Master 01: Master
Tab. 2: System bus matrix
Example of interpreting the table
The "torque of the master axis (0x5021:154)" for "slave 2" is included in the 0x5021:022
parameter.

100
Technology application (TA) basic settings
System bus communication
Distribution of the master values by the master

6.5.3.2 Example: System bus slave is master value master

If the system bus master is not the master value master, the parameter Parameter source for
wörds 0 … 3 must be set to the corresponding source. 0x5021:010

M S1 S2 (VM) Sn S15

●●●

Fig. 29: Example 2 - System bus slave is master value master

M System bus master S Slave
VM Virtual master
If the virtual master for master value generation is not used in the system bus master
(4Example: System bus master is master value master) but in slave 2 (S2), the parameter
Parameter source for words 0 … 3 must be set to Slave 2 [3] . 0x5021:010
System bus Master Slave 1 Slave 2 ... Slave 15
Input words
00 Cycle length of the
master axis
(0x5021:150)
01 Master position value
(0x5021:151) 0x5021: 010 0x5021:010
02 Master speed value 03: Slave 2 03: Slave 2
(0x5021:152)
03 Master acceleration
value
(0x5021:153)
...
04 Torque of the master 0x5021:020 0x5021:021 0x5021:022 0x5021:035
axis 01: Master 01: Master 01: Master 01: Master
(0x5021:154)
05 Time stamp of the 0x5021:040 0x5021:041 0x5021:042 0x5021:055
master axis 01: Master 01: Master 01: Master 01: Master
(0x5021:155)
06 Free input word 0x5021:060 0x5021:061 0x5021:062 0x5021:075
(0x5021:156) 01: Master 01: Master 01: Master 01: Master
07 Free input word 0x5021:080 0x5021:081 0x5021:082 0x5021:095
(0x5021:157) 01: Master 01: Master 01: Master 01: Master

101
Technology application (TA) basic settings
System bus communication
Distribution of the master values by the master

6.5.3.3 Example: Using time stamp of another axis

The touch probe time stamp of the technology application Sync and correction (S1) is to be
used by the technology application Table Positioning (S2). The master value master is the
virtual master in the system bus master.

M (VM) S1 S2

Fig. 30: Example 3 - Using the timestamp of another axis

M System bus master S Slave
VM Virtual master TP Touch probe
In order to allow the time stamp of Slave 1 to be used by Slave 2 as well, the parameter
Parameter source for word 5 (Slave 2) must be set to Slave 1 [2] (see following table).
0x5021:042
System bus Master Slave 1 Slave 2 ... Slave 15
Input words
00 Cycle length of the
master axis
(0x5021:150)
01 Master position value
(0x5021:151) 0x5021: 010 0x5021:010
02 Master speed value 01: Master 01: Master
(0x5021:152)
03 Master acceleration
value
(0x5021:153)
...
04 Torque of the master 0x5021:020 0x5021:021 0x5021:022 0x5021:035
axis 01: Master 01: Master 01: Master 01: Master
(0x5021:154)
05 Time stamp of the 0x5021:040 0x5021:041 0x5021:042 0x5021:055
master axis 01: Master 01: Master 02: Slave 1 01: Master
(0x5021:155)
06 Free input word 0x5021:060 0x5021:061 0x5021:062 0x5021:075
(0x5021:156) 01: Master 01: Master 01: Master 01: Master
07 Free input word 0x5021:080 0x5021:081 0x5021:082 0x5021:095
(0x5021:157) 01: Master 01: Master 01: Master 01: Master

As shown in the table, the parameters 0x5021:020 ... 095 can also be used for the distribution
of the torque values and for specific data from the technology application.

102
Technology application (TA) basic settings
Monitoring

6.6 Monitoring
Parameter
Address Name / setting range / [default setting] Information
0x500B:100 Setpoint monitoring
false Inactive
true Active

103
Configuring the "Table Positioning" TA
Control settings

7 Configuring the "Table Positioning" TA

In addition to the basic settings for kinematics and the motion functions, the technology
application offers the following functions for the set-up or continuous movement of an axis:
4Positioning modes ^ 121
4Source of hardware limit switch ^ 124
4Positioning to torque limit ^ 125
4Touch probe positioning ^ 126
4Source of reference switch (touch probe) ^ 128
4Executing and interrupting positioning ^ 128
4Flying homing ^ 129
4Connecting the speed override ^ 130
The technology application can also be used for the status display, error message, or to reset
an error.
Settings in »EASY Starter«:
• Settings tab - Parameters dialog Technology application
• Application selection: 40x4000

Profiles
Homing

Positioner -100 0 100 200

Torque Limitation
n

Velocity override Override

t Manual jog
ç è
M
Acceleration override n
t
Jerk override
HALT HW-Limits
n STOP n

t t

QSP Application
n STOP

Fig. 31: "Table Positioning" technology application block diagram

7.1 Control settings

Relevant parameters of other functions
Address Name Default setting Setting range
0x4001 Interface selection Fieldbus network [0] Selection list
0x5020:004 Source of positive hardware limit switch Digital input 4 [5] Selection list
0x5020:005 Source of negative hardware limit switch Digital input 3 [4] Selection list
0x5020:006 Source of homing switch Digital input 1 [2] Selection list
0x5020:007 Application quick stop source FALSE [0] Selection list
0x5020:008 Source of fault reset FALSE [0] Selection list
0x5020:011 TP1 source Digital input 2, positive edge [11] Selection list
0x5020:030 Source of digital output 1 Ready to switch on [0] Selection list
0x5030:003 Effect of external torque limit Positive and negative direction [0] Selection list
0x5030:006 Display value 1 None [0] Selection list
0x5030:008 Activate flying homing FALSE [0] Selection list
0x5030:009 Activate "Positive stop positioning" FALSE [0] Selection list
0x5030:150 Read external profile data in edge-controlled manner FALSE [0] Selection list

104
Configuring the "Table Positioning" TA
Interface

7.2 Interface
During a change-over, only the control and status words are switched. Depending on the
technology application chosen, the bits of the respective control words and status words are
already pre-assigned.
Assignment of control words and status words:
4Control signals ^ 106
4Status signals ^ 108
The following illustration shows the basic signal flow within the technology application and
the change-over mechanism of the Interface selection parameter.

Field bus Interface switch Field bus

Control word 00 0x4001:000 Status word 00
Control word 01 Status word 01
Control word 02 Status word 02
Control word 03 Status word 03
Control word 04 Control signals Status signals Status word 04
Control word 05 External vel override Status limiter Status word 05
Control word 06 External velocity Act velocity Status word 06
Control word 07 External position Act position Status word 07
External acc Technology application Error code
External dec Table positioning Act torque
System bus System bus
External jerk Monitoring signal
Control word 00 External torque limit Free status word 07 Status word 00
Control word 01 Status word 01
Control word 02 Status word 02
Control word 03 Status word 03
Control word 04 Status word 04
Control word 05 Status word 05
Control word 06 Status word 06
Control word 07 Status word 07

Fig. 32: Signal flow — Technology application

4External travel profile parameters ^ 117
Control and status signals for fieldbus/system bus
The Interface selection parameter is used to select whether the technology application
interface is to be controlled via the process data objects (control words) of the fieldbus or the
system bus. 40x4001
• In each case, 8 control words and 8 status words are provided, with a data width of 32 bits
per word.
• Depending on the setting in the Interface selection parameter, the status signals are also
written to the fieldbus or the system bus.
Parameter
Address Name / setting range / [default setting] Information
0x4001 Interface selection
Selecting the interface determines the interface that receives the signals.
0 Fieldbus network Control of the application via the fieldbus.
1 Onboard EtherCAT Activation of the application via the system bus.

105
Configuring the "Table Positioning" TA
Interface
Control signals

7.2.1 Control signals

Parameter
Address Name / setting range / [default setting] Information
0x5030:010 Control signals
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Bit 0 Control bit 00 (reserved) Bit without function
Bit 1 Control bit 01 (reserved)
Bit 2 Activate application quick stop Rotating drive is stopped via the quick stop ramp. The control of the
drive remains active during standstill.
Bit 3 Enable operation Drive is enabled. At low level, a rotating drive is stopped via the quick
stop ramp and disabled at standstill.
Bit 4 Control bit 04 (reserved) Bit without function
Bit 5 Manual jog positive The drive travels in positive direction in manual operation. The drive
stops when the positive software limit switch is reached.
Bit 6 Manual jog negative The drive travels in negative direction in manual operation. The drive
stops when the negative software limit switch is reached.
Bit 7 Fault reset Errors are reset when the causes are eliminated.
Bit 8 Halt A stop is triggered in the application.
Bit 9 Start homing Start homing.
Bit 10 Reset home position Reset "Home position known" status information.
Bit 11 Abort • The active movement is canceled.
• The axis is guided to standstill via the active profile deceleration.
• The axis changes to "STOP".
The deceleration is canceled when a new movement is instructed.
Bit 12 Control bit 12 (reserved) Bit without function
Bit 13 Activate velocity overrride External speed override is activated.
Bit 14 Open brake manually The holding brake is opened.
Bit 15 Control bit 15 (reserved) Bit without function
Bit 16 Profile number bit 0 These bits are used for the bit-coded profile selection.
Bit 17 Profile number bit 1 Bit 0 represents the decimal 1.
Bit 1 represents the decimal 2.
Bit 18 Profile number bit 2
Bit 2 represents the decimal 4.
Bit 19 Profile number bit 3 Bit 3 represents the decimal 8.
Bit 20 Start positioning Positioning is started.
Bit 21 Control bit 21 (reserved) Bit without function
Bit 22 Resume positioning An interrupted positioning process is continued.
Bit 23 Deactivate touch probe The touch probe function is deactivated.
Bit 24 Control bit 24 (reserved) Bit without function
Bit 25 Control bit 25 (reserved)
Bit 26 Control bit 26 (reserved)
Bit 27 Control bit 27 (reserved)
Bit 28 Activate external set position The external setpoint position is used as the target position.
Bit 29 Activate external set velocity The external profile speed is used.
Bit 30 Activate external acceleration/deceleration/ External acceleration and decleration values and an external jerk are
jerk activated.
Bit 31 Activate external torque limits The external torque limits are activated.
0x5030:011 External velocity override Change of the profile speed during a positioning process.
0.00 ... [0.00] ... 100.00 %
0x5030:012 External velocity Value for the external setpoint velocity.
-214748.3648 ... [0.0000] ... 214748.3647
0x5030:014 External acceleration Value for the external acceleration.
0.00 ... [0.00] ... 21474836.47
0x5030:015 External deceleration Value for the external deceleration.
0.00 ... [0.00] ... 21474836.47
0x5030:016 External jerk Value for the external jerk.
-21474836.48 ... [0.00] ... 21474836.47
0x5030:017 External torque limit Value of the external torque limit.
0.00 ... [0.00] ... 21474836.47 % Reference: Rated motor torque0x6076

106
Configuring the "Table Positioning" TA
Interface
Control signals

Address Name / setting range / [default setting] Information

0x5030:023 External position setpoint Value for the external setpoint position.
-214748.3648 ... [0.0000] ... 214748.3647

107
Configuring the "Table Positioning" TA
Interface
Status signals

7.2.2 Status signals

Parameter
Address Name / setting range / [default setting] Information
0x5030:110 Status signals Status signals
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Bit 0 Ready for operation Axis ready for switch-on.
Bit 1 Homing active Homing is active.
Bit 2 Operation enabled Axis is enabled.
Bit 3 Fault An error is active.
Bit 4 Homing done Homing was completed successfully.
Bit 5 Application quick stop active Quick stop has been triggered.
Bit 6 Manual jog active Manual operation is active.
Bit 7 Warning A warning is active.
Bit 8 Halt active A stop was triggered in the application.
Bit 9 Motor control in limitation The motor control is in limitation.
Bit 10 Set position reached Actual position = setpoint position
Bit 11 Abort busy The active movement is canceled.
Bit 12 Standstill Standstill reached.
Bit 13 Direction of rotation inverted Direction of rotation is inverted.
Bit 14 Brake opened The holding brake is open.
Bit 15 STO active Safe Torque Off is active.
Bit 16 Active profile bit 0 Active profile (bit-coded).
Bit 17 Active profile bit 1 Bit 0 represents the decimal 1.
Bit 1 represents the decimal 2.
Bit 18 Active profile bit 2
Bit 2 represents the decimal 4.
Bit 19 Active profile bit 3 Bit 3 represents the decimal 8.
Bit 20 Positioning profile busy Positioning is active.
Bit 21 Positioning profile done Positioning is completed.
Bit 22 Negative hardware limit switch active The negative hardware limit switch has been triggered.
Bit 23 Positive hardware limit switch active The positive hardware limit switch has been triggered.
Bit 24 Touch probe detected Touch probe has been detected.
Bit 25 Status bit 25 (reserved) Bit without function
Bit 26 Status bit 26 (reserved)
Bit 27 Torque setpoint limited The setpoint torque is in limitation.
Bit 28 External position active External position is activated.
Bit 29 External velocity active External speed is activated.
Bit 30 External acceleration/deceleration/jerk External acceleration values, external deceleration values, and the
active external jerk are active.
Bit 31 External torque limit active The external torque limits are active.
0x5030:111 Status signals limiter Extended Safety - status of the monitoring functions
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Bit 0 STO active Safe torque off (STO) active.
The axis is safely switched to torqueless operation.
Bit 1 SS1 active Safe stop 1 (SS1) active.
Subsequently, the drive is torqueless (STO).
Bit 2 SS2 active Safe stop 2 (SS2) active.
The drive then changes to the safe operational stop (SOS).
Bit 3 SOS active Safe operational stop (SOS) active.
The reached position is actively held.
Bit 4 SLS1 active Safely limited speed (SLS1) active.
The travel profile changes according to the parameters set for it.
Bit 5 SLS2 active Safely limited speed (SLS2) active.
The travel profile changes according to the parameters set for it.
Bit 6 SLS3 active Safely limited speed (SLS3) active.
The travel profile changes according to the parameters set for it.
Bit 7 SLS4 active Safely limited speed (SLS4) active.
The travel profile changes according to the parameters set for it.
Bit 8 SDpos active Safe direction (SDI) active.
Only the positive direction is allowed.

108
Configuring the "Table Positioning" TA
Interface
Status signals

Address Name / setting range / [default setting] Information

Bit 9 SDneg active Safe direction (SDI) active.
Only the negative direction is allowed.
Bit 10 SLI active Safely limited increment (SLI) active.
A maximum permissible change in position is monitored.
Bit 11 SSE active Safe stop emergency (SSE) active.
Bit 12 ES active Enable switch (ES) active.
The stop functions in special mode are overridden.
Bit 13 OMS active Operation mode selector (OMS) active.
Special operation is active.
0x5030:112 Actual velocity Display of the actual velocity
-214748.3648 ... [0.0000] ... 214748.3647
0x5030:114 Error code Display of the current error number.
0 ... [0] ... 4294967295
0x5030:115 Actual torque Display of the actual torque
-214748.3648 ... [0.0000] ... 214748.3647 Nm
0x5030:116 Display value 1 Display of the monitor signal "Display value 1"
0 ... [0] ... 4294967295 Selection: 40x5030:006
0x5030:117 Display value 2 Display of the monitor signal "Display value 2"
0 ... [0] ... 4294967295 Selection: 40x5030:007
0x5030:123 Actual position Display of the actual position
-214748.3648 ... [0.0000] ... 214748.3647
0x5030:150 Read external profile data in edge-controlled manner Acceptance of the profile data preselected externally.
0 FALSE The external profile data are directly accepted.
1 TRUE The external profile data are only accepted with control bit 20 = TRUE.

109
Configuring the "Table Positioning" TA
Interface
Simulation of the interface

7.2.3 Simulation of the interface

The technology interface is simulated (manually operated) via the parameters Manual control
(bits 0 ... 7) and Simulation of status signals (bit 0).
Status bit 0 activates the simulation of the entire technology interface and changes over all
control words. Data from the fieldbus/system bus no longer enter the technology application.
Via the control bits 1 ... 7, individual control words can once again be connected to the
fieldbus/system bus.
Change-over parameters
• Status bit 0 40x5030:101
• Control bits 1 ... 7 40x5030:001

Simulation control signals Simulation status signals

0x5030:001 (Bit 0) 0x5030:101 (Bit 0)
Field bus/System bus
Status signals Status word 00
Status signals limiter Status word 01
Control word 00 Control signals Table Act velocity Status word 02
0x5030:010 positioning Actual position Status word 03
Error code Status word 04
Actual torque Status word 05
Simulation control signals Monitoring signal Status word 06
0x5030:001 (Bit 1) Free status word 07 Status word 07

External velocity override

Control word 01
0x5030:011
External velocity
Control word 02
0x5030:012
External position
Control word 03
0x5030:023
External acceleration
Control word 04
0x5030:014
External deceleration
Control word 05
0x5030:015
Simulation control signals External jerk
Control word 06 0x5030:001 (Bit 7)
0x5030:016
External torque limit
Control word 07
0x5030:017

Fig. 33: Signal flow in the simulation of the technology interface

110
Configuring the "Table Positioning" TA
Interface
Simulation of the interface

Parameter
Address Name / setting range / [default setting] Information
0x5030:001 Simulation of control signals
0x00 ... [0x00] ... 0xFF
Bit 0 Enable control signal simulation TRUE: The simulation of the control signals is activated.
FALSE: The control signals are transferred via the fieldbus/system bus
interface.
Bit 1 Activate simulation of control word 1 TRUE: The simulation of control word 1 is activated.
FALSE: The control word is transmitted via the fieldbus/system bus
interface.
Bit 2 Activate simulation of control word 2 TRUE: The simulation of control word 2 is activated.
FALSE: The control word is transmitted via the fieldbus/system bus
interface.
Bit 3 Activate simulation of control word 3 TRUE: The simulation of control word 3 is activated.
FALSE: The control word is transmitted via the fieldbus/system bus
interface.
Bit 4 Activate simulation of control word 4 TRUE: The simulation of control word 4 is activated.
FALSE: The control word is transmitted via the fieldbus/system bus
interface.
Bit 5 Activate simulation of control word 5 TRUE: The simulation of control word 5 is activated.
FALSE: The control word is transmitted via the fieldbus/system bus
interface.
Bit 6 Activate simulation of control word 6 TRUE: The simulation of control word 6 is activated.
FALSE: The control word is transmitted via the fieldbus/system bus
interface.
Bit 7 Activate simulation of control word 7 TRUE: The simulation of control word 7 is activated.
FALSE: The control word is transmitted via the fieldbus/system bus
interface.
0x5030:101 Simulation of status signals Simulation of status signals
0x00 ... [0x00] ... 0xFF
Bit 0 Simulation of status signals TRUE: The simulation of the status signals is activated.
FALSE: The status signals are transmitted to the fieldbus/system bus
interface.

111
Configuring the "Table Positioning" TA
Travel profiles

7.3 Travel profiles

The application enables the use of maximally 15 different travel profiles. A travel profile
describes a motion task for the positioning. The motion task is converted into a rotary motion.
Settings in the »EASY Starter«:
• Tab Settings - Parameter dialog Profiles
Select profile
A profile is selected bit-coded:
Profile 0x5030:010
Bit 19 Bit 18 Bit 17 Bit 16
No profile selected FALSE FALSE FALSE FALSE
Profile 1 FALSE FALSE FALSE TRUE
Profile 2 FALSE FALSE TRUE FALSE
Profile 3 FALSE FALSE TRUE TRUE
Profile 4 FALSE TRUE FALSE FALSE
Profile 5 FALSE TRUE FALSE TRUE
Profile 6 FALSE TRUE TRUE FALSE
Profile 7 FALSE TRUE TRUE TRUE
Profile 8 TRUE FALSE FALSE FALSE
Profile 9 TRUE FALSE FALSE TRUE
Profile 10 TRUE FALSE TRUE FALSE
Profile 11 TRUE FALSE TRUE TRUE
Profile 12 TRUE FALSE FALSE FALSE
Profile 13 TRUE TRUE FALSE FALSE
Profile 14 TRUE TRUE TRUE FALSE
Profile 15 TRUE TRUE TRUE TRUE

Relevant parameters of other functions

Address Name Default setting Setting range
0x5031:021, Positioning mode absolute [0] Selection list
032, 043, 054,
065, 076, 087,
098, 109, 120,
131, 142, 153,
164, 175

112
Configuring the "Table Positioning" TA
Travel profiles
Technology application travel profile parameters

7.3.1 Technology application travel profile parameters

v [m/s]

B
E E
A
D
C
E
F
E
t [s]

v [m/s]
TP

B
E E
A
TP
C window D

E E
F
G H t [s]

Fig. 34: Profile types

Symbol Description
Start profile
Number of the travel profile executed first (1 ... 15), which consists of 0x5030:010, bit 16 ... 19.
Sequence profile 1 ... 15

Sequence profiles after TP 1 ... 15

A Profile position 1 ... 15

B Profile speed 1 ... 15
C Profile acceleration 1 ... 15
D Profile deceleration 1 ... 15
E Profile jerk 1 ... 15
F Final speed 1 ... 15
G Profile touch probe window - lower limit
H Profile touch probe window - upper limit

Travel profile selection: Travel profiles ^ 112

113
Configuring the "Table Positioning" TA
Travel profiles
Technology application travel profile parameters

Parameter
Address Name / setting range / [default setting] Information
0x5031:022, Profile position Target position or distance to be travelled. The target position is given in
033, 044, 055, -214748.3648 ... [360.0000] ... 214748.3647 an absolute or relative manner.
066, 077, 088, • The absolute position is the distance from the zero position to the
099, 110, 121, target position
132, 143, 154, • The home position for the absolute position is the zero position.
165, 176 P3
80
30 P2
10 P1

0 10 20 30 40 50 60 70 80 90 100

• The relative position considers the current position at the starting

time of the travel command.
• The home position for the starting point of the distance is the target
position of the previously executed travel profile.
10 P1 20 P2 50 P3

0 10 20 30 40 50 60 70 80 90 100

0x5031:023, Profile velocity Maximum speed at which the target position is approached. The
034, 045, 056, -214748.3648 ... [360.0000] ... 214748.3647 maximum speed depends on the target position, the acceleration and
067, 078, 089, the deceleration.
100, 111, 122, If the graph is a triangle, the drive has not reach the maximum speed.
133, 144, 155,
166, 177 v [m/s]

❷
vpos

❶ ❸
❹

t [s]
1 Acceleration
2 Maximum speed
3 Deceleration
4 Target position

114
Configuring the "Table Positioning" TA
Travel profiles
Technology application travel profile parameters

Address Name / setting range / [default setting] Information

0x5031:024, Profile acceleration Acceleration to reach the maximum speed.
035, 046, 057, -21474836.48 ... [720.00] ... 21474836.47 The following acceleration types are distinguished:
068, 079, 090, • Linearly increasing acceleration
101, 112, 123, v [unit/s]
134, 145, 156,
167, 178
vpos

t [s]
• Acceleration increasing in S-shape

v [unit/s]

vpos

t [s]

0x5031:025, Profile deceleration Deceleration to brake from the maximum speed to standstill.
036, 047, 058, -21474836.48 ... [720.00] ... 21474836.47
069, 080, 091,
102, 113, 124,
135, 146, 157,
168, 179
0x5031:026, Profile jerk Jerk limitation for the acceleration and deceleration. If a jerk limitation is
037, 048, 059, -21474836.48 ... [7200.00] ... 21474836.47 given for a travel profile, the acceleration and deceleration are executed
070, 081, 092, via S-shaped ramps.
103, 114, 125, • S-shaped ramps protect machine parts from damages.
136, 147, 158, • The S-shaped acceleration and deceleration extend the duration of
169, 180 positioning compared to linear acceleration and deceleration.

v [unit/s] ❶

❷
❶

❷
t [s]
a

t [s]

Profile without jerk limitation

Profile with jerk limitation

115
Configuring the "Table Positioning" TA
Travel profiles
Technology application travel profile parameters

Address Name / setting range / [default setting] Information

0x5031:027, Final velocity Final speed the drive uses to execute the next travel profile after
038, 049, 060, -214748.3648 ... [0.0000] ... 214748.3647 reaching the target position.
071, 082, 093, • When the target position has been reached, the next travel profile is
104, 115, 126, executed without braking the drive to a standstill at the target
137, 148, 159, position.
170, 181 • The final speed can be used to execute a velocity changeover.

v [m/s]

vpos

❶
vend ❷

t [s]
1 Target position
2 Final speed
0x5031:028, Profile TP window - lower limit Lower limit value for the touch probe window. Above this position, touch
039, 050, 061, -214748.3648 ... [0.0000] ... 214748.3647 probe evaluation is active.
072, 083, 094,
105, 116, 127,
138, 149, 160,
171, 182
0x5031:029, Profile TP window - upper limit Upper limit value for the touch probe window. Below this position, touch
040, 051, 062, -214748.3648 ... [0.0000] ... 214748.3647 probe evaluation is active.
073, 084, 095,
106, 117, 128,
139, 150, 161,
172, 183
0x5031:030, Sequence profile after TP Number of the profile data set (1 ... 15) that is executed if a touch probe
041, 052, 063, 0 ... [0] ... 65535 has been detected. With the setting 0, no travel profile is executed after
074, 085, 096, a touch probe has been detected.
107, 118, 129,
140, 151, 162,
173, 184
0x5031:031, Sequence profile Number of the profile data set (1 ... 15) that is executed subsequently to
042, 053, 064, 0 ... [0] ... 65535 the current travel profile. With the setting 0, no further travel profile is
075, 086, 097, executed.
108, 119, 130,
141, 152, 163,
174, 185
0x5032:011 Active Profile
• Read only
0x5032:012 Active profile: acceleration setpoint The acceleration setpoint is specified in the unit [unit/s2]. The
• Read only acceleration setpoint is terminated with 2 decimal positions.
0x5032:013 Active profile: deceleration setpoint The deceleration setpoint is specified in the unit [unit/s2]. The
• Read only deceleration setpoint is terminated with 2 decimal positions.
0x5032:014 Active profile: jerk setpoint The jerk setpoint is specified in the unit [unit/s2]. The jerk setpoint is
• Read only terminated with 2 decimal positions.
0x5032:015 Active profile: Velocity setpoint The profile setpoint speed is given in the unit [unit/s]. The value of the
• Read only profile setpoint speed is displayed with 4 decimal positions.
0x5032:020 Active profile: position setpoint The position setpoint is specified in the unit [unit]. The position setpoint
• Read only is terminated with 4 decimal positions.
0x5032:025 Selected profile
• Read only

116
Configuring the "Table Positioning" TA
Travel profiles
External travel profile parameters

7.3.2 External travel profile parameters

External travel profile parameters can be transferred via the network interface.
The travel profile to be changed can be selected in the Control signals parameter.
40x5030:010, Bit 16 ... Bit 19

The selected travel profile defines the external travel profile parameters.
Existing data in the selected travel profile are overwritten when the external
values are accepted.

In the selected profile data set, the following parameters can be replaced by external profile
data:
1. External position: Activate external setpoint position 40x5030:010, bit 28
2. External speed: Activate external setpoint speed 40x5030:010, bit 29
3. External acceleration, deceleration and jerk: Activate external acceleration/deceleration/
jerk 40x5030:010, bit 30
The parameters can be combined. This makes it possible to change just the external setpoint
position or to accept all external setpoints within the profile.
Alternatively, the acceptance of the profile data can be linked to the level of the Start
positioning bit. 0x5030:010 Bit 20
This can be activated with the Read external profile data in edge-controlled manner selection
parameter. 40x5030:150

117
Configuring the "Table Positioning" TA
Travel profiles
External travel profile parameters

Control word 0 Profile table

0x5030:010, bits 16-19

Bit16: Profile No. 01 1 No Pos Vel Acc Dec Jerk

Bit17: Profile No. 02 0 1
Bit18: Profile No. 04 0
Bit19: Profile No. 08 0 2
3
.
.
Control word
0x5030:010, bit 28 .
(Activate external position)
15

0x5030:023
External position setpoint
Control word
0x5030:010, bit 29
(Activate profile velocity)

0x5030:012
Esternal velocity
Control word 0
0x5030:010, bit 30
(Activate external acc derc jerk)
0x5030:014
External acceleration

0x5030:015
External deceleration

0x5030:016
External jerk

( Teach0x5030:010,
external profile data) OR (Execute positioning
bit 24 0x5030:010, bit 20
AND
0x5030:150
Activate set profile data )
Fig. 35: Accepting external profile data
Parameter
Address Name / setting range / [default setting] Information
0x5030:012 External velocity Value for the external setpoint velocity.
-214748.3648 ... [0.0000] ... 214748.3647
0x5030:014 External acceleration Value for the external acceleration.
0.00 ... [0.00] ... 21474836.47
0x5030:015 External deceleration Value for the external deceleration.
0.00 ... [0.00] ... 21474836.47
0x5030:016 External jerk Value for the external jerk.
-21474836.48 ... [0.00] ... 21474836.47
0x5030:023 External position setpoint Value for the external setpoint position.
-214748.3648 ... [0.0000] ... 214748.3647
0x5030:150 Read external profile data in edge-controlled manner Acceptance of the profile data preselected externally.
0 FALSE The external profile data are directly accepted.
1 TRUE The external profile data are only accepted with control bit 20 = TRUE.

118
Configuring the "Table Positioning" TA
Signal flow
Travel profile linkage

7.3.3 Travel profile linkage

In the profile data set (profile no. 1 ... 15), the profile data of the sequence profile are stored
and executed after the standard profile has been executed. This is called profile linkage.
The sequence profile is also executed in a touch probe positioning if no touch probe has been
detected within the touch probe window.
Relevant parameters of other functions
Address Name Default setting Setting range
0x5030:011 External velocity override 0.00 % 0.00 ... 100.00 %
0x5030:012 External velocity 0.0000 -214748.3648 ... 214748.3647
0x5030:014 External acceleration 0.00 0.00 ... 21474836.47
0x5030:015 External deceleration 0.00 0.00 ... 21474836.47
0x5030:016 External jerk 0.00 -21474836.48 ... 21474836.47
0x5030:023 External position setpoint 0.0000 -214748.3648 ... 214748.3647
0x5030:150 Read external profile data in edge-controlled manner FALSE [0] Selection list
0x5032:012 Active profile: acceleration setpoint - (Read only)
0x5032:013 Active profile: deceleration setpoint - (Read only)
0x5032:014 Active profile: jerk setpoint - (Read only)
0x5032:015 Active profile: Velocity setpoint - (Read only)
0x5032:020 Active profile: position setpoint - (Read only)
0x5032:025 Selected profile - (Read only)
0x5032:027 Velocity override setpoint - (Read only)

7.4 Signal flow

Settings in »EASY Starter«:
• Settings tab - Parameters dialog Signal flow

0x5030:150
Read external profile data in Profile table 0x5030:010, bit 13
edge-controlled manner Activate velocity override

0x5030:010, bit 28 0x5030:010, bit 20 0x5032:025

Activate external set position Start positioning Selected profile 0x5030:011
External velocity override

0x5030:023 1
External position 0 0x5032:020
setpoint 0x5032:027
Active profile: Velocity override
Pos
0x5030:010, bit 29 position setpoint setpoint
Activate profile set velocity 0x5032:015
Active profile: velocity setpoint

0x5030:012 1
External velocity 0 Vel
Homing
Manual jog
0x5030:010, bit 30
Activate external acc/dec/jerk
0x5032:021
Acc 0x5032:012 Velocity setpoint
0x5030:014 1 Active profile acceleration
External acceleration 0

0x5030:015 1 Dec 0x5032:013

External deceleration 0 Active profile deceleration

0x5030:016 1 Jerk 0x5032:014

External jerk 0 Active profile jerk setpoint

Fig. 36: Signal flow

119
Configuring the "Table Positioning" TA
Functions

7.5 Functions
The following sections describe in detail the configuration of the single subfunctions of the
technology application.
4Positioning modes ^ 121
4Positioning to torque limit ^ 125
4Touch probe positioning ^ 126
4Executing and interrupting positioning ^ 128
4Flying homing ^ 129
4Connecting the speed override ^ 130

120
Configuring the "Table Positioning" TA
Functions
Positioning modes

7.5.1 Positioning modes

In the following sections, the travel profiles 1 ... 15 and their positioning modes are described.
4Absolute positioning ^ 121
4Absolute positioning in clockwise direction ^ 122
4Absolute positioning in anti-clockwise direction ^ 122
4Relative positioning ^ 122
4Continuous positioning ^ 123
4Positioning with final velocity ^ 123
The positioning modes for the travel profiles are defined via the following parameters.
Parameter
Address Name / setting range / [default setting] Information
0x5031:021, Positioning mode Profile modes of the corresponding profile data set.
032, 043, 054, 0 absolute Absolute positioning.
065, 076, 087,
1 relative Relative positioning.
098, 109, 120,
131, 142, 153, 2 velocity Positioning with speed.
164, 175 3 absolute_CW_modulo Clockwise absolute positioning.
4 absolute_CCW_modulo Counter-clockwise absolute positioning.

7.5.1.1 Absolute positioning

The axis travels to an absolute position.
• The absolute position describes the distance between the zero position and the target
position.
• The home position for the absolute position is the zero position.

80 P3
30 P2
10 P1

0 10 20 30 40 50 60 70 80 90 100

Fig. 37: Absolute positioning in linear measurement system

The rotary table positioning is an absolute positioning with target positions between 0 and
360 angular degrees [°]. In this mode the zero point can be overtravelled if this is the shortest
way to the target position.
• The home position must be known.

360°/0°
300° 60°

240° 120°
180°
Fig. 38: Absolute positioning in Modulo measurement system

121
Configuring the "Table Positioning" TA
Functions
Positioning modes

7.5.1.2 Absolute positioning in clockwise direction

The axis travels to an absolute position in a CW direction.
• Only applicable in Modulo measuring system (rotary table application).
• The home position for the absolute position is the zero position.
• The home position must be known.
For an absolute positioning in a CW direction, the zero position of the axis can be
overtravelled.

360°/0°
300° 60°

240° 120°
180°

Fig. 39: Example for positioning in a clockwise direction

7.5.1.3 Absolute positioning in anti-clockwise direction
The axis travels to an absolute position in a CCW direction.
• Can only be used for Modulo measuring system (rotary table application).
• The home position for the absolute position is the zero position.
• The home position must be known.
For an absolute positioning in a CCW direction, the zero position of the axis can be
overtravelled.

360°/0°
300° 60°

240° 120°
180°

Fig. 40: Example for positioning in a CCW direction

7.5.1.4 Relative positioning
The axis travels a defined distance.
• The relative position is given by the distance between the start position and the target
position. This means: Relative position = target position – start position.
• The home position for the starting point of the distance is the target position of the travel
profile executed previously.

10 P1 20 P2 50 P3

0 10 20 30 40 50 60 70 80 90 100

Fig. 41: Relative positioning

122
Configuring the "Table Positioning" TA
Functions
Positioning modes

7.5.1.5 Continuous positioning

This mode does not require a predefined position, but instead follows the profile parameters.
• The acceleration and the deceleration are based on the profile parameters real
acceleration and real deceleration.
• The travel direction is defined by the sign of the travelling speed. A positive value signifies
travel in the clockwise direction.
The travel is stopped by means of a control bit:
• Abort positioning, 40x5030:010, bit 11 = TRUE
• Stop, 40x5030:010, bit 8 = TRUE
4Executing and interrupting positioning ^ 128
7.5.1.6 Positioning with final velocity
For almost all positioning modes, a final speed can be parameterised for the travel profile.
This does not apply for the following positioning modes:
• Continuous positioning with constant speed
• Continuous positioning with touch probe

v [m/s]

vpos

❶
vend ❷

t [s]

Fig. 42: Velocity changeover or overtaking

1 Target position 2 Final speed
The selected profile is travelled. The drive has reached the final speed when the target
position is reached.

123
Configuring the "Table Positioning" TA
Functions
Source of hardware limit switch

7.5.2 Source of hardware limit switch

The hardware limit switches are defined via the parameters Positive hardware limit source
and Negative hardware limit source. 40x5020:004 40x5020:005

0x5020:004
Source of positive hardware limit switch

FALSE
TRUE
DigIn1
DigIn2
DigIn3
QSP Application
DigIn4
n
STOP
0x5020:005
Source of negative hardware limit switch
t

FALSE
TRUE
DigIn1
DigIn2
DigIn3
DigIn4

Fig. 43: “Hardware limit switch” selection

Parameter
Address Name / setting range / [default setting] Information
0x5020:004 Source of positive hardware limit switch Selection of the digital inputs for the positive hardware limit switch.
0 FALSE Specification of the digital inputs for the positive hardware limit switch.
1 TRUE
2 Digital input 1
3 Digital input 2
4 Digital input 3
5 Digital input 4
0x5020:005 Source of negative hardware limit switch Selection of the digital inputs for the negative hardware limit switch.
0 FALSE Specification of the digital inputs for the negative hardware limit switch.
1 TRUE
2 Digital input 1
3 Digital input 2
4 Digital input 3
5 Digital input 4

124
Configuring the "Table Positioning" TA
Functions
Positioning to torque limit

7.5.3 Positioning to torque limit

Positioning at the torque limit makes it possible to perform positioning against an obstacle.
This is e.g. necessary for pressing materials. When this function is activated, the assigned
control bit has the level high, and the following error is constantly ignored during positioning.
When the function is deactivated, the following error is deleted. The function is activated via a
selectable bit in the control signal.
The following signals are available for activating the function:
Parameter
Address Name / setting range / [default setting] Information
0x5030:009 Activate "Positive stop positioning" Positioning against an obstacle.
The following error is permanently ignored during the positioning
process.
0 FALSE Positioning is deactivated.
1 TRUE The positioning function is always activated.
124 Status bit 24 (reserved) The positioning function is activated via the corresponding control bit.
125 Status bit 25 (reserved)
126 Status bit 26 (reserved)
127 Status bit 27 (reserved)

125
Configuring the "Table Positioning" TA
Functions
Touch probe positioning

7.5.4 Touch probe positioning

In touch probe positioning, the travel profile is executed according to the profile data. If a
touch probe is detected during the positioning process, it is automatically changed to the
profile defined in the Profile TP window - upper limit. profile parameter.

v [Unit/s] ❶ Profile 4
Mode
❶ ❷ Position
Speed
Profile 4 Profile 7 ...
t [s] Next TP profile 7
Touch probe Next profile
❷ Profile 7
v [Unit/s] Mode
Position
Speed
❶ ❷
...
Profile 4 Profile 7 Next TP profile
t [s] Next profile
Touch probe

Fig. 44: Touch probe positioning

1 Start travel profile according to the 2 Travel profile from the "touch probe
profile data profile" parameter
The profile parameters Profile TP window - lower limit and Profile TP window - upper limit
limit the area in which a touch probe can be detected. If both parameters have the value 0,
the touch probe detection is activated for the entire travel profile or travel range. If no touch
probe was detected and the travel profile was executed completely, the profile set in the
Sequence profile parameter is executed.
Notes
• If the touch probe positioning starts while a profile is executed with maximum speed and a
residual path to be travelled is too short for the set deceleration ramp, the target position
will be overtravelled. A reversing motion takes place.
• Constellations with linking of travel profiles are possible that make it impossible to reverse
and reach the target position. A reversing motion of the axis can be prevented by the
"Safe direction (SDI)" safety function.

126
Configuring the "Table Positioning" TA
Functions
Touch probe positioning

Source for touch probe signal

The following inputs are available for connecting a sensor for touch probe positioning:
• Digital inputs of the inverter
• Zero pulse of the position encoder
• EtherCAT system bus
The sensor source and the edge to be evaluated (rising, falling, both) are selected via the
Source TP 1 parameter. 40x5020:011

0x5020:011
(Source TP 1) Profile generation

Fig. 45: Selection of "Touch probe sensor"

Parameter
Address Name / setting range / [default setting] Information
0x5020:011 TP1 source The sensor source and the edge to be evaluated are selected via the
parameter (rising, falling, any)
0 External source Source: System bus
1 Digital input 1, positive edge
2 Digital input 1, negative edge
3 Digital input 1, any edge
11 Digital input 2, positive edge
12 Digital input 2, negative edge
13 Digital input 2, any edge
21 Digital input 3, positive edge
22 Digital input 3, negative edge
23 Digital input 3, any edge
31 Digital input 4, positive edge
32 Digital input 4, negative edge
33 Digital input 4, any edge
0x5031:028, Profile TP window - lower limit Lower limit value for the touch probe window. Above this position, touch
039, 050, 061, -214748.3648 ... [0.0000] ... 214748.3647 probe evaluation is active.
072, 083, 094,
105, 116, 127,
138, 149, 160,
171, 182
0x5031:029, Profile TP window - upper limit Upper limit value for the touch probe window. Below this position, touch
040, 051, 062, -214748.3648 ... [0.0000] ... 214748.3647 probe evaluation is active.
073, 084, 095,
106, 117, 128,
139, 150, 161,
172, 183
0x5031:030, Sequence profile after TP Number of the profile data set (1 ... 15) that is executed if a touch probe
041, 052, 063, 0 ... [0] ... 65535 has been detected. With the setting 0, no travel profile is executed after
074, 085, 096, a touch probe has been detected.
107, 118, 129,
140, 151, 162,
173, 184

127
Configuring the "Table Positioning" TA
Functions
Source of reference switch (touch probe)

7.5.5 Source of reference switch (touch probe)

The reference switch which serves to activate the touch probe evaluation is selected via the
Source for reference switch for touch probe parameter. 40x5020:006

0x5020:006
Source of homing switch for touch probe

FALSE Homing
TRUE
DigIn1
DigIn2
DigIn3 LS_Quickstop
-100 0 100 200

DigIn4

Fig. 46: Selection of "Reference switch"

7.5.6 Executing and interrupting positioning

A travel profile can be executed, interrupted, and resumed via control signals.
Status signals indicate the current status of the positioning.

0x5030:010 0x5030:110
Control word Status word
Table Positioning
Bit 3: Enable operation Bit 2: Operation enabled
Bit 16: Profile number bit 0 1 Bit 10: Set position reached
Bit 17: Profile number bit 1 0 Bit 12: Standstill
Profile number 1
Bit 18: Profile number bit 2 0 Bit 20: Positioning profile busy
Bit 19: Profile number bit 3 0 Bit 21: Positioning profile done
Bit 20: Start positioning
Bit 11: Abort
Bit 22: Resume positioning

Fig. 47: Execute, cancel, and resume positioning

Procedure
• At least one valid travel profile must be defined. 4Travel profiles
• The drive must be ready for operation. 40x5030:010, bit 3 = TRUE (1)
1. Using the control bits 16 ... 19, select the desired travel profile. 40x5030:010, Bits 16 ... 19
2. With a rising FALSE-TRUE edge on control bit 20, execute the selected profile.
40x5030:010, Bit 20
3. With a rising FALSE-TRUE edge on control bit 11, abort the profile. 40x5030:010, Bit 11
The drive is brought to a standstill with the current profile data.
4. With a rising FALSE-TRUE edge on control bit 22, resume the profile. 40x5030:010, Bit 22

128
Configuring the "Table Positioning" TA
Functions
Flying homing

7.5.7 Flying homing

On-the-fly referencing can be used to set the home position of a mechanical system while it is
moving. There is no jerk and no compensating movement. A sensor for on-the-fly referencing
can be connected via the digital inputs.

0x5020:010
Control word

FALSE
TRUE
DigIn1
DigIn2
DigIn3 -100 0 100 200

DigIn4

Fig. 48: "On-the-fly referencing source" selection

• The source of the home position is selected in the On-the-fly referencing source
parameter. 40x5020:010
• The Activate on-the-fly referencing parameter activates on-the-fly referencing.
40x5030:008
• The home position is set in the Home position parameter. 40x500A:084
• The operation can be performed when the drive is at a standstill and also when it is
moving.
Parameter
Address Name / setting range / [default setting] Information
0x500A:084 Home position
-214748.3648 ... [0.0000] ... 214748.3647
0x5020:010 RANLI_TXXXX_S010_000_N10038000 Selection of the source for the home position.
0 FALSE No source selected for homing on the fly.
1 TRUE Homing on the fly is active permanently.
2 Digital input 1 Selection of digital inputs for homing on the fly.
3 Digital input 2
4 Digital input 3
5 Digital input 4
0x5030:008 Activate flying homing Activation of homing on the fly.
0 FALSE Homing on the fly is deactivated.
1 TRUE Homing on the fly is active permanently.
124 Status bit 24 (reserved) Homing on the fly is activated via one of the control bits.
125 Status bit 25 (reserved)
126 Status bit 26 (reserved)
127 Status bit 27 (reserved)

129
Configuring the "Table Positioning" TA
Diagnostics
Connecting the speed override

7.5.8 Connecting the speed override

"Velocity override" means the change of profile speed during a positioning process. The
velocity can be adjusted for the travel profile. This ensures that the defined target position is
reached exactly.
Activation takes place via the Control signals parameter. 40x5030:010, bit 13
The override value is defined via the External velocity override parameter. 40x5030:011

v [Unit/s]
❷

Dt t [s]

❶ ❸

Fig. 49: Schematic diagram of velocity override

1 The velocity decreases during the 3 More time is required for
positioning process. positioning.
2 In order to reach the defined target
position, the missing area has to be
added.

0x5030:010, bit 13
Activate velocity override

0
0x5030:011 1
External velocity override 0x5032:027
Velocity override setpoint

0x5032:015 X 0x500A:015
Active profile: Velocity setpoint Velocity setpoint

Fig. 50: Signal flow velocity override

Parameter
Address Name / setting range / [default setting] Information
0x5030:011 External velocity override Change of the profile speed during a positioning process.
0.00 ... [0.00] ... 100.00 %
0x5032:015 Active profile: Velocity setpoint The profile setpoint speed is given in the unit [unit/s]. The value of the
• Read only profile setpoint speed is displayed with 4 decimal positions.
0x5032:027 Velocity override setpoint
• Read only

7.6 Diagnostics
The diagnostic dialog of the »EASY Starter«enables you to view the status of the device and
the technology application. Errors and warnings and related error numbers can be read out
via the dialog.
A more detailed diagnostics of the technology application and its individual functions can be
executed in the Signal flow parameter dialog. 4Signal flow ^ 119

130
Configure position control

8 Configure position control

This operating mode provides a fast position follower with speed, torque and feed force
feedforward control.
Typical applications for positioning are, for instance, transport facilities, feed drives and
dosing systems.
Preconditions
A positioning control is parameterised in the servo control types to be set. 40x2C00
Configure one of these motor control types:
• 0x2C00 = 1: Servo control for synchronous motor (SC-PSM) ^ 225
• 0x2C00 = 2: Servo control for asynchronous motor (SC-ASM) ^ 226
Further conditions are:
• The correct entry of the 4Motor data ^ 46
• The parameter setting of the motor control in chapter Configuring the motor control ^ 224

131
Configure position control
Basic setting

8.1 Basic setting

In the following, the steps required for configuring the position control are described.
1. Set the manufacturer spanning operating mode according to CiA 402.
• 0x6060: "CiA: Cyclic sync position (csp) [8]"
• Detailed description in 4Operating mode "CiA 402 cyclic sync position mode (csp)"
^ 135
2. Set the maximum motor speed: 0x6080
3. Set the rated motor torque: 0x6076
4. Set the positive torque limit: 0x60E0
5. Set the negative torque limit: 0x60E1

The position control is now active and the inverter responds to the defined position setpoint.

132
Configure position control
Basic setting
Following error detection and in-position detection

8.1.1 Following error detection and in-position detection

The "following error detection" and "in-position detection" are functions of the position
control. All parameters correspond to the CiA 402 specification.

Interpolation
0x607A 0x60FC 0x60FA
Setpoint position
Unit
Position
_p Setpoint position (internal) Position controller: Output signal
control
0x6063
Actual position
0x60C2 (internal)
Interpolation: time interval
0x6065
Following error: Window 0x60F4
0x6066 Following error: Actual error
Following error: Time monitoring 0x6041, bit13
CiA402 status word
0x6067
Position: Window 0x6041, bit10
0x6068 CiA402 status word
Position: Time monitoring "setpoint position reached"

Input data
Parameter Name Data type
0x607A Set position INTEGER_32
0x60FC Position demand internal value INTEGER_32
0x6062 Internal set position INTEGER_32
0x6065 Following error window UNSDIGNED_32
0x6066 Following error delay UNSIGNED_16
0x6067 Position reached window UNSIGNED_32
0x6068 Position reached delay UNSIGNED_16

Output data
Parameter Name Data type
0x6063 Actual position INTEGER_32
0x6064 Actual position INTEGER_32
0x60F4 Following error actual value INTEGER_32
0x60FA Control effort INTEGER_32
0x6041 CiA status word UNSIGNED_16

133
Configure position control
Basic setting
Interpolation

Parameter
Address Name / setting range / [default setting] Information
0x6065 Following error window Setting of the symmetrical tolerance window around the setpoint
0 ... [1000] ... 4294967295 pos. unit position for following error detection.
• 0 = following error detection deactivated.
• > 0 = following error detection activated.
• A following error is detected if the actual position is outside this
tolerance window.
• If the following error is detected longer than the time defined in
0x6066 in [ms], bit 13 ("following error") is set in the CiA status word
(0x6041).
• 0x60F4 displays the current deviation of the actual position from the
setpoint position.
0x6066 Following error delay Setting of time delay for the following error detection.
0 ... [0] ... 0 ms 0 = the following error is evaluated without a time delay.
0x6067 Position reached window Setting of the symmetrical tolerance window around the target position
0 ... [1000] ... 4294967295 pos. unit (0x607A) for the target position detection.
If the actual position is within this tolerance window longer than the
time defined in 0x6068 in [ms], the target position is deemed to be
reached and bit 10 ("target position reached") is set in the CiA status
word (0x6041).
0x6068 Position reached delay Setting of time monitoring for the target position detection.
0 ... [0] ... 0 ms 0 = the position in the target window is evaluated without a time delay.

8.1.2 Interpolation
When you select an operating mode with cyclic setpoint selection, all setpoints are first led via
interpolators which divides down setpoint step-changes of the bus cycle to the cycle time of
the control loops.All interpolators together are parameterised via 0x60C2:001 (Interpolation
time mantissa).
Parameter
Address Name / setting range / [default setting] Information
0x60C0 Interpolation mode Setting of the interpolation mode.
-1 Quadratic
0 Linear
0x60C2:001 Interpolation time: Interpolation time mantissa Basic multiplier for the interpolation time mantissa.
0 ... [1] ... 255
0x60C2:002 Interpolation time: Interpolation time exponent Interpolation time exponent
-6 ... [-3] ... 0

t = 0x60C2 : 001 ´ 10(0x60C2:002)

t = 1 ´ 10(-3) s = 0.001 s = 1 ms

134
Configure position control
Operating mode "CiA 402 cyclic sync position mode (csp)"
Default mapping

8.2 Operating mode "CiA 402 cyclic sync position mode (csp)"
Subfunctions of the operating mode
• Interpolation between communication cycle and control cycle
• Position control
• Speed control
• Torque control
• Update of the actual values for position, speed and torque

8.2.1 Default mapping

The default mapping for the "cyclic sync position mode" is defined in the following
parameters:
Parameter Designation Data type
0x1600 RPDO-->axis: cyclic sync position mode (csp) RECORD
0x1606 RPDO-->axis: torque limit RECORD
0x1A00 Axis-->TPDO: cyclic sync position mode (csp) RECORD

Data received from the Controller (RPDO)

Parameter Designation Data type
0x6040 CiA402 control word UNSIGNED_16
0x2830 Lenze control word UNSIGNED_16
0x6060 Operating mode: selection INTEGER_8
0x60B2 Torque: offset INTEGER_16
0x607A Position: setpoint position INTEGER_32
0x60B1 Velocity: offset INTEGER_32
0x2902 Speed controller: load I component INTEGER_16
0x60E0 Torque: positive limit value UNSIGNED_16
0x60E1 Torque: negative limit value UNSIGNED_16

Data sent to the Controller (TPDO)

Parameter Designation Data type
0x6041 CiA402 status word UNSIGNED_16
0x2831 Lenze status word UNSIGNED_16
0x6061 Operating mode: display INTEGER_8
0x603F Error code UNSIGNED_16
0x606C Velocity: actual velocity UNSIGNED_16
0x6077 Torque: actual torque INTEGER_16
0x6064 Position: actual position INTEGER_32
0x60F4 Following error: actual error INTEGER_32

135
Configure position control
Operating mode "CiA 402 cyclic sync position mode (csp)"
Signal flow

8.2.2 Signal flow

Positive torque limit value

Negative torque limit value
Speed ctrl.: Load I component

Position Speed Speed

controller limitation controller
Interpolation
Target position
Velocity offset Torque Field-orientated
Torque offset limitation control
Iq
Id M
Position actual value Velocity actual value Torque actual value
Encoder
evaluation

136
Configure position control
Operating mode "CiA 402 cyclic sync position mode (csp)"
Signal flow

Overview of the most important parameters

Function Icon Parameter Name
Input data 0x6040 CiA control word
0x2830 Inverter control word
0x6060 CiA: Operation mode
0x607A Set position
0x60B1 Offset speed
0x60B2 Offset torque
0x60E0 Positive torque limit
0x60E1 Negative torque limit
0x2902 I component load value
Output data 0x6041 CiA status word
0x2831 Inverter-Statuswort
0x6061 CiA: Active operation mode
0x6064 Actual position
0x606C Actual speed
0x6077 Actual torque
Interpolation 0x60C0 Interpolation mode
0x60C2:001 Interpolation time
0x60C2:002 Interpolation time
Position controller 0x2980 Position controller gain
0x2981 Position controller gain adaption
0x2982 Position controller output signal limitation
0x2983 Actual position start value
0x2984 Mode for setting the actual position
0x2986 Resulting gain adaption
Speed limitation 0x6080 Max. motor speed

Speed controller 0x2900:001 Gain

0x2900:002 Reset time
0x2900:003 Rate time
0x2901 Speed controller gain adaption
0x2902 I component load value
Torque limitation 0x60E0 Positive torque limit
0x60E1 Negative torque limit
0x6076 Rated motor torque
0x6072 Max. torque
Field-oriented control Iq 0x6073 Max. current
Id
0x6075 Rated motor current
0x2941 Current controller feedforward control
0x2942:001 Current controller parameters
Gain
0x2942:002 Current controller parameters
Reset time
0x29E2 DC-bus filter time
0x29E3 Motor voltage filter time
0x29E0:001 Field weakening controller settings
Gain (ASM)
0x29E0:002 Field weakening controller settings
Reset time (ASM)
0x29E1 Field weakening controller Field limitation
0x29C0:001 Field controller settings
Gain
0x29C0:002 Field controller settings
Reset time
0x2939 Switching frequency

137
Configure position control
Process input data (CiA 402 objects)
Control commands and status information

8.2.3 Control commands and status information

The following control commands can be executed via the CiA 402 control word 0x6040:
Control word State Function
Bit 4 0 reserved (bit must be set to "0".)
Bit 5 0 reserved (bit must be set to "0".)
Bit 6 0 reserved (bit must be set to "0".)
Bit 8 0↗1 Stop

The following status information is output via the CiA402 status word 0x6041:
Status word State Meaning
Bit 12 0 Operating mode is inactive.
1 The drive follows the setpoint selection.

8.3 Process input data (CiA 402 objects)

Parameter
Address Name / setting range / [default setting] Information
0x6060 CiA: Operation mode CiA: Operation mode
-13 MS: Manual jog open loop (MOL) Manufacturer-specific manual control
4Operation mode "Manual Jog" ^ 331
-12 MS: Pole position identification (PPI) Manufacturer-specific pole position identification (PLI)
4Synchronous motor: Pole position identification (PPI) ^ 209
4Selection of the PPI method for CiA mode ^ 210
0 No selection No selection
2 CiA: Velocity mode (vl) 4Operating mode "CiA 402 velocity mode (vl)" ^ 149
8 CiA: Cyclic sync position (csp) 4Operating mode "CiA 402 cyclic sync position mode (csp)" ^ 135
9 CiA: Cyclic sync velocity mode (csv) 4Operating mode "CiA 402 cyclic sync velocity mode (csv)" ^ 156
10 CiA: Cyclic sync torque mode (cst) 4Operating mode "CiA 402 cyclic sync torque mode (cst)" ^ 167
0x607A Set position Setting of the set position.
-2147483648 ... [0] ... 2147483647 pos. unit
0x60B1 Offset speed Additive value for setpoint velocity or velocity feedforward control -
-2147483648.00 ... [0.00] ... 2147483647.00 rpm offset speed.
0x60B2 Offset torque Offset torque
-3276.8 ... [0.0] ... 3276.7 % • 100 % = rated motor power (0x6076)
0x60E0 Positive torque limit Positive torque limit source for speed control with torque limitation.
0.0 ... [100.0] ... 3276.7 % • 100 % = Rated motor torque 0x6076
0x60E1 Negative torque limit Code previously C3687.
0.0 ... [100.0] ... 3276.7 % Negative torque limit source for speed control with torque limitation.
• 100 % = Rated motor torque 0x6076

8.4 Process output data (CiA 402 objects)

Parameter
Address Name / setting range / [default setting] Information
0x6064 Actual position Display of the actual position.
• Read only: x pos. unit
0x6077 Actual torque Display of the actual torque.
• Read only: x.x % • 100 % = Rated motor torque 0x6076
0x60F4 Following error actual value Display of the current following error.
• Read only: x pos. unit

138
Configure position control
Monitoring the position error

8.5 Monitoring the position error

Position error monitoring can be used for the following control modes:
• Servo control for synchronous motor (SM), 0x2C00 = [1]
• Servo control for asynchronous motor (ASM), 0x2C00 = [2]
Following error monitoring is effective in an operating mode with position controller. The
system deviation (i. e. the following error) is compared to the following error tolerance set at
the input of the position controller (see red arrow in the figure below).

Positive torque limit value

Negative torque limit value
Speed ctrl.: Load I component

Position Speed Speed

The error response set in 0x2D51:006 is executed if ...

1. the following error tolerance set in 0x2D51:004 is exceeded and ...
2. the exceedance lasts at least as long as set in 0x2D51:005.

139
Configure position control
Monitoring the position error

Parameter
Address Name / setting range / [default setting] Information
0x2D51:004 Position error/speed error - monitoring: Position error Setting of the error threshold for position error monitoring.
- error threshold
1 ... [360] ... 2147483647 °
0x2D51:005 Position error/speed error - monitoring: Position error Setting of the minimum time a position error must be pending until an
- min. time for error error/warning message is triggered.
0 ... [0] ... 50 ms
0x2D51:006 Position error/speed error - monitoring: Position error Setting of the error response of position error monitoring.
- error response
0 No response
1 Fault > CiA402
2 Warning
0x2922:001 Following error diagnostics: Following error (interval) - Time interval for determining the following error.
Time
10 ... [1000] ... 65535 ms
0x2922:002 Following error diagnostics: Following error (interval) - Mean value in the time interval
Mean value
• Read only: x.xx °
0x2922:003 Following error diagnostics: Following error (interval) - Maximum value in the time interval
Maximum value
• Read only: x.xx °
0x2922:004 Following error diagnostics: Following error (manual) - Determination of the following error between manually specified start/
Start/Stop stop command.
0 Stop
1 Start
0x2922:005 Following error diagnostics: Following error (manual) - Mean value between "start" and "stop"
Mean value
• Read only: x.xx °
0x2922:006 Following error diagnostics: Following error (manual) - Maximum value between "start" and "stop"
Maximum value
• Read only: x.xx °
0x2922:007 Following error diagnostics: Following error Mean value between "standstill" and "standstill" of the drive (< 5 rpm)
(standstill-standstill) - Mean value The value is automatically updated when the speed drops below 5 rpm
• Read only: x.xx ° again.
0x2922:008 Following error diagnostics: Following error Maximum value between "standstill" and "standstill" of the drive
(standstill-standstill) - Maximum value (< 5 rev./min)
• Read only: x.xx ° The value is automatically updated when the speed drops below 5 rpm
again.

140
Configure position control
Position detection with touch probe (TP)
Default mapping

8.6 Position detection with touch probe (TP)

A "touch probe" (short: "TP") is an event that can be triggered, for instance via a digital input
in an edge-controlled manner to detect and further process an actual value (which is changing
fast) at the triggering time.
• Typical applications for touch probes:
• Homing
• Mark synchronisation
• Length measurements
• Up to 2 touch probe channels can be used in parallel.
• Possible touch probe sources:
• TP1 : Zero pulse position encoder or digital input DI1
• TP2 : Zero pulse position encoder or digital input DI2

The digital inputs DI1 and DI2 can be additionally evaluated any time as
"normal" digital inputs via 0x60FD.

8.6.1 Default mapping

The default mapping for a touch probe detection is defined in the following parameters:
Parameter Designation Data type
0x1604 RPDO-->axis: touch probe (TP) RECORD
0x1A04 Axis-->TPDO: touch probe (TP) RECORD

Data received from the Controller (RPDO)

Parameter Designation Data type
0x60B8 Touch probe control word UNSIGNED_16

Data sent to the Controller (TPDO)

Parameter Designation Data type
0x60B9 Touch probe status word UNSIGNED_16
0x60BA TP1: actual position - rising edge INTEGER_32
0x60BB TP1: actual position - falling edge INTEGER_32
0x60BC TP2: actual position - rising edge INTEGER_32
0x60BD TP2: actual position - falling edge INTEGER_32

141
Configure position control
Position detection with touch probe (TP)
General mode of operation

8.6.2 General mode of operation

If an event occurs at the configured touch probe source, a time stamp is detected in the servo
inverter.
The detected time stamp is related to the system time and can thus be divided into two parts:
One part is the control cycle in which the of the event. The other part is the time difference
starting from the detected control cycle to the real detection of the event
Thanks to a history buffer, the servo inverter knows the last n position values. Thus, the actual
position is known at the start and at the end of the control cycle in which the event has
occurred. A linear interpolation takes place between these two position grid points. The result
is the exact position at the motor shaft at the time the event is triggered, see the schematic
diagram:

Position
Event received

pn-1 pn

250 µs
t

t1: Time difference starting from the detected control cycle to the real detection of the event
Pn-1: Actual position grid point 1
Pn: Actual position grid point 2

The position grid points are detected in the servo inverter in a grid of 250 µs. After a touch
probe has been triggered, the input is deactivated for up to 250 µs to avoid bouncing. Thus,
the maximum frequency for touch probe triggering is 4 kHz.
If in contrast to the uniform movement given in the figure, an accelerated movement is taken
as a basis, the 250 µs grid also allows for a very good linear position reconstruction because
the speed change at the motor shaft only has a marginal impact in 250 µs.

8.6.3 Filtering of the touch probe signal

For the touch probe inputs, a common filter time (debounce time) can be parameterised to
debounce the TP signals so that there is no response to external interfering signals.
• The signal status of the debouncing filter is detected at the TP input and a new value is
added to the filter.
• A separate setting for a touch probe is not possible. Thus, the filter time is set for all touch
probe inputs.
Parameter
Address Name / setting range / [default setting] Information
0x2500 Touch probe filter time The set filter time is automatically taken into account in the touch probe
0 ... [0] ... 1984 us calculation.
The setting "0" deactivates the filter.

Note!
Values can be set directly. When entering a filter time between
0 ... 1984 µs, the value is automatically rounded down internally to the
next value that can be set and is shown in the case of read requests.

142
Configure position control
Position detection with touch probe (TP)
Compensation of runtime delays

8.6.4 Compensation of runtime delays

In reality, both the input circuit in the servo inverter and the touch probe sensor have runtime
delays (latencies) themselves. These can be taken into account in the calculation of the real
trigger time and thus the real position at the trigger time.
In the following figure, the event is detected in the servo inverter at the time ②. Due to the
input circuit and the sensor used, the signal runtime, however, has been delayed. The real
physical event has already occurred at time ①. For compensating this runtime delay, you can
set a corresponding delay time for each touch probe channel that is included in the
determination of the control cycle and interpolation of the position, see figure in chapter
"General mode of operation". ^ 142

Position
Event received
Event pn
pn-1
pn-2
Delay time

t
1 2

"Delay time":Delay time between the real physical event and the electrical detection.
① Real physical event
② Electrical detection of the event in the servo inverter

Delay times of the digital input and the required minimum signal duration
The following table lists the typical delay times and the required minimum signal durations for
the digital inputs of the servo inverter:
Digital signal Typical delay time Minimum signal duration
Rising edge (HIGH pulse) 4 µs 4 µs
Falling edge (LOW pulse) 4 µs 4 µs

Parameter
Address Name / setting range / [default setting] Information
0x2D00:001 Touch probe (TP) delay time: Touch probe 1 delay Setting of the delay time for touch probe 1.
time
0.000 ... [0.000] ... 7.000 ms
0x2D00:002 Touch probe (TP) delay time: Touch probe 2 delay Setting of the delay time for touch probe 2.
time
0.000 ... [0.000] ... 7.000 ms
0x2D00:003 Touch probe (TP) delay time: Touch probe 3 delay Setting of the delay time for touch probe 3.
time
0.000 ... [0.000] ... 7.000 ms
0x2D00:004 Touch probe (TP) delay time: Touch probe 4 delay Setting of the delay time for touch probe 4.
time
0.000 ... [0.000] ... 7.000 ms

143
Configure position control
Position detection with touch probe (TP)
Touch probe control word

8.6.5 Touch probe control word

Control words for configuring the touch probe functionality.
• CiA control word (Touch probe 1/2): 40x60B8
• Extended control word (Touch probe 3/4, manufacturer-specific): 40x2D02:001
Parameter
Address Name / setting range / [default setting] Information
0x60B8 Touch probe settings Control word for configuring the touch probe settings.
0x0000 ... [0x0000] ... 0xFFFF
Bit 0 TP1 enable 0: deactivate touch probe channel 1.
1: activate touch probe channel 1.
Bit 1 TP1 continous trigger Event for touch probe channel 1
0: only detect the first event.
1: detect all events.
Bit 2 TP1 trigger with zero pulse Source for touch probe channel 1
0: digital input 1
1: zero pulse position encoder
Bit 4 TP1 enable pos. edge 0: deactivate scanning.
Bit 5 TP1 enable neg. edge 1: activate scanning.
Bit 8 TP2 enable 0: deactivate touch probe channel 2.
1: activate touch probe channel 2.
Bit 9 TP2 continous trigger Event for touch probe channel 2
0: only detect the first event.
1: detect all events.
Bit 10 TP2 trigger with zero pulse Source for touch probe channel 2
0: digital input 2
1: zero pulse position encoder
Bit 12 TP2 enable pos. edge 0: deactivate scanning.
Bit 13 TP2 enable neg. edge 1: activate scanning.

Parameter
Address Name / setting range / [default setting] Information
0x2D02:001 Touch probe diagnostics: Touch probe 3/4 function
0x0000 ... [0x0000] ... 0xFFFF
Bit 0 Activate touch probe 3
Bit 1 Touch probe 3 trigger = 1st event/continous
Bit 2 Touch probe 3 source = TP input/zero pulse
Bit 4 Touch probe 3 sampling = rising edge
Bit 5 Touch probe 3 sampling = falling edge
Bit 6 Position feedback source
Bit 8 Activate touch probe 4
Bit 9 Touch probe 4 trigger = 1st event/continous
Bit 10 Touch probe 4 source = TP input/zero pulse
Bit 12 Erfassung Touch-Probe 4 = steigende Flanke
Bit 13 Erfassung Touch-Probe 4 = fallende Flanke
Bit 14 Position feedback source

144
Configure position control
Position detection with touch probe (TP)
Touch probe status word

8.6.6 Touch probe status word

Status words of the touch probe functionality.
• CiA status word(Touch probe 1/2): 40x60B9
• Extended status word (Touch probe 3/4, manufacturer-specific): 40x2D02:002
Parameter
Address Name / setting range / [default setting] Information
0x60B9 Touch probe status Status of the touch probe functionality.
• Read only
Bit 0 TP1 active 0: touch probe channel 1 deactivated.
1: touch probe channel 1 activated.
Bit 1 TP1 pos. edge detected 0: position not detected.
Bit 2 TP1 neg. edge detected 1: position detected.
Bit 6 TP1 level at enable start Level for detection via touch probe channel 1
0: LOW level
1: HIGH level
Bit 8 TP2 active 0: touch probe channel 2 deactivated.
1: touch probe channel 2 activated.
Bit 9 TP2 pos. edge detected 0: position not detected.
Bit 10 TP2 neg. edge detected 1: position detected.
Bit 14 TP2 level at enable start Level for detection via touch probe channel 2
0: LOW level
1: HIGH level

Parameter
Address Name / setting range / [default setting] Information
0x2D02:002 Touch probe diagnostics: Touch-Probe 3/4 status
• Read only
Bit 0 Touch-Probe 3 ist aktiviert
Bit 1 Touch-Probe 3 - Position erfasst fallende
Flanke
Bit 2 Touch-Probe 3 - Position erfasst steigende
Flanke
Bit 6 Touch-Probe 3 - Pegel bei Zeitstempel
Bit 8 Touch-Probe 4 ist aktiviert
Bit 9 Touch-Probe 4 - Position erfasst fallende
Flanke
Bit 10 Touch-Probe 4 - Position erfasst steigende
Flanke
Bit 14 Touch-Probe 4 - Pegel bei Zeitstempel

145
Configure position control
Position detection with touch probe (TP)
Detected time stamp and positions

8.6.7 Detected time stamp and positions

In case of the "continuous touch probe configuration", a newly detected value

overwrites the previously detected value.

Parameter
Address Name / setting range / [default setting] Information
0x60BA Touch probe 1: Position at pos. edge Touch probe 1: Position at pos. edge
• Read only: x pos. unit
0x60BB Touch probe 1: Position at neg. edge Touch probe 1: Position at neg. edge
• Read only: x pos. unit
0x60BC Touch probe 2: Position at pos. edge Touch Probe 2: Position at pos. edge
• Read only: x pos. unit
0x60BD Touch probe 2: Position at neg. edge Touch probe 2: Position at neg. edge
• Read only: x pos. unit
0x2D03:001 Touch probe position: Touch probe 3 position rising
edge
• Read only: x pos. unit
0x2D03:002 Touch probe position: Touch probe 3 position falling
edge
• Read only: x pos. unit
0x2D03:003 Touch probe position: Touch probe 4 position rising
edge
• Read only: x pos. unit
0x2D03:004 Touch probe position: Touch probe 4 position falling
edge
• Read only: x pos. unit
0x2D01:001 Touch probe (TP) time stamp: Touch probe 1-rising Display of the time stamp of the rising edge for touch probe 1.
edge time stamp
• Read only: x ns
0x2D01:002 Touch probe (TP) time stamp: Touch probe 1-falling Display of the time stamp of the falling edge for touch probe 1.
edge time stamp
• Read only: x ns
0x2D01:003 Touch probe (TP) time stamp: Touch probe 2-rising Display of the time stamp of the rising edge for touch probe 2.
edge time stamp
• Read only: x ns
0x2D01:004 Touch probe (TP) time stamp: Touch probe 2-falling Display of the time stamp of the falling edge for touch probe 2.
edge time stamp
• Read only: x ns
0x2D01:005 Touch probe (TP) time stamp: Touch probe 3-rising Display of the time stamp of the rising edge for touch probe 3.
edge time stamp
• Read only: x ns
0x2D01:006 Touch probe (TP) time stamp: Touch probe 3-falling Display of the time stamp of the falling edge for touch probe 3.
edge time stamp
• Read only: x ns
0x2D01:007 Touch probe (TP) time stamp: Touch probe 4-rising Display of the time stamp of the rising edge for touch probe 4.
edge time stamp
• Read only: x ns
0x2D01:008 Touch probe (TP) time stamp: Touch probe 4-falling Display of the time stamp of the falling edge for touch probe 4.
edge time stamp
• Read only: x ns

146
Configure position control
Setpoint diagnostics

8.7 Setpoint diagnostics

The following parameters provide information on the setpoints set for position control.
Parameter
Address Name / setting range / [default setting] Information
0x6062 Internal set position Display of the interpolated internal set position for the position control.
• Read only: x pos. unit
0x6063 Actual position Display of the actual position in the internal unit.
• Read only: x incr.
0x60FC Position demand internal value Display of the interpolated setpoint position for the position control in
• Read only: x incr. the internal unit.
0x60FA Control effort Display of the actuating signal (setpoint speed) of the position controller.
• Read only: rpm

147
Configure speed control
Basic setting

9 Configure speed control

Two operating modes are available for configuring the speed control:
• Operating mode "CiA 402 velocity mode (vl)" ^ 149
Here, a speed-controlled movement of the drive is realised by defining a speed setpoint.
• Operating mode "CiA 402 cyclic sync velocity mode (csv)" ^ 156
This operating mode provides a fast speed follower with torque/feed force feedforward
control.
The conditions are a correct entry of the motor data (Motor data) and the parameter setting
of the motor control (Configuring the motor control).

9.1 Basic setting

The following describes the steps required for configuring the speed control.
1. 0x6060Set the manufacturer spanning operating mode "CiA: Velocity mode (vl) [2]" or
"CiA: Cyclic sync velocity mode (csv) [9]".
- A detailed description of the "CiA: Velocity mode (vl)" operating mode can be found in
the section Operating mode "CiA 402 velocity mode (vl)" . ^ 149
- A detailed description of the "CiA: Cyclic sync velocity mode (csv)" operating mode can
be found in the section Operating mode "CiA 402 cyclic sync velocity mode (csv)" .
^ 156
2. Set the maximum motor speed in Max. motor speed. 40x6080
3. Set the rated motor torque in Rated motor torque. 40x6076
4. Set the positive torque limit. 40x60E0
5. Set the negative torque limit. 40x60E1

The speed control is now active and the inverter responds to the speed setpoint.

148
Configure speed control
Operating mode "CiA 402 velocity mode (vl)"
Default mapping

9.2 Operating mode "CiA 402 velocity mode (vl)"

Selection of the operating mode
The "speed" operating mode is selected with the setting "2" in 0x6060.

9.2.1 Default mapping

The default mapping for the "Speed" operating mode is defined in the following parameters.
Parameter Designation Data type
0x1603 RPDO-->axis: Velocity mode (vl) RECORD
0x1A03 Axis-->TPDO: Velocity mode (vl) RECORD

Data received from the Controller (RPDO)

Parameter Designation Data type
0x6040 CiA402 control word UNSIGNED_16
0x2830 Lenze control word UNSIGNED_16
0x6060 Operating mode: selection INTEGER_8
0x6042 Velocity: setpoint velocity vl INTEGER_8

Data sent to the Controller (TPDO)

Parameter Designation Data type
0x6041 CiA402 control word UNSIGNED_16
0x2831 Lenze control word UNSIGNED_16
0x6061 Operating mode: display INTEGER_8
0x603F Error code UNSIGNED_16
0x6044 Velocity: actual velocity vl INTEGER_8

149
Configure speed control
Operating mode "CiA 402 velocity mode (vl)"
Signal flow (servo control)

9.2.2 Signal flow (servo control)

Positive torque limit value

Negative torque limit value

Ramp Speed Speed

function limitation controller
vl target velocity
Torque Field-orientated
Interpolation vl velocity limitation control
demand Iq
Torque offset
Id M
vl velocity actual value Torque actual value

Encoder
evaluation

150
Configure speed control
Operating mode "CiA 402 velocity mode (vl)"
Signal flow (servo control)

Overview of the most important parameters

Function Icon Parameter Name
Input data 0x6040 CiA control word
0x2830 Inverter control word
0x6060 CiA: Operation mode
0x6042 Set speed
0x60B2 Offset torque
0x60E0 Positive torque limit
0x60E1 Negative torque limit
Output data 0x6041 CiA status word
0x2831 Inverter-Statuswort
0x6061 CiA: Active operation mode
0x6043 Internal set speed
0x606C Actual speed
0x6077 Actual torque
Interpolation 0x60C0 Interpolation mode
0x60C2:001 Interpolation time
0x60C2:002 Interpolation time
Ramp function 0x6048:001 CiA acceleration: Delta speed
0x6048:002 CiA acceleration: Delta time
0x6049:001 CiA deceleration: Delta speed
0x6049:002 CiA deceleration: Delta time
Speed limitation 0x6080 Max. motor speed

Speed controller 0x2900:001 Gain

151
Configure speed control
Operating mode "CiA 402 velocity mode (vl)"
Signal flow (V/f characteristic control)

9.2.3 Signal flow (V/f characteristic control)

DC-injection braking Flying restart process

Slip compensation

Load V/f
adjustment characteristic
Ramp Speed Current Frequency PWM
function limitation limitation limitation
vl target velocity M
Oscillation Current actual value
vl velocity demand damping Current demand value Voltage actual value
is limited Output frequency
vl velocity actual value actual value

152
Configure speed control
Operating mode "CiA 402 velocity mode (vl)"
Signal flow (V/f characteristic control)

Short overview of the most important parameters

Function Parameter Designation
Input data 0x6040 CiA402 control word
0x2830 Lenze control word
0x6060 Operating mode: selection
0x6042 Velocity: setpoint velocity vl
Output data 0x6041 CiA402 control word
0x2831 Lenze status word
0x6061 Operating mode: display
0x6043 Velocity: interpolated setpoint velocity vl
0x606C Velocity: actual velocity
0x6078 Motor: actual current
0x2D82 Motor: actual voltage - Vrms, phase-phase
0x2DDD Device: actual output frequency
Ramp function 0x6048:001 Ramp: speed interval (for acceleration)
0x6048:002 Ramp: time interval (for acceleration)
0x6049:001 Ramp: speed interval (for deceleration)
0x6049:002 Ramp: time interval (for deceleration)
Speed limitation 0x6080 Motor: max. speed

Slip compensation 0x2B09:001 VFC: slip compensation - influence

0x2B09:002 VFC: slip compensation - filter time

Current limitation 0x2B08:001 Gain

0x2B08:002 Reset time
0x6073 Max. current

Oscillation damping 0x2B0A:001 VFC: oscillation damping - gain

0x2B0A:002 VFC: oscillation damping - filter time
0x2B0A:003 VFC: oscillation damping - limitation
0x2B0A:004 VFC: oscillation damping - ramp end frequency
Load adjustment 0x2B07:001 VFC: load adjustment - direction of rotation
0x2B07:002 VFC: load adjustment - value

V/f characteristic 0x2B01:001 VFC: V/f characteristic - voltage in the reference

point
0x2B01:002 VFC: V/f characteristic - frequency in the
reference point
0x2B06 VFC: voltage boost
0x2B04 VFC: voltage vector control - setpoint current
0x2B00 VFC: V/f characteristic - form
0x2B02:001 VFC: user-definable V/f characteristic
... • Frequency grid points (x1 ... x11)
0x2B02:011
0x2B03:001 VFC: user-definable V/f characteristic
... • Voltage grid points (y1 ... y11)
0x2B03:011
DC-injection braking 0x2B80 DC-injection braking: current

A more detailed representation of the signal flow with all relevant parameters
can be found in the »PLC Designer« on the signal flow tab for the servo inverter.

153
Configure speed control
Operating mode "CiA 402 velocity mode (vl)"
Signal flow (V/f characteristic control)

Overview of the most important parameters

Function Icon Parameter Name
Input data 0x6040 CiA control word
0x2830 Inverter control word
0x6060 CiA: Operation mode
0x6042 Set speed
Output data 0x6041 CiA status word
0x2831 Inverter-Statuswort
0x6061 CiA: Active operation mode
0x6043 Internal set speed
0x606C Actual speed
0x6078 Actual current
0x2D82 Motor actual voltage (Veff)
0x2DDD Output frequency
Ramp function 0x6048:001 Acceleration ramp
CiA acceleration: Delta speed
0x6048:002 Acceleration ramp
CiA acceleration: Delta time
0x6049:001 Deceleration ramp
CiA deceleration: Delta speed
0x6049:002 Deceleration ramp
CiA deceleration: Delta time
Speed limitation 0x6080 Max. motor speed

Slip compensation 0x2B09:001 Slip compensation

Gain
0x2B09:002 Slip compensation
Filter time
Current limitation 0x2B08:001 V/f Imax controller
Gain
0x2B08:002 V/f Imax controller
Reset time
0x6073 Max. current
Oscillation damping 0x2B0A:001 Oscillation damping
Gain
0x2B0A:002 Oscillation damping
Filter time
0x2B0A:003 Oscillation damping
Limitation
0x2B0A:004 Oscillation damping
Final ramp frequency
Load adaptation 0x2B07:001 Load adaption
Direction of rotation
0x2B07:002 Load adaption
Load adaption value
V/f characteristic 0x2B01:001 V/f shape data
Base voltage
0x2B01:002 V/f shape data
Base frequency
0x2B06 Voltage boost
0x2B04 V/f boost controller - current setpoint
0x2B00 V/f characteristic shape
Frequency grid points (x) user V/f characteristic
0x2B02:001 x1 = f01
... ...
0x2B02:011 x11 = f11
Voltage grid points (y) user V/f characteristic
0x2B03:001 y1 = U01 (x = f01)
... ...
0x2B03:011 y11 = U11 (x = f11)

154
Configure speed control
Operating mode "CiA 402 velocity mode (vl)"
Setpoint factor

Function Icon Parameter Name

DC-injection braking 0x2B80 Current for DC-injection braking

9.2.4 Setpoint factor

Parameter
Address Name / setting range / [default setting] Information
0x604B:001 vl set-point factor: vl set-point factor numerator
-32768 ... [1] ... 32767
0x604B:002 vl set-point factor: vl set-point factor denominator
-32768 ... [1] ... 32767

9.2.5 Dimension factor

Parameter
Address Name / setting range / [default setting] Information
0x604C:001 vl dimension factor: vl dimension factor numerator
-2147483648 ... [1] ... 2147483647
0x604C:002 vl dimension factor: vl dimension factor denominator
-2147483648 ... [1] ... 2147483647

155
Configure speed control
Operating mode "CiA 402 cyclic sync velocity mode (csv)"
Default mapping

9.3 Operating mode "CiA 402 cyclic sync velocity mode (csv)"
This operating mode provides a fast velocity follower with torque/feed force feedforward
control.

Subfunctions of the operating mode

• Interpolation between communication cycle and control cycle
• Speed control
• Limitation of the motor speed
• Update of the actual values for position, velocity and torque

9.3.1 Default mapping

The default mapping for the cyclic sync velocity mode (csv)" is defined in the following
parameters.
Parameter Designation Data type
0x1602 RPDO-->axis: cyclic sync velocity mode (csv) RECORD
0x1606 RPDO-->axis: torque limit RECORD
0x1A02 Axis-->TPDO: cyclic sync velocity mode (csv) RECORD

Data received from the Controller (RPDO)

Parameter Designation Data type
0x6040 CiA402 control word UNSIGNED_16
0x2830 Lenze control word UNSIGNED_16
0x6060 Operating mode: selection INTEGER_8
0x60B2 Torque: offset INTEGER_16
0x60FF Velocity: setpoint velocity INTEGER_32
0x60E0 Torque: positive limit value UNSIGNED_16
0x60E1 Torque: negative limit value UNSIGNED_16

Data sent to the Controller (TPDO)

156
Configure speed control
Operating mode "CiA 402 cyclic sync velocity mode (csv)"
Signal flow (servo control)

9.3.2 Signal flow (servo control)

Limit value:
Positive torque
Negative torque

Speed Speed
limitation controller
Interpolation
Velocity offset
Torque offset Torque Field-orientated
limitation control
Iq
Id M
Position actual value
Velocity actual value Torque actual value
Encoder
evaluation

157
Configure speed control
Operating mode "CiA 402 cyclic sync velocity mode (csv)"
Signal flow (servo control)

Overview of the most important parameters

Function Icon Parameter Name
Input data 0x6040 CiA control word
0x2830 Inverter control word
0x6060 CiA: Operation mode
0x6042 Set speed
0x60B1 Offset speed
0x60B2 Offset torque
0x60E0 Positive torque limit
0x60E1 Negative torque limit
Output data 0x6041 CiA status word
0x2831 Inverter-Statuswort
0x6061 CiA: Active operation mode
0x6064 Actual position
0x606C Actual speed
0x6077 Actual torque
Interpolation 0x60C0 Interpolation mode
0x60C2:001 Interpolation time
0x60C2:002 Interpolation time
Speed limitation 0x6080 Max. motor speed

Speed controller 0x2900:001 Gain

158
Configure speed control
Operating mode "CiA 402 cyclic sync velocity mode (csv)"
Signal flow (V/f characteristic control)

9.3.3 Signal flow (V/f characteristic control)

DC-injection braking

Slip compensation

Load V/f
adjustment characteristic
Speed Current Frequency PWM
Interpolation limitation limitation limitation
Target velocity M
Oscillation Current actual value
damping Current demand value Voltage actual value
is limited
Output frequency
Velocity actual value actual value

159
Configure speed control
Operating mode "CiA 402 cyclic sync velocity mode (csv)"
Signal flow (V/f characteristic control)

Overview of the most important parameters

Function Icon Parameter Name
Input data 0x6040 CiA control word
0x2830 Inverter control word
0x6060 CiA: Operation mode
0x6042 Set speed
Output data 0x6041 CiA status word
0x2831 Inverter-Statuswort
0x6061 CiA: Active operation mode
0x606C Actual speed
0x6078 Actual current
0x2D82 Motor actual voltage (Veff)
0x2DDD Output frequency
Interpolation 0x60C0 Interpolation mode
0x60C2:001 Interpolation time
0x60C2:002 Interpolation time
Speed limitation 0x6080 Max. motor speed

Slip compensation 0x2B09:001 Slip compensation

160
Configure speed control
Process input data (CiA 402 objects)
Control commands and status information

9.3.4 Control commands and status information

The following control commands can be executed in the "cyclic sync velocity mode" via the
CiA402 control word (0x6040):
Control word State Function
Bit 4 0 reserved (bit must be set to "0")
Bit 5 0 reserved (bit must be set to "0")
Bit 6 0 reserved (bit must be set to "0")
Bit 8 0↗1 Stop

The following status information are output via the CiA402 status word (0x6041) in the "cyclic
sync velocity mode":
Status word State Meaning
Bit 12 0 "Cyclic sync velocity mode" is inactive
1 "Cyclic sync velocity mode" is active

9.4 Process input data (CiA 402 objects)

Parameter
Address Name / setting range / [default setting] Information
0x6042 Set speed Set speed (velocity mode).
-32768 ... [0] ... 32767 rpm
0x6046:001 Speed limits: Min. speed Min. speed (velocity mode).
0 ... [0] ... 0 rpm
0x6046:002 Speed limits: Max. speed Max. speed (velocity mode).
2147483647 ... [2147483647] ... 2147483647 rpm
0x6048:001 Acceleration ramp: CiA acceleration: Delta speed CiA acceleration: Delta speed
0 ... [0] ... 2147483647 rpm
0x6048:002 Acceleration ramp: CiA acceleration: Delta time CiA acceleration: Delta time
0 ... [10] ... 65535 s
0x6049:001 Deceleration ramp: CiA deceleration: Delta speed CiA deceleration: Delta speed
0 ... [0] ... 2147483647 rpm
0x6049:002 Deceleration ramp: CiA deceleration: Delta time CiA deceleration: Delta time
0 ... [10] ... 65535 s
0x6060 CiA: Operation mode CiA: Operation mode
-13 MS: Manual jog open loop (MOL) Manufacturer-specific manual control
4Operation mode "Manual Jog" ^ 331
-12 MS: Pole position identification (PPI) Manufacturer-specific pole position identification (PLI)
4Synchronous motor: Pole position identification (PPI) ^ 209
4Selection of the PPI method for CiA mode ^ 210
0 No selection No selection
2 CiA: Velocity mode (vl) 4Operating mode "CiA 402 velocity mode (vl)" ^ 149
8 CiA: Cyclic sync position (csp) 4Operating mode "CiA 402 cyclic sync position mode (csp)" ^ 135
9 CiA: Cyclic sync velocity mode (csv) 4Operating mode "CiA 402 cyclic sync velocity mode (csv)" ^ 156
10 CiA: Cyclic sync torque mode (cst) 4Operating mode "CiA 402 cyclic sync torque mode (cst)" ^ 167
0x60B1 Offset speed Additive value for setpoint velocity or velocity feedforward control -
-2147483648.00 ... [0.00] ... 2147483647.00 rpm offset speed.
0x60FF Set speed Setting of the set speed.
-2147483648.00 ... [0.00] ... 2147483647.00 rpm

9.5 Process output data (CiA 402 objects)

Parameter
Address Name / setting range / [default setting] Information
0x6043 Internal set speed Display of the internal set speed (velocity demand).
• Read only: x rpm
0x6044 Actual speed Display of the actual speed (velocity mode).
• Read only: x rpm
0x606C Actual speed Display of the actual speed.
• Read only: rpm

161
Configure speed control
Monitoring the speed deviation

9.6 Monitoring the speed deviation

Monitoring of the speed deviation shall only be used in the following control modes:
• Servo control for synchronous motor (SM)
• Servo control for asynchronous motor (ASM)
Monitoring of the speed deviation is effective in the operating modes with speed controller. It
monitors the system deviation at the input of the speed controller (see blue arrow):

Torque: positive limit value

Torque: negative limit value

Ramp Speed Speed

function limitation controller
Setpoint velocity
Torque Field-oriented
Interpolation Setpoint velocity limitation control
interpolated Iq
Torque: offset
Id M
Actual position Actual velocity Actual torque

Encoder
evaluation

The error response set in 0x2D51:003 is executed if

1. the set tolerance of the speed deviation is 0x2D51:001 exceeded and
2. the exceedance lasts at least as long as set in 0x2D51:002.
Parameter
Address Name / setting range / [default setting] Information
0x2D51:001 Position error/speed error - monitoring: Speed error - Setting of the error threshold for speed error monitoring.
error threshold
1 ... [50] ... 2147483647 rpm
0x2D51:002 Position error/speed error - monitoring: Speed error - Setting of the minimum time a speed error must be pending until an
min. time for error error/warning message is triggered.
0 ... [0] ... 50 ms
0x2D51:003 Position error/speed error - monitoring: Speed error - Setting of the error response of speed error monitoring.
error response
0 No response
1 Fault > CiA402
2 Warning

162
Configuring the torque control

10 Configuring the torque control

This operating mode provides a fast torque follower with speed limitation.
Typical applications are, for instance, winders or packaging machines.
Preconditions
The conditions are a correct entry of the motor data (Motor data) and the parameter setting
of the motor control (Configuring the motor control).
A torque control can only be implemented in the motor control types to be set with 0x2C00:
• Servoregelung (SC-PSM) [1]
• Servo control (SC ASM) [2]
Thus, first one of these motor control types must be configured.
For details see the following chapter:
4Servo control for synchronous motor (SC-PSM) ^ 225
4Servo control for asynchronous motor (SC-ASM) ^ 226

163
Configuring the torque control
Basic setting

10.1 Basic setting

1. Set the manufacturer spanning operating mode "CiA: Cyclic sync torque mode (cst) [10]"
according to CiA402.
• A detailed description of this operating mode can be found in the "Operating mode
"CiA 402 cyclic sync torque mode (cst)"" section. ^ 167
2. Set the rated motor torque. 40x6076
3. Set the permissible maximum torque. 40x6072
• The maximum torque is preset in 0x6072.
• The change of the positive and negative limit of the maximum torque is described in
the "Torque limits" section. ^ 165
4. Parameterise speed limit. 0x2946
• The maximum speed is preset. 40x6080
• The change of the upper and lower speed limit is described in the "Speed limitation"
section. ^ 166
5. Define a torque setpoint for the torque control instead of a speed setpoint. The value is
given in percent and based on the rated motor torque set in 0x6076.

The torque control with speed limitation is now active and the inverter responds to the
defined torque setpoint.

164
Configuring the torque control
Basic setting
Torque limits

10.1.1 Torque limits

Details
The positive and negative torque limit can be set independently of each other. The torque
limit must be set to the maximum torque. 40x6072

Positive torque limit (0x2949:001)

Torque
Q2: Regenerating Q1: Motoring
Torque positive Torque positive
Speed negative Speed positive

Speed
Q3: Motoring Q4: Regenerating
Torque negative Torque negative
Speed negative Speed positive

Negative torque limit (0x2949:002)

• Display of the current positive torque limit in 0x2949:004.

• Display of the current negative torque limit in 0x2949:003.
The torque limits are also active in the "Velocity Mode" with the SC/ASM control mode.

Regardless of the setting in 0x2949:004 and 0x2949:004, the maximum torque

does not exceed the value configured in 0x6072.

The setting is made in percent with reference to the rated motor torque set in 0x6076.
Parameter
Address Name / setting range / [default setting] Information
0x294A:001 Torque limits offset: Torque offset
-3276.7 ... [0.0] ... 3276.7 %
0x294A:002 Torque limits offset: Resulting positive torque limit
• Read only: x.x %
0x294A:003 Torque limits offset: Resulting negative torque limit
• Read only: x.x %
0x60B2 Offset torque Offset torque
-3276.8 ... [0.0] ... 3276.7 % • 100 % = rated motor power (0x6076)
0x60E0 Positive torque limit Positive torque limit source for speed control with torque limitation.
0.0 ... [100.0] ... 3276.7 % • 100 % = Rated motor torque 0x6076
0x60E1 Negative torque limit Code previously C3687.
0.0 ... [100.0] ... 3276.7 % Negative torque limit source for speed control with torque limitation.
• 100 % = Rated motor torque 0x6076

165
Configuring the torque control
Basic setting
Speed limitation

10.1.2 Speed limitation

The torque control controls the assigned torque setpoint within the set speed limits. The
actual speed results from the load conditions of the application. For example, high speeds
may occur in a torque control if no counter torque is available (load-free machine).
When the actual speed reaches the set speed limits, it is kept on the respective limit value.
This function is also called "speed limitation".
Details
The lower and upper speed limit for speed limitation can be set independently of each other.
Parameter
Address Name / setting range / [default setting] Information
0x2946:001 Speed limitation: Upper speed limit Upper limit for the speed limitation.
-480000 ... [0] ... 480000 rpm • Setting is only effective with the selection "Upper speed limit [5]" in .
• Entry via keypad and Lenze Tools is in rpm!
• Via RPDO, the unit is vel. unit. and the scaling must be taken into
account.
• ± 480000 rpm = ±2 ^ 31 [n-unit]
0x2946:002 Speed limitation: Lower speed limit Lower limit for speed limitation.
-480000 ... [0] ... 480000 rpm • Setting is only effective with the selection "Lower speed limit [5]" in .
• Entry via keypad and Lenze Tools is in rpm!
• Via RPDO, the unit is vel. unit. and the scaling must be taken into
account.
• ± 480000 rpm = ±2 ^ 31 [n-unit]

166
Configuring the torque control
Operating mode "CiA 402 cyclic sync torque mode (cst)"
Default mapping

10.2 Operating mode "CiA 402 cyclic sync torque mode (cst)"

During the quick stop, the current limit 0x6073 and the torque limit 0x6072 are
active. The lower of the two limits determines the motor output torque. The
torque limits from 0x60E0 and 0x60E1 are not effective during quick stop.

Subfunctions of the operating mode

• Torque control with speed limitation
• Limitation of the motor speed
• Update of the actual values for position, velocity and torque

10.2.1 Default mapping

The default mapping for the "Cyclic sync torque mode" is defined in the following parameters:
Parameter Designation Data type
0x1601 RPDO-->axis: cyclic sync torque mode (cst) RECORD
0x1A01 Axis-->TPDO: cyclic sync torque mode (cst) RECORD

Data received from the Controller (RPDO)

Parameter Designation Data type
0x6040 CiA402 control word UNSIGNED_16
0x2830 Lenze control word UNSIGNED_16
0x6060 Operating mode: selection INTEGER_8
0x60B2 Torque: offset INTEGER_16
0x6071 Torque: setpoint torque INTEGER_16
0x2946:1 Speed limitation: upper speed limit INTEGER_32
0x2946:2 Speed limitation: lower speed limit INTEGER_32

Data sent to the Controller (TPDO)

167
Configuring the torque control
Operating mode "CiA 402 cyclic sync torque mode (cst)"
Signal flow

10.2.2 Signal flow

Positive torque limit value

Negative torque limit value

Speed limitation:
Upper speed limit Speed Torque Field-oriented
Interpolation limitation limitation control
Iq
Target torque
Id M
Torque: offset
Actual velocity
Speed limitation: Actual torque
Actual position
Lower speed limit
Encoder
evaluation

168
Configuring the torque control
Operating mode "CiA 402 cyclic sync torque mode (cst)"
Signal flow

Overview of the most important parameters

Function Icon Parameter Name
Input data 0x6040 CiA control word
0x2830 Inverter control word
0x6060 CiA: Operation mode
0x2946:001 Speed limitation
Upper speed limit
0x2946:002 Speed limitation
Lower speed limit
0x60B2 Offset torque
0x6071 Set torque
0x60E0 Positive torque limit
0x60E1 Negative torque limit
Output data 0x6041 CiA status word
0x2831 Inverter-Statuswort
0x6061 CiA: Active operation mode
0x606C Actual speed
0x6077 Actual torque
Interpolation 0x60C0 Interpolation mode
0x60C2:001 Interpolation time
0x60C2:002 Interpolation time
Speed limitation 0x6080 Max. motor speed
0x2946:001 Speed limitation
Upper speed limit
0x2946:002 Speed limitation
Lower speed limit
Torque limitation 0x60E0 Positive torque limit
0x60E1 Negative torque limit
0x6076 Rated motor torque
0x6072 Max. torque
Field-oriented control Iq 0x6073 Max. current
Id
0x6075 Rated motor current
0x2941 Current controller feedforward control
0x2942:001 Current controller parameters
Gain
0x2942:002 Current controller parameters
Reset time
0x29E2 DC-bus filter time
0x29E3 Motor voltage filter time
0x29E0:001 Field weakening controller settings
Gain (ASM)
0x29E0:002 Field weakening controller settings
Reset time (ASM)
0x29E1 Field weakening controller Field limitation
0x29C0:001 Field controller settings
Gain
0x29C0:002 Field controller settings
Reset time
0x2939 Switching frequency

169
Configuring the torque control
Process input data (CiA 402 objects)
Control commands and status information

10.2.3 Control commands and status information

The following control commands can be executed in the "cyclically synchronous torque"
operating mode via the CiA402 control word 0x6040:
Control word State Function
Bit 4 0 reserved (bit must be set to "0")
Bit 5 0 reserved (bit must be set to "0")
Bit 6 0 reserved (bit must be set to "0")
Bit 8 0↗1 Stop

The following status information are output via the CiA402 status word 0x6041 in the "cyclic
sync torque mode":
Status word State Meaning
Bit 12 0 "Cyclic sync torque mode" is inactive
1 "Cyclic sync torque mode" is active

10.3 Process input data (CiA 402 objects)

10.4 Process output data (CiA 402 objects)

Parameter
Address Name / setting range / [default setting] Information
0x6074 Internal set torque Display of the internal set torque.
• Read only: x.x % • 100 % = Rated motor torque 0x6076
0x6077 Actual torque Display of the actual torque.
• Read only: x.x % • 100 % = Rated motor torque 0x6076

10.5 Setpoint diagnostics

The following parameters provide information on the setpoints set for torque control.
Parameter
Address Name / setting range / [default setting] Information
0x2DD5 Torque setpoint Display of the current torque setpoint.
• Read only: x.xx Nm

170
Configuring the feedback system

11 Configuring the feedback system

This chapter provides information on how to use feedback systems.
The inverter can be equipped to allow the connection of up to two independent feedback
systems.
Each of the two feedback systems
• Is placed in a designated slot in the lower part of the inverter
• Has an encoder connection on its front side
• Is an optional equipment feature of the inverter

A B

Anschluss Lastgeber
oder Leitgeber
Anschluss Motorgeber

At the time of commissioning, the feedback system is already specified by the hardware of the
respective device version.

Please note that one of two sets of parameters will be effective depending on
which feedback system option has been selected: either the parameters for
resolver evaluation or the parameters for encoder evaluation.

171
Configuring the feedback system
Configure feedback system for motor control

11.1 Configure feedback system for motor control

The parameter settings for the motor feedback system are accessed in »EASY Starter« via the
following path:
• Settings tab
• Basic setting \ Motor feedback (A)
Here, you have the choice of using the following feedback systems:
• Resolver
• Encoder
You can select the feedback system that you wish to use by pressing the correspondingly
named button.

172
Configuring the feedback system
Configure feedback system for motor control
General settings

11.1.1 General settings

This chapter provides information on general settings of feedback systems for the motor
control.
Pressing the Select resolver or Select encoder button displays a list of resolvers or encoders.
If the displayed list contains the feedback system used, the data is applied automatically.
Otherwise, you must enter the data of the feedback system manually.
Monitoring of the encoder cable for wire breakage
The resolver or encoder cable can be monitored for wire breakage in the default settings of
parameter 0x2C45.

DANGER!
When the encoder / resolver is used as a motor encoder, safe motor operation is not possible
in the event of an error.
Destruction of system parts
▶ Fault should always be used as a response for resolver/encoder wire breakage monitoring.
▶ To prevent interference injections when using an encoder, only use shielded motor and
encoder cables.

Wire breakage monitoring trips in the following cases:

• Resolver
• Wire breakage in the encoder cable
• When the resolver impedance is too great
• In the event of interference injections (EMC interference)
• Encoder
• Wire breakage in the encoder cable
Sensitivity of wire breakage monitoring
The sensitivity of wire breakage monitoring can be set as a percentage using the 0x2C47
parameter.
Reducing the monitoring sensitivity is advantageous in environments that are severely
affected by EMC problems.

If the sensitivity is not reduced (100 %), the software response time of
monitoring in case of an encoder is approx. 3.5 ms and in case of a resolver 0.3
ms.
Halving the sensitivity means doubling the response time.

NOTICE
A reduced sensitivity delays the response in case of wire breakage!
Destruction of system parts by reduced sensitivity of the open-circuit monitoring.
▶ Increase the sensitivity to reduce the monitoring response time.

173
Configuring the feedback system
Configure feedback system for motor control
General settings

Parameter
Address Name / setting range / [default setting] Information
0x2C45 Motor feedback error response Selection of the response to the triggering of the encoder signal loss
monitoring.
Only active when used as:
• Feedback system for motor control, when set
Associated error code:
• 29443 | 0x7303 - Fault - Motor feedback
0 No response
1 Fault > CiA402
2 Warning
0x2C46 Number of the absolute ascertainable revolutions of Is set by the firmware according to the available version:
motor encoder • 0: no absolute value encoder (sin/cos encoder) or resolver with
• Read only number of pole pairs > 1
• 1: Single-turn absolute value encoder or resolver with number of pole
pairs = 1
• >1: Multi-turn absolute value encoder
0x2C47 Open circuit detection sensitivity of motor encoder The sensitivity can be reduced by percentage, e. g. in case of EMC
1 ... [100] ... 100 % interferences.
0x608F:001 Position encoder resolution: Encoder increments Setting the number of bits to be used for resolving a mechanical motor
• Setting can only be changed if the inverter is revolution.
disabled. Position encoder resolution: Encoder increments
65536 16 bit
262144 18 bit
1048576 20 bit
4194304 22 bit
16777216 24 bit
67108864 26 bit
268435456 28 bit
1073741824 30 bit
0x608F:002 Position encoder resolution: Motor revolutions Denominator of the position resolution: Number of motor revolutions.
1 ... [1] ... 1 Only setting "1" is accepted.
• Setting can only be changed if the inverter is
disabled.
0x6090:001 Velocity encoder resolution: Encoder increments/s Setting of the encoder increments/s.
0 ... [33554432] ... 2147483647
• Setting can only be changed if the inverter is
disabled.
0x6090:002 Velocity encoder resolution: Motor revolutions/s Setting of the motor revolutions/s.
0 ... [125] ... 2147483647
• Setting can only be changed if the inverter is
disabled.

174
Configuring the feedback system
Configure feedback system for motor control
Resolver settings

11.1.2 Resolver settings

Resolvers with a number of pole pairs > 1 are not absolute value encoders.
Bit 4 in 0x2833 (Lenze status word 2) therefore remains set to "0".
The "distinguishable revolutions" specification in 0x2C46 is also set to "0".

The following applies to synchronous motors:

• When the number of motor pole pairs to the number of resolver pole pairs is an integer
ratio (0x2C01:001), the pole position only has to be identified once.
• When the number of motor pole pairs to the number of resolver pole pairs is a non-
integer ratio (0x2C01:001), the pole position must be identified every time the inverter is
connected to 24 V.4Synchronous motor: Pole position identification (PPI) ^ 209
Parameter
Address Name / setting range / [default setting] Information
0x2822:025 Axis commands: Get motor encoder characteristic Values determined in order to compensate for resolver faults.
(resolver)
0 Off/Ready
1 On/Start
2 In progress
3 Action cancelled
4 No access
5 No access (Device disabled)
0x2C43 Motor encoder resolver number of pole pairs Setting of the number of pole pairs.
1 ... [1] ... 10
• Setting can only be changed if the inverter is
disabled.

175
Configuring the feedback system
Configure feedback system for motor control
Resolver settings

11.1.2.1 Resolver error compensation

The actual position detected by the resolver is not exactly the same as the real physical
position. There are always deviations to a lesser or greater extent.
An identification run of the resolver automatically generates the adjustment values required
for compensation of the resolver error.
The values calculated have a counteractive corrective effect on the underlying cause in the
following parameters:
Cause Remedy
Sine and cosine track do not magnetise orthogonally to each other. 0x2C44:001
Correction of the angle by means of which the two resolver tracks are
supplied in a manner relative to one another.
The inductances of the sine and cosine track of the resolver have slightly 0x2C44:002 and 0x2C44:003
different values. Adjusting the gains of the digital-analog converters which feed the
resolver tracks.

Conditions for executing the identification run

1. Mechanical motor / inverter connection
• If possible, execute the identification run before the motor is installed in the machine.
Bigger load changes at the motor may have a negative impact on the identification
result.
• Motor and resolver must be properly connected to the inverter.
• The motor must rotate freely.
2. Voltage supply of the inverter
• The inverter must be supplied with mains voltage. Check: 0x6041, bit 4 = TRUE.
• The control electronics must be supplied with voltage. For this purpose, some designs
require an external voltage source.
3. Correct setting of the following data in the »EASY Starter« engineering tool:
• Number of resolver pole pairs (0x2C43)
• Speed-controlled or position-controlled motor in servo control
4. The inverter must be connected "online" to the engineering tool.
Possible responses during the execution
• The identification method can cause an uneven motor running during the identification.
• The direction of rotation can change.
This does not have a negative impact on the quality of the identification. In this case, the
inverter automatically interrupts the identification run and automatically continues it if a
constant speed is reached again.
• If the motor already installed in the machine does not have sufficient range in one
direction for executing the identification run, you can also reverse the driving direction
while the identification is active. In this case, the identification automatically switches to
the "Identification temporarily interrupted ". The status is deactivated as soon as a
constant speed has been reached again.

In the event of an interruption, the identification run is stopped. An error

message is displayed.
If 0 % is set, the gain of the respective resolver track is only 95 % of the Lenze
setting.
The detected gain can assume values in the range of 0 ... 100 %.
In case of a successful resolver error compensation, only one of the two gains is
adjusted. The other value remains at 100 %.

How to run an identification

If possible, execute the identification run before the motor is installed in the
machine. If relatively big load changes occur in the kinematics to be moved, this
may have a negative impact on the result of the identification run.

176
Configuring the feedback system
Configure feedback system for motor control
Resolver settings

1. Initiate an identification run with parameter 0x2822:025.

2. Enable inverter.
The identification run is in standby mode.
3. Approach a constant speed between n = 500 rpm and n = 3000 rpm.
The identification run is started automatically after the drive has reached a constant speed
and maintains it over the time defined in .
This speed is saved for the identification run. In order that the identification run can be
continued again, e.g. after an interruption, the drive must be operated again with this
speed.
End of the identification run
After the resolver error identification has been executed successfully, the parameters
0x2C44:001 ... 0x2C44:003 are written automatically. The resolver now works with these
settings.
Short-time interruption of the identification run
A short-time interruption, e.g. by removing the controller enable, does not stop the
measurement. It is continued after the controller is enabled anew. For the duration of the
interruption, the following status message is displayed: "Identification interrupted
temporarily")
Abort of the identification run
The measurement is aborted if the controller inhibit persists or after the time-out time has
elapsed. A time-out error is output for the identification run (see error messages in the
logbook).
4. If the measurement was successful, the motor can be stopped
5. At the end of the procedure, save the changed parameters 0x2C44:001 ... 0x2C44:003 in the
inverter.
»EASY Starter« can be used to save the inverter parameter settings, see 4Saving the
parameter settings. ^ 42

Deactivating the resolver error compensation

For deactivating the resolver error compensation, the respective parameters must be reset
again to the Lenze setting.
Parameter
Address Name / setting range / [default setting] Information
0x2C44:001 Motor encoder identification (Resolver): Angle Setting of the angle to the resolver error compensation.
-100 ... [0] ... 100
0x2C44:002 Motor encoder identification (Resolver): Cosine track Setting of the gain of the cosine track to the resolver error
gain compensation.
0 ... [100] ... 100 %
0x2C44:003 Motor encoder identification (Resolver): Sine track Setting of the gain of the sine track to the resolver error compensation.
gain
0 ... [100] ... 100 %
0x2C44:006 Motor encoder identification (Resolver): Identification Display of the resolver identification status.
status
• Read only
Bit 0 Identification activated TRUE if:
• Identification has been started.
• Controller enable is active.
FALSE if:
• Identification has been aborted or completed successfully.
• A timeout error is active.
• The 24V supply has been switched on and default settings are loaded.

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Address Name / setting range / [default setting] Information

Bit 2 Identification is running TRUE if:
• Identification is running.
FALSE if:
• The motor speed has fallen below the minimum speed of 500 rpm.
• The identification process has been aborted temporarily and is on
standby.
Bit 3 Identification successful TRUE if:
• Identification has been completed successfully.
FALSE if:
• The identification is not completed yet after default settings were
loaded.
Bit 4 Identification failed TRUE if:
• A timeout error has occurred.
FALSE if:
• Identification has been completed successfully.
0x2C44:008 Motor encoder identification (Resolver): Cosine track
offset
-100.000 ... [0.000] ... 100.000 %
0x2C44:009 Motor encoder identification (Resolver): Sine track
offset
-100.000 ... [0.000] ... 100.000 %
0x2C44:011 Motor encoder identification (Resolver): Cyclic online
compensation
0
1
0x2C44:012 Motor encoder identification (Resolver): Harmonic for
cyclic online compensation
10 ... [22] ... 99

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11.1.3 Encoder settings

In general, an encoder is a measuring system which serves to detect the velocity/speed and
the position of a kinematics or motor.
Details

If a resolver variant is to be plugged into the respective slot of the inverter as a

feedback system, the parameters in this section have no function.

Parameter
Address Name / setting range / [default setting] Information
0x2C40 Motor encoder type Selection of the encoder type.
• Setting can only be changed if the inverter is
disabled.
1 SinCos encoder
2 Hiperface SinCos absolute value encoder
3 TTL encoder
5 SSI absolute value encoder
6 SSI SinCos absolute value encoder
0x2C42:001 Encoder settings: Increments/revolution Setting of the encoder number of increments per revolution (according
1 ... [1024] ... 262143 to manufacturer data/encoder data sheet).
• Setting can only be changed if the inverter is
disabled.
0x2C42:002 Encoder settings: Supply voltage Setting of the supply voltage.
5.0 ... [5.0] ... 12.0 V
• Setting can only be changed if the inverter is
disabled.

11.1.3.1 SinCos encoder

The following SinCos encoder types without HIPERFACE® protocol are supported by the
inverter:
Type Increments/revolution Absolute revolutions
IG1024-5V-V3 (RVS58S) 1024 0
IG2048-5V-S (ITD22) 2048 0
IG2048-5V-S 2048 0

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11.1.3.2 SinCos absolute value encoder with HIPERFACE® protocol

The following SinCos encoder types with HIPERFACE® protocol are supported by the inverter:
Type Increments/revolution Absolute revolutions Type code
0x2C41:001
AM1024-8V-H (SRM50) 1024 4096 39
AM1024-8V-H (SFM60) 1024 (Multiturn) 39
AM1024-8V-K2 (SRM50S) 1024 39
AM128-8V-H (SKM36) 128 55
AM16-8V-H (SEL37) 16 71
AM16-8V-H (SEL52) 16 71
AM512-8V-H (SCM70) 512 7
AS1024-8V-H (SRS50) 1024 4096 34
AS1024-8V-K2 (SRS50S) 1024 (Single-turn) 34
AS16-8V-H (SEK37) 16 66
AS16-8V-H (SEK52) 16 66
AS512-8V-H (SCS70) 512 2

Use of non-supported encoder types

If the type code of the encoder used is not listed in the table of supported encoder types, this
encoder can be introduced to the inverter via the 0x2C41:002 and 0x2C41:003 parameters.

In this context, please also observe the information provided in the parameter
description 0x2C41:008.

Parameter
Address Name / setting range / [default setting] Information
0x2822:026 Axis commands: Get motor encoder information Command for reading out data from the connected motor encoder.
(Hiperface)
0 Off/Ready
1 On/Start
2 In progress
3 Action cancelled
4 No access
5 No access (Device disabled)
0x2C41:001 Motor encoder settings (Hiperface): Type code Type code read out of the encoder.
detected This value is "0" if ...
• Read only • a sin/cos encoder is set (0x2C40 = 2);
• a communication error has occurred.
0x2C41:002 Motor encoder settings (Hiperface): Type code Manual setting of the encoder type code (display in 0x2C41:001).
manual input
0 ... [0] ... 255
• Setting can only be changed if the inverter is
disabled.
0x2C41:003 Motor encoder settings (Hiperface): Manual input - Manual setting of the number of distinguishable revolutions.
Number of detectable motor encoder revolutions
1 ... [1] ... 65535
• Setting can only be changed if the inverter is
disabled.
0x2C41:004 Motor encoder settings (Hiperface): Error response Selection of the response for communication errors or in the event of an
unknown encoder.
Associated error codes:
• 29568 | 0x7380 - Motor encoder - Communication error
• 29569 | 0x7381 - HIPERFACE motor encoder - wrong absolute value
because motor speed is too high
• 65302 | 0xFF16 - Connected HIPERFACE motor encoder is not
supported
0 No response
1 Fault > CiA402
2 Warning

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Address Name / setting range / [default setting] Information

0x2C41:005 Motor encoder settings (Hiperface): Serial number The displayed serial number can be used for identifying an encoder
• Read only change.
0x2C41:006 Motor encoder settings (Hiperface): Actual position The encoder-internal position value is output without being converted.
(raw data)
• Read only
0x2C41:007 Motor encoder settings (Hiperface): No. of periods Display of the encoder increment according to encoder nameplate or
detected type code.
• Read only
0x2C41:008 Motor encoder settings (Hiperface): Type code If an encoder is connected that is not supported by the firmware, it will
verification be displayed here.
• Read only In this case, the same response takes place as in case of a
communication error. The error can be removed by manually setting the
type code in 0x2C41:002. This serves to signalise to the firmware that
the number of distinguishable revolutions is as well set correctly in
0x2C41:003 by the user.
0 Unknown - manual data input If an encoder is connected that is not supported by the firmware, it will
1 Known - parameterisation ok be displayed here.
0x2C41:009 Motor encoder settings (Hiperface): Encoder type Display of the detected encoder type (rotary/linear).
• Read only
0 Rotative encoder
1 Linear encoder
0x2C41:010 Motor encoder settings (Hiperface): No. of periods Display of the period length of the linear encoder.
linear encoder
• Read only: x nm

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11.1.3.3 SSI encoder

SSI absolute value encoders (Synchronous Serial Interface) generate the angle information via
optical scanning of a code disc (e.g. Gray code). Every (absolute) angle position of the encoder
corresponds to a uniquely identifiable code pattern.
All encoders that use the Stegemann SSI protocol are supported:
• Supported bit rates for SSI communication: 150 ... 1000 kbits
• Supported data word widths: 1 ... 31 bits (effective)
• Supported output code of the SSI encoder: Gray or binary
• Cycle time: 62.5 µs, 125 µs and 250 µs .
• Encoder supply: U < 12 V, I ≤ 0.25 A
How to parameterise the SSI encoder:

1. Set the supply voltage of the SSI encoder used in 0x2C42:002.

2. Set selection "5: SSI encoder" as the encoder type in 0x2C40.
3. Set the transmission rate for SSI communication in 0x2C4A:001.
With the SSI protocol, the permissible transmission rate decreases as the cable lengths
increase. A safe transmission rate must be set according to the length of the encoder cable
used and the electromagnetic interference level.
4. Set the telegram length in 0x2C4A:002.
The telegram length reflects the number of data bits used for transmission of a complete SSI
data packet.
5. Break the received SSI data word down into partwords and, if necessary, activate data
conversion of Gray into binary code.

Parameter
Address Name / setting range / [default setting] Information
0x2C4A:001 Motor encoder (SSI) protocol parameters: Bit rate To enable a stable transmission rate, the length of the encoder cable
150 ... [300] ... 1000 kbps used and any electromagnetic interference levels must be taken into
• Setting can only be changed if the inverter is account when setting the value.
disabled.
0x2C4A:002 Motor encoder (SSI) protocol parameters: Telegram The set value specifies the number of data bits which are transmitted as
length a complete SSI data packet.
1 ... [25] ... 31
• Setting can only be changed if the inverter is
disabled.
0x2C4A:003 Motor encoder (SSI) protocol parameters: Bits/ Resolution of the encoder.
revolution For example, the resolution for the preset value is "13":
1 ... [13] ... 31 213 = 8196 (bits/revolution).
• Setting can only be changed if the inverter is
disabled.
0x2C4A:004 Motor encoder (SSI) protocol parameters: Position Indicates the position in the telegram where the position data word
data start bit begins.
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C4A:005 Motor encoder (SSI) protocol parameters: Data Indicates the position in the telegram where data packet 1 begins.
package 1 start bit
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C4A:006 Motor encoder (SSI) protocol parameters: Data Indicates the position in the telegram where data packet 2 begins.
package 2 start bit
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C4A:007 Motor encoder (SSI) protocol parameters: Data Indicates the position in the telegram where data packet 3 begins.
package 3 start bit
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.

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Address Name / setting range / [default setting] Information

0x2C4A:008 Motor encoder (SSI) protocol parameters: Position SSI position data length
data length
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C4A:009 Motor encoder (SSI) protocol parameters: Data Length of data packet 1.
package 1 length
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C4A:010 Motor encoder (SSI) protocol parameters: Data Length of data packet 2.
package 2 length
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C4A:011 Motor encoder (SSI) protocol parameters: Data Length of data packet 3.
package 3 length
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C4A:012 Motor encoder (SSI) protocol parameters: Position Coding of position data word (read only).
data coding If a value of "0" is set for the position data length in 0x2C4A:008, then
• Setting can only be changed if the inverter is the value displayed for this parameter is also "0".
disabled.
0 Binary
1 Gray
0x2C4A:013 Motor encoder (SSI) protocol parameters: Data Coding of data packet 1
package 1 coding
• Setting can only be changed if the inverter is
disabled.
0 Binary
1 Gray
0x2C4A:014 Motor encoder (SSI) protocol parameters: Data Coding of data packet 2
package 2 coding
• Setting can only be changed if the inverter is
disabled.
0 Binary
1 Gray
0x2C4A:015 Motor encoder (SSI) protocol parameters: Data Coding of data packet 3
package 3 coding
• Setting can only be changed if the inverter is
disabled.
0 Binary
1 Gray
0x2C4A:016 Motor encoder (SSI) protocol parameters: Position Raw value of position data word (read only).
raw data If a value of "0" is set for the position data length in 0x2C4A:008 , then
• Read only the value displayed for this parameter is also "0".
0x2C4A:017 Motor encoder (SSI) protocol parameters: Data Raw value of data packet 1 (read only).
package 1 raw data If a value of "0" is set for the data packet length 1 in 0x2C4A:013 , then
• Read only the value displayed for this parameter is also "0".
0x2C4A:018 Motor encoder (SSI) protocol parameters: Data Raw value of data packet 2 (read only).
package 2 raw data If a value of "0" is set for the data packet length 2 in 0x2C4A:014 , then
• Read only the value displayed for this parameter is also "0".
0x2C4A:019 Motor encoder (SSI) protocol parameters: Data Raw value of data packet 3 (read only).
package 3 raw data If a value of "0" is set for the data packet length 3 in 0x2C4A:015 , then
• Read only the value displayed for this parameter is also "0".
0x2C4A:020 Motor encoder (SSI) protocol parameters: Encoder
type
• Setting can only be changed if the inverter is
disabled.
0 Rotative encoder
1 Linear encoder

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Address Name / setting range / [default setting] Information

0x2C4A:021 Motor encoder (SSI) protocol parameters: Position
raw data scaled by 0x608F
• Read only: x pos. unit
0x2C4A:022 Motor encoder (SSI) protocol parameters: Monoflop
time
0 ... [0] ... 500 us
• Setting can only be changed if the inverter is
disabled.
0x2C4A:023 Motor encoder (SSI) protocol parameters: Resulting
SSI-telegram cycle time
• Read only: x.x us

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11.1.3.4 One cable technology (OCT) via HIPERFACE DSL®

Preconditions
• The One Cable Technology is only available in the devices < 22 kW.
• The One Cable Technology (OCT) is possible with MCS and m850 servo motors.
• The motor must be provided with a HIPERFACE DSL® encoder.
• Make sure that no motor encoder module is plugged in slot A.
• Connection cable
- The EYP008xxxxxxM11A00 or EYP008xxxxxxM12A00 hybrid cable must be used.
- Different lengths up to 100 m are available.
Application range
The use of One Cable Technology (OCT) depends on the combination of the basic device
firmware with the safety firmware:
Use of One Cable Technology (OCT)
Basic device firmware As of V01.06.04 V01.05.03 V01.05.02 V01.04.02 V01.04.01 V01.03.07 V01.02.03 V01.01.03
Safety firmware As of V01.03.03 V01.02.03 V01.02.03 V01.02.03 V01.02.03 V01.01.01 V01.00.01 -
With device variant
"Basic Safety - STO" ● ● ● ● ● ● - -
"Extended Safety" ● - - - - - - -

Parameterize HIPERFACE DSL® (OCT)

Fig. 51: HIPERFACE DSL® (OCT) connection

Parameter Axis settings: Function X109 = 10 to activate HIPERFACE DSL® (OCT). 40x2DE1:001
Parameter
Address Name / setting range / [default setting] Information
0x2DE1:001 Axis settings: Function of X109
0 None

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Address Name / setting range / [default setting] Information

10 HIPERFACE DSL® (OCT)
20 PTC
0x2C4B:001 Motor encoder (HDSL): Release version
• Read only
0x2C4B:002 Motor encoder (HDSL): Release Date
• Read only
0x2C4B:003 Motor encoder (HDSL): Encoder ID
• Read only
0x2C4B:004 Motor encoder (HDSL): Type of encoder
• Read only
0x2C4B:005 Motor encoder (HDSL): Resolution
• Read only
0x2C4B:006 Motor encoder (HDSL): Measurement range
• Read only
0x2C4B:007 Motor encoder (HDSL): Type name
• Read only
0x2C4B:008 Motor encoder (HDSL): Serial number
• Read only
0x2C4B:009 Motor encoder (HDSL): Device version
• Read only
0x2C4B:010 Motor encoder (HDSL): Firmware date
• Read only
0x2C4B:011 Motor encoder (HDSL): EEPROM size
• Read only
0x2C4B:012 Motor encoder (HDSL): Safe Channel 2 Resolution
• Read only
0x2C4B:020 Motor encoder (HDSL): Delay / RSSI
• Read only
Bit 0 Cable delay, bit 0
Bit 1 Cable delay, bit 1
Bit 2 Cable delay, bit 2
Bit 3 Cable delay, bit 3
Bit 4 RSSI, bit 0
Bit 5 RSSI, bit 1
Bit 6 RSSI, bit 2
Bit 7 RSSI, bit 3
0x2C4B:021 Motor encoder (HDSL): Quality monitoring
• Read only
Bit 0 QM, bit 0
Bit 1 QM, bit 1
Bit 2 QM, bit 2
Bit 3 QM, bit 3
Bit 7 LINK
0x2C4B:022 Motor encoder (HDSL): Slave RSSI
• Read only
Bit 0 SRSSI, bit 0
Bit 1 SRSSI, bit 1
Bit 2 SRSSI, bit 2
0x2C4B:023 Motor encoder (HDSL): Supply voltage
• Read only: x.xxx V
0x2C4B:024 Motor encoder (HDSL): Rotation speed range
• Read only: x rpm
0x2C4B:025 Motor encoder (HDSL): Auswahl
0 No value
1 Lifetime
2 Sensor monitor
3 Rotation speed
4 Temperature

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Address Name / setting range / [default setting] Information

0x2C4B:026 Motor encoder (HDSL): Value
• Read only
0x2C4B:040 Motor encoder (HDSL): Events
• Read only
Bit 1 FREL: Channel free for "long message"
Bit 2 QMLW: Quality monitoring low value
warning
Bit 4 ANS: Erroneous answer to "long message"
Bit 5 MIN: Message initialization
Bit 8 PRST: Protocol reset warning
Bit 9 DTE: Estimator Deviation Threshold Error
Bit 11 POS: Estimator turned on
Bit 14 SUM: Remote event monitoring
Bit 15 INT: Interrupt status
0x2C4B:041 Motor encoder (HDSL): Status summaries
• Read only
Bit 0 SUM0
Bit 1 SUM1
Bit 2 SUM2
Bit 3 SUM3
Bit 4 SUM4
Bit 5 SUM5
Bit 6 SUM6
Bit 7 SUM7
0x2C4B:042 Motor encoder (HDSL): Encoder status, byte 0
• Read only
Bit 0 Encoder status bit 0
Bit 1 Encoder status bit 1
Bit 2 Encoder status bit 2
Bit 3 Encoder status bit 3
Bit 4 Encoder status bit 4
Bit 5 Encoder status bit 5
Bit 6 Encoder status bit 6
Bit 7 Encoder status bit 7
0x2C4B:043 Motor encoder (HDSL): Encoder status, byte 1
• Read only
Bit 0 Encoder status bit 8
Bit 1 Encoder status bit 9
Bit 2 Encoder status bit 10
Bit 3 Encoder status bit 11
Bit 4 Encoder status bit 12
Bit 5 Encoder status bit 13
Bit 6 Encoder status bit 14
Bit 7 Encoder status bit 15
0x2C4B:044 Motor encoder (HDSL): Encoder status, byte 2
• Read only
Bit 0 Encoder status bit 16
Bit 1 Encoder status bit 17
Bit 2 Encoder status bit 18
Bit 3 Encoder status bit 19
Bit 4 Encoder status bit 20
Bit 5 Encoder status bit 21
Bit 6 Encoder status bit 22
Bit 7 Encoder status bit 23

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Address Name / setting range / [default setting] Information

0x2C4B:045 Motor encoder (HDSL): Encoder status, byte 3
• Read only
Bit 0 Encoder status bit 24
Bit 1 Encoder status bit 25
Bit 2 Encoder status bit 26
Bit 3 Encoder status bit 27
Bit 4 Encoder status bit 28
Bit 5 Encoder status bit 29
Bit 6 Encoder status bit 30
Bit 7 Encoder status bit 31
0x2C4B:046 Motor encoder (HDSL): Encoder status, byte 4
• Read only
Bit 0 Encoder status bit 32
Bit 1 Encoder status bit 33
Bit 2 Encoder status bit 34
Bit 3 Encoder status bit 35
Bit 4 Encoder status bit 36
Bit 5 Encoder status bit 37
Bit 6 Encoder status bit 38
Bit 7 Encoder status bit 39
0x2C4B:047 Motor encoder (HDSL): Encoder status, byte 5
• Read only
Bit 0 Encoder status bit 40
Bit 1 Encoder status bit 41
Bit 2 Encoder status bit 42
Bit 3 Encoder status bit 43
Bit 4 Encoder status bit 44
Bit 5 Encoder status bit 45
Bit 6 Encoder status bit 46
Bit 7 Encoder status bit 47
0x2C4B:048 Motor encoder (HDSL): Encoder status, byte 6
• Read only
Bit 0 Encoder status bit 48
Bit 1 Encoder status bit 49
Bit 2 Encoder status bit 50
Bit 3 Encoder status bit 51
Bit 4 Encoder status bit 52
Bit 5 Encoder status bit 53
Bit 6 Encoder status bit 54
Bit 7 Encoder status bit 55
0x2C4B:049 Motor encoder (HDSL): Encoder status, byte 7
• Read only
Bit 0 Encoder status bit 56
Bit 1 Encoder status bit 57
Bit 2 Encoder status bit 58
Bit 3 Encoder status bit 59
Bit 4 Encoder status bit 60
Bit 5 Encoder status bit 61
Bit 6 Encoder status bit 62
Bit 7 Encoder status bit 63
0x2C4B:050 Motor encoder (HDSL): Fast position
• Read only

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11.1.3.5 Evaluation of the signal quality

Signal quality
The signal quality is evaluated by the 0x2C42:004 parameter, which is used to monitor the
initial read-out and setting of the position.
If a transmission error should occur:
• The current angular drift is marked as invalid in parameter 0x2833, bit 7
• The inverter maintains its operating status
Angular drift

Communication with the encoder is no longer monitored during angular drift

determination.

The value displayed in 0x2C42:003 is determined in different ways depending on the type of
encoder:
• Determination of the current angular drift for the SinCos encoder
In the case of an incremental SinCos encoder, the pulses between two zero pulse events of
the Z-track are counted. Assuming that there are no faults, this value corresponds to the
set number of increments. The accuracy of this process corresponds to ± 1 increment
graduation of the encoder, with the difference between the set number of increments and
the counted pulses being converted to an angle with an accuracy of ±0.1°. The
disadvantage is that an updated angular drift value only become available at the end of a
complete encoder revolution. In turn, this means that the update rate depends on the
speed.
• Determination of the current angular drift for the SinCos Hiperface® absolute value
encoder
In the case of a SinCos absolute value encoder with HIPERFACE® protocol, no Z-track is
available; instead, the position is regularly read out of the encoder. When the first encoder
read-out operation is performed (after power-up or elimination of wire breakage), the
encoder position is used to initialise the internal device counter unit and to set an internal
device position. All other read-out processes from the encoder are used to generate a
difference between the internal device position and the encoder position. Assuming that
there are no faults, the difference is zero. However, the dead time of the communication
with the encoder means that the accuracy of the process is dependent on the speed and
therefore restricted compared to the zero pulse process. However, the advantage is that
the update rate does not depend on the speed, but is instead only determined by the
communication rate. The update rate is encoder-specific and is generally in the range
between 30 ... 50 ms.
Parameter
Address Name / setting range / [default setting] Information
0x2C42:003 Encoder settings: Angle drift Display of the angular drift of the current angle error.
• Read only: x.x ° This indicates whether too many or two few pulses have been detected
by the internal device counter unit for EMC-related reasons.
0x2C42:004 Encoder settings: Actual amplitude signal quality The signal quality indicates the actual amplitude of the SinCos analog
• Read only: x % signals with regard to 1 Vss = 100 %.
• The signal quality should be between 95 ... 105 %.
• There is no need for optimisation if the signal quality is within the
tolerance zone for the analog encoder signals given in the data sheet
of the encoder manufacturer.

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Detection of changed settings of the feedback system

11.1.4 Detection of changed settings of the feedback system

Bit 0 of status word 2 indicates whether the settings of the feedback system have been
changed since leaving the Not ready to start state. If a change has been made, bit 0 is set to
value "1". 40x2833
During the transition to the Operation enabled state, bit 0 is reset to value "0".
In all device states, changes to the following parameters continue to be monitored.
Relevant parameters of other functions
Address Name Default setting Setting range
0x2C40 Motor encoder type SinCos encoder [1] Selection list
0x2C41:002 Motor encoder settings (Hiperface): Type code 0 0 ... 255
manual input
0x2C41:003 Motor encoder settings (Hiperface): Manual input - 1 1 ... 65535
Number of detectable motor encoder revolutions
0x2C41:005 Motor encoder settings (Hiperface): Serial number - (Read only)
0x2C42:001 Encoder settings: Increments/revolution 1024 1 ... 262143
0x608F:001 Position encoder resolution: Encoder increments 16 bit [65536] Selection list
0x608F:002 Position encoder resolution: Motor revolutions 1 1 ... 1

11.1.5 Diagnostics
Parameter
Address Name / setting range / [default setting] Information
0x2C4F Parameter CRC of motor encoder Display of the cyclic redundancy check (CRC) of selected encoder
• Read only parameters to detect changes in the feedback settings.
0x2DDF:005 Axis information: Detected module in slot A Display of supported feedback system for the motor.
• Read only
0 Product defined
1 No module
2 Resolver
3 SinCos/Hiperface/SSI
4 SinCos/Hiperface/SSI/TTL

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General settings

11.2 Second feedback system for the techology application

The parameter settings for the feedback system of the application are accessed in »EASY
starter« via the following path:
• Settings tab
• Basic setting \ Feedback application (B)
Here, you have the choice of using the following feedback systems:
• Resolver
• Encoder
You can select the feedback system that you wish to use by pressing the correspondingly
named button.

11.2.1 General settings

This chapter provides information on general feedback system settings for the application.
Parameter
Address Name / setting range / [default setting] Information
0x2C55 Load encoder/master encoder error response Via this parameter, the error response to an encoder error of application
feedback B (slot B) is set.
Selection of the response to the triggering of the encoder signal loss
monitoring.
Only active when used as:
• Feedback system for motor control if set,
• Signal source for the "position counter" function.
Associated error code:
• 29444 | 0x7304 - Error - Load encoder/master encoder
0 No response
1 Fault > CiA402
2 Warning
0x2C56 Number of the absolute ascertainable revolutions of Is set by the firmware according to the available version:
load encoder/master encoder • 0: no absolute value encoder (sin/cos encoder) or resolver with
• Read only number of pole pairs > 1
• 1: Hiperface encoder SingleTurn or resolver with number of pole
pairs = 1
• > 1: Hiperface encoder Multi Turn
0x2C57 Open circuit detection sensitivity of load encoder/ The sensitivity can be reduced by percentage, e. g. in case of EMC
master encoder interferences.
1 ... [100] ... 100 %
0x60E6:001 Additional position encoder resolution - encoder Setting the number of bits to be used for resolving a mechanical
increments: Load encoder/master encoder - number revolution of the secondary feedback system.
of increments
• Setting can only be changed if the inverter is
disabled.
65536 16 Bit
262144 18 Bit
1048576 20 Bit
4194304 22 Bit
16777216 24 Bit
67108864 26 Bit
268435456 28 Bit
1073741824 30 Bit
0x60EB:001 Additional position encoder resolution - motor Setting of the number of revolutions of the secondary feedback system.
revolutions: Load encoder/master encoder - Only setting "1" is accepted.
resolution of motor revolutions
1 ... [1] ... 1
• Setting can only be changed if the inverter is
disabled.

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Resolver settings

11.2.2 Resolver settings

Resolvers with a number of pole pairs > 1 are not absolute value encoders.
Bit 10 in 0x2833 (Lenze status word 2) therefore remains set to "0".
The "distinguishable revolutions" specification in 0x2C56 is also set to "0".

Parameter
Address Name / setting range / [default setting] Information
0x2822:029 Axis commands: Get load encoder/master encoder Definition of the resolver characteristic for application feedback.
characteristic (resolver)
0 Off/Ready
1 On/Start
2 In progress
3 Action cancelled
4 No access
5 No access (Device disabled)
0x2C53 Load encoder/master encoder resolver number of Setting of the number of pole pairs.
pole pairs
1 ... [1] ... 1
• Setting can only be changed if the inverter is
disabled.

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11.2.2.1 Resolver error compensation

Conditions for executing the identification run

In the event of an interruption, the identification run is stopped. An error

How to run an identification

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1. Initiate an identification run with parameter 0x2822:025.

2. Enable inverter.
The identification run is in standby mode.
3. Enter a constant speed between n = 500 rpm and n = 3000 rpm.
The identification run is started automatically after the drive has reached a constant speed
and maintains it over the time defined in .
This speed is saved for the identification run. In order that the identification run can be
continued again, e.g. after an interruption, the drive must be operated again with this
speed.
End of the identification run
After the resolver error identification has been executed successfully, the parameters
0x2C44:001 ... 0x2C44:003 are written automatically. The resolver now works with these
settings.
Short-time interruption of the identification run
A short-time interruption, e.g. by removing the controller enable, does not stop the
measurement. It is continued after the controller is enabled anew. For the duration of the
interruption, the following status message is displayed: "Identification interrupted
temporarily")
Abort of the identification run
The measurement is aborted if the controller inhibit persists or after the time-out time has
elapsed. A time-out error is output for the identification run (see error messages in the
logbook).
4. If the measurement was successful, the motor can be stopped
5. At the end of the procedure, save the changed parameters 0x2C44:001 ... 0x2C44:003 in the
inverter.
»EASY Starter« can be used to save the inverter parameter settings, see 4Saving the
parameter settings. ^ 42

Deactivating the resolver error compensation

For deactivating the resolver error compensation, the respective parameters must be reset
again to the Lenze setting.
Parameter
Address Name / setting range / [default setting] Information
0x2C54:001 Load encoder/master encoder identification Setting of the angle to the resolver error compensation.
(Resolver): Angle
-100 ... [0] ... 100
0x2C54:002 Load encoder/master encoder identification Setting of the gain of the cosine track to the resolver error
(Resolver): Cosine track gain compensation.
0 ... [100] ... 100 %
0x2C54:003 Load encoder/master encoder identification Setting of the gain of the sine track to the resolver error compensation.
(Resolver): Sine track gain
0 ... [100] ... 100 %
0x2C54:006 Load encoder/master encoder identification Display of the resolver identification status.
(Resolver): Identification status
• Read only
Bit 0 Identification activated TRUE if:
• Identification has been started.
• Controller enable is active.
FALSE if:
• Identification has been aborted or completed successfully.
• A timeout error is active.
• The 24V supply has been switched on and default settings are loaded.

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Address Name / setting range / [default setting] Information

Bit 2 Identification is running TRUE if:
• Identification is running.
FALSE if:
• The motor speed has fallen below the minimum speed of 500 rpm.
• The identification process has been aborted temporarily and is on
standby.
Bit 3 Identification successful TRUE if:
• Identification has been completed successfully.
FALSE if:
• The identification is not completed yet after default settings were
loaded.
Bit 4 Identification failed TRUE if:
• A timeout error has occurred.
FALSE if:
• Identification has been completed successfully.
0x2C54:008 Load encoder/master encoder identification
(Resolver): Cosine track offset
-100.000 ... [0.000] ... 100.000 %
0x2C54:009 Load encoder/master encoder identification
(Resolver): Sine track offset
-100.000 ... [0.000] ... 100.000 %

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Encoder settings

11.2.3 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.
Details

If a resolver variant is to be plugged into the respective slot of the inverter as a

feedback system, the parameters in this section have no function.

Generally, an encoder can be used for a variety of tasks:

• As setpoint encoder for defining a speed / frequency setpoint.
• As setpoint encoder for defining a position setpoint.
• As setpoint encoder for defining a setpoint for the process controller.
• As actual value encoder for feeding back the variable for the process controller.
• As kinematics encoder (feedback system).
Parameter
Address Name / setting range / [default setting] Information
0x2C50 Load encoder/master encoder type Selection of the encoder type.
• Setting can only be changed if the inverter is
disabled.
1 SinCos encoder
2 Hiperface SinCos absolute value encoder
3 TTL encoder
5 SSI absolute value encoder
6 SSI SinCos absolute value encoder
0x2C52:001 Load encoder/master encoder settings (encoder): Setting of the encoder number of increments (according to
Increments/revolution manufacturer data/encoder data sheet).
1 ... [1024] ... 262143
• Setting can only be changed if the inverter is
disabled.
0x2C52:002 Load encoder/master encoder settings (encoder): Setting of the supply voltage.
Supply voltage
5.0 ... [5.0] ... 12.0 V
• Setting can only be changed if the inverter is
disabled.

11.2.3.1 SinCos encoder

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11.2.3.2 SinCos absolute value encoder with HIPERFACE® protocol

Use of non-supported encoder types

If the type code of the encoder used is not listed in the table of supported encoder types, this
encoder can be introduced to the inverter via two parameters. 40x2C51:002 40x2C51:003

In this context, please also observe the information provided in the parameter
description 0x2C41:008.

Parameter
Address Name / setting range / [default setting] Information
0x2822:030 Axis commands: Get load encoder/master encoder Obtain Hiperface information from the encoder for application feedback.
information (Hiperface)
0 Off/Ready
1 On/Start
2 In progress
3 Action cancelled
4 No access
5 No access (controller inhibit)
0x2C51:001 Hiperface load encoder/master encoder settings: Type Type code read out of the encoder.
code detected This value is "0" if ...
• Read only • a sin/cos encoder is set (0x2C50 = 2);
• a communication error has occurred.
0x2C51:002 Hiperface load encoder/master encoder settings: Type Manual setting of the encoder type code (display in 0x2C51:001).
code manual input
0 ... [0] ... 255
• Setting can only be changed if the inverter is
disabled.
0x2C51:003 Hiperface load encoder/master encoder settings: Manual setting of the number of distinguishable revolutions.
Manual input - Number of detectable load/master
encoder revolutions
1 ... [1] ... 65535
• Setting can only be changed if the inverter is
disabled.
0x2C51:004 Hiperface load encoder/master encoder settings: Selection of the response for communication errors or in the event of an
Error response unknown encoder.
Associated error codes:
• 29570 | 0x7382 - Load encoder/master encoder - Communication
error
• 29571 | 0x7383 - HIPERFACE load encoder/master encoder - wrong
absolute value because motor speed is too high
• 65306 | 0xFF1A - Connected HIPERFACE load encoder/master encoder
is not supported
0 No response

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Address Name / setting range / [default setting] Information

1 Fault > CiA402
2 Warning
0x2C51:005 Hiperface load encoder/master encoder settings: The displayed serial number can be used for identifying an encoder
Serial number change.
• Read only
0x2C51:006 Hiperface load encoder/master encoder settings: The encoder-internal position value is output without being converted.
Actual position (raw data)
• Read only
0x2C51:007 Hiperface load encoder/master encoder settings: No. Display of the encoder increment according to encoder nameplate or
of periods detected type code.
• Read only
0x2C51:008 Hiperface load encoder/master encoder settings: Type If an encoder is connected that is not supported by the firmware, it will
code verification be displayed here.
• Read only In this case, the same response takes place as in case of a
communication error. The error can be removed by manually setting the
type code in 0x2C51:002. This serves to signalise to the firmware that
the number of distinguishable revolutions is as well set correctly in
0x2C51:003 by the user.
0 Unknown - manual data input In this case, the same response takes place as in case of a
1 Known - parameterisation ok communication error. The error can be removed by manually setting the
type code in 0x2C51:002. This serves to signalise to the firmware that
the number of distinguishable revolutions is as well set correctly in
0x2C51:003 by the user.
0x2C51:009 Hiperface load encoder/master encoder settings: Display of the detected encoder type (rotary/linear).
Encoder type
• Read only
0 Rotative encoder
1 Linear encoder
0x2C51:010 Hiperface load encoder/master encoder settings: No. Display of the period length of the linear encoder.
of periods linear encoder
• Read only: x nm

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11.2.3.3 SSI encoder

1. Set the supply voltage of the SSI encoder used in 0x2C52:002.

2. Set selection "5: SSI encoder" as the encoder type in 0x2C50.
3. Set the transmission rate for SSI communication in 0x2C5A:001.
With the SSI protocol, the permissible transmission rate decreases as the cable lengths
increase. A safe transmission rate must be set according to the length of the encoder cable
used and the electromagnetic interference level.
4. Set the telegram length in 0x2C5A:002.
The telegram length reflects the number of data bits used for transmission of a complete SSI
data packet.
5. Break the received SSI data word down into partwords and, if necessary, activate data
conversion of Gray into binary code.

Parameter
Address Name / setting range / [default setting] Information
0x2C5A:001 Load encoder/master encoder (SSI) protocol To enable a stable transmission rate, the length of the encoder cable
parameters: Bit rate used and any electromagnetic interference levels must be taken into
150 ... [300] ... 1000 kbps account when setting the value.
• Setting can only be changed if the inverter is
disabled.
0x2C5A:002 Load encoder/master encoder (SSI) protocol The set value specifies the number of data bits which are transmitted as
parameters: Telegram length a complete SSI data packet.
1 ... [25] ... 31
• Setting can only be changed if the inverter is
disabled.
0x2C5A:003 Load encoder/master encoder (SSI) protocol Resolution of the encoder.
parameters: Bits/revolution For example, the resolution for the preset value is "13":
1 ... [13] ... 31 213 = 8196 (bits/revolution).
• Setting can only be changed if the inverter is
disabled.
0x2C5A:004 Load encoder/master encoder (SSI) protocol Indicates the position in the telegram where the position data word
parameters: Position data start bit begins.
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C5A:005 Load encoder/master encoder (SSI) protocol Indicates the position in the telegram where data packet 1 begins.
parameters: Data package 1 start bit
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C5A:006 Load encoder/master encoder (SSI) protocol Indicates the position in the telegram where data packet 2 begins.
parameters: Data package 2 start bit
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.

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Address Name / setting range / [default setting] Information

0x2C5A:007 Load encoder/master encoder (SSI) protocol Indicates the position in the telegram where data packet 3 begins.
parameters: Data package 3 start bit
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C5A:008 Load encoder/master encoder (SSI) protocol SSI position data length
parameters: Position data length
0 ... [25] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C5A:009 Load encoder/master encoder (SSI) protocol Length of data packet 1.
parameters: Data package 1 length
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C5A:010 Load encoder/master encoder (SSI) protocol Length of data packet 2.
parameters: Data package 2 length
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C5A:011 Load encoder/master encoder (SSI) protocol Length of data packet 3.
parameters: Data package 3 length
0 ... [0] ... 30
• Setting can only be changed if the inverter is
disabled.
0x2C5A:012 Load encoder/master encoder (SSI) protocol Coding of position data word (read only).
parameters: Position data coding If a value of "0" is set for the position data length in 0x2C4A:008, then
• Setting can only be changed if the inverter is the value displayed for this parameter is also "0".
disabled.
0 Binary
1 Gray
0x2C5A:013 Load encoder/master encoder (SSI) protocol Coding of data packet 1
parameters: Data package 1 coding
• Setting can only be changed if the inverter is
disabled.
0 Binary
1 Gray
0x2C5A:014 Load encoder/master encoder (SSI) protocol Coding of data packet 2
parameters: Data package 2 coding
• Setting can only be changed if the inverter is
disabled.
0 Binary
1 Gray
0x2C5A:015 Load encoder/master encoder (SSI) protocol Coding of data packet 3
parameters: Data package 3 coding
• Setting can only be changed if the inverter is
disabled.
0 Binary
1 Gray
0x2C5A:016 Load encoder/master encoder (SSI) protocol Raw value of position data word (read only).
parameters: Position raw data If a value of "0" is set for the position data length in 0x2C4A:008 , then
• Read only the value displayed for this parameter is also "0".
0x2C5A:017 Load encoder/master encoder (SSI) protocol Raw value of data packet 1 (read only).
parameters: Data package 1 raw data If a value of "0" is set for the data packet length 1 in 0x2C4A:013 , then
• Read only the value displayed for this parameter is also "0".
0x2C5A:018 Load encoder/master encoder (SSI) protocol Raw value of data packet 2 (read only).
parameters: Data package 2 raw data If a value of "0" is set for the data packet length 2 in 0x2C4A:014 , then
• Read only the value displayed for this parameter is also "0".
0x2C5A:019 Load encoder/master encoder (SSI) protocol Raw value of data packet 3 (read only).
parameters: Data package 3 raw data If a value of "0" is set for the data packet length 3 in 0x2C4A:015 , then
• Read only the value displayed for this parameter is also "0".

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Address Name / setting range / [default setting] Information

0x2C5A:020 Load encoder/master encoder (SSI) protocol
parameters: Encoder type
• Setting can only be changed if the inverter is
disabled.
0 Rotative encoder
1 Linear encoder
0x2C5A:021 Load encoder/master encoder (SSI) protocol
parameters: Position raw data scaled by 0x608F
• Read only: x pos. unit
0x2C5A:022 Load encoder/master encoder (SSI) protocol
parameters: Monoflop time
0 ... [0] ... 500 us
• Setting can only be changed if the inverter is
disabled.
0x2C5A:023 Load encoder/master encoder (SSI) protocol
parameters: Resulting SSI-telegram cycle time
• Read only: x.x us

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11.2.3.4 Evaluation of the signal quality

Signal quality
The signal quality is evaluated by the parameter 0x2C52:004, which serves to monitor the
initial reading and setting of the position.
If a transmission error occurs
• the current angular drift is marked as invalid in the parameter 0x2833, bit 9.
• the inverter keeps its operating status.
Angular drift

Communication with the encoder is no longer monitored during the angular

drift determination.

The value displayed in 0x2C52:003 is determined in different ways depending on the encoder
type:
• Determination of the current angular drift for the sin/cos encoder
In the case of an incremental SinCos encoder, the pulses between two zero pulse events of
the Z-track are counted. Assuming that there are no faults, this value corresponds to the
set number of increments. The accuracy of this process corresponds to ± 1 increment
graduation of the encoder, with the difference between the set number of increments and
the counted pulses being converted to an angle with an accuracy of ±0.1°. The
disadvantage is that an updated angular drift value only becomes available at the end of a
complete encoder revolution. In turn, this means that the update rate depends on the
speed.
• Determination of the current angular drift for the SinCos-Hiperface® absolute value
encoder
In the case of a SinCos absolute value encoder with HIPERFACE® protocol, no Z-track is
available; instead, the position is regularly read out of the encoder. When the first encoder
read-out operation is performed (after power-up or elimination of wire breakage), the
encoder position is used to initialise the internal device counter unit and to set an internal
device position. All other read-out processes from the encoder are used to generate a
difference between the internal device position and the encoder position. Assuming that
there are no faults, the difference is zero. However, the dead time of the communication
with the encoder means that the accuracy of the process is dependent on the speed and
therefore restricted compared to the zero pulse process. However, the advantage is that
the update rate does not depend on the speed, but is instead only determined by the
communication rate. The update rate is encoder-specific and is generally in the range
between 30 ... 50 ms.
Parameter
Address Name / setting range / [default setting] Information
0x2C52:003 Load encoder/master encoder settings (encoder): Display of the angular drift of the current angle error.
Angle drift
• Read only: x.x °
0x2C52:004 Load encoder/master encoder settings (encoder): The signal quality indicates the actual amplitude of the SinCos analog
Actual amplitude signal quality signals with regard to 1 Vss = 100 %.
• Read only: x % • The signal quality should be between 95 ... 105 %.
• There is no need for optimisation if the signal quality is within the
tolerance zone for the analog encoder signals given in the data sheet
of the encoder manufacturer.

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Detection of changed settings of the feedback system

11.2.4 Detection of changed settings of the feedback system

Bit 0 of status word 2 indicates whether the settings of the feedback system have been
changed since leaving the Not ready to start state. If a change has been made, bit 0 is set to
value "1". 40x2833
During the transition to the Operation enabled state, bit 0 is reset to value "0".
In all device states, changes to the following parameters continue to be monitored.
Relevant parameters of other functions
Address Name Default setting Setting range
0x2C50 Load encoder/master encoder type SinCos encoder [1] Selection list
0x2C51:002 Hiperface load encoder/master encoder settings: Type 0 0 ... 255
code manual input
0x2C51:003 Hiperface load encoder/master encoder settings: 1 1 ... 65535
Manual input - Number of detectable load/master
encoder revolutions
0x2C51:005 Hiperface load encoder/master encoder settings: - (Read only)
Serial number
0x2C52:001 Load encoder/master encoder settings (encoder): 1024 1 ... 262143
Increments/revolution
0x608F:001 Position encoder resolution: Encoder increments 16 bit [65536] Selection list
0x608F:002 Position encoder resolution: Motor revolutions 1 1 ... 1

11.2.5 Diagnostics
Parameter
Address Name / setting range / [default setting] Information
0x2C56 Number of the absolute ascertainable revolutions of Is set by the firmware according to the available version:
load encoder/master encoder • 0: no absolute value encoder (sin/cos encoder) or resolver with
• Read only number of pole pairs > 1
• 1: Hiperface encoder SingleTurn or resolver with number of pole
pairs = 1
• > 1: Hiperface encoder Multi Turn
0x2C5F Parameter CRC of load encoder/master encoder Display of the cyclic redundancy check (CRC) of selected encoder
• Read only parameters to detect changes in the feedback settings.
0x2DDF:006 Axis information: Detected module in slot B Display of the supported feedback system for the application.
• Read only Cannot be used as motor feedback.
0 Product defined
1 No module
2 Resolver
3 SinCos/Hiperface/SSI
4 SinCos/Hiperface/SSI/TTL
0x60E4:001 Additional position actual value: Load encoder/master Display of the actual position of the secondary feedback system.
encoder - actual position
• Read only: x pos. unit
0x60E5:001 Additional velocity actual value: Load encoder/master Display of the actual velocity of the secondary feedback system.
encoder - actual speed
• Read only: rpm

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11.3 Encoder: Evaluation of safely speed and position

Parameter
Address Name / setting range / [default setting] Information
0x2878:001 Motor encoder (ES): System
• Read only
0 No motor encoder
1 SinCos encoder
2 Resolver
3 HIPERFACE DSL
0x2878:002 Motor encoder (ES): SinCos encoder PPR
• Read only
0x2878:003 Motor encoder (ES): Number of resolver pole pairs
• Read only
0x2878:050 Motor encoder (ES): HDSL driver state
• Read only
Bit 0 Bit0
Bit 1 Bit1
Bit 2 Bit2
Bit 3 Bit3
Bit 4 Bit4
Bit 5 Bit5
Bit 6 Bit6
Bit 7 Bit7
Bit 8 Bit8
Bit 9 Bit9
Bit 10 Bit10
Bit 11 Bit11
Bit 12 Bit12
Bit 13 Bit13
Bit 14 Bit14
Bit 15 Bit15
0x2878:051 Motor encoder (ES): HDSL online status 1
• Read only
Bit 0 FRES
Bit 1 FIX0
Bit 2 QMLW
Bit 3 FIX0
Bit 4 FIX0
Bit 5 MIN
Bit 6 POSTX0
Bit 7 POSTX1
Bit 8 PRST
Bit 9 FIX0
Bit 10 VPOS
Bit 11 FIX0
Bit 12 FIX1
Bit 13 SCE
Bit 14 SSUM
Bit 15 SINT
0x2878:052 Motor encoder (ES): HDSL online status 2
• Read only
Bit 0 FIX0
Bit 1 FIX0
Bit 2 QMLW
Bit 3 FIX0
Bit 4 FIX0

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Address Name / setting range / [default setting] Information

Bit 5 FIX0
Bit 6 POSTX0
Bit 7 POSTX1
Bit 8 PRST
Bit 9 FIX0
Bit 10 VPOS2
Bit 11 FIX0
Bit 12 FIX1
Bit 13 SCE2
Bit 14 SUM2
Bit 15 FIX0
0x2878:053 Motor encoder (ES): HDSL Safe summary
• Read only
Bit 0 SSUM0
Bit 1 SSUM1
Bit 2 SSUM2
Bit 3 SSUM3
Bit 4 SSUM4
Bit 5 SSUM5
Bit 6 SSUM6
Bit 7 SSUM7
0x2878:054 Motor encoder (ES): HDSL Safe Channel 2 status
• Read only
Bit 0 FIX2
Bit 1 FIX2
Bit 2 FIX2
Bit 3 FIX2
Bit 4 FIX2
Bit 5 ERR2
Bit 6 TEST2
Bit 7 TOG2
0x2878:055 Motor encoder (ES): HDSL encoder status ENC_ST0
(ES)
• Read only
Bit 0 Encoder status bit 0
Bit 1 Encoder status bit 1
Bit 2 Encoder status bit 2
Bit 3 Encoder status bit 3
Bit 4 Encoder status bit 4
Bit 5 Encoder status bit 5
Bit 6 Encoder status bit 6
Bit 7 Encoder status bit 7
0x2878:056 Motor encoder (ES): HDSL encoder status ENC_ST1
(ES)
• Read only
Bit 0 Encoder status bit 8
Bit 1 Encoder status bit 9
Bit 2 Encoder status bit 10
Bit 3 Encoder status bit 11
Bit 4 Encoder status bit 12
Bit 5 ncoder status bit 13
Bit 6 Encoder status bit 14
Bit 7 Encoder status bit 15

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Address Name / setting range / [default setting] Information

0x2878:057 Motor encoder (ES): HDSL encoder status ENC_ST2
(ES)
• Read only
Bit 0 Encoder status bit 16
Bit 1 Encoder status bit 17
Bit 2 Encoder status bit 18
Bit 3 Encoder status bit 19
Bit 4 Encoder status bit 20
Bit 5 Encoder status bit 21
Bit 6 Encoder status bit 22
Bit 7 Encoder status bit 23
0x2878:058 Motor encoder (ES): HDSL encoder status ENC_ST3
(ES)
• Read only
Bit 0 Encoder status bit 24
Bit 1 Encoder status bit 25
Bit 2 Encoder status bit 26
Bit 3 Encoder status bit 27
Bit 4 Encoder status bit 28
Bit 5 Encoder status bit 29
Bit 6 Encoder status bit 30
Bit 7 Encoder status bit 31
0x2878:059 Motor encoder (ES): HDSL encoder status ENC_ST4
(ES)
• Read only
Bit 0 Encoder status bit 32
Bit 1 Encoder status bit 33
Bit 2 Encoder status bit 34
Bit 3 Encoder status bit 35
Bit 4 Encoder status bit 36
Bit 5 Encoder status bit 37
Bit 6 Encoder status bit 38
Bit 7 Encoder status bit 39
0x2878:060 Motor encoder (ES): HDSL encoder status ENC_ST5
(ES)
• Read only
Bit 0 Encoder status bit 40
Bit 1 Encoder status bit 41
Bit 2 Encoder status bit 42
Bit 3 Encoder status bit 43
Bit 4 Encoder status bit 44
Bit 5 Encoder status bit 45
Bit 6 Encoder status bit 46
Bit 7 Encoder status bit 47
0x2878:061 Motor encoder (ES): HDSL encoder status ENC_ST6
(ES)
• Read only
Bit 0 Encoder status bit 48
Bit 1 Encoder status bit 49
Bit 2 Encoder status bit 50
Bit 3 Encoder status bit 51
Bit 4 Encoder status bit 52
Bit 5 Encoder status bit 53
Bit 6 Encoder status bit 54
Bit 7 Encoder status bit 55

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Address Name / setting range / [default setting] Information

0x2878:062 Motor encoder (ES): HDSL encoder status ENC_ST7
(ES)
• Read only
Bit 0 Encoder status bit 56
Bit 1 Encoder status bit 57
Bit 2 Encoder status bit 58
Bit 3 Encoder status bit 59
Bit 4 Encoder status bit 60
Bit 5 Encoder status bit 61
Bit 6 Encoder status bit 62
Bit 7 Encoder status bit 63
0x2879:001 Mechanical data: Motor mounting direction
• Read only
0 Clockwise rotating motor
1 Counter-clockwise rotating motor
0x287A:001 Load encoder (ES): System
• Read only
0 No load encoder
1 Analog (SinCos/TTL)
2 Digital (SSI/bus)
0x287A:003 Load encoder (ES): Gear numerator
• Read only
0x287A:004 Load encoder (ES): Gear denominator
• Read only
0x287A:005 Load encoder (ES): Mounting direction
• Read only
0 As motor encoder
1 Inverted to motor encoder
0x287A:006 Load encoder (ES): Position
-2147483648 ... [0] ... 2147483647 incr.
0x287A:007 Load encoder (ES): Position status
0 Invalid
1 Valid
0x287A:008 Load encoder (ES): Additional gear numerator
• Read only
0x287A:009 Load encoder (ES): Additional gear denominator
• Read only
0x287B:001 Speed: Tolerance window (n=0) If the speed is within the tolerance window, the status "n = 0 rpm" is
• Read only: x rpm valid.
Changes only possible in the safety parameter list, otherwise only
display.
0x287B:002 Speed: Tolerance speed comparison
• Read only: x rpm
0x287B:003 Speed: Current speed n_safe
• Read only: x rpm
0x287B:004 Speed: Internal current speed nSD
• Read only: x rpm
0x287B:005 Speed: Internal current speed nBD
• Read only: x rpm
0x287B:006 Speed: Current speed difference nSD-nBD
• Read only: x rpm
0x287C:001 Position: Tolerance position comparison
• Read only: x incr.
0x287C:002 Position: Current position p_safe
• Read only: x incr.
0x287C:003 Position: Internal current position pSD
• Read only: x incr.
0x287C:004 Position: Internal current position pBD
• Read only: x incr.

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Encoder: Evaluation of safely speed and position

Address Name / setting range / [default setting] Information

0x287C:005 Position: Current position difference pSD-pBD
• Read only: x incr.

208
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)

11.4 Synchronous motor: Pole position identification (PPI)

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.
• For Lenze motors with absolute value encoder or resolver, the pole position has already
been set correctly.
• When incremental encoders are used (TTL or sin/cos encoders without absolute position
information), a pole position identification (PPI) is always required. This also applies to
Lenze motors.

NOTICE
The pole position identification (PPI) must only be executed
▶ for servo control with a synchronous motor of an original equipment manufacturer.
▶ for servo control with a synchronous motor and incremental encoders (TTL or sin/cos
encoder).
▶ after changes to the motor feedback system, e.g. feedback replacement.

The parameter settings for pole position identification are accessed in »EASY Starter« via the
following path:
• Settings tab
• Basic setting \ Motor feedback (A)
Three different identification methods are offered here:
• 360° electrical
• With min. movement
• Without movement
The criteria for selecting the most suitable identification method are presented below.
Selection criteria for using the suitable pole position identification
For identifying the pole position for the currently activated feedback, the following functions
are available which all provide almost the same result. Due to e.g. friction, bearing forces and
a trapezoidal field pattern, the results may differ from each other.
4Pole position identification (PPI) 360° ^ 211
• The motor must not be braked, blocked or mechanically driven during the pole position
identification! This function must not be used for hanging loads!
• Especially in case of idling drives or drives with a low load (inertia / friction), this function
delivers the most accurate results.

4Pole position identification (PPI) with minimum movement ^ 215

• The motor must not be braked, blocked or driven during the pole position identification!
Thus, this function must not be used for hanging loads!
• Regarding the accuracy, this function is in the middle range. A percentage increase of the
current amplitude can enhance the accuracy of the results if required.

4Pole position identification (PPI) without movement ^ 218

• In case of stalled motors (e.g. with hanging loads), only this function shall be used!
• This function was developed for a wide range of motor characteristics. In case of some
motor types, however, the identified pole position angle may differ considerably from the
real pole position angle, so that a considerable loss in torque and greater motor losses may
occur. Thus, especially when using third-party motors, we recommend the execution of a
reference identification with an idling motor4Pole position identification (PPI) 360° . ^ 211
If the identified values of both processes differ from each other by more than 20°, please
contact Lenze.

Detailed information on the respective function can be found in the following subchapters.

209
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Selection of the PPI method for CiA mode

11.4.1 Selection of the PPI method for CiA mode

Parameter
Address Name / setting range / [default setting] Information
0x2C66:001 PPI mode for 0x6060: Selection Selection of the identification method for the CiA operating mode "pole
• Setting can only be changed if the inverter is position identification (PLI)(0x6060 = -12)
disabled. 4CiA 402 device profile ^ 310
1 PPI 360° 4Pole position identification (PPI) 360° ^ 211
2 PPI min. movement 4Pole position identification (PPI) with minimum movement ^ 215
3 PPI without movement 4Pole position identification (PPI) without movement ^ 218

11.4.2 Monitoring the pole position identification

If an error occurs during the pole position identification or if the pulse inhibit gets active (e.g.
due to a short-time undervoltage), the process is stopped with disabling the inverter without
the settings being changed.
If the motor was braked or blocked during the process, this will be detected at the end of the
measurement and no change will be made (exception: "pole position identification PLI
(without movement)").
The error response can be parameterised:
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.
Parameter
Address Name / setting range / [default setting] Information
0x2C60 PPI monitoring: Reaction Selection of the response triggered by the occurrence of an error during
the pole position identification (PLI).
Associated error codes:
• 65284 | 0xFF04 - PPI - Motor movement too large
• 65299 | 0xFF13 - Identification aborted
0 No response
1 Fault > CiA402
2 Warning

11.4.3 Monitoring the validity of the pole position

Parameter
Address Name / setting range / [default setting] Information
0x2C65:001 PPI validation: Activation
• Setting can only be changed if the inverter is
disabled.
0 Off
1 On
0x2C65:002 PPI validation: Settings
0 No action
1 Reset PPI validation bit
2 Set PPI validation bit
0x2C65:003 PPI validation: Status
• Read only
Bit 0 Pole position is valid
0x2C65:004 PPI validation: Pole position set value
-179.9 ... [0.0] ... 179.9 °

210
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) 360°

11.4.4 Pole position identification (PPI) 360°

DANGER!
Mechanical damage of the motor caused by hanging loads!
The motor may be permanently damaged.
▶ The motor must not be braked or blocked during the pole position identification. Thus, this
function must not be used for hanging loads!

NOTICE
Thermal overload of the motor!
The motor may be permanently damaged.
▶ Before executing the pole position identification, check that the following monitoring
systems are parameterised correctly.
▶ Motor overload monitoring (i²xt)
▶ Overcurrent monitoring

NOTICE
▶ Please observe the following: Synchronous motor: Pole position identification (PPI)

Functional description

90°
d β 112.5° q β 67.5°
45° 135° 45°
157.5° 22.5°

0° α 180° 0° α, d
q 202.5° 337.5°

225° 315°
247.5° 270° 292.5°

211
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) 360°

If the servo control is set for synchronous motor and no error is pending, the current is first
raised in a ramp-shaped manner to 141 % of the rated motor current after the inverter is
enabled.

Left image
First, the rotor is moved from any position of rest to the 0° angle.
• For this purpose, the amplitude of the d current vector is created in the stator coordinate
system at a starting angle of 45° and then turned to 0°.
• A sufficiently high amplitude of the d current vector and its rotary motion result in a
magnetic force that moves the rotor to the angle 0°.

Right image
Afterwards, the d current vector is turned further in 15 steps by 22.5° each starting at the
angle 0°.
• Due to the magnetic forces, the rotor adjusts to the respective angle.
• After 16 steps, the rotor has moved by absolute electrical 360°.
Result
For determining the pole position, a mean value is calculated from all 16 messages. The rotor
displacement angle can be recorded via the 0x2DDE parameter (actual motor rotor angle
position). The detected pole position is stored in the inverter parameters ,
0x2C03:0020x2C03:004. The detected pole position must then be saved.

Abort of the pole position identification

The pole position identification is aborted if the deviations between the rotary motion of the
current vector and the rotor exceed the fault tolerance set in 0x2C41:004 (check if parameter
is available).
Preconditions for the performance
• The motor must not be braked or blocked during the pole position identification.
• The servo inverter is error-free and in Switched on device state.
Response of the motor during performance
The rotor aligns during the pole position identification. The motor shaft moves by max. one
electrical revolution which causes a corresponding movement of the connected mechanics!

How to execute the pole position identification PLI (360°):

1. If the servo inverter is enabled, disable it.Enable operation
2. Set the object 0x2825 to "5" to change to the "pole position identification PLI (360°)"
operating mode.
3. Before the PLI can be started, the works mentioned below must be completed.
4. Enable the servo inverter to start the pole position identification (360°). Note: Inhibiting the
controller serves to abort the started procedure any time if required without changing the
settings.

After the pole position identification has been completed successfully...

212
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) 360°

Adapt pole position identification PLI (360°)

① ② ③

B
A

❷
❸
❹

RFR
IMP
t [s]
Fig. 52: Chronological sequence of the pole position identification

In case of drives with a high static friction, mass inertia or alternating load, an optimisation
may be necessary:
• The amplitude of the current vector must be set so high that the motor with a high mass
inertia can be accelerated.
• The cyclic continued rotation of the current vector by 22.5° has to cause an equivalent
angular rotation of the motor shaft (rotor). A step function has to be achieved. Here,
actual positions with very low overshoots are visible.

NOTICE
Thermal overload of the motor!
The motor may be permanently damaged.
▶ If no temperature monitoring is available in the motor, and/or the I²xt motor monitoring
and the maximum current monitoring are not parameterised correctly, the motor can be
permanently damaged if the current amplitude is set too high!
▶ Motor overload monitoring (i²xt)
▶ Overcurrent monitoring

Overview of more objects available for

• Identification
• Triggering
• Diagnostics
Tip!
An oscilloscope serves to execute the optimisation

213
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) 360°

Parameter Subindex Value/unit INFO

0x2825 0 CiA402 mode active [0] Operating modes [5] for PLI 360°
0x2824 0 Off [0], On [1]
0x6040 0 0x0000 Simulation of the CiA state machine
0x2823 0 100 Progress bar
0x2C61:001 1 100 % PLI(360°) current amplitude
0x2C61:002 2 40 s PLI(360°) ramp time
0x2C61:003 3 Field: clockwise [0] PLI(360°) direction of rotation
0x2C61:004 4 20° PLI(360°) fault tolerance
0x2C61:005 5 4.81 A Display
0x2C03:002 2 -90.0° Detected pole position values
0x2C03:004 4 0.0°
0x2DDE 0 1850 current rotor angle
0x2D83:002 2 0.03 A Phase U current
0x2D83:003 3 0.04 A Phase V current
0x2D83:004 4 -0.01 A Phase W current
0x2DD1:003 3 0.00 A Setpoint D current
0x2DD1:001 1 0.01 A Current D current
0x6073 0 150.0 % Max current
0x6075 0 3.400 A Motor rated current, reference for
0x2C61:1
0x2D46:001 1 16.5 A Overcurrent monitoring: threshold
0x2DDF:001 1 5.00 A User info regarding rated current
0x2DDF:002 2 10.00 A User info regarding maximum
current

Parameter
Address Name / setting range / [default setting] Information
0x2C61:001 Pole position identification (360°) settings: Current Percentage adaptation of the current amplitude.
amplitude • For large machines and high mass inertia values or for linear direct
1 ... [71] ... 1000 % drives, the current amplitude usually must be increased.
• Setting can only be changed if the inverter is • Default setting 100 % ≡ 141 % of Rated motor current (0x6075)
disabled.
Note!
If the current amplitude is set to > 100 %, the device utilisation (Ixt)
monitoring and/or one of the motor monitoring functions may respond
and cause the abort of the pole position identification.
0x2C61:002 Pole position identification (360°) settings: Ramp time Percentage adaptation of the ramp time.
1 ... [40] ... 600 s • For large machines and high mass inertia values, the ramp time must
• Setting can only be changed if the inverter is be increased.
disabled. • For small machines, however, the pole position identification can be
accelerated by reducing the ramp time.
0x2C61:003 Pole position identification (360°) settings: Direction Selection of travel direction.
of rotation In some situations, it may be helpful to reverse the travel direction for
• Setting can only be changed if the inverter is the pole position identification (e. g. for linear motor at the end stop).
disabled.
0 CW
1 CCW
0x2C61:004 Pole position identification (360°) settings: Error Setting of the fault tolerance for the plausibility check.
tolerance • If the rotor position detected via the encoder system is not within the
15 ... [20] ... 50 ° tolerance zone around the position that is output in a controlled
manner, the pole position identification is aborted and the
parameterised error response is tripped.
0x2C61:005 Pole position identification (360°) settings: Absolute Display of the absolute current amplitude.
current amplitude
• Read only: x.xx A

214
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) with minimum movement

11.4.5 Pole position identification (PPI) with minimum movement

NOTICE
Thermal overload of the motor!
The motor may be permanently damaged.
▶ Before executing the pole position identification, check that the following monitoring
systems are parameterised correctly in order to prevent a permanent damage of the motor
in the event of an error:
▶ 4Motor overload monitoring (i²xt) ^ 280
▶ Overcurrent monitoring

Functional description
If servo control for synchronous motor is set and if no error is pending, the current position is
memorised after controller enable, and the current is increased along a ramp for 10 s to 35 %
of the rated motor current. This will cause the rotor to align, which, however, is compensated
by a position control. If the rotor makes an electrical movement of more than 20°, an error
message is output, and the value measured is discarded. This might occur in the case of
motors with considerable detent torques.
If the current has reached its final value, a plausibility check is executed after a short interval:
in order to detect a non-permissible blocking of the motor, a positive and a negative test angle
(± 20°) relative to the current position are defined after the identification. The motor must
align itself to these two test angles within a tolerance of 25 %.
Conditions for the execution
• The motor must not be braked or blocked during the pole position identification.
• The servo inverter is error-free and in Switched on device state.
Response of the motor during performance
The motion of the motor will maximally correspond to the set "Max. permissible motion"
(Lenze setting: 20°). If a greater motion is detected via the encoder system, the pole position
identification is cancelled and the parameterised error response (Lenze setting: Fault) is
triggered.
How to execute the pole position identification PLI (min. movement):
1. If the servo inverter is enabled, disable it.Enable operation
2. Set the object 0x2825 to "6" to change to the "pole position identification PLI (min.
movement)" operating mode.
3. Enable the servo inverter to start the process.
Note: Inhibiting the controller serves to abort the started procedure any time if required
without changing the settings.

215
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) with minimum movement

After the pole position identification has been completed successfully...

...the controller is inhibited automatically and the pole position determined for the activated
feedback system is set in the 0x2C03:002 object.
• Save the changed settings.
The »EASY Starter« serves to save the parameter settings of the servo inverter as
parameter file (*.gdc). This file can then be imported in the »PLC Designer«. Saving the
parameter settings
• The inverter disable set automatically by the procedure can be deactivated again via the
CiA402 control word 0x6040. Enable operation
Adapt pole position identification PLI (min. movement)
The process of pole position identification described above can be adapted to the respective
machine and the existing moments of inertia by using the parameters described in the
following.

216
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) with minimum movement

Parameter
Address Name / setting range / [default setting] Information
0x2C62:001 Pole position identification (min. movement) settings: Percentage adaptation of the current amplitude.
Current amplitude • For large machines, high mass inertia values or for linear direct drives,
1 ... [25] ... 1000 % the current amplitude usually must be increased.
• Setting can only be changed if the inverter is • Default setting 25 % ≡ 35 % of Rated motor current (0x6075)
disabled.
Note!
If the current amplitude is set to > 100 %, the device utilisation (Ixt)
monitoring and/or one of the motor monitoring functions may respond
and cause the abort of the pole position identification.
0x2C62:002 Pole position identification (min. movement) settings: Percentage adaptation of the rate of current rise.
Ramp time
1 ... [10] ... 600 s
• Setting can only be changed if the inverter is
disabled.
0x2C62:003 Pole position identification (min. movement) settings: Adaptation of the proportional PI controller gain.
Gain With the Lenze setting "0 %",the PI controller works as an I controller.
0 ... [0] ... 1000 %
0x2C62:004 Pole position identification (min. movement) settings: Adaptation of the reset time of the PI controller.
Reset time • In order to be able to compensate a positional variation faster, first
0.1 ... [62.5] ... 6000.0 ms the reset time should be reduced. If this does not result in the desired
behaviour, the proportional gain can be increased.
• Ensure that the position control does not get unstable. We therefore
recommend you to use an I controller.
0x2C62:005 Pole position identification (min. movement) settings: Adaptation of the permitted movement.
Max. move permitted • The pole position identification comprises a monitoring function for
1 ... [20] ... 90 ° the follow-up control. If a movement greater than the permissible
movement set is detected by the encoder system, the pole position
identification is aborted and the error response parameterised is
tripped:
• In order to detect a non-permissible blocking of the machine, a
positive and negative test angle relative to the current position are
defined after the identification. The machine must align itself to these
two test angles within a tolerance of 25 %. The size of the test angle
corresponds to the max. move permitted set here.
0x2C62:006 Pole position identification (min. movement) settings: Display of the absolute current amplitude.
Absolute current amplitude
• Read only: x.xx A

217
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) without movement

11.4.6 Pole position identification (PPI) without movement

The "Pole position identification (PLI) without movement" function can also be used if no
motor revolution is possible (holding brake active).

NOTICE
With an incorrect parameter setting and dimensioning of the inverter, the maximum
permissible motor current may be exceeded during the pole position identification.
Possible consequence: Irreversible damage of the motor.
▶ Set the motor data correctly. 4Motor data ^ 46
▶ Only use an inverter that is performance-matched to the motor.

DANGER!
Uncontrolled acceleration of the motor!
Undefined state of the feedback system, caused by wire breakage!
▶ Each pole position identification causes an update of the pole position set in the device!
Therefore, ensure that the response to open circuit in the feedback system is set to Lenze
setting "1: Fault" in 0x2C45! Otherwise, the status of the feedback system in case of open
circuit is undefined and the pole position can assume any value. There is a danger that the
machine accelerates in an uncontrolled way after pole position identification!

NOTICE
Device state "switched-on"/"operation"
▶ The process of the pole position identification only lasts some milliseconds. During the pole
position identification, the device status does not change. Only after the pole position
identification, the Operation enabled device status changes to the Operation enabled
device status.
▶ If pole position identification is started via parameter 0x2825, the inverter is automatically
disabled at the end of the pole position identification process.

Conditions
• The wiring of the three motor phases and the motor encoder must be carried out
according 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
standstill.

NOTICE
▶ During the pole position identification, the error 0xFF13 ("identification cancelled") may
occur. This may be an indication that the motor features are not suitable for this PLI process.

Functional description
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. Then, the
inverter is automatically disabled.
The pole position identification PLI (without movement) does not need any parameterisation.

218
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) without movement

Preconditions for the performance

• The wiring of the three motor phases and the feedback must be carried out in accordance
with the specifications from the hardware manual.
• The motor may be stalled.
• The servo inverter is error-free and in Switched on device state.
• Please observe the notes in the Synchronous motor: Pole position identification
(PPI)section.
Response of the motor during performance
The current test pulses cause audible engine noises that may be increased by the machine
mechanics depending on the mechanical coupling!
How to execute the pole position identification PLI (without movement):
1. If the servo inverter is enabled, disable it.Enable operation
2. Set the object 0x2825 to "7" to change to the "pole position identification PLI (without
movement)" operating mode.
3. Enable the servo inverter to start the process.
Note: Inhibiting the controller serves to abort the started procedure any time if required
without changing the settings.
After the pole position identification has been completed successfully...
...the controller is inhibited automatically and the pole position determined for the activated
feedback system is set in the 0x2C03:002 object.
• For permanent storage, the changed settings from the servo inverter must be uploaded in
the Controller.
The »EASY Starter« serves to save the parameter settings of the servo inverter as
parameter file (*.gdc). Saving the parameter settings
• The inverter disable set automatically by the procedure can be deactivated again via the
CiA402 control word 0x6040. Enable operation
Optional settings (starting performance)
Optionally, a pole position identification without motion can be activated after switching on
the servo inverter.
Parameter
Address Name / setting range / [default setting] Information
0x2C63:001 PPI without movement: Execution Start behavior (with or without pole position identification before the
• Setting can only be changed if the inverter is start).
disabled.
0 Disabled No pole position is identified.
1 Only after 1st enable/encoder error After the first controller enable and after each encoder wire breakage, a
PLI without movement takes place.
CAUTION!
After an encoder wire breakage, the drive may accelerate in an
uncontrolled manner subsequent to the pole position identification.
• Cause: In case of a wire breakage, the feedback system state is
undefined and the pole position assumes any value.
• Remedy: Set the error response "Trouble" (0x2C450x2C45 = 2) for an
encoder wire breakage in order that the pole position will be
identified after a wire breakage.
2 After each enable After every inverter release, the pole position is identified without any
movement.
0x2C63:002 PPI without movement: Current adjust factor
50 ... [100] ... 500 %
• Setting can only be changed if the inverter is
disabled.

219
Configuring the feedback system
Cable check

11.5 Cable check

This function serves to detect wiring errors or cable damage which can cause uncontrolled
movements of the machine during the commissioning phase or during operation. The function
therefore helps to prevent machine damage and serves to correct these errors as quickly as
possible.

How to manually execute the Cable Check function:

Preconditions
• The motor can remain coupled to the kinematics.
• In the case of drives without a motor holding brake, the rotor must be able to move by
20 ° (electrically). This makes it necessary to set the operating mode of the motor
holding brake to "No brake connected".0x2820:001 40x2820:001 = 2
• In the case of drives with a motor holding brake, the test is performed against the
closed motor holding brake. In the following parameter, the operating mode must be
set to 0 or 1. 0x2820:00140x2820:001
• The device must not be in the Fault state.
• 24 V supply voltage must be available.
• The display on the front of the blue LED shows ON or is blinking.
• The device must be supplied with mains voltage. Parameter status 0x6041, Bit 40x6041, Bit
4 = TRUE
• The device must not be in the STO state. The safety functions must be parameterized.
Parameter status: 0x6041, Bit 15 0x6041, Bit 15 = FALSE
• The motor data must be set correctly.
• No error message must be active. Parameter status: 0x6041, Bit 3 0x6041, Bit 3 = FALSE. If
an error message is active, first remove these errors and reset the error message.
• The motor control must be set to:
• Servo control - synchronous motor (SM) or
• Servo control - asynchronous motor (ASM)
The function only supports these two motor controls.
• The behavior after switch-on must be set. 0x2C64 = 0.
1. Open the »EASY Starter« engineering tool.
2. Establish an online connection to the device.
3. Call the Motor commissioning tab in the workspace of the »EASY Starter«.
4. Call the Feedback tab there.
5. In the jalousie Cable check: Motor and motor encoder, execute the Cable Check function.
The Cable Check function is now activated.
6. Activate the device via the CiA402 control word 0x6040 40x6040 or 0x6048 0x6048 for axis
B
Execution of the function is indicated as completed in the »EASY Starter«after approx. one
second. Additionally, the »EASY Starter« indicates whether an error has occurred during the
check:

The Cable Check function can always be started via the Execute Cable Check
button if the preconditions for this are met.

220
Configuring the feedback system
Cable check

The Cable Check function should be executed manually by the user while the machine is
commissioned, in order to identify typical errors that may occur during the machine
installation.
Typical errors
• The motor encoders are connected to the wrong device before initial switch-on, whereas
the motor is connected to the right device. If the motor encoders that are incorrectly
connected are of the same type, the motor encoder monitoring does not detect any error.
• The motor encoders are connected to the right device, however, the motor is connected to
the wrong device.
• The connection of the motor phases to the device is reversed.
• Individual wires of the rotary transducer are connected incorrectly.
Starting condition for the Cable Check
The following starting conditions can be set for the automatic Cable Check function:
• Check only at initial switch-on or after motor encoder error 0x2641:001 0x2641:001 = 1
• Check after every switch-on 0x2641:0010x2641:001 = 2

Observe the line diagrams for configuring the controller.

Damage during operation

Typical damage that may occur during operation
• Wire breakage on the motor encoder and/or motor cable
• Whole motor encoder cable and/or motor cable torn off
• Screwed connections that are loosening
• Loose contacts
Possible error sources
• Failure of a motor phase
• Incorrect direction of rotation detected.

221
Configuring the feedback system
Cable check

How to carry out the Cable check automatically

Preconditions
• The motor can remain coupled to the kinematics.
• In the case of drives without a motor holding brake, the rotor must be able to move by
20 ° (electrically). This makes it necessary to set the operating mode of the motor
holding brake to "No brake connected".0x2820:001 40x2820:001 = 2
• In the case of drives with a motor holding brake, the test is performed against the
closed motor holding brake. In the following parameter, the operating mode must be
set to 0 or 1. 0x2820:00140x2820:001
• The device must not be in the Fault state.
• 24 V supply voltage must be available.
• The display on the front of the blue LED shows ON or is blinking.
• The device must be supplied with mains voltage. Parameter status 0x6041, Bit 40x6041, Bit
4 = TRUE
• The device must not be in the STO state. The safety functions must be parameterized.
Parameter status: 0x6041, Bit 15 0x6041, Bit 15 = FALSE
• The motor data must be set correctly.
• No error message must be active. Parameter status: 0x6041, Bit 3 0x6041, Bit 3 = FALSE. If
an error message is active, first remove these errors and reset the error message.
• The motor control must be set to:
• Servo control - synchronous motor (SM) or
• Servo control - asynchronous motor (ASM)
The function only supports these two motor controls.
• The behavior after switch-on must be set. 0x2C64 = 0.
1. Open the »EASY Starter« engineering tool.
2. Establish an online connection to the device.
3. Call the Motor commissioning tab in the workspace of the »EASY Starter«.
4. Call the Feedback tab there.
5. In the jalousie Cable check: Motor and motor encoder, execute the Cable Check function.
The Cable Check function is now activated.
6. In a last step, changed settings must be saved with mains failure protection.

When the pole position identification is set after every switch-on and Cable
Check, the pole position identification is carried out first, followed by the Cable
Check.

Depending on the parameter setting in 0x2C64:1, the Cable Check starts automatically if the
controller activates operation of the device via the CiA402 control word. The check takes
approx. one second. During this time, 0x2C64, bit 1 is = TRUE A possibly available motor
holding brake remains closed. In this case, the rotor is moved against the closed motor
holding brake. If no motor holding brake is available, the rotor of the motor is moved
electrically by approx. 20 °. The device remains in the switched-on state until the cable check
has been completed.

The Cable Check function can always be started via the Execute Cable Check
button if the preconditions for this are met.

Error detected by the Cable Check function

If the Cable Check function detects an error, the i700 servo inverter automatically changes to
the Fault status.

222
Configuring the feedback system
Cable check

No error detected by the Cable Check function

The device changes to the "Operation enabled" state.
• Deactivate the device. e.g. via the control word. You can do this using keys F8 / F9 in
the »EASY Starter«.
• Deactivate the Cable Check function via the parameter and set a selection other than 15.
0x2825 0x2825

During operation, the Cable Check function can be automatically executed by the device itself,
in order to detect damage on the motor or motor encoder already when the machines are
switched on.

How to remove errors:

1. Consult the logbook to identify the error causes.
2. Switch off the power supply and 24 V supply of the device.
3. Check the wiring and correct it, if necessary.
4. Execute the test again.

The "Identification" status word is also used by other functions. The display is
therefore only valid as long as no other function using this status word is active.
0x28320x2832

Parameter
Address Name / setting range / [default setting] Information
0x2C64:001 Cable Check: Behavior after switch on
• Setting can only be changed if the inverter is
disabled.
0 No action
1 Check at first switch on/after feedback error
2 Check at every switch on
0x2C64:002 Cable Check: Status word
• Read only
Bit 0 Cable check enabled
Bit 1 Cable check running
Bit 2 Cable check finished
Bit 3 Cable check failed

223
Configuring the motor control

12 Configuring the 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.
Basically, 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,
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:

Servo control (SC-PSM) [1], Servo control(SC-ASM) [2],
V/f-control (open loop) [6]

Optimisation of motor control Parameterisable functions:

Current control, speed control, position control ,V/f voltage boost, skip frequencies, optimisation of the
stalling behaviour,

Possible settings:
Inverter characteristic a) Identifying data automatically (by inverter)
b) Loading preset inverter characteristics

Possible settings:
a) Identifying data automatically (by inverter)
Motor
equivalent circuit data b) Using data from the motor catalogue
c) Entering data manually

Possible settings:
Position controller / - Entering data manually
speed controller

Possible settings:
Current controller - Entering data manually

224
Configuring the motor control
Servo control for synchronous motor (SC-PSM)
Required commissioning steps

12.1 Servo control for synchronous motor (SC-PSM)

The motor control is based on a feedback, field-oriented and cascaded controller structure
and enables a dynamic and stable operation in all four quadrants.
Preconditions
• The servo control (SC-PSM) is only suitable for synchronous motors.
• The servo control (SC-PSM) requires a feedback of the position.

12.1.1 Required commissioning steps

1. Check wiring by means of manual test modes: Testing the motor control ^ 292
2. Activate motor control type: 0x2C00 = "Servoregelung (SC-PSM) [1]".
3. Set motor data: Motor data ^ 46
4. Set motor monitoring:
• Motor temperature monitoring ^ 287
5. Configuring the feedback system ^ 171
6. Only required for motors of other manufacturers:
• Set and optimise current controller: Current controller ^ 257
• Correction of the stator leakage inductance (Lss)... ^ 266
• Synchronous motor: Pole position identification (PPI) ^ 209
7. Only required for an automatic calculation of the speed controller parameters:
• Define total moment of inertia: Tuning of the motor and the speed controller ^ 247
8. Set speed controller: Speed controller ^ 254.
9. Set position controller: Position controller ^ 264
10. Optional: Synchronous motor (SM): Compensate temperature and current influences ^ 271
11. Optional: Jerk limitation ^ 275
12. Optional: Notch filter (band-stop filter) ^ 276
13. Optional: Short-circuit braking ^ 240

225
Configuring the motor control
Servo control for asynchronous motor (SC-ASM)
Required commissioning steps

12.2 Servo control for asynchronous motor (SC-ASM)

The motor control is based on a feedback, field-oriented 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 position.

12.2.1 Required commissioning steps

1. Check wiring by means of manual test modes: Testing the motor control ^ 292
2. Activate motor control type: 0x2C00 = "Servo control (SC ASM) [2]".
3. Set motor data: Motor data ^ 46
4. Configuring the feedback system ^ 171
5. Only required for motors of other manufacturers:
• Set and optimise current controller: Current controller ^ 257
• Correction of the stator leakage inductance (Lss)... ^ 266
6. Only required for an automatic calculation of the speed controller parameters:
• Define total moment of inertia: Tuning of the motor and the speed controller ^ 247
7. Set speed controller: Speed controller ^ 254.
8. Set position controller: Position controller ^ 264
9. Only required for motors of other manufacturers:
• Set field controller: ASM field controller ^ 260
• Set field weakening controller: ASM field weakening controller ^ 261
10. Optional: Correction of the stator leakage inductance (Lss)... ^ 266
11. Optional: Asynchronous motor (ASM): Identifying Lh saturation characteristic ^ 272
12. Optional: Estimate optimum magnetising current ^ 274
13. Optional: Jerk limitation ^ 275
14. Optional: Notch filter (band-stop filter) ^ 276
15. Optional: DC braking ^ 239

226
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Required commissioning steps

12.3 V/f characteristic control for asynchronous motor (VFC open loop)
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 operation 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.
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 application is suitable for operation with a square-law V/f
characteristic!
• Set the motor data according to the information on the nameplate of the motor. 4Motor
data ^ 46

12.3.1 Required commissioning steps

1. Check wiring by means of manual test modes. 4Testing the motor control ^ 292
2. Activate motor control type: 0x2C00 = "V/f characteristic control (VFC open loop) [6]".
3. Set limiting factors for the V/f characteristic:
1. 0x2540:001, Rated mains voltage
2. 0x2B01:001, Base voltage
3. 0x2B01:002, Base frequency
4. Set and optimise current controller 4Current controller. ^ 257
Setting and optimising the current controller is only required if at least one of the following
functions is active:
• Voltage vector control 4Activate voltage vector control (Imin controller) ^ 232
• DC braking 4DC braking ^ 239
• Flying restart function4Flying restart circuit ^ 237
5. Select a characteristic shape suitable for the application 4Define V/f characteristic shape.
^ 229
6. Set voltage boost ^ 233
7. Activate voltage vector control (Imin controller) ^ 232
8. Imax controller ^ 263
9. Optional4Set load adjustment ^ 234
10. Optional4Flying restart circuit ^ 237
11. Optional4Set slip compensation ^ 234
12. Optional4Set oscillation damping ^ 235

227
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Basic setting

12.3.2 Basic setting

The base voltage and the base frequency define the ratio of the two variables and thus the
gradient of the V/f characteristic.

V V
Reference point Reference point
voltage voltage
0x2B01:1 0x2B01:1

0 fset 0 fset
0 Reference point 0 Reference point
frequency frequency
0x2B01:2 0x2B01:2

Parameter
Address Name / setting range / [default setting] Information
0x2B01:001 V/f shape data: Base voltage Base voltage and base frequency define the V/f ratio and thus the
0 ... [225] ... 5000 V gradient of the V/f characteristic.
0x2B01:002 V/f shape data: Base frequency • The V/f base voltage is usually set to the rated motor voltage
0 ... [270] ... 5000 Hz 0x2C01:007.
• The V/f base frequency is usually set to the rated motor frequency
0x2C01:005.

228
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Define V/f characteristic shape

12.3.3 Define V/f characteristic shape

For adaptation purposes to different load profiles, you can select the shape of the
characteristic:
Parameter
Address Name / setting range / [default setting] Information
0x2B00 V/f characteristic shape Selection of the V/f characteristic shape for the adaptation to different
• Setting can only be changed if the inverter is load profiles.
disabled.
0 Linear Linear characteristic for drives with constant load torque over the speed.
4Linear V/f characteristic ^ 229
1 Quadratic Square-law characteristic for drives with a square-law load torque over
the speed.
• Square-law V/f characteristics are preferably used for centrifugal
pumps and fan drives.
• Please always check whether the corresponding application 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 ^ 229
2 Adaptive User-definable characteristic with 3 grid points.
3 Eco Linear characteristic with energy optimisation in the partial load
operational range.

12.3.3.1 Linear V/f characteristic

The linear V/f characteristic leads to a constant torque.
12.3.3.2 Square-law V/f characteristic
The square-law V/f characteristic is typically used in heating, ventilation and climate
applications to control the speed of fans and centrifugal pumps.

229
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Define V/f characteristic shape

12.3.3.3 User-definable V/f characteristic

The "user-definable V/f characteristic" is provided for the individual adjustment of the motor
magnetisation to the actual application if linear and square-law characteristics are not
suitable.
• The characteristic is defined by means of 11 parameterisable grid points (voltage/
frequency values).
• In the Lenze setting the 11 grid points represent a linear characteristic:

U [V]

P1 400 P11

P2 320 P10

P3 240 P9

P4 160 P8

P5 80 P7
P6
-50 -40 -30 -20 -10 0 10 20 30 40 50 f [Hz]

P1 P2 P3 P4 P5 P6 P7 P8 P9 P10 P11
V 400 V 320 V 240 V 160 V 80 V 0V 80 V 160 V 240 V 320 V 400 V
f -50 Hz -40 Hz -30 Hz -20 Hz -10 Hz 0 Hz 10 Hz 20 Hz 30 Hz 40 Hz 50 Hz

Parameter
Address Name / setting range / [default setting] Information
0x2B02:001 Frequency grid points (x) user V/f characteristic: x1 = Freely parameterizable V/f characteristic (values for X axis). These
f01 settings define the adaptive frequency values.
-5000 ... [-50] ... 5000 Hz
0x2B02:002 Frequency grid points (x) user V/f characteristic: x2 =
f02
-5000 ... [-40] ... 5000 Hz
0x2B02:003 Frequency grid points (x) user V/f characteristic: x3 =
f03
-5000 ... [-30] ... 5000 Hz
0x2B02:004 Frequency grid points (x) user V/f characteristic: x4 =
f04
-5000 ... [-20] ... 5000 Hz
0x2B02:005 Frequency grid points (x) user V/f characteristic: x5 =
f05
-5000 ... [-10] ... 5000 Hz
0x2B02:006 Frequency grid points (x) user V/f characteristic: x6 =
f06
-5000 ... [0] ... 5000 Hz
0x2B02:007 Frequency grid points (x) user V/f characteristic: x7 =
f07
-5000 ... [10] ... 5000 Hz
0x2B02:008 Frequency grid points (x) user V/f characteristic: x8 =
f08
-5000 ... [20] ... 5000 Hz
0x2B02:009 Frequency grid points (x) user V/f characteristic: x9 =
f09
-5000 ... [30] ... 5000 Hz
0x2B02:010 Frequency grid points (x) user V/f characteristic: x10 =
f10
-5000 ... [40] ... 5000 Hz
0x2B02:011 Frequency grid points (x) user V/f characteristic: x11 =
f11
-5000 ... [50] ... 5000 Hz

230
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Define V/f characteristic shape

Address Name / setting range / [default setting] Information

0x2B03:001 Voltage grid points (y) user V/f characteristic: y1 = U01 Freely parameterizable V/f characteristic (values for Y axis). These
(x = f01) settings define the adaptive voltage values.
0.00 ... [400.00] ... 1000.00 V
0x2B03:002 Voltage grid points (y) user V/f characteristic: y2 = U02
(x = f02)
0.00 ... [320.00] ... 1000.00 V
0x2B03:003 Voltage grid points (y) user V/f characteristic: y3 = U03
(x = f03)
0.00 ... [240.00] ... 1000.00 V
0x2B03:004 Voltage grid points (y) user V/f characteristic: y4 = U04
(x = f04)
0.00 ... [160.00] ... 1000.00 V
0x2B03:005 Voltage grid points (y) user V/f characteristic: y5 = U05
(x = f05)
0.00 ... [80.00] ... 1000.00 V
0x2B03:006 Voltage grid points (y) user V/f characteristic: y6 = U06
(x = f06)
0.00 ... [0.00] ... 1000.00 V
0x2B03:007 Voltage grid points (y) user V/f characteristic: y7 = U07
(x = f07)
0.00 ... [80.00] ... 1000.00 V
0x2B03:008 Voltage grid points (y) user V/f characteristic: y8 = U08
(x = f08)
0.00 ... [160.00] ... 1000.00 V
0x2B03:009 Voltage grid points (y) user V/f characteristic: y9 = U09
(x = f09)
0.00 ... [240.00] ... 1000.00 V
0x2B03:010 Voltage grid points (y) user V/f characteristic: y10 =
U10 (x = f10)
0.00 ... [320.00] ... 1000.00 V
0x2B03:011 Voltage grid points (y) user V/f characteristic: y11 =
U11 (x = f11)
0.00 ... [400.00] ... 1000.00 V

231
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Activate voltage vector control (Imin controller)

12.3.4 Activate voltage vector control (Imin controller)

The voltage vector control is used if a comparatively high starting torque must be provided.
This function ensures that the required motor current is maintained in the lower speed range.

NOTICE
The boost function described here adds to the 4Set voltage boost function. ^ 233
Only set one of the two "boost" functions.
▶ Recommendation: torque increase in the lower speed range
▶ Take into consideration that the increased current at low speeds also entails higher heat
losses of the motor.

• The voltage vector control is activated by defining a current setpoint.

• For the automatic calculation of the control parameters, the "Calculate Imin controller"
function is provided via parameter .
Parameter
Address Name / setting range / [default setting] Information
0x2B04 V/f boost controller - current setpoint Setting of the current setpoint for the voltage vector control.
0.00 ... [0.00] ... 500.00 A • The setting "0.00 A" deactivates the voltage vector control.
• When defining the current setpoint, we recommend you to provide a
reserve of 20 % in order to largely exclude a "stalling" of the motor
caused by unexpected additional loads.
• Example for starting torque = rated motor torque: Set the current
setpoint to approx. 120 % of the load current.
0x2B05:001 V/f boost controller settings: Gain Setting of the gain for the voltage vector control.
0.00 ... [148.21] ... 750.00 V/A
0x2B05:002 V/f boost controller settings: Reset time Setting of the reset time for the voltage vector control.
0.01 ... [3.77] ... 2000.00 ms
0x2B05:003 V/f boost controller settings: Dynamic current
setpoint
0.00 ... [0.00] ... 500.00 A

232
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Set voltage boost

12.3.5 Set voltage boost

As an alternative for the “Activate voltage vector control (Imin controller)“ function, a
constant, load-independent voltage boost can be specified for low speeds (below the V/f rated
frequency) or for a motor standstill in order to optimize the starting performance.

WARNING!
Insufficient cooling of the motor due to longer operation at standstill.
If the motor is operated at standstill for a longer time - especially in case of smaller motors -
the motor can be destroyed by overtemperature!
▶ Connect the PTC thermistor (single sensor according to DIN 44081 or triple sensor according
to DIN 44082) or thermal contact (normally-closed contact) 4Motor temperature
monitoring. ^ 287
▶ Parameterise and activate the 4Motor overload monitoring (i²xt). ^ 280

NOTICE
The voltage boost is added to the function 4Activate voltage vector control (Imin
controller). ^ 232
Only set one of the two "boost" functions.
Recommendation: voltage vector control

For magnetising the motor, consider a sufficient time from the controller enable
to the start of the speed ramp function generator. The bigger the motor the
longer the time required for magnetisation. A motor with a power of 90 kW
requires up to 2 seconds.

Depending on the required starting torque, the voltage boost must be set so that the required
motor current will be available after controller enable.
• The voltage boost can be calculated by multiplying the stator resistance by the rated
magnetising current:
Starting current ~ VBoost = Rs ´ ImN

V V
Reference point Reference point
voltage voltage

VBoost VBoost
0 fset 0 fset
0 Reference point 0 Reference point
frequency frequency

• Optionally, the voltage boost can be determined empirically by increasing the setting until
the rated magnetising current flows.
• The voltage boost is added geometrically to the voltage of the characteristic:

V = V2characteristic + V2Boost

Parameter
Address Name / setting range / [default setting] Information
0x2B06 Voltage boost Setting of the voltage boost for the voltage vector control.
0.0 ... [0.0] ... 100.0 V

233
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Set load adjustment

12.3.6 Set load adjustment

CAUTION!
If the load adjustment is too high, the motor current may increase in idle state and the motor
may overheat!

Parameter
Address Name / setting range / [default setting] Information
0x2B07:001 Load adaption: Direction of rotation Selection for adapting the characteristic as a function of the load in case
• Setting can only be changed if the inverter is of CW and CCW rotation.
disabled.
0 Passive load
1 Active load CCW
2 Active load CW
0x2B07:002 Load adaption: Load adaption value Setting of the load adaptation in [%] proportionally to the rated motor
0.00 ... [20.00] ... 200.00 % torque to obtain an appropriately "rigid" drive behavior even after start-
up.
• For starting torque = rated motor torque, a load adaptation of 50 % is
suitable for most applications.

12.3.7 Set slip compensation

The speed of an asynchronous motor decreases as load is applied. This load-dependent speed
drop is called “slip”. The slip compensation serves to counteract the load-dependent speed
loss.

Observe correct parameterisation of the rated motor frequency 0x2C01:005 and

the rated motor speed 0x2C01:004. Both parameters serve to calculate the
rated motor slip.

Parameter
Address Name / setting range / [default setting] Information
0x2B09:001 Slip compensation: Gain Adjustment in percent of the slip calculated.
-200.00 ... [0.00] ... 200.00 % • For instance required for deviations of the real motor data from the
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.
1 ... [2000] ... 6000 ms

234
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Set oscillation damping

12.3.8 Set 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.

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.

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.

Oscillation damping
0x2B0A:002 0x2B0A:002
Time constant Limitation
0x2DD1:002
Actual
active current
Rotational
frequency
setpoint 0x2B0A:001
Gain
0x2B0A:004
Final ramp frequency

Identification of the oscillation

Before the oscillation damping can be parameterised, the oscillation must be identified. One
option is to look at the motor current when the oscillation damping is switched off (gain = 0
%). The oscilloscope function of the »PLC Designer« enables to record the following currents:
• Q current 0x2DD1:002
• Total current 0x2DD1:005
A passive load and continuous operation with constant speed (steady-state operation) result
in a constant current. If the drive oscillates, the motor current oscillates as well. This makes it
possible to detect the frequency and amplitude of the oscillation by means of the AC
component in the motor current. Hereinafter this AC component will be referred to as
"current oscillation".

235
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Optimising the stalling behaviour

Parameter setting
The gain of the oscillation damping is to be set according to the following equation:

current amplitude
oscillation damping gain = ´ 100%
2 ´ max. device current
The time constant must be set so that the oscillation can be dampened, but that higher-
frequency components are filtered from the signal. The time constant is determined from the
reciprocal value of the double current oscillation frequency:

1
time cons tant =
2 ´ oscillation frequency

The calculated oscillation frequency can be limited before being added to the rotating field
frequency. The maximum frequency can be derived from the amplitude of the current
oscillation, the rated motor current and the slip frequency of the connected motor:
2 ´ current oscillation amplitude
max. frequency = ´ rated slip frequency
rated motor current

Parameter
Address Name / setting range / [default setting] Information
0x2B0A:001 Oscillation damping: Gain Gain of the oscillation signal.
-100 ... [20] ... 100 % • With the setting 0, oscillation damping is deactivated.
0x2B0A:002 Oscillation damping: Filter time Time constant of the PT1 filter.
1 ... [5] ... 600 ms
0x2B0A:003 Oscillation damping: Limitation Limitation of the calculated oscillation frequency.
0.1 ... [0.2] ... 20.0 Hz
0x2B0A:004 Oscillation damping: Final ramp frequency Ramp end frequency from which the gain factor is expected to have
0 ... [0] ... 100 % reached its rated value.
• By setting a ramp end frequency, a possible negative impact of the
oscillation damping on the concentricity factor in the lower speed
range can be reduced.
• The ramp end frequency refers to the rated motor frequency in
percentage terms.

12.3.9 Optimising the stalling behaviour

The stalling protection function or the maximum permissible motor current in the field
weakening range can be adapted.
• If the motor stalls in the field weakening range, the override point can be shifted by
reducing the set value so that the motor stalling can be prevented.
• If the motor does not provide enough torque in the field weakening range, the set value
must be increased.
Parameter
Address Name / setting range / [default setting] Information
0x2B0C Override field weakening Offset of the override point for field weakening.
-500.0 ... [0.0] ... 500.0 Hz

236
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Flying restart circuit

12.3.10 Flying restart circuit

The "flying restart" function serves as a protective function against high compensation
currents. High compensation currents can occur in the V/f characteristic control if the drive is
not at standstill at the time the inverter is enabled. The "flying restart" function detects the
motor speed by means of a test current and uses this information to define the frequency
setpoint.

CAUTION!
If the "flying restart" function is deactivated and the inverter is not enabled at standstill, the
output voltage and the output frequency do not match the current motor speed.
High compensation currents may flow! First the drive is braked towards 0 Hz to be then
accelerated again!
▶ Ensure that the drive is at standstill before the inverter is enabled.

Flying restart process

If this function is active, the flying restart process starts after the inverter is enabled.
1. The inverter reports the started flying restart process to the Controller via bit 8 in the
Lenze status word0x2831.
2. If a speed is found, it is reported to the Controller via bit 9 in the Lenze status word.
3. The Controller reports to the inverter via bit 0 in the Lenze control word 0x2830 that the
detected speed has been accepted. As long as this is not the case, no further flying restart
process is possible.
OperationEnabled

0x2831 Bit 8: Flying restart running

Search...
0x2831 Bit 9: Flying restart ready

0x2BA6 Found velocity

0x2830 Bit 0: Flying restart acknowledge

Parameter setting

The flying restart algorithm needs a motor voltage as exact as possible. Thus, a
previous detection of the inverter error characteristic is absolutely necessary.
Compensate inverter influence to output voltage In addition to the exact motor
voltage, a detailed knowledge of the stator resistance is required. If the flying
restart process does not work as desired, slightly adapt the setting of the stator
resistance in the 0x2C01:002 object. Bit 1 in the Lenze control word 0x2830
serves to block a flying restart process.

The flying restart process involves a control loop, the controller parameter 0x2BA3 of which
must be adapted to the motor. The automatic calculation is made with the parameter
40x2822:022.
The actual flying restart process can be adjusted via the following parameters:

237
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Flying restart circuit

Parameter
Address Name / setting range / [default setting] Information
0x2BA0 Activate flying restart Activation of the additional "flying restart" function.
If the "flying restart" function is activated ("1: on") and the inverter
disable is deactivated, a flying restart process is automatically started for
determining the current motor speed if the following conditions are
met:
• The V/f characteristic control is set as motor control.
• The CiA402 mode is selected as drive mode.
• The "flying restart" function is not blocked via bit 2 in the Inverter
control word (0x2830).
• No DC-injection braking is active.
• No motor phase failure has been identified.
0 Off
1 On
2 Without acknowledge or blocking
0x2BA1 Flying restart circuit
0 ... [15] ... 100 %
0x2BA2 Start frequency Start frequency of flying restart algorithm
-600.0 ... [20.0] ... 600.0 Hz • If it is foreseeable at which frequency the motor can be restarted on
the fly, set the frequency here.
0x2BA3 Integration time Integration time of the angle controller
1 ... [600] ... 60000 ms • The default setting is adapted for medium-power machines.
• A guide value for the integration time can be calculated as a function
of the motor power with the following equation: Ti = 1.1 µ/W * Rated
power (0x2C01:006) + 9.4 ms
• For accelerating the search process, this guide value can be reduced.
• If the flying restart frequency oscillates too much, increase the
integration time again.
• A longer integration time extends the time for a flying restart of the
drive.
0x2BA4 Minimum deviation Setting of the minimum permissible deviation.
0.00 ... [5.00] ... 90.00 °
0x2BA5 Delay time In order to prevent the start of a flying restart process if the controller
0 ... [0] ... 10000 ms inhibit time is too short, a minimum active time for the inverter disable
can be set here in order that a flying restart process will be started.
As a pulse inhibit > 500 ms causes a controller inhibit, this also applies to
pulse inhibit.
0x2BA6:001 Result: Determined speed [rpm] Display of the determined speed in [rpm].
• Read only: x rpm
0x2BA6:002 Result: Determined speed [n unit] Display of the determined speed in [n unit].
• Read only: rpm

238
Configuring the motor control
Parameterisable motor functions
DC braking

12.4 Parameterisable motor functions

12.4.1 DC braking
The control modes for asynchronous motors provide the opportunity to use the "DC‑braking"
function (DC-injection braking) for braking. In this case, the motor control injects a DC current
the amplitude of which is adjustable.
Preconditions
Using the "DC braking" function, the motor control injects a DC current, the amplitude of
which is adjustable in the 0x2B80 parameter. To this end, it is necessary that the current
control is adapted to the corresponding motor. For setting and optimising the current
controller, see Current controller. ^ 257
Details
The function can be used as follows:
1. "DC braking" can be parameterised via bit 6 in the Lenze control word 0x2830.
In this case, the motor system itself can be used as an energy converter.
This option is useful if
• the system is not provided with a brake resistor required for absorbing the braking
energy. This method requires that a sufficient braking torque can be achieved with "DC
braking".
• the power of the brake chopper to be transformed is limited and thus must be
exclusively used for the main drives of the DC network. The quality of the deceleration
ramp via "DC braking" is sufficient for auxiliary drives and unburdens the brake
chopper.
• a fan drive is to be braked in the V/f characteristic operation.
2. "DC braking" can be parameterised as a response to minor faults.
An example of a minor fault is the error of an encoder of an asynchronous machine. Due to
the error, the quick stop function cannot be executed anymore. An alternative is provided
by the guided shutdown with a minor deceleration via the "DC braking" function.
Parameter
Address Name / setting range / [default setting] Information
0x2B80 Current for DC-injection braking Braking current for DC-injection braking
0.00 ... [0.00] ... 500.00 A

239
Configuring the motor control
Parameterisable motor functions
Short-circuit braking

12.4.2 Short-circuit braking

The control modes for synchronous motors provide the opportunity to use "short-circuit
braking" for braking.
The effect of short-circuit braking on the deceleration behaviour depends on the motor
properties, the effective cable length, the load inertia and the initial speed value (starting
point). Primarily, short-circuit braking serves to transform a part of the kinetic energy into heat
energy which unburdens external brake assemblies and limit position dampers.

NOTICE
In some constellations it is not possible to decelerate the motor speed of a synchronous
motor to zero by means of "short-circuit braking"!
Compared to the "quick stop" function, the braking effect is considerably lower.
▶ Prevention: tbd

Preconditions
If short-circuit braking shall be used as the only deceleration means, it is recommended that
the feasibility is previously verified by means of tests. For this purpose, short-circuit braking
can be triggered in the application via bit 6 in the Lenze control word 0x2830. The oscilloscope
function of the engineering tool (e.g. »EASY Starter«) serves to record the following important
parameters:
• Actual velocity 0x606C
• Phase current U, V, W 0x2D83:002 ... 0x2D83:004
Details

The short-circuit current adjusts itself freely in accordance with the motor
voltage (kE * speed) and the internal resistance of the system. Thus, it is
absolutely necessary that the ampacity of the servo inverter is based on the
maximum expected short-circuit current. Guide value: Imax_device (3 s) ≥ 1.5 *
Imax_motor (according to data sheet / catalog) In case the assignment differs, a
rating based on the currently possible parameters (max. speed, max. motor
current, field weakening, etc.) is required!

The function can be used as follows:

1. "Short-circuit braking" can be parameterised via bit 6 in the Lenze control word 0x2830 if
• the braking energy cannot be converted into heat in a brake resistor.
• e.g. an error has been detected in the encoder system which does not permit a braking
via quick stop.
2. "Short-circuit braking" can be parameterised as a response to minor faults.
• Due to an encoder error, for instance, a quick stop might not be possible anymore.

240
Configuring the motor control
Parameterisable motor functions
Holding brake control

12.4.3 Holding brake control

This device function is used for low-wear control of the motor holding brake connected to the
inverter with a supply voltage of 24 V.
The motor holding brake is connected to X106. It is supplied with 24 V via X107.

241
Configuring the motor control
Parameterisable motor functions
Holding brake control

12.4.3.1 Basic setting

The following parameters must be set for the activation and basic configuration of the holding
brake control.
Details
The following settings are possible:
• Brake mode ①
• For the automatic operation: ②
- Brake release time and brake application time
- Torque feedforward control
• Test Brake control ③
• Brake polarity ④

0x2820:002
0x2820:003
0x2820:009
0x2820:010 0x2820:015
0x2820:011 0x6041, bit 14 0x2820:005 0x2820:004
0x2820:001 0x2820:021
0 X106
0 0
Device status
1
Auto
1 1 M
Start 1
2
0x6040:000, bit16 Stop 2
3
1
0x2820:020, bit 1 0

t
0x2820:019

Diagnostic parameters:
• Display status of the automatic brake identification: 0x2820:004
• Display signal of the brake logic before the inversion: 0x6041
• Display status of the holding brake: 0x2820:015
Brake mode
Possible settings: 0x2820:001
• Manual control via the control word. Das control word depends on the technology
application :
• Technology application CiA 402: 0x6040 Bit 14
• Speed Control technology application: 0x5030:010 Bit 14
• 0: Close holding brake
• 1: Release holding brake
• Control via device state machine (automatic operation):
- The holding brake is controlled as a function of the device state.
- A torque feedforward control is possible.

The torque is precontrolled for one second. During this time, the actual torque
must have reached 90 % of the setpoint torque, otherwise an error is triggered.

- Response times of the holding brake during release and application can be
compensated for.

In the event of an error or when STO ("SafeTorqueOff") is activated, the brake is

applied immediately without considering the set brake application time. The
inverter immediately changes to the switch-on disabled state.

• No brake connected (off):

- holding brake control, automatic brake identification and brake monitoring are
deactivated.

242
Configuring the motor control
Parameterisable motor functions
Holding brake control

Brake polarity
The control logic of the holding brake can be inverted.
Parameter
Address Name / setting range / [default setting] Information
0x2820:001 Holding brake control: Brake mode Selecting how the "Release holding brake" command is to be triggered.
0 Automatically (via device state) Automatic operation: depending on the device state, the "Release
holding brake" command is given automatically if the controller is to be
enabled.
1 Manually Depending on the TA, the "Release holding brake" command can also be
initiated by the following external triggers:
TA Cia: 40x6040 bit 14
TA Speed Control: bit 10
2 Off The holding brake is deactivated.
0x2820:002 Holding brake control: Brake closing time Application time (engagement time) of the holding brake.
0 ... [100] ... 10000 ms • Only effective in automatic operation.
0x2820:003 Holding brake control: Brake opening time Release time (disengagement time) of the holding brake.
0 ... [100] ... 10000 ms • Only effective in automatic operation.
0x2820:004 Holding brake control: Brake detection When 0x2825 = 4 (Manual control mode) and the device state changes
• Read only from "switched-on" to "operation enabled", it is detected automatically
0 Detection not started whether a holding brake is connected. The brake identification is
repeated after every controller enable.
1 Detection running
2 No brake detected
3 Brake detected
4
0x2820:005 Holding brake control: Brake polarity The control logic of the holding brake can be inverted.
0 Normal
1 Inverted
0x2820:006 Holding brake control: Brake error response Selection of the response for holding brake monitoring.
In the triggered state, the holding brake is monitored cyclically for the
presence of brake current.
After the brake is connected, the establishment of the brake current is
subject to a time delay in accordance with the inductance. Consequently,
there is a slight delay in detecting wire breakage, a terminal short-circuit
or a missing brake supply.
The response set here occurs when monitoring is triggered.
Note:
The brake is not monitored unless it is triggered.
0 No response
1 Fault > CiA402
2 Warning
0x2820:015 Holding brake control: Brake status Display of the holding brake status.
• Read only • The status is also displayed via bit 14 in the CiA status word 0x6041.
0 Brake closed Holding brake is applied.
1 Brake released Holding brake is released.
0x2820:019 Holding brake control: Brake opening time test signal Setting of the brake opening time when the test signal is transmitted
0 ... [500] ... 10000 ms (Brake control word bit 0 = 1).
0x2820:023 Holding brake control: Output signal configuration Selection of which output signal is to be used to control the holding
brake.
0 Internal brake control The holding brake is controlled via the internal brake module (outputs
X105/BD1+BD2).
• The presence of the external 24 V supply for the brake output is
monitored.
• An open-circuit detection is active.
• A parameterized voltage reduction is active.
1 External component at brake output

243
Configuring the motor control
Parameterisable motor functions
Holding brake control

Address Name / setting range / [default setting] Information

2 External component at digital output The holding brake is controlled via the trigger "Release holding brake
[115]".
• This trigger must be assigned to a digital output. The digital output in
turn controls a relay or power contactor which switches the brake
supply.
• The digital output is not suitable 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 must be set for the digital output used!
4Configure digital outputs ^ 303
Further setting options:
• Manual brake control ^ 245
12.4.3.2 Brake holding load
Parameter
Address Name / setting range / [default setting] Information
0x2820:013 Holding brake control: Holding load ramptime By setting a ramp time, a vibration stimulation can be reduced that
0 ... [0] ... 1000 ms might be caused by the brake holding load .

12.4.3.3 Torque feedforward control

Parameter
Address Name / setting range / [default setting] Information
0x2820:009 Holding brake control: Starting torque source Setting of the source for the holding brake starting torque.
0 Last torque saved The stopping value saved automatically during the last closing operation
is used as starting torque.
1 Torque in 0x2820:010 The parameterised starting torque is used (0x2820:010).
0x2820:010 Holding brake control: Starting torque Setting of the feedforward control value for the automatic operation
-3276.8 ... [0.0] ... 3276.7 % (0x2820:009 = 1).
0x2820:021 Holding brake control: Detected actual torque Display of the torque actual value that is used for the feedforward
• Read only: x.x % control. 0x2820:009 = 0

244
Configuring the motor control
Parameterisable motor functions
Holding brake control

12.4.3.4 Manual brake control

The holding brake can be opened or closed manually regardless of its operating status and the
operating state of the inverter. This function can be used, for example. to move the axis
manually in the event of an error.

Note for inverters with Extended Safety:

Manual brake control is only possible if no error is active in the Extended Safety.

Details
The following settings are possible:
• Open the holding brake:
- The holding brake remains open until it closed again manually.
• Close the holding brake.
• Release the holding brake for a fixed time by a start signal and then apply it automatically:
- Time for "Brake released": 0x2820:019
- Start signal: 0x2820:020, bit 0 = 1
- After the time has elapsed → bit 0 = 0
Parameter
Address Name / setting range / [default setting] Information
0x2820:011 Holding brake control: Override of the brake control Mode for override or forced opening/closing of the holding brake
irrespective of the operating mode.
In the event of an error and activated function for forced opening, the
brake is not applied.
0 No override active Mode for override or forced opening/closing of the holding brake
irrespective of the operating mode.
1 Open brake • In the event of an error and activated function for forced opening, the
2 Close brake brake is not applied.
3 Test pulse
0x2820:020 Holding brake control: Brake control word Control word for the holding brake.
0x00 ... [0x00] ... 0xFF
Bit 0 Transmit test signal

12.4.3.5 Reduction of brake supply voltage

Parameter
Address Name / setting range / [default setting] Information
0x2820:022 Holding brake control: Holding brake supply voltage
75 Reduction on
100 No reduction

245
Configuring the motor control
Options for optimizing the control loops
Automatic motor identification (energized)

12.5 Options for optimizing the control loops

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
influenced:
• Rated motor data
• Inverter characteristic
• Motor equivalent circuit diagram data
• Motor controller settings
• Speed controller settings
• Position controller settings

12.5.1 Automatic motor identification (energized)

Parameter
Address Name / setting range / [default setting] Information
0x2832 Identification status Display of the status for the automatic identification of the motor
• Read only parameters.
Bit 0 Identification enabled Parameters for interaction with engineering tools.
Bit 1 Identification active
Bit 2 Identification completed
Bit 3 Identification failed
0x2DE0:009 Motor identification settings Setting for motor identification.
• Read only

246
Configuring the motor control
Options for optimizing the control loops
Tuning of the motor and the speed controller

12.5.2 Tuning of the motor and the speed controller

The following describes in general how to optimize the speed controller. This may be required
if some parameters 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 motor moment of inertia and load moment of inertia
Preconditions
All rated motor data is known and set in the inverter, either by selecting the motor from the
motor catalogue or manually.
4Select motor from motor catalog ^ 47
4Manual setting of the motor data ^ 49
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 do not need to be calculated
again.
In the engineering tool, the speed control settings can be confirmed via the Initialise button.

247
Configuring the motor control
Options for optimizing the control loops
Tuning of the motor and the speed controller

Parameter
Address Name / setting range / [default setting] Information
0x2910:001 Inertia settings: Motor moment of inertia Setting of the moment of inertia of the motor, relating to the motor.
0.00 ... [0.14] ... 20000000.00 kg cm²
0x2910:002 Inertia settings: Scaled load inertia Setting of the moment of inertia of the load.
0.00 ... [0.00] ... 20000000.00 kg cm² • Always adjust the setting to the current load, otherwise the
optimisation process for the speed controller cannot be executed
successfully.
0x2910:003 Inertia settings: Coupling Selection of the type of coupling between the moment of inertia of the
0 Stiff motor and that of the load.
0x2910:004 Inertia settings: Mechanical natural frequency Setting of the mechanical natural frequency.
0.0 ... [0.0] ... 250.0 Hz
0x2910:005 Inertia settings: Load moment of inertia (elastic Setting of the load moment of inertia with elastic coupling
coupled) (0x2910:003 = 1).
0.00 ... [0.00] ... 20000000.00 kg cm²

For further details on the speed controller, see chapter "Speed controller". ^ 254

248
Configuring the motor control
Options for optimizing the control loops
Inverter characteristic

12.5.3 Inverter characteristic

The settings made can be seen if required, but should not be changed. A wrong
setting may influence the control negatively!

249
Configuring the motor control
Options for optimizing the control loops
Inverter characteristic

12.5.3.1 Compensating for inverter influence

Conditions for the execution
• The motor may be stalled.
• The i950 servo inverter is error-free and switched on.
Response of the motor during performance
If the motor is not braked, the motor will move slightly

Disabling the inverter serves to abort the started procedure any time if required.
Already determined characteristic values are rejected in this case.

How to detect the inverter characteristic:

1. Disable the servo inverter.
2. Change to the "inverter characteristic: identification" operating mode. 40x2825 = 8
3. Enable the servo inverter.
The procedure starts.

After the successful completion, the inverter is automatically disabled and the points of the
detected inverter characteristic are set in parameter 0x2947t.
1. Save the changed settings.
2. The inverter characteristic must only be detected again if the servo inverter, the motor or
the motor cable have been replaced.
3. The inverter disable set by the procedure can be deactivated via the control word.
40x6040 = 7

Parameter
Address Name / setting range / [default setting] Information
0x2947:001 Inverter characteristic: Value y1 The inverter characteristic (consisting of 17 values) is calculated and set
0.00 ... [0.00] ... 20.00 V in the course of the automatic inverter characteristic identification.
0x2947:002 Inverter characteristic: Value y2
0.00 ... [0.00] ... 20.00 V Note!
Changing these values is not recommended by the manufacturer.
0x2947:003 Inverter characteristic: Value y3
0.00 ... [0.00] ... 20.00 V
0x2947:004 Inverter characteristic: Value y4
0.00 ... [0.00] ... 20.00 V
0x2947:005 Inverter characteristic: Value y5
0.00 ... [0.00] ... 20.00 V
0x2947:006 Inverter characteristic: Value y6
0.00 ... [0.00] ... 20.00 V
0x2947:007 Inverter characteristic: Value y7
0.00 ... [0.00] ... 20.00 V
0x2947:008 Inverter characteristic: Value y8
0.00 ... [0.00] ... 20.00 V
0x2947:009 Inverter characteristic: Value y9
0.00 ... [0.00] ... 20.00 V
0x2947:010 Inverter characteristic: Value y10
0.00 ... [0.00] ... 20.00 V
0x2947:011 Inverter characteristic: Value y11
0.00 ... [0.00] ... 20.00 V
0x2947:012 Inverter characteristic: Value y12
0.00 ... [0.00] ... 20.00 V
0x2947:013 Inverter characteristic: Value y13
0.00 ... [0.00] ... 20.00 V
0x2947:014 Inverter characteristic: Value y14
0.00 ... [0.00] ... 20.00 V
0x2947:015 Inverter characteristic: Value y15
0.00 ... [0.00] ... 20.00 V

250
Configuring the motor control
Options for optimizing the control loops
Inverter characteristic

Address Name / setting range / [default setting] Information

0x2947:016 Inverter characteristic: Value y16
0.00 ... [0.00] ... 20.00 V
0x2947:017 Inverter characteristic: Value y17
0.00 ... [0.00] ... 20.00 V

In the event of an error

If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to short-time
undervoltage), the procedure is terminated with inverter disable without the settings being
changed.
12.5.3.2 Extended settings for identification
For determining the characteristic, the current controller is automatically parameterised at
the start of the identification process. In case of motors with a very low stator leakage
inductance (< 1 mH), the automatic parameterisation can fail and the actual identification
process is aborted with an error message such as "short circuit".
• For this case, it is possible to set the current controller manually via the 0x2942 parameter.
• The 0x2DE0:001 parameter serves to select whether the current controller should be
calculated automatically or the values in 0x2942 are effective.

Parameter
Address Name / setting range / [default setting] Information
0x2DE0:001 Current controller identification settings Whether the current controller shall be adapted automatically for the
0 Automatic identification or set manually, is selected via:
• 0x2942:001 (Gain)
1 Manuell (0x2942)
• 0x2942:002 (Reset time)
0x2DE0:003 Resolver - position detection dynamics Setting of the dynamics for the resolver evaluation.
20 ... [100] ... 100 % • 100% ≡ max. dynamics
• <100% ≡ reduced dynamics
0x2DE0:004 Resolver - 8 kHz safety signal Usually ,the Der 8-kHz carrier frequency is only activated for the safety
0 Automatisch durch Gerätetyp version. This parameter can also be used to switch it on and off.
1 On
2 Aus
0x2DE0:007 Use measured voltage Activation of voltage measurement.
0 Aus Only for devices for which voltage measurement is possible.
1 On

12.5.3.3 Load standard inverter characteristic

If none or only one faulty inverter characteristic could be determined, a device-typical
standard inverter characteristic can be loaded.
How to load the standard inverter characteristic:
1. Axis commands: load standard-Lh saturation characteristic 0x2822:022 = start 1.
2. After completing the procedure, save the inverter characteristic set in in the inverter.
The »EASY Starter« serves to save the parameter setting of the inverter as parameter file
(*.gdc). 4Saving the parameter settings
Parameter
Address Name / setting range / [default setting] Information
0x2822:022 Axis commands: Load default inverter characteristic Parameters for interaction with engineering tools.
0 Off/Ready
1 On/Start
2 In progress
3 Action cancelled
4 No access
5 No access (Device disabled)

251
Configuring the motor control
Options for optimizing the control loops
Motor equivalent circuit diagram data

12.5.4 Motor equivalent circuit diagram data

The motor equivalent circuit diagram data is automatically set when the motor is selected
from the motor catalogue:
4Select motor from motor catalog ^ 47
If you use a motor of a different manufacturer, you must adapt the data, e. g. from the motor
data sheet according to the sizes and units mentioned if required.
Parameter
Address Name / setting range / [default setting] Information
0x2822:024 Axis commands: Estimate basic motor parameters Parameters for interaction with engineering tools.
based on rated data
0 Off/Ready
1 On/Start
2 In progress
3 Action cancelled
4 No access
5 No access (Device disabled)
0x2832 Identification status Display of the status for the automatic identification of the motor
• Read only parameters.
Bit 0 Identification enabled Parameters for interaction with engineering tools.
Bit 1 Identification active
Bit 2 Identification completed
Bit 3 Identification failed
0x2C01:002 Motor parameters: Stator resistance General motor data.
0.0000 ... [13.5000] ... 125.0000 Ω Carry out settings as specified by manufacturer data/motor data sheet.
0x2C01:003 Motor parameters: Stator leakage inductance
0.000 ... [51.000] ... 500.000 mH 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.
0x2C01:009 Motor parameters: Insulation class Insulation class of the motor (see motor nameplate).
0 Y (cut-off temperature = 90 °C)
1 A (cut-off temperature = 105 °C)
2 E (cut-off temperature = 120 °C)
3 B (cut-off temperature = 130 °C)
4 F (cut-off temperature = 155 °C)
5 H (cut-off temperature = 180 °C)
6 G (cut-off temperature > 180 °C)
0x2C02:001 Motor parameter (ASM): Rotor resistance Equivalent circuit data required for the motor model of the
0.0000 ... [0.0000] ... 214748.3647 Ω asynchronous machine.
0x2C02:002 Motor parameter (ASM): Mutual inductance
0.0 ... [0.0] ... 214748364.7 mH
0x2C02:003 Motor parameter (ASM): Magnetising current
0.00 ... [0.00] ... 500.00 A
0x2C03:001 Motor parameter (PSM): Back EMF constant Voltage induced by the motor (rotor voltage / 1000 rpm).
0.0 ... [41.8] ... 100000.0 V/1000rpm For permanently excited synchronous motors, the e.m.f. constant
describes the r.m.s. value of the line-to-line voltage (phase voltage)
induced in idle state by the motor (reference: 1000 rpm, 20 °C).
Measured: Line to Line (L - L)
0x2C03:002 Motor parameter (PSM): Resolver pole position Equivalent circuit data required for the motor model of the synchronous
-179.9 ... [-90.0] ... 179.9 ° machine.
0x2C03:003 Motor parameter (PSM): Magnets temperature
coefficient (kTN)
-1.000 ... [-0.110] ... 0.000 %/°C
0x2C03:004 Motor parameter (PSM): Encoder pole position
-179.9 ... [0.0] ... 179.9 °

252
Configuring the motor control
Options for optimizing the control loops
Motor control settings

12.5.5 Motor control settings

12.5.5.1 Automatic optimizing using auto-tuning

With the auto-tuning function, you can optimize speed controllers and position controllers
within a very short time. The often tedious manual process is no longer required.
Preconditions
• Auto-tuning is a commissioning function. It may only be operated under observation.
• Auto-tuning only perform without payload.
• Carry out auto-tuning with suspended loads only starting from the lower travel range end
position.
Details
How to perform auto-Tuning in the "EASY Starter":
Preconditions
• Inverter and engineering PC with installed "EASY Starter" are connected.
• The "EASY Starter" is open and connected to the inverter.
• The settings for motor, encoder, brakes and kinematics are correct.
1. Open the "Settings" → "Optimization" dialog.
2. Set the profile parameters for the auto-tuning movement. (❶❷❸)
3. Click "Start".
The auto-tuning movement starts.

NOTICE
Too much vibration of the mechanics during the auto-tuning movement
Possible consequences: Damage of the mechanics.
▶ Stop auto-tuning immediately if the mechanics start to vibrate strongly.

After approx. 1 minute, the speed controller and position controller are optimized.
The result is displayed at the bottom of the dialog.

253
Configuring the motor control
Options for optimizing the control loops
Motor control settings

12.5.5.2 Speed controller

The speed controller is automatically set when the motor has been selected from the motor
catalogue:
4Select motor from motor catalog ^ 47
The automatically calculated settings for the speed controller enable an optimal control
behaviour for typical load requirements.

Manual post-optimisation of the speed controller

1. Setting of the gain
Set the proportional gain Vp in parameter 0x2900:001.
a) Specify speed setpoint.
b) Increase parameter until the drive gets unstable (observe engine noise). 40x2900:001
c) Reduce parameter until the drive runs stable again. 40x2900:001
d) Reduce the parameter to approx. half the value. 40x2900:001
2. Setting of the reset time
Set the reset time Tn in parameter 0x2900:002.
a) Reduce parameter until the drive gets unstable (observe engine noise). 40x2900:002
b) Increase parameter until the drive runs stable again. 40x2900:002
c) Increase parameter to approx. double the value. 40x2900:002
3. Setting of the rate time
Set the rate time Td in parameter 0x2900:003.
a) Increase parameter during operation until an optimal control mode is achieved.
40x2900:003

Automatically calculated settings for the speed controller

We recommend a manual post-optimisation for the optimal operation.

The function for automatically calculating the gain and reset time is executed via the
parameter 0x2822:014.
The following equations apply to a "rigid" system.
• For elastic systems and systems with batches, the determined gain must be reduced.
• The moment of inertia required for the calculation is the sum of the moment of inertia of
the motor and the load mass inertias transformed to the motor side.
Equation for calculating the gain
J 2p
Vp = ´
(
a ´ Tfilter + Tcurrent controller ) 60

254
Configuring the motor control
Options for optimizing the control loops
Motor control settings

Equation for calculating the reset time

(
Tn = a2 ´ Tfilter + Tcurrent controller )
rotating field Symbol Description Dimension unit
frequencyrotating field
frequencyrotating field
frequencyParameter
0x2900:001 Vp Speed controller gain Nm / rpm
- J Moment of inertia = Jmotor + sum (Jload) kgm2
- a Measure for the phase reserve
(recommendation: a = 4≡ 60° phase reserve)
0x2904 TFilter Filter time constant - actual speed value s
- Tcurrent controller Equivalent time constant of the current control loop = s
0.0005 s
0x2900:002 Tn Reset time - speed controller s

Special case of the linear motor

In this case, a re-calculation from a linear system to a rotary system must be made. Therefore,
via the feedback system a degree of freedom results for the determination of the number of
pole pairs. For a rotary system, the number of pole pairs specifies the ratio of electrical and
mechanical revolution, the number of encoder increments being defined via one mechanical
revolution. In the case of a linear system, the user is free to decide for which length he or she
wants to specify the number of encoder increments. Usually, the number of increments is
given for a pole distance or for the total length of the linear scale. If the number of increments
= "number of increments for one pole distance" is selected, a motor with the number of pole
pairs zp = 1 is created. The effective moment of inertia for a linear motor can be calculated
according to the following equations. With this J value, the equations shown above can be
used to calculate the speed controller gain and reset time.
Equation for calculating the effective moment of inertia
2
æ zp ´ 2 ´ tpole pair ö
J = m´ ç ÷÷
ç 2p
è ø

s
zp = integer ´
2 ´ tpole pair

Parameter Symbol Description Dimension unit

- s Length on which the specification for the number of encoder increments is based (e.g. per m
pole distance or total length).
- 2 τPole pair Pole distance of the permanent magnets, pole pair width m
- J Moment of inertia = JForcer + JSlide + JLoad kgm2
- m Moving mass = mForcer + mSlide + mLoad kg

Parameter
Address Name / setting range / [default setting] Information
0x2900:001 Speed controller settings: Gain Gain factor Vp of the speed controller.
0.00000 ... [0.00033] ... 20000.00000 Nm/rpm
0x2900:002 Speed controller settings: Reset time Reset time Ti of the speed controller.
1.0 ... [17.6] ... 6000.0 ms
0x2900:003 Speed controller settings: Rate time Setting of the rate time for the speed controller.
0.00 ... [0.00] ... 3.00 ms
0x2901 Speed controller gain adaption Mappable parameter for adaptive adjustment of the speed controller
0.00 ... [100.00] ... 200.00 % gain.
0x2902 I component load value Setting of the load value.
-1000.0 ... [0.0] ... 1000.0 %
0x2903 Speed setpoint filter time Time constant for the speed setpoint filter.
0.0 ... [0.0] ... 50.0 ms

255
Configuring the motor control
Options for optimizing the control loops
Motor control settings

Address Name / setting range / [default setting] Information

0x2904 Actual speed filter time Time constant for the actual speed value filter.
0.0 ... [0.3] ... 50.0 ms

256
Configuring the motor control
Options for optimizing the control loops
Motor control settings

12.5.5.3 Current controller

The current controller consists of a direct-axis current controller and a cross current controller
which are both parameterised identically. The direct-axis current controller controls the field-
producing current (D current). The cross current controller controls the torque-producing
current (Q current).
Description of the function
The function controls the control cycle. The following model parameters are improved.
• Inductance of the saturation characteristic
• Setpoint step-change in the small signal behavior
This correspond to the maximum possible dynamics of the current controller and increases
the stability limit of the higher-level control loops. The higher-level control loops are the
position control and the speed control. The setpoint step-changes are compensated within
half a PWM cycle.

Current [ % Ir]
15

I set

I Lenze i950
act

5 I Market
act

0
0 0.5 1.0 1.5
1 PWM-cycle
Time [ ms ]

Fig. 53: Characteristic with and without torque control

Activation of the function
The function is activated via a parameter. 0x2941 40x2941
In case of synchronous machines, this parameter is set by default to Enable [1] and in case of
asynchronous machines to Disable [0].

How to activate the function

1. Set parameter to [2].
The function is activated.

For a servo control, the current controller should always be optimized if a motor
of another manufacturer with unknown motor data is used! For a V/f
characteristic control, the current controller only has to be optimized if voltage
vector controlActivate voltage vector control (Imin controller) is used, or if the
motor functions “DC braking” or “flying restart process” are activated.

257
Configuring the motor control
Options for optimizing the control loops
Motor control settings

Automatically calculated settings for the current controller

If one of the values calculated exceeds the upper object limit, the value is
limited to the limit value.

There is a coupling between the two control loops (direct-axis current controller, cross current
controller) which makes every actuation of a controller occur as fault in the control loop of the
other controller. This coupling can be compensated by activating the current controller
feedforward control via object 0x2941.
For the automatic calculation of the two controller parameters (gain and reset time), the
"Calc. current contr. param."function is provided via object 0x2822:013. The calculation
function is based on the stator resistance 0x2C01:002 and the stator leakage inductance
0x2C01:003. Thus, these motor parameters must be parameterized before, e. g. by the
manual entry of data sheet values. The calculated controller parameters can be optimized by
means of an experimental adjustment subsequently. The procedure is described in
sectionManual "current pulse" test mode ^ 296
Equations for calculating the gain and reset time of the synchronous motor
Gain Reset time

L ss L ss
Vp = Tn =
Tdead time Rs

Parameter Symbol Description Dimension unit

0x2942:001 Vp Current controller gain V/A
0x2C01:003 Lss Stator leakage inductance H
- TDead time Equivalent time constant for the analog detection and scanning = 0.0002016 s s
0x2942:002 Tn Current controller reset time s
0x2C01:002 Rs Stator resistance (value at 20° C) Ω

Equations for calculating the gain and reset time of the asynchronous motor
Gain Reset time

s ´ Ls 2 ´ L ss s ´ L s 2 ´ L ss
Vp = » tn = »
Tdead time Tdead time Rs Rs

Parameter Symbol Description Dimension unit

0x2942:001 Vp Current controller gain V/A
- σ Leakage
- Ls Motor stator inductance H
0x2C01:003 Lss Motor stator leakage inductance H
- TDead time Equivalent time constant for the analog detection and scanning = 0.0002016 s s
0x2942:002 Tn Current controller reset time s
0x2C01:002 Rs Motor stator resistance (value at 20° C) Ω

Debugging
The function depends on the saturation characteristic of the inductances in parameter 0x2c04
0x2c04.
For Lenze motors, this characteristic can be found in the motor table. In case of MCS motors,
the characteristic values in the first 2 entries are too high. If there are any problems regarding

258
Configuring the motor control
Options for optimizing the control loops
Motor control settings

the torque control, reduce these values. Lenze motors with the standard setting achieve a
considerable higher performance.
In the following parameter, debugging is possible with the commissioning function Man. Test
mode curr. Imp.. 0x2825 40x2825
This function is documented. Here, the transient response of the current controller can be
evaluated which shall considerably improve when the torque control is activated.
The following chart shows the this behavior.
• Red characteristic without torque controller
• Yellow characteristic with activated torque controller
If the course is worse with an activated torque control, the parameters of the inductance and
saturation profile are faulty.
Parameter
Address Name / setting range / [default setting] Information
0x2941 Current controller feedforward control Activate/deactivate feedforward control.
0 Disable Since the actuation of the current controller is known, they can be
precontrolled to increase the actuations of the current controller.
1 Enable
Note!
For a feedforward control, the Motor equivalent circuit diagram data
must be known. If only estimated values are available, we recommend
you not to activate the feedforward control.
2 Dead-beat control
0x2942:001 Current controller parameters: Gain Gain factor Vp of the current controller.
0.00 ... [148.21] ... 750.00 V/A
0x2942:002 Current controller parameters: Reset time Reset time Tn of the current controller.
0.01 ... [3.77] ... 2000.00 ms
0x2943 Current setpoint filter time Setting of the setpoint current filter time.
0.00 ... [0.00] ... 10.00 ms

Example
Applications with torque control with a switching frequency of 4 kHz reach the same dynamics
as applications with 16 kHz without torque control. The stability limit of the speed controller
increases depending on the switching frequency and filter setting by up to 100 %. Typical
values are in the range of 30 % - 50 %. In case of applications that have already been solved
with the previously found settings, an activation is not necessary.

259
Configuring the motor control
Options for optimizing the control loops
Motor control settings

12.5.5.4 ASM field controller

For motors with great rotor time constants or small rotor resistances, very high gain factors
are calculated. Since the setting range of the field controller is limited to the double rated
magnetising current, the field control loop in the case of these motors tends to a two-point
response when the values calculated are entered.
The automatic calculation is made via the parameter 0x2822:016 = 1.
Starting from a calculated gain factor of approx. 1000 A/Vs, do not set the full value anymore.
Example
Calculated value: 10000 A/Vs
Setting: 3000 A/Vs
Calculation of the gain

1
Vp »
4 ´ Rr ´ Tcurrent controller

Calculation of the reset time

Lr
Tn = Tr =
Rr

Parameter Symbol Description Dimension unit

0x29C0:001 Vp Field controller gain A/Vs
0x29C0:002 Tn Field controller reset time s
0x2C02:002 Lh Mutual motor inductance (ASM) H
0x2C02:001 Rr Motor rotor resistance (ASM) Ω
- Tcurrent controller Equivalent time constant of the current control loop = 0.0005 s
- Tr Motor rotor time constant
- KPath Gain of the control path
- Lr Motor rotor resistance (ASM) H

Parameter
Address Name / setting range / [default setting] Information
0x29C0:001 Field controller settings: Gain Gain factor Vp of the field controller.
0.00 ... [165.84] ... 50000.00 A/Vs
0x29C0:002 Field controller settings: Reset time Reset time Tn of the field controller.
1.0 ... [15.1] ... 6000.0 ms

260
Configuring the motor control
Options for optimizing the control loops
Motor control settings

12.5.5.5 ASM field weakening controller

Since the controlled system gain changes with the speed, the field weakening controller is
corrected via the speed.
The automatic calculation is made via the parameter 0x2822:017 = 1.
Calculation of the gain

2p
Vp = 0, Vcontrolled system_Fs = p ´ neck ´
60

Calculation of the reset time

Vcontrolled system_Fs Lr Lh + L ss
Tn = 4 ´ ´ ( TEF + Tfilter ) , TEF = Tr = »
60 Rr Rr

Parameter Symbol Description Dimension unit

0x29E0:001 Vp Gain of the field weakening controller Vs / A
- VPath_Fs Gain of the control path
- P Number of pole pairs rpm
- ntransition Speed at which the field weakening is approximately initiated.
0x29E0:002 Tn Reset time of the field weakening controller s
- TEF Filter time constant of the field control loop
0x29E3 TFilter Filter time constant for the required voltage s
- Tr Motor rotor time constant
- Lr Motor rotor resistance (ASM)
0x2C02:002 Lh Mutual motor inductance (ASM) H
0x2C01:003 Lss Motor stator leakage inductance (ASM) or motor leakage inductance (SM) H
0x2C02:001 Rr Motor rotor resistance Ω

Parameter
Address Name / setting range / [default setting] Information
0x29E0:001 Field weakening controller settings: Gain (ASM) Gain factor Vp of the field weakening controller.
0.000 ... [0.000] ... 2147483.647 Vs/V
0x29E0:002 Field weakening controller settings: Reset time (ASM) Reset time Tn of the field weakening controller.
1.0 ... [2000.0] ... 240000.0 ms
0x29E1 Field weakening controller Field limitation Field limitation of the field weakening controller.
5.00 ... [100.00] ... 100.00 %

12.5.5.6 ASM field weakening controller (extended)

For a quick commissioning, the calculations and settings are made automatically during the
optimisation.
Parameter
Address Name / setting range / [default setting] Information
0x29E2 DC-bus filter time Filter time for the current DC-bus voltage used for field weakening.
1.0 ... [25.0] ... 1000.0 ms
0x29E3 Motor voltage filter time Filter time for the current motor voltage used for field weakening.
1.0 ... [25.0] ... 1000.0 ms
0x29E4 Voltage reserve range Voltage reserve at the transition point to the field weakening, with
1 ... [5] ... 20 % reference to the current value of the DC-bus voltage.
Only relevant for:
• Servoregelung (SC-PSM) (0x2C00 = 1)
• Servo control (SC ASM) (0x2C00 = 2)

261
Configuring the motor control
Options for optimizing the control loops
Motor control settings

12.5.5.7 PSM operation outside the voltage range

The inverter control enables a synchronous motor to be operated outside the voltage range. If
a motor is selected in the »EASY Starter«, the control is parameterised automatically.
Improve the transition from the base speed range to field weakening by activating the current
controller: feedforward control parameter. 40x2941
• The current controller precontrol is defined via the following parameters:
• Motor parameter: stator resistance 40x2C01:002
• Motor parameter: stator leakage inductance 40x2C01:003
• Motor parameter (PSM): back EMF constant 40x2C03:001
• If you want to operate a third-party motor in the field weakening range, you have to
determine the parameters previously mentioned

Operation of synchronous motors outside the voltage range:

If pulse inhibit is set in the inverter, e.g. in case of an inverter disable or an error,
the DC bus is loaded in accordance with the current speed (see equation).
• At high speed and outside the voltage range, the terminal voltage can be
higher than the mains voltage!
• In order to prevent the DC bus from being loaded impermissibly high, connect
a brake chopper to the DC bus!

The terminal voltage corresponds to the following equation

UN
UK = n ´
nM

VK Terminal voltage
n Speed
Vrated Rated mains voltage
nm Rated motor voltage

• Mains settings: rated mains voltage 40x2540:001

• Motor parameter: rated speed 40x2C01:004
Delaying the buildup of field weakening
With the default setting (5 %), field weakening is initiated, thus ensuring that a punctual
buildup of the field weakening current shortly before the voltage threshold is reached.
In the case of synchronous motors, setting the Voltage reserve range parameter may bring
about a delayed start of field weakening for synchronous machines, e.g in order to slightly
reduce the thermal load of the motor. 40x29E4

262
Configuring the motor control
Options for optimizing the control loops
Motor control settings

12.5.5.8 Imax controller

Defining the behaviour at the current limit (Imax controller)
The maximum output current or the current limit is defined by the 0x6073 "max. current"
parameter. In case of the V/f characteristic control, an Imax controller is implemented for
complying with this limit. If the motor current exceeds the set maximum current, the Imax
controller is activated.
• The Imax controller changes the rotating field frequency so that the motor current does
not exceed the current limit. In motor mode, the frequency is reduced and in generator
mode it is increased.
• The gain and reset time of the Imax controller can be parameterised.
Optimising the Imax controller
The automatic calculation serves to determine starting parameters of the Imax controller
which are sufficient for many applications. Thus, an optimisation is not required for most of
the applications.
The automatic calculation is made via the parameter 0x2822:019 = 1.

The parameters of the Imax controller must be adapted if

• a power control is implemented with great moments of inertia.
Recommendation:
Step 1: increase reset time in 40x2B08:002
Step 2: reduce gain in 40x2B08:001
• vibrations occur with V/f characteristic control during the operation of the Imax controller.
Recommendation:
Step 1: increase reset time in 40x2B08:002
Step 2: reduce gain in 40x2B08:001
• overcurrent errors occur due to load impulses or too high acceleration/deceleration
ramps.
Recommendation:
Step 1: reduce reset time in 40x2B08:001
Step 2: increase gain in 40x2B08:002

Parameter
Address Name / setting range / [default setting] Information
0x2B08:001 V/f Imax controller: Gain Gain factor Vp of the Imax controller.
0.000 ... [0.001] ... 1000.000 Hz/A
0x2B08:002 V/f Imax controller: Reset time Reset time Ti of the Imax controller.
1.0 ... [100.0] ... 2000.0 ms

12.5.5.9 Flying restart controller

Parameter
Address Name / setting range / [default setting] Information
0x2BA1 Flying restart circuit
0 ... [15] ... 100 %

263
Configuring the motor control
Options for optimizing the control loops
Motor control settings

12.5.5.10 Position controller

Equation for calculating the gain
The automatic calculation is made via the parameter 0x2822:015 = 1.

1
Vp = , Tsum = Tfilter + Tcurrent controller
32 ´ Tsum

Parameter Symbol Description Dimension unit

0x2980 Vp Position controller gain Hz
0x2985:001 ... Vp(n) Speed-dependent Vp adaptation
0x2985:011
0x2904 TFilter Filter time constant - actual speed value s
- Tcurrent controller Equivalent time constant of the current control loop = 0.0005 s (500 µs) s

Instability of the position control loop due to too high dynamic performance of the speed controller
The following countermeasure must be taken if the following error cannot be reduced to
acceptable values while setting the position controller:

1. Reduce speed controller by the factor 2 and slowly increase the position controller until it
gets slightly unstable again.
2. Reduce the position controller slightly and increase the speed controller until the position
control loop gets slightly unstable again.
3. Repeat these steps until the following error is reduced to acceptable values.

Parameter
Address Name / setting range / [default setting] Information
0x2980 Position controller gain Setting of the position controller gain.
0.00 ... [28.40] ... 10000.00 Hz
0x2981 Position controller gain adaption Setting of the percentage adaptation for the position controller gain.
0.00 ... [100.00] ... 200.00 %
0x2982 Position controller output signal limitation Setting of the output signal limitation.
0.00 ... [480000.00] ... 480000.00 rpm
0x2983 Actual position start value Specifying a new actual position.
-2147483647 ... [0] ... 2147483647 pos. unit
0x2984 Mode for setting the actual position Selection of the mode for setting or shifting the actual position.
0 Absolute Actual position = Actual position start value (0x2983)
1 Relative Actual position = actual position + Actual position start value (0x2983)
0x2986 Resulting gain adaption Display of the resulting gain after being adapted.
• Read only: x.xx %

264
Configuring the motor control
Fine adjustment of the motor model

12.6 Fine adjustment of the motor model

The further commissioning steps are only required for servo controls if more stringent
requirements with regard to the torque linearity have to be met. During the commissioning
process of Lenze motors, typical values for the relevant parameters are provided. For motors
of other manufacturers, these values are to be requested from the motor manufacturer, or
they have to be estimated.

265
Configuring the motor control
Fine adjustment of the motor model
Correction of the stator leakage inductance (Lss)...

12.6.1 Correction of the stator leakage inductance (Lss)...

...and the current controller parameters by means of the saturation characteristic
For the most part, the electrical characteristics of the motor are the relevant factors for an
optimal current controller setting (Vp, Ti), especially the stator resistance and the stator
leakage inductance (Lss). However, modern motors have their stator leakage inductance
changed along with the current level so that it is impossible to have an optimal current
controller setting for all working points at all times.
For applications with operating phases that involve very different current and torque
requirements and, at the same time, high requirements on dynamic drive behaviour, the i700
servo inverter provides the possibility of the correction of the stator leakage inductance and
the current controller settings by means of the adjustable saturation characteristic.
The saturation characteristic is a typical characteristic of motors of one type/size. It does not
depend on the maximum process current of the motor in the prevailing application. Thus the
defined values should be based on the key data of the motors. These are rated motor current,
peak motor current for a limited time and the ultimate motor current.

NOTICE
Impact of the saturation characteristic on the current controller feedforward control
▶ The saturation characteristic is not only used to correct the current controller, but it also
influences the current controller feedforward control (can be activated via parameter
0x2941).

The following picture shows a typical saturation characteristic of an MCS motor:

L/Ln
120 %

100 %

80 %

60 %

40 %

20 %

0% I/Imax
0% 10 % 20 % 30 % 40 % 50 % 60 % 70 % 80 % 90 % 100 %

The saturation characteristic represents the change in inductance (L/Ln) as a function of the
motor current (I/Imax). The variables of both axes which were scaled to a reference value are
represented as percentages.
• When a Lenze motor is selected, the saturation characteristic is already filled with values
typical of the series.

266
Configuring the motor control
Fine adjustment of the motor model
Correction of the stator leakage inductance (Lss)...

Distribution of the grid points

• The saturation characteristic is represented by 17 grid points.
• The 17 grid points are spaced on the X axis at equal intervals (equidistantly) in a range of
0 ... 100 %. The 100% value of the X axis refers to the current value (max. motor current in
the process) set in parameter 0x2C05.
• The y values for the grid points can be accessed via the subindices of parameter .
x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17
Vp [V/A]
Tn [ms]

Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]

• The 100 % value of a grid point refers to

• the set motor stator leakage inductance 0x2C01:003 and
• the set current controller gain Vp 0x2942:001.
• Preferably select a display area of the grid points which includes at least the ultimate
motor current. The current controller step response is then recorded actively only until the
grid point with peak motor current. In order to prevent the motor winding from being
overloaded, use the manual test mode "current pulse" for recording: 4Manual "current
pulse" test mode. ^ 296
• The grid points with current setpoints above the peak motor current are determined
through interpolation.
• When the saturation characteristics for motor types are determined, it makes sense in
some cases to select a scaled representation of the grid point distribution. This requires to
know the highest value of the quotient from "ultimate motor current / rated motor
current" of the motor series.
Example of determining the saturation characteristic
Given values:
• Rated motor current: 5 A
• Maximum motor current: 20 A
• Maximum process current: 15 A

267
Configuring the motor control
Fine adjustment of the motor model
Correction of the stator leakage inductance (Lss)...

Proceeding
1. Deactivate correction: Set all subindices (0x2C04:001 ... 0x2C04:017) to 100 %.
2. Use 0x2C05 to set the maximum current up to which the motor is to be operated in the
process (in this example "15 A").
3. Adjust the current controller with different current setpoints by means of the manual test
mode Manual "current pulse" test mode and take down the corresponding settings for Vp
and Tn.
• The procedure is described in section Manual "current pulse" test mode.
• The current setpoints to be set for the corresponding adjustment in object 0x2835:001
result from the scaling of the maximum process current to the X axis of the saturation
characteristic.
• The grid points which are required to define the saturation characteristic with a
sufficient quality varies from motor to motor and thus has to be determined
individually.
• For this example, currents that are part of the grid points 5, 9, 13, and 15 have been
selected, and a measurement at rated motor current was carried out additionally:
x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17
Vp [V/A]
Tn [ms]

Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]

0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A

See table "Specifications for adjustment / measured values" after this listing
4. Create a characteristic based on the detected values for Vp (but do not enter any values in
yet).
• Determine the values of the grid points that have not been adjusted by interpolation
between two values.
• Note: This example assumes that the inductance does not change considerably below
3.75 A. For this reason, the same Vp value that resulted from the measurement with a
motor current of 3.75 A was used for all grid points below 3.75 A.
x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17
Vp [V/A]

5.2

3.8

2.6

1.4
1.0
0.7
0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]

0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A

5. Set gain Vp and reset time Tn to the values that were determined during the adjustment
with the rated motor current (in this example "5 A"):
• 0x2942:001 is set to "3.8 V/A".
• 0x2942:002 is set to "5 ms".
6. Scale Vp values on the Y axis of the characteristic to the Vp setting "3.8 V/A":

268
Configuring the motor control
Fine adjustment of the motor model
Correction of the stator leakage inductance (Lss)...

x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17

Vp [%]

150

Vp = "3.8 V/A" º 100 %

100

0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]

0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A

7. Enter the percentage Vp values of the grid points into the subindices
(0x2C04:001 ... 0x2C04:017):
x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17
Vp [%]

137
Vp = "3.8 V/A" º 100 %
109
92
80
68

0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]

See table "Setting of grid point 1 ... 17 in [%]" after this listing
8. Enter the maximum process current ("15 A") in 0x6073 as the maximum current.
• The settings made should now cause the same basic current characteristic irrespective
of the current level.
• Now that the current controller gain is actively corrected, the step responses may
slightly differ from the previous measurements. In this case, the current controller
parameters must be post-optimised for the last time.
9. For permanent storage: save the characteristic determined.
The »EASY Starter« serves to save the parameter settings of the inverter as parameter file
(*.gdc). Saving the parameter settings
Specifications for adjustment Measured values
Grid point Scaling Current setpoint Vp [V/A] Tn [ms]
5 0.25 * 15 A = 3.75 A 5.2 6.5
9 0.5 * 15 A = 7.5 A 2.6 4
13 0.75 * 15 A = 11.25 A 1.4 2.5
15 0.875 * 15 A = 12.38 A 1.0 2
17 1.0 * 15 A = 15 A 0.7 1.7
Rated motor current= 5A 3.8 5

Setting of grid point 1 ... 17 in [%]

y1 y2 y3 y4 y5 y6 y7 y8 y9 y10 y11 y12 y13 y14 y15y y16 y17
137 137 137 137 137 109 92 80 68 61 53 45 37 32 26 22 19

269
Configuring the motor control
Fine adjustment of the motor model
Correction of the stator leakage inductance (Lss)...

Parameter
Address Name / setting range / [default setting] Information
0x2C04:001 Inductance grid points (y) Lss saturation characteristic: Saturation characteristic of the leakage inductance.
y1 = L01 (x = 0.00 %) The linear distribution via the current results from the maximum motor
0 ... [165] ... 400 % current (0x2C05).
0x2C04:002 Inductance grid points (y) Lss saturation characteristic:
y2 = L02 (x = 6.25 %)
0 ... [200] ... 400 %
0x2C04:003 Inductance grid points (y) Lss saturation characteristic:
y3 = L03 (x = 12.50 %)
0 ... [146] ... 400 %
0x2C04:004 Inductance grid points (y) Lss saturation characteristic:
y4 = L04 (x = 18.75 %)
0 ... [117] ... 400 %
0x2C04:005 Inductance grid points (y) Lss saturation characteristic:
y5 = L05 (x = 25.00 %)
0 ... [97] ... 400 %
0x2C04:006 Inductance grid points (y) Lss saturation characteristic:
y6 = L06 (x = 31.25 %)
0 ... [82] ... 400 %
0x2C04:007 Inductance grid points (y) Lss saturation characteristic:
y7 = L07 (x = 37.50 %)
0 ... [71] ... 400 %
0x2C04:008 Inductance grid points (y) Lss saturation characteristic:
y8 = L08 (x = 42.75 %)
0 ... [62] ... 400 %
0x2C04:009 Inductance grid points (y) Lss saturation characteristic:
y9 = L09 (x = 50.00 %)
0 ... [55] ... 400 %
0x2C04:010 Inductance grid points (y) Lss saturation characteristic:
y10 = L10 (x = 56.25 %)
0 ... [50] ... 400 %
0x2C04:011 Inductance grid points (y) Lss saturation characteristic:
y11 = L11 (x = 62.50 %)
0 ... [46] ... 400 %
0x2C04:012 Inductance grid points (y) Lss saturation characteristic:
y12 = L12 (x = 68.75 %)
0 ... [43] ... 400 %
0x2C04:013 Inductance grid points (y) Lss saturation characteristic:
y13 = L13 (x = 75.00 %)
0 ... [42] ... 400 %
0x2C04:014 Inductance grid points (y) Lss saturation characteristic:
y14 = L14 (x = 81.25 %)
0 ... [41] ... 400 %
0x2C04:015 Inductance grid points (y) Lss saturation characteristic:
y15 = L15 (x = 87.50 %)
0 ... [41] ... 400 %
0x2C04:016 Inductance grid points (y) Lss saturation characteristic:
y16 = L16 (x = 93.25 %)
0 ... [41] ... 400 %
0x2C04:017 Inductance grid points (y) Lss saturation characteristic:
y17 = L17 (x = 100.00 %)
0 ... [41] ... 400 %
0x2C04:018 Inductance grid points (y) Lss saturation characteristic: Switch on/off the correction by means of saturation characteristic.
Activation Lss saturation characteristic
0 Adjustment off
1 Adjustment on
0x2C05 Reference for current grid points (x) Lss saturation Setting of the maximum motor current.
characteristic Serves as reference value for the scaled current data of the X axis of the
0.0 ... [5.4] ... 500.0 A saturation characteristic.

270
Configuring the motor control
Fine adjustment of the motor model
Synchronous motor (SM): Compensate temperature and current influences

12.6.2 Synchronous motor (SM): Compensate temperature and current influences

The properties of the permanent magnets of permanently excited synchronous motors
depend on the temperature and the amperage. The relationship between motor current and
resulting torque changes correspondingly.
The influences of the temperature and the amperage on the magnetisation can be taken into
account by the motor control and hence be compensated for.
• To compensate for the temperature dependence of the magnets, the temperature
coefficient (kT) of the permanent magnet must be entered in object 0x2C03:003 (linear
characteristic).
• To compensate for the current dependence of the magnets, multiple grid points of a
characteristic must be entered in the following object (non-linear characteristic):
Parameter
Address Name / setting range / [default setting] Information
0x2C06:001 Grid points for magnet characteristic (current): x1 = Characteristic for the dependency of the magnetic flux on the active
i01/iN motor current.
0 ... [0] ... 1000 %
0x2C06:002 Grid points for magnet characteristic (current): y1 =
kT01/kTN
0 ... [100] ... 1000 %
0x2C06:003 Grid points for magnet characteristic (current): x2 =
i02/iN
0 ... [100] ... 1000 %
0x2C06:004 Grid points for magnet characteristic (current): y2 =
kT02/kTN
0 ... [100] ... 1000 %
0x2C06:005 Grid points for magnet characteristic (current): x3 =
i03/iN
0 ... [200] ... 1000 %
0x2C06:006 Grid points for magnet characteristic (current): y3 =
kT03/kTN
0 ... [100] ... 1000 %
0x2C06:007 Grid points for magnet characteristic (current): x4 =
i04/iN
0 ... [415] ... 1000 %
0x2C06:008 Grid points for magnet characteristic (current): y4 =
kT04/kTN
0 ... [72] ... 1000 %

271
Configuring the motor control
Fine adjustment of the motor model
Asynchronous motor (ASM): Identifying Lh saturation characteristic

12.6.3 Asynchronous motor (ASM): Identifying Lh saturation characteristic

In case of an asynchronous motor, the relationship between current and torque is basically
determined by the saturation behaviour of the mutual inductance. If the achieved torque
accuracy, especially in the field weakening range should not be sufficient, the accuracy can be
increased by the individual identification of the saturation characteristic. This behaviour can
be measured by the servo inverter.
Conditions for the execution
• Before this commissioning function is executed, the inverter characteristic and the motor
parameters must be identified 4Motor equivalent circuit diagram data. ^ 252
• The motor may be stalled.
• The inverter is error-free and in "Switched on" device state.
Response of the motor during "standstill" performance
How to identify the Lh saturation characteristic:

The identification of the Lh saturation characteristic can take up to 11 minutes.

1. If the servo inverter enabled, disable it 4Disable operation. ^ 318

2. Select the drive mode [10] in parameter 0x2825: Lh saturation characteristic identification
3. Enable the inverter to start the process.
• Check the progress in 0x2823:002.
• Disabling the inverter serves to abort the started procedure any time if required.
Already determined characteristic values are rejected in this case.
After successful completion...
...the inverter will be disabled automatically and the points of the determined Lh saturation
characteristic are set in the parameters 0x2C07:001 ... 0x2C07:017.
• Save the changed settings.
The »EASY Starter« serves to save the parameter settings of the servo inverter as
parameter file (*.gdc).4Saving the parameter settings ^ 42
• The inverter disable set automatically by the procedure can be deactivated again via the
CiA402 control word 0x6040 (setting = 7, 15).
In the event of an error
If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to short-time
undervoltage), the procedure is terminated with inverter disable without the settings being
changed.
Load standard Lh saturation characteristic
If an incorrect Lh saturation characteristic has been determined or none at all, it is possible to
load a standard Lh characteristic.
How to load the standard Lh saturation characteristic:
1. The start is made via the parameter 0x2822:021 = 1.
2. For permanent storage: after the process has been completed, save the Lh saturation
characteristic set in .
The »EASY Starter« serves to save the parameter settings of the inverter as parameter file
(*.gdc). Saving the parameter settings

272
Configuring the motor control
Fine adjustment of the motor model
Asynchronous motor (ASM): Identifying Lh saturation characteristic

Parameter
Address Name / setting range / [default setting] Information
0x2822:021 Axis commands: Load default Lh saturation Parameters for interaction with engineering tools.
characteristic
0 Off/Ready
1 On/Start
2 In progress
3 Action cancelled
4 No access
5 No access (Device disabled)
0x2C07:001 Inductance grid points (y) Lh saturation characteristic: Saturation characteristic of the mutual inductance of an asynchronous
y1 = L01 (x = 0.00 %) machine as a function of the magnetising current.
0 ... [118] ... 400 %
0x2C07:002 Inductance grid points (y) Lh saturation characteristic:
y2 = L02 (x = 6.25 %)
0 ... [118] ... 400 %
0x2C07:003 Inductance grid points (y) Lh saturation characteristic:
y3 = L03 (x = 12.50 %)
0 ... [118] ... 400 %
0x2C07:004 Inductance grid points (y) Lh saturation characteristic:
y4 = L04 (x = 18.75 %)
0 ... [117] ... 400 %
0x2C07:005 Inductance grid points (y) Lh saturation characteristic:
y5 = L05 (x = 25.00 %)
0 ... [116] ... 400 %
0x2C07:006 Inductance grid points (y) Lh saturation characteristic:
y6 = L06 (x = 31.25 %)
0 ... [114] ... 400 %
0x2C07:007 Inductance grid points (y) Lh saturation characteristic:
y7 = L07 (x = 37.50 %)
0 ... [111] ... 400 %
0x2C07:008 Inductance grid points (y) Lh saturation characteristic:
y8 = L08 (x = 43.75 %)
0 ... [107] ... 400 %
0x2C07:009 Inductance grid points (y) Lh saturation characteristic:
y9 = L09 (x = 50.00 %)
0 ... [100] ... 400 %
0x2C07:010 Inductance grid points (y) Lh saturation characteristic:
y10 = L10 (x = 56.25 %)
0 ... [93] ... 400 %
0x2C07:011 Inductance grid points (y) Lh saturation characteristic:
y11 = L11 (x = 62.50 %)
0 ... [86] ... 400 %
0x2C07:012 Inductance grid points (y) Lh saturation characteristic:
y12 = L12 (x = 68.75 %)
0 ... [78] ... 400 %
0x2C07:013 Inductance grid points (y) Lh saturation characteristic:
y13 = L13 (x = 75.00 %)
0 ... [71] ... 400 %
0x2C07:014 Inductance grid points (y) Lh saturation characteristic:
y14 = L14 (x = 81.25 %)
0 ... [64] ... 400 %
0x2C07:015 Inductance grid points (y) Lh saturation characteristic:
y15 = L15 (x = 87.50 %)
0 ... [57] ... 400 %
0x2C07:016 Inductance grid points (y) Lh saturation characteristic:
y16 = L16 (x = 93.75 %)
0 ... [50] ... 400 %
0x2C07:017 Inductance grid points (y) Lh saturation characteristic:
y17 = L17 (x = 100.00 %)
0 ... [42] ... 400 %

273
Configuring the motor control
Fine adjustment of the motor model
Estimate optimum magnetising current

12.6.4 Estimate optimum magnetising current

In case of the given Lh saturation behaviour, there is (usually) a magnetising current where the
torque efficiency is highest. This magnetising current can be determined by the servo inverter.
• Executing this function also compresses or extends the Lh saturation characteristic
(interpolation points 0x2C07:001 ... 0x2C07:001).
• After the function has been executed, the determined magnetising current is entered in
0x2C02:003.
Preconditions for the performance
• Before this commissioning function is executed, the motor parameters and the Lh
saturation characteristic must be identified 4Motor equivalent circuit diagram data. ^ 252
• The motor must be stalled.
Response of the motor during "standstill" performance
How to estimate the optimal magnetising current:
1. Start Axis commands: estimate optimum magnetising current parameter with = 1.
40x2822:023
2. After the process has been completed, save the changed inverter parameters:
• Lh saturation characteristic (0x2C07:001 ... 0x2C07:017)
• Magnetising current0x2C02:003
The »EASY Starter« serves to save the parameter settings of the inverter as parameter
file (*.gdc). 4Saving the parameter settings
Parameter
Address Name / setting range / [default setting] Information
0x2822:023 Axis commands: Estimate optimum magnetizing Parameters for interaction with engineering tools.
current
0 Off/Ready
1 On/Start
2 In progress
3 Action cancelled
4 No access
5 No access (Device disabled)

274
Configuring the motor control
Parameterise filter elements in the setpoint path
Jerk limitation

12.7 Parameterise filter elements in the setpoint path

12.7.1 Jerk limitation

Via the max. acceleration change that can be set in parameter 0x2945 C00274, the change of
the setpoint torque can be limited for jerk limitation. Hence, sudden torque step changes can
be avoided. The entire speed characteristic is smoothed.
Parameter
Address Name / setting range / [default setting] Information
0x2945 Torque setpoint jerk limitation Setting of the maximum acceleration change.
0.1 ... [400.0] ... 400.0 %

275
Configuring the motor control
Parameterise filter elements in the setpoint path
Notch filter (band-stop filter)

12.7.2 Notch filter (band-stop filter)

Due to the high dynamic performance or limit frequency of the closed current control loop,
mechanical natural frequencies can be activated which may lead to an unstable speed control
loop in the case of resonance.

To mask out or at least damp these resonant frequencies, two notch filters are integrated in
the speed control loop of the inverter. In the Lenze setting, these filters are switched off:

0x2944:1 0x2944:4
0x2944:2 0x2944:5
0x2944:3 0x2944:6

m m*

Use of the notch filters depending on the resonant frequency

WARNING!
Improperly set notch filters have a negative impact on the response and disturbance
behaviour of the speed control: increased overshoot of the motor speed in case of response
behaviour and / or higher speed deviations (extreme case: complete instability of the drive)
In the case of impairment,
▶ the drive that is still running must either be coasted down by activating the inverter disable
or immediately be brought to a standstill via a brake.
▶ the speed controller must be optimised again afterwards.
▶ the test procedure must be repeated.

Output frequency Use of notch filters

0...1/2 flimit_speed_controller No
1/2 flimit_speed_controller...f_limit_speed-Controller yes, with restriction
<flimit_speed_controller yes, without restriction

• The notch filters are suitable for use with resonant frequencies equal to or higher than the
limit frequency of the speed controller:
• Resonant frequencies ≥ flimit_speed_controller = 70 Hz ... 110 Hz
• For resonant frequencies lower than the limit frequency of the speed controller, the use of
suitable speed profiles with an S-shaped ramp is recommended.

276
Configuring the motor control
Parameterise filter elements in the setpoint path
Notch filter (band-stop filter)

Setting the notch filters

Since the exact frequency response of the speed control path in most cases is not known
beforehand, an experimental procedure for setting the notch filters is described in the
following.
How to set the notch filters:
1. Set and optimise current controller, see section Current controller .^ 257
2. Adapt the speed controller reset time to the filter time constant of the actual speed filter
time and the equivalent time constant of the current control loop:
• The following applies: 0x2900:002 = 16 * (0x2904 + 500 µs)
Note: The setting of the reset time includes the equivalent time constant of the current
control loop. The 500 μs indicated are typical in a power range of up to 50 kW. Above this
value, greater time constants may occur.
3. Slowly increase the proportional gain of the speed controller in 0x2900:001 until the speed
control loop starts to be unstable (acoustic determination, measurement of the motor
current or recording of the speed output signal).
4. Measure the oscillation frequency using an oscilloscope:
• Assessing the motor current via 0x2DD1:004.
• Assessing the motor speed via 0x6044.
5. Set the oscillation frequency determined as filter frequency in 0x2944:001.
6. Set the filter width to 40 % of the filter frequency in 0x2944:002.
7. Se the filter depth to 40 dB in 0x2944:003.
• If "0 dB" is set (default setting), the filter is not effective.
8. Further increase the proportional gain of the speed controller in 0x2900:001 until the
speed control loop starts to be unstable again.
• If the oscillation frequency has changed now, readjust the filter frequency by trimming.
The use of a second filter is ineffective here.
• If the oscillation frequency remains the same, readjust the filter depth and/or the filter
width by trimming (the first reduces the amplitude, the second lets the phase rotate
faster).
• Repeat step 8 until the desired behaviour or the limit of a sensible speed controller
gain has been reached.
9. Check the drive behaviour in case of quick stop (QSP)
• Accelerate drive
• Then, brake with quick stop (QSP) and check whether a reduced drive dynamics can be
detected.
• If so, reduce the influence of the filters until the reachable dynamics corresponds to
the requirements.

NOTICE
▶ Readjust the speed controller after setting the notch filters (see section "Speed controller").
^ 254
▶ Save the changed settings.
▶ The »EASY Starter« serves to save the parameter settings of the servo inverter as parameter
file (*.gdc), see section Saving the parameter settings . ^ 42

277
Configuring the motor control
Parameterise filter elements in the setpoint path
Notch filter (band-stop filter)

Parameter
Address Name / setting range / [default setting] Information
0x2944:001 Torque setpoint notch filter: Frequency notch filter 1 Setting of the frequency for notch filter 1.
1.0 ... [200.0] ... 2000.0 Hz
0x2944:002 Torque setpoint notch filter: Bandwidth notch filter 1 Setting of the bandwidth for notch filter 1.
0.0 ... [20.0] ... 1000.0 Hz
0x2944:003 Torque setpoint notch filter: Damping notch filter 1 Setting of the damping for notch filter 1.
0 ... [0] ... 100 dB
0x2944:004 Torque setpoint notch filter: Frequency notch filter 2 Setting of the frequency for notch filter 2.
1.0 ... [400.0] ... 2000.0 Hz
0x2944:005 Torque setpoint notch filter: Bandwidth notch filter 2 Setting of the bandwidth for notch filter 2.
0.0 ... [40.0] ... 1000.0 Hz
0x2944:006 Torque setpoint notch filter: Damping notch filter 2 Setting of the damping for notch filter 2.
0 ... [0] ... 100 dB

278
Configuring the motor control
Motor protection

12.8 Motor protection

Many monitoring functions integrated in the inverter can detect errors and thus protect the
device or motor from being destroyed or overloaded.

279
Configuring the motor control
Motor protection
Motor overload monitoring (i²xt)

12.8.1 Motor overload monitoring (i²xt)

This function monitors the thermal overload of the motor, taking the motor currents recorded
and a mathematical model as a basis.

DANGER!
Fire hazard by overheating of the motor.
Possible consequences: Death or severe injuries
▶ Since the motor utilisation calculated in the thermal model gets lost after mains switching,
the following operating states cannot be determined correctly: 1.) Restarting (after mains
switching) of a motor that is already very hot and 2.) Change of the cooling conditions (e.g.
cooling air flow interrupted or too warm).
▶ To achieve full motor protection, an additional temperature monitoring function with a
separate evaluation must be installed.
▶ When actuating motors that are equipped with PTC thermistors or thermal contacts, always
activate the PTC input.

Motor overload monitoring is important for motors without thermal sensor.

Details
During the calculation of the parameters 0x2D4D:001 ...0x2D4D:008, the speed dependence
of the permissible motor load and thus of the permissible current (difference between the
standstill current and rated current is taken into consideration.
In case of permanent overload and excess of the warning threshold set in parameter 0x2D4E,
a warning is output in order that the higher-level Controller is still able to respond and reduce
the motor load or interrupt the operation.
The calculated thermal motor utilisation is displayed in parameter 0x2D4F.
Parameter
Address Name / setting range / [default setting] Information
0x2D4F Motor utilisation (i²xt) Display of the current thermal motor utilisation.
• Read only: x %
0x2D4E Motor utilisation (i²xt) - warning threshold Setting of the warning threshold for motor overload monitoring.
0 ... [100] ... 250 %
0x2D50:001 Motor utilisation (i²xt) - monitoring: Error response For displaying the motor utilisation error response (I²xt).
Associated error code:
• 9041 | 0x2351 - Motor utilization too high (i²xt)
0 Keine Reaktion
1 Fehler > CiA402
0x2D50:002 Motor utilisation (i²xt) - monitoring: Error threshold Setting of the error threshold for motor overload monitoring.
0 ... [105] ... 250 %

280
Configuring the motor control
Motor protection
Motor overload monitoring (i²xt)

12.8.1.1 Parameters for the thermal model

The introduction of a two-component model with two time constants (one for the winding
and the other for the housing/laminated core) serves to display the thermal behaviour of the
motors up to 500% of the rated current.
Structure of the monitoring
2
Iact Motor 1
k1
Iperm Motor (n) (1 + pτ1)

1
k2
(1 + pτ2)

① Thermal utilisation of the motor in [%]

Parameter Symbol Description Dimension unit
- IactMotor Actual motor current A
- IpermMotor Permissible motor current (speed-dependent) A
0x2D4C:001 τ1 Therm. time constant of winding s
0x2D4C:002 τ2 Therm. time constant of laminated core s
0x2D4C:003 k1 Percentage of the winding in the final temperature %
- k2 Percentage of the laminated core in the final temperature: k2 = 100 % - k1 %

Calculation with only one time constant

If k1 = "0 %" is set, the part of the winding is not taken into consideration and the thermal
model is only calculated using the time constant set for the housing/laminated core. This
setting is e.g. required if only the time constant of the laminated core (T2) is known.
Parameter setting of the time constant and the influence of the winding on motors of other manufacturers
When the influence of the winding is activated, the i2 xt monitoring becomes more sensible as
if only the influence of the laminated core would be used for monitoring purposes.
The necessity to activate the influence of the winding rises with the increasing utilisation of
the motor overload capacity. It also rises with applications where the motor is at standstill for
longer periods or cyclically and a load ≥ permanent standstill current is applied.
For determining the values for the thermal time constant, try to get the data from the motor
manufacturer. If this is not possible, you can use the data of a comparable Lenze motor.
Conditions for comparability are similar values in case of the following motor features:
• Square dimensions of the motor (active part)
• Length of the active part (if available)
• Permanent standstill current Io [A_RMS]
• Peak current/overload capacity [A_RMS]
• Copper resistance of the winding at 20 °C [Rphase]
Example:
Motor features Data of the third-party motor Description
Square dimension 95 mm MCS09xxx = 89 mm
Standstill current 2.2 A MCS09F38 = 3.0 A
Peak current 7.3 A MCS09F38 = 15 A
Phase resistance 5.1 Ohms MCS09F38 = 5.2 Ohms

Parameter
Address Name / setting range / [default setting] Information
0x2D4C:001 Thermal model motor utilization (i²xt): Motor Setting of the time constant for the winding.
utilisation (i²xt)
1 ... [60] ... 36000 s

281
Configuring the motor control
Motor protection
Motor overload monitoring (i²xt)

Address Name / setting range / [default setting] Information

0x2D4C:002 Thermal model motor utilization (i²xt): Thermal time Setting of the time constant for the laminated core.
constant - laminations
1 ... [852] ... 36000 s
0x2D4C:003 Thermal model motor utilization (i²xt): Winding Part of the thermal motor model: distribution factor of the copper
influence winding influence.
0 ... [27] ... 100 %
0x2D4C:004 Thermal model motor utilization (i²xt): Starting value Value for initialising the filters for the thermal motor overload
0 ... [0] ... 250 % monitoring (setting in % of the permissible full load).

282
Configuring the motor control
Motor protection
Motor overload monitoring (i²xt)

12.8.1.2 Speed-dependent evaluation of the motor current

WARNING!
Fire hazard by overheating of the self-ventilated standard motor
Possible consequence: destruction of system parts
▶ Protect self-ventilated standard motors especially at low speeds by sufficient cooling or
from impermissibly high motor currents. Carry out a speed-dependent evaluation of the
permissible motor current.

WARNING!
Fire hazard by overheating of PM synchronous motors
Possible consequence: destruction of system parts
▶ Please check for every individual case which r.m.s. value can be used to permanently
operate the motor at standstill. In case of some motors, a derating I1/In < 100 % is required
when n1/nn = 0 %. This serves to prevent an overload of individual motor phases as their
power loss doubles with continuous DC current load. (It is called DC current load as the field
frequency amounts to 0 Hz at standstill.)

When you select a Lenze motor from the catalogue and transfer its parameters
into the i700 servo inverter a typical characteristic is automatically set for the
selected motor. A deviating parameterisation is only required if the motor is
operated in ambient conditions which demand a general derating. Example: use
in site altitudes > 1000 m. In case of motors of other manufacturers, the
operating points have to be parameterised based on the data sheet information.

By selecting a characteristic, the permissible motor current is evaluated depending on speed

for calculating the thermal motor utilisation. For this purpose, up to four operating points on
the S1 characteristic of a motor can be used.
• The S1 characteristic can be found in the technical data sheet/catalogue of the respective
motor.
• The representation in the objects /characteristic is carried out as relative values with
reference to rated values.

The speed-dependent evaluation of the permissible motor current can actually be switched
off by parameterising all 8 characteristic points to "100 %".
Operating points
① Standstill n01-I01 For motors, this operating point is often
described with the no-Io values.
② Reference point n02-I02 If the value falls below the speed n02, a
derating in the current is required because:

• the motor cooling of self-ventilated motors

deteriorates considerably.
• a DC current load causes an increased power
loss in a winding.
• For motors, this operating point is also
described with the no-Io values.
③ Rated point (n03=nN)-(I03=IN) Rated values of the motor are the reference for
all operating points of the i2xt monitoring.
④ Field weakening n04-I04 This operating point should be parameterised
irrespective of the use in the current
application.

283
Configuring the motor control
Motor protection
Motor overload monitoring (i²xt)

Example of how to enter the characteristic for standard and servo motors
The required data of the operating points result from the S1 characteristic of the prevailing
motor:
Examples of S1 characteristics
Standard motor
I/In · 100 % *forced ventilated standard motor
160 **self-ventilated standard motor
140

120
*
100

80
**
60

0
0 20 40 60 80 100 120 140 160
n/nn · 100 %

Servo motor Servo motor with derating at standstill

I/In · 100 % I/In · 100 %
160 160

140 140

120 120

100 100

80 80

60 60

40 40

20 20

0 0
0 20 40 60 80 100 120 140 160 0 20 40 60 80 100 120 140 160
n/nn · 100 % n/nn · 100 %

Parameter Characteristic points Info

0x2D4D:001 ① n1/nn * 100 % Speed = "0" (standstill)
0x2D4D:002 I1/In * 100 % Permissible motor current at
standstill
0x2D4D:003 ② n2/nn * 100 % Speed from which the current must
be reduced for self-ventilated
motors.
• Below this speed the cooling air
flow of the integral fan is not
sufficient anymore.
0x2D4D:004 I2/In * 100 % Permissible motor current at speed
n2 (torque reduction)
0x2D4D:005 ③ n3/nn * 100 % Rated speed
0x2D4D:006 I3/In * 100 % Permissible motor current at rated
speed
0x2D4D:007 ④ n4/nn * 100 % Speed above the rated speed (in
the field weakening range for
asynchronous motors)
0x2D4D:008 I4/In * 100 % Permissible motor current at speed
n4 (field weakening)

284
Configuring the motor control
Motor protection
Motor overload monitoring (i²xt)

Parameter
Address Name / setting range / [default setting] Information
0x2D4D:001 Motor utilisation (i²xt) - specific characteristic: x1 = User-definable characteristic for speed-dependent evaluation of the
n01/nN (n01 ~ 0) motor current.
0 ... [0] ... 600 %
0x2D4D:002 Motor utilisation (i²xt) - specific characteristic: y1 =
i01/iN (x1)
0 ... [100] ... 600 %
0x2D4D:003 Motor utilisation (i²xt) - specific characteristic: x2 =
n02/nN (n02 = limit reduced cooling)
0 ... [0] ... 600 %
0x2D4D:004 Motor utilisation (i²xt) - specific characteristic: y2 =
i02/iN (x2)
0 ... [100] ... 600 %
0x2D4D:005 Motor utilisation (i²xt) - specific characteristic: x3 =
n03/nN (n03 = rated speed)
0 ... [100] ... 600 %
0x2D4D:006 Motor utilisation (i²xt) - specific characteristic: y3 =
i03/iN (x3)
0 ... [100] ... 600 %
0x2D4D:007 Motor utilisation (i²xt) - specific characteristic: x4 =
n04/nN (n04 = limit field weakening)
0 ... [100] ... 600 %
0x2D4D:008 Motor utilisation (i²xt) - specific characteristic: y4 =
i04/iN (x4)
0 ... [100] ... 600 %

285
Configuring the motor control
Motor protection
Motor overload monitoring (i²xt)

12.8.1.3 UL 508-compliant motor overload monitoring

If the operation of the motor requires the compliance with the UL Standard 508, and the UL
508-compliant motor overload monitoring is realised by the mathematical model of the I²xt
monitoring, the following conditions must be observed.
UL 508 condition 3:
After mains switching and a motor load > 100 %, the I²xt warning must be output faster than
in the same overload case before mains switching.
• A motor load > 100 % exists if the r.m.s. value of the total motor current displayed in
parameter 0x2DD1:005 is higher than the rated motor current 0x6075.
This condition can be fulfilled by setting the following parameters:
• Motor utilisation (I²xt): starting value 40x2D4C:004
UL 508 condition 2:
In case of a motor load of 110 %, the I²xt warning at a motor rotating field frequency of 10 Hz
must be output faster than at a motor rotating field frequency of 20 Hz.
• The current motor rotating field frequency is displayed in parameter 0x2DDD.
• A motor load of 110 % exists if the r.m.s. value of the total motor current displayed in
parameter 0x2DD1:005 corresponds to 110 % of the rated motor current 0x6075.
This condition can be fulfilled by setting the following parameters:
• I²xt: x1 = n01/nN (n01 ~ 0) 40x2D4D:001
• I²xt: y1 = i01/iN (x = n01 ~ 0) 40x2D4D:002
• I²xt: x2 = n02/nN (n02 = reduced cooling limit) 40x2D4D:003
• I²xt: y2 = i02/iN (x = n02 = reduced cooling limit 40x2D4D:004
UL 508 condition 1:
In case of a motor load of 600 %, the I²xt warning must be output within 20 seconds.
• A motor load of 600 % exists if the r.m.s. value of the total motor current displayed in
parameter 0x2DD1:005 corresponds to 600% of the rated motor current 0x6075.
This condition can be fulfilled by setting the following parameters:
• Motor utilisation (I²xt): thermal time constant - laminated core 40x2D4C:002
• Motor utilisation (I²xt): influence winding 40x2D4C:003
• Motor utilisation (I²xt): motor overload warning threshold 40x2D4E
• Motor utilisation (I²xt): response 40x2D50:001
• Motor utilisation (I²xt): error threshold 40x2D50:002

286
Configuring the motor control
Motor protection
Motor temperature monitoring

12.8.2 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) (TCO)
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 (TCO) is connected.
Details
If 1.6 kΩ < R < 4 kΩ at terminals X109/T1 and X109/T2, the monitoring function will be
activated; see functional test below.
• If the monitoring function is activated, the response set in 0x2D48:002 will be effected.
• The setting 0x2D48:002 = 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 0x2D48:002 is set to "Fault [3]", the response
of the motor overload monitoring may be set other than "Fault [3]" in
0x2D4B:003.
4Motor overload monitoring (i²xt) ^ 280

Functional test
Connect a fixed resistor to the PTC input (T1/T2):
• R > 4 kΩ : The monitoring function must be activated.
• R < 1 kΩ : The monitoring function must not be activated.
Details
If 1.6 kΩ < R < 4 kΩ at terminals X109/T1 and X109/T2, the monitoring function will be
activated; see functional test below.
• If the monitoring function is activated, the response set in 0x2D49:002 will be effected.
• The setting 0x2D49:002 = 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 is set to "Fault [3]", the response
of the motor overload monitoring may be set other than "Fault [3]" in .
4Motor overload monitoring (i²xt) ^ 280

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.

287
Configuring the motor control
Motor protection
Motor temperature monitoring

Parameter
Address Name / setting range / [default setting] Information
0x2D48:002 PTC temperature sensor monitoring: Error response Setting of a response for PTC temperature monitoring.
Associated error code:
• 17281 | 0x4381 - Error - Motor temperature monitoring (PTC)
0 No response
1 Fault > CiA402
2 Warning
0x2D49:001 Motor temperature monitoring: Temperature sensor Selection of the motor temperature sensor used.
type
0 KTY83-110
1 KTY83-110+2xPTC 150 °C
2 KTY84-130
3 Specific characteristic
4 Reserved
5 PT1000
6 PT1000+2xPTC 150 °C
0x2D49:002 Motor temperature monitoring: Response Selection of the response to the triggering of the motor temperature
monitoring.
Associated error codes:
• 17168 | 0x4310 - Motor overtemperature
• 17280 | 0x4380 - Fault - Motor temperature sensor
• 17282 | 0x4382 - Motor overtemperature (load encoder/master
encoder)
• 17283 | 0x4383 - Motor temperature sensor error (load encoder/
master encoder)
0 No response
1 Warning
0x2D49:003 Motor temperature monitoring: Warning threshold Setting of the warning threshold for motor temperature monitoring.
-3276.8 ... [145.0] ... 3276.7 °C The warning threshold is reset with a hysteresis of 5 °C.
0x2D49:004 Motor temperature monitoring: Error threshold Setting of the error threshold for motor temperature monitoring
-3276.8 ... [155.0] ... 3276.7 °C The warning threshold is reset with a hysteresis of 5 °C.
0x2D49:005 Motor temperature monitoring: Actual motor Display of the current motor temperature.
temperature
• Read only: x.x °C
0x2D49:006 Motor temperature monitoring: Spec. characteristic Parameter for the specific thermal sensor characteristic
temperature grid point 1 (0x2D49:001 = 3).
0.0 ... [25.0] ... 255.0 °C
0x2D49:007 Motor temperature monitoring: Spec. characteristic
temperature grid point 2
0.0 ... [150.0] ... 255.0 °C
0x2D49:008 Motor temperature monitoring: Spec. characteristic
resistance grid point 1
0 ... [1000] ... 30000 Ω
0x2D49:009 Motor temperature monitoring: Spec. characteristic
resistance grid point 2
0 ... [2225] ... 30000 Ω
0x2D49:010 Motor temperature monitoring: Temperature sensor Selection of the thermal sensor relevant for temperature monitoring.
feedback type Selection [3] motor and load feedback: temperature monitoring
0 Motor encoder responds to the highest of both temperatures of the sensors at slot A
and slot B.
3 Motor encoder and load encoder
0x2D49:011 Motor temperature monitoring: Motor temperature Display of the current motor temperature measured by motor feedback.
(Motor encoder)
• Read only: x.x °C
0x2D49:012 Motor temperature monitoring: Motor temperature Display of the current motor temperature measured by load feedback.
(load encoder)
• Read only: x.x °C
0x2DDF:007 Axis information: Function of X109
• Read only
0 None
10 HIPERFACE DSL® (OCT)

288
Configuring the motor control
Motor protection
Overcurrent monitoring

Address Name / setting range / [default setting] Information

20 PTC

12.8.2.1 Individual characteristic for motor temperature sensor

The setting of a characteristic for the motor temperature sensor is not suitable
as an adequate replacement of a tripping unit for the thermal protection of
rotating electrical machines (EN 60947- 8:2013)!

If required, you can define and activate a special characteristic for the motor temperature
sensor.
• The special characteristic is activated via the setting 0x2D49:001 = 3
• The special characteristic is defined based on two parameterisable grid points. The two
grid points define a line that is extrapolated to the left and to the right.
This default setting can be changed by the following parameters:
• Thermal sensor characteristic: Grid point 1 - temperature 40x2D49:006
• Thermal sensor characteristic: Grid point 1 - resistance 40x2D49:008
• Thermal sensor characteristic: Grid point 2 - temperature 40x2D49:007
• Thermal sensor characteristic: Grid point 2 - resistance 40x2D49:009

Selecting a motor from the motor catalogue overwrites the parameters of the
special characteristic!

12.8.3 Overcurrent monitoring

This function monitors the instantaneous value of the motor current and serves to protect the
motor from irreversible damage. Overcurrent monitoring is effective for all motor control
modes.

WARNING!
With an incorrect parameterization, the maximum permissible motor current may be
exceeded in the process.
Possible consequence: Irreversible damage of the motor.
Avoid motor damages by using the overcurrent monitoring function as follows:
▶ The setting of the threshold for the overcurrent monitoring in 0x2D46:001 must be adapted
to the connected motor.
▶ Set the maximum current of the inverter in 0x6073 much lower than the threshold for
overcurrent monitoring for a dynamic limitation of the motor current.

Parameter
Address Name / setting range / [default setting] Information
0x2D46:001 Overcurrent monitoring: Threshold • If the active motor current exceeds the set threshold, the response
0.0 ... [5.4] ... 3000.0 A set in 0x2D46:002 is effected for the purpose of motor protection.
• The parameter can also be set and overwritten by selecting a motor
from the "motor catalog" of the engineering tool.
0x2D46:002 Overcurrent monitoring: Response Selection of the response to the triggering of motor current monitoring.
Associated error code:
• 9092 | 0x2384 - Ultimate motor current reached
0 No response
1 Fault > CiA402
2 Warning

289
Configuring the motor control
Motor protection
Motor phase failure detection

12.8.4 Motor phase failure detection

The motor phase failure detection function can be activated for both synchronous and
asynchronous motors.

In the Lenze setting, monitoring is not activated!

Preconditions
Motor phase failure detection during operation is suitable for applications which are operated
with a constant load and speed. In other cases, transient processes or unfavourable operating
points can cause erroneous triggering to occur.
Parameter
Address Name / setting range / [default setting] Information
0x2D45:001 Motor phase failure detection: Response - Motor Selection of the response following the detection of a motor phase
phase 1 failure during operation.
Associated error codes:
• 65289 | 0xFF09 - Motor phase missing
• 65290 | 0xFF0A - Motor phase failure phase U
• 65291 | 0xFF0B - Motor phase failure phase V
• 65292 | 0xFF0C - Motor phase failure phase W
0 No response
1 Fault > CiA402
2 Warning
0x2D45:002 Motor phase failure detection: Current threshold • 100 % ≡ Maximum current 0x2DDF:002
1.0 ... [5.0] ... 10.0 % • 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 motor current
has exceeded the current threshold set here.
• Display of the present motor current: 0x6078.
0x2D45:003 Motor phase failure detection: Voltage threshold Voltage threshold for motor phase monitoring for the VFC control mode
0.0 ... [10.0] ... 100.0 V (0x2C00 = 6).
• The monitoring function is triggered if the motor current exceeds the
rated motor current-dependent current threshold for longer than
20 ms. Rated motor current 0x6075
• In case of the V/f characteristic control, the voltage threshold is
considered additionally for the motor phase failure detection. If the
motor voltage is higher than the voltage threshold, monitoring is
combined with the motor current.
0x2D45:004 Motor phase failure detection: Response - Motor Selection of the response following the detection of a motor phase
phase 2 failure directly after controller enable.
Associated error codes:
• 65289 | 0xFF09 - Motor phase missing
• 65290 | 0xFF0A - Motor phase failure phase U
• 65291 | 0xFF0B - Motor phase failure phase V
• 65292 | 0xFF0C - Motor phase failure phase W
0 No response
1 Fault > CiA402
2 Warning

290
Configuring the motor control
Frequency and speed limitations
Motor speed monitoring

12.8.5 Motor speed monitoring

This function monitors the motor speed during operation.
Parameter
Address Name / setting range / [default setting] Information
0x2D44:001 Overspeed monitoring: Threshold • If the current motor speed reaches the threshold set, the response
50 ... [8000] ... 50000 rpm selected in 0x2D44:002 is effected.
• The parameter can also be set and overwritten by selecting a motor
from the "motor catalog" of the engineering tool.
0x2D44:002 Overspeed monitoring: Response Selection of the response to the triggering of motor speed monitoring.
Associated error code:
• 65286 | 0xFF06 - Motor overspeed
0 No response
1 Fault > CiA402
2 Warning

12.9 Frequency and speed limitations

By limiting the maximum output frequency to ± 599 Hz, the devices are not
subject to the export restrictions of the "EC-Dual-Use Regulation" (EC
428/2009).

Output frequency
The output frequency of the servo inverter is limited to a maximum value, the amount of
which corresponds to the lower of the two following values:

fchop
flim = or flim = fmax_ device
8
flim Maximum output frequency
fchop Switching frequency 0x2939
fmax_de Maximum device output frequency: ± 599 Hz
vice

Due to the limitation of the "Dual-Use Regulation" (EC 428/2009), values > 599 Hz do not lead
to an increase of the output frequency. Please note the dead band that occurs in this case.
Speed setpoint
If servo control is used, the speed setpoint is limited depending on the number of motor pole
pairs:

flim ´ 60
nlim =
zp
nlim Speed limit value
flim Maximum output frequency (± 599 Hz)
zp Number of motor pole pairs
• If the speed setpoint is limited, bit 1 ("Speed: Setpoint 1 limited") or bit 5 ("Speed:
Setpoint 2 limited") is set in the Lenze status word 0x2831.
• The behavior corresponds to the behavior which is shown when the set maximum speed
0x6080 is reached.
• The sequence is as follows: First limit the speed to 0x6080, then limit to speed limit value
nlim.

Frequency setpoint
If V/f characteristic control is used, the frequency setpoint is limited in addition to the speed
setpoint.
• If the frequency setpoint is limited, bit 10 ("Output frequency limited") is set in the Lenze
status word 0x2831.

291
Configuring the motor control
Testing the motor control

12.10 Testing the motor control

Parameter
Address Name / setting range / [default setting] Information
0x2825 Drive mode selection Internal service parameter
• Setting can only be changed if the inverter is
disabled.
0 CiA402 operating modes
1 Manual "voltage/frequency" test mode
2 Manual "current/frequency" test mode
3 Manual "current pulse" test mode
4 Manual control mode
5 Pole position identification (360°)
6 Pole position identification (min. movement)
7 Pole position identification (without
movement)
8 Inverter characteristic identification
9 Motor parameters identification
10 Lh saturation characteristic identification
11 PRBS excitation - mechanical plant
12 PRBS excitation - current control loop
13 PRBS excitation - speed control loop
14 PRBS excitation - position control loop
15 Cable check
16 Leakage inductance identification
17 Manual "position" test mode

292
Configuring the motor control
Testing the motor control
General settings for test modes

12.10.1 General settings for test modes

Wiring check by means of manual test modes
Before starting the parameter setting of the inverter, check the motor wiring (motor
connection / feedback connection) for errors and function and correct them if required:
1. Provided that the motor is connected in correct phase relation and the rotating field
frequency 0x2DDD is positive, the motor shaft rotates clockwise.
2. An existing speed feedback in the rotor position (0x2DDE) generates a numerical value
with positive counting direction. If required, take corrective measures: see the table at the
end of the list.
3. After the controller inhibit (0x6040) has been activated, the following manual test modes
are available via the parameter 0x2825:
• Manual "tension/frequency" test mode
• Manual "current/frequency" test mode
The parameters for the test modes can be adapted via the parameter . Please observe the
notes in the description of the respective test mode.

Rotating field frequency Display Measure

0x2DDD 0x2DDE
CW 0...2047 None
2047...0 Correct motor connection / feedback
connection
CCW 2047...0 None
0...2047 Correct motor connection / feedback
connection

Parameter
Address Name / setting range / [default setting] Information
0x2835:001 Manual test mode: Current setpoint Setting of the r.m.s. value of a phase current for the test mode.
-1000 ... [0] ... 1000 % • 100 %: Rated motor current (0x6075)
0x2835:002 Manual test mode: Frequency Setting of the frequency for the test mode.
-1000.0 ... [0.0] ... 1000.0 Hz
0x2835:003 Manual test mode: Starting angle Setting of the starting angle for the test mode.
-1000.0 ... [0.0] ... 1000.0 °
Note!
After the inverter has been enabled, the synchronous motor makes a
jerky compensating movement if its pole position does not correspond
to the starting angle.

293
Configuring the motor control
Testing the motor control
Manual "tension/frequency" test mode

12.10.2 Manual "tension/frequency" test mode

Functional description

In case of devices that correspond to the "dual use regulation" (EC 428/2009),
values higher than + 599 Hz up to lower than - 599 Hz do not increase the
output frequency. Please observe the deadband occurring in this case.
Further information can be found in the section "Frequency and speed
limitations". ^ 291

After the controller is enabled in this test mode, a rotary field voltage is output at the motor
terminals with the set output frequency f out.
• If the selected frequency is positive, the motor should rotate clockwise when looking at
the A side of the motor. If this is not the case, the motor phases are connected incorrectly.
• The output voltage level is determined by the following equation
Equation for calculating the output voltage

Urated
Uout = fout ´
frated
Parameter Symbol Description Dimension unit
0x2D82 Vout Current output voltage V
0x2835:002 fout Output frequency for test mode Hz
Please observe the notes in the
section "Frequency and speed
limitations". ^ 291
0x2B01:001 Vrated Base voltage V
0x2B01:002 frated Base frequency Hz

The manual "voltage / frequency" test mode also serves to check the wiring of the feedback
system.
• If the feedback system of a synchronous motor is set correctly, an actual speed should be
displayed that can be calculated with the following equation (if the feedback system of an
asynchronous motor is set correctly, the actual speed is a bit lower due to the slip):

Equation for calculating the actual speed

fout
nact = ´ 60
zpmotor
Parameter Symbol Description Dimension unit
0x606C nact Actual speed rpm
0x2835:002 fout Output frequency for test mode Hz
0x2C01:001 zpMotor Number of motor pole pairs

Conditions for the execution

• The motor must rotate freely.
• The servo inverter is error-free and in the "switched-on" device state.
Response of the motor during performance
The motor moves as a function of the set output frequency.
How to activate the manual "voltage/frequency" test mode:
1. Disable the inverter 4Enable operation. ^ 316
2. Change to the "voltage/frequency" test mode. 40x2825 = 1
3. Enable the inverter to start the test mode.
4. To stop the test mode again:
• Disable inverter.
• Change back to the "CiA402 operating mode". 40x2825 = 0

294
Configuring the motor control
Testing the motor control
Manual "current/frequency" test mode

12.10.3 Manual "current/frequency" test mode

Preconditions for the performance
• The motor must rotate freely.
• The inverter is error-free and in "Switched on" device state.
Functional description
In this test mode, three phase currents are injected into the connected motor after the
inverter is enabled.
• Adaptation of the phase currents:
Parameter Info Data type
0x2835:001 R.m.s. value of a phase current INTEGER_16
• Selected in [%] based on the rated motor
current.
0x2835:002 Frequency INTEGER_16
0x2835:003 Starting angle INTEGER_16

• Reading out the present phase currents:

Parameter Info Data type
0x2D83:002 Motor current phase U INTEGER_32
0x2D83:003 Motor current phase V INTEGER_32
0x2D83:004 Motor current phase W INTEGER_32

Advantages compared to the manual "voltage/frequency" test mode

• The current cannot be set freely but is adjusted to a defined value.
• If a synchronous motor is connected, it is possible to predict the torque.
Response of the motor during performance
• The motor moves as a function of the set output frequency.

After the inverter has been enabled, the synchronous motor makes a jerky
compensating movement if its pole position does not correspond to the starting
angle.

How to activate the manual "current/frequency" test mode:

1. Disable inverter 4Enable operation. ^ 316
2. Change to the "current/frequency" test mode. 40x2825 =2
3. Enable the inverter to start the test mode.
4. To stop the test mode again:
• Disable inverter.
• Change back to the CiA402 operating mode. 40x2825 = 0

295
Configuring the motor control
Testing the motor control
Manual "current pulse" test mode

12.10.4 Manual "current pulse" test mode

The stator resistance and the stator inductance of the inverter must be adapted to the
electrical characteristics of the motor. For an experimental adjustment, the manual "Current
pulse" test mode can be used.

This test mode is provided for adjusting the current controller in the "Servo
control for synchronous motor/asynchronous motor" operating mode and is not
suitable for adjusting the Imax controller in the "V/f characteristic control (VFC)"
operating mode!

In the manual "Current pulse" test mode, setpoint step-changes are applied to the current
controller input subsequent to controller enable. The step responses must then either be
recorded using an oscilloscope and a clamp-on ammeter, or using the oscilloscope function of
the inverter. It is the objective to optimise the two "Gain" and "Reset time" current controller
parameters by evaluating the step responses so that a speedy current characteristic is
achieved, which, if possible, is free of harmonics.
In the case of motors with single pole windings, satisfactory results are possibly only achieved
with a current-dependent correction of the current controller parameters. For this purpose, a
characteristic is stored in the inverter, which describes the current dependance of the stator
leakage inductance and which tracks the current controller gain.

After the inverter has been enabled, the synchronous motor makes a jerky
compensating movement if its pole position does not correspond to the starting
angle.

The motor phase U is energized with a DC current the level of which is determined via the
following equation.
Irated
Iphase _U = 2 ´ Itest [%] ´
100%
In motor phases V and W, half of this DC current flows (negative; from the motor).
Irated
Iphase _ V ,_ W = -0.5 ´ 2 ´ Itest [%] ´
100%
The following parameters are relevant to the calculation:
• Manual test mode: setpoint current 40x2835:001
• Motor rated current 40x6075
• Read only: current phase U 40x2D83:002
• Read only: current phase V 40x2D83:003
• Read only: current phase W 40x2D83:004
Conditions for the execution
• The motor must be parameterised completely.
• The motor utilisation (I²xt) monitoring must be parameterised and switched to
active.4Motor overload monitoring (i²xt) ^ 280
• The motor must rotate freely.
• The inverter is error-free and switched on.
• The rotor of synchronous motors must be in the pole centre during the test. For some
synchronous motors, it might be required to align and lock the rotor in the pole centre.
• Using the manual test mode "current/frequency" is useful for a one-time alignment of
the rotor with the following settings:
R.m.s. value = 70 ... 100 %; frequency = 0 Hz; starting angle = 0°
4Manual "current/frequency" test mode ^ 295
• Fixation by means of the holding brake or the use of external fixation aids

296
Configuring the motor control
Testing the motor control
Manual "current pulse" test mode

Responses of the motor during performance

Remove the mechanical fixation after the current controller has been adjusted!

The motor usually aligns itself only once with the first controller enable.
How to adjust the current controller by means of the manual test mode "current pulse":
• Disable inverter.
• Calculate start parameters for the inverter based on the parameterised motor data.
• The automatic calculation is made via the parameter 0x2822:013.
• You can determine the start parameter manually.
• Change to the "current pulse" test mode. 40x2825 = 3
• Set the setpoint current for the manual test mode. 40x2835:001
• Enable the inverter for a short while to start the test mode.
• Measure the step response of the motor current in the motor phase U by means of an
oscilloscope and a clamp-on ammeter.
• Evaluate the step response.
• Adjust the gain and the reset time of the inverter.
• Repeat steps 1 ... 6 until the optimum step response of the motor current has been
reached.
• Exit the test mode:
• Disable the inverter.
• Change to the CiA402 mode. 40x2825 = 0
• For permanent saving: save changed current controller parameters.

297
I/O extensions and control connections
Configure digital inputs
Digital inputs 1 … 4

13 I/O extensions and control connections

13.1 Configure digital inputs

13.1.1 Digital inputs 1 … 4

Settings for digital input 1 ... 4.

Digital inputs 1 ... 4 are located onboard on terminal X3.

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:
• Debounce time ①
• Inversion ②
• Manual I/O control ③

0x60FD,Bit16 0x2633:001 0x2632:001 0x263B:001 0x282C:001, Bit16

X3 0
Trigger
0
DI1 0 t 1 Digital input 1 [11]
1 0x263B:002 1
0x60FD, Bit17 0x2633:002 0x2632:002 0x282C:001, Bit17
0
0
DI2 0 t 1 1 0x263B:003 Digital input 2 [12]
1
0x60FD, Bit18 0x2633:003 0x2632:003 0x282C:001, Bit18
0
0
DI3 0 t 1 1 0x263B:004 Digital input 3 [13]
1
0x60FD, Bit19 0x2633:004 0x2632:004 0x282C:001, Bit19
0
0
DI4 0 t 1 1 0x263B:005 Digital input 4 [14]
1

Diagnostic parameters:
• Display of the logic state of the digital inputs: 0x60FD
Debounce time
The debounce time can be used to prevent short disturbances from being erroneously
recognized as signals.
Inversion
Each digital input can be configured in such a way that the state pending at the terminal is
logically inverted internally. This way, a closed contact, for instance, serves to deactivate an
assigned function instead of activating it.
Manual I/O control
Each digital input can be manually overridden. After the function is activated, the actual
values are "frozen". Afterwards, each digital input can be overwritten manually.
Setting:
• Activation for all digital inputs: 0x263B:001
• Entry of the individual manual values: 0x263B:002 ... 0x263B:005

298
I/O extensions and control connections
Configure digital inputs
Digital inputs 1 … 4

Parameter
Address Name / setting range / [default setting] Information
0x2632:001 Inversion of digital inputs: Digital input 1 Inversion of digital input 1
0 Not inverted
1 Inverted
0x2632:002 Inversion of digital inputs: Digital input 2 Inversion of digital input 2
0 Not inverted
1 Inverted
0x2632:003 Inversion of digital inputs: Digital input 3 Inversion of digital input 3
0 Not inverted
1 Inverted
0x2632:004 Inversion of digital inputs: Digital input 4 Inversion of digital input 4
0 Not inverted
1 Inverted
0x2633:001 Digital input debounce time: Digital input 1 Debounce time of digital input 1
0 ... [0] ... 50 ms
0x2633:002 Digital input debounce time: Digital input 2 Debounce time of digital input 2
0 ... [0] ... 50 ms
0x2633:003 Digital input debounce time: Digital input 3 Debounce time of digital input 3
0 ... [0] ... 50 ms
0x2633:004 Digital input debounce time: Digital input 4 Debounce time of digital input 4
0 ... [0] ... 50 ms
0x263B:001 Digital inputs internal control: Activation Activation of the internal control for all available digital inputs.
0 Off
1 On
0x263B:002 Digital inputs internal control: DI1 internal control Input of the manual value for the digital inputs.
0 Off
1 On
0x263B:003 Digital inputs internal control: DI2 internal control
0 Off
1 On
0x263B:004 Digital inputs internal control: DI3 internal control
0 Off
1 On
0x263B:005 Digital inputs internal control: DI4 internal control
0 Off
1 On

299
I/O extensions and control connections
Configure digital inputs
Digital inputs 5 … 9

13.1.2 Digital inputs 5 … 9

Settings for digital input 5 ... 9.

Digital inputs 5 ... 9 are only available with I/O extension module (Type A)
I9MAGBV0000000.

Parameter
Address Name / setting range / [default setting] Information
0x2632:005 Inversion of digital inputs: Digital input 5 Inversion of digital input 5
0 Not inverted
1 Inverted
0x2632:006 Inversion of digital inputs: Digital input 6 Inversion of digital input 6
0 Not inverted
1 Inverted
0x2632:007 Inversion of digital inputs: Digital input 7 Inversion of digital input 7
0 Not inverted
1 Inverted
0x2632:008 Inversion of digital inputs: Digital input 8 Inversion of digital input 8
0 Not inverted
1 Inverted
0x2632:009 Inversion of digital inputs: Digital input 9 Inversion of digital input 9
0 Not inverted
1 Inverted
0x2633:005 Digital input debounce time: Digital input 5 Debounce time of digital input 5
0 ... [0] ... 50 ms
0x2633:006 Digital input debounce time: Digital input 6 Debounce time of digital input 6
0 ... [0] ... 50 ms
0x2633:007 Digital input debounce time: Digital input 7 Debounce time of digital input 7
0 ... [0] ... 50 ms
0x2633:008 Digital input debounce time: Digital input 8 Debounce time of digital input 8
0 ... [0] ... 50 ms
0x2633:009 Digital input debounce time: Digital input 9 Debounce time of digital input 9
0 ... [0] ... 50 ms
0x263B:001 Digital inputs internal control: Activation Activation of the internal control for all available digital inputs.
0 Off
1 On
0x263B:006 Digital inputs internal control: DI5 internal control Input of the manual value for the digital inputs.
0 Off
1 On
0x263B:007 Digital inputs internal control: DI6 internal control
0 Off
1 On
0x263B:008 Digital inputs internal control: DI7 internal control
0 Off
1 On
0x263B:009 Digital inputs internal control: DI8 internal control
0 Off
1 On
0x263B:010 Digital inputs internal control: DI9 internal control
0 Off
1 On

300
I/O extensions and control connections
Configure analog inputs
Analog input 1

13.2 Configure analog inputs

13.2.1 Analog input 1

Settings for analog input 1.
Details
The analog input 1 can be used as setpoint source.
The following settings are possible for the analog input:
• Definition of the input range ①
• Filter time for low-pass filters ②
• Definition of the setting range (min/max range)③
• Dead band for eliminating the smallest signal levels ④
• Manual I/O control ⑤

0x2636:001 0x2DA4:001 0x263D:001 0x2DA4:005

X3
0 Setpoint source
AI1 V/mA
% 1 Analog input 1 [2]
0x263D:002
0x2636:001 0x2636:006 0x2636:013 0x2636:007
0x2636:014

Diagnostic parameters:
• Display of the input signal status: 0x2DA4:016
- 24-V supply status
- Calibration status
- Input current status
- Input voltage status
• Display of filtered input signal in %: 0x2DA4:001
• Display of setpoint in %: 0x2DA4:005
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.
Manual I/O control
The analog input can be overridden manually. After the function is activated, the actual values
are "frozen". Afterwards, each analog input can be overwritten manually.
Setting:
• Activation: 0x263D:001
• Entering the manual value: 0x263D:002

301
I/O extensions and control connections
Configure analog inputs
Analog input 1

Parameter
Address Name / setting range / [default setting] Information
0x2636:001 Analog input 1: Input range Definition of the input range.
0 0 ... 10 VDC
3 -10 ... +10 VDC
4 4 ... 20 mA
5 0 ... 20 mA
0x2636:006 Analog input 1: Filter time PT1 time constant for low-pass filter.
0 ... [10] ... 10000 ms • By the use of a low-pass filter, the impacts of noise to an analog signal
can be minimised.
• For an optimum filter effect, first the noise frequency has to be
determined. 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
0.0 ... [0.0] ... 100.0 % frequency zero point.
• If the analog input value is within the dead band, the output value for
the motor control is set to "0".
• 100 % = maximum value of analog input (, , )
• Example: Dead band 10 % of 50 Hz: ‑10 V … 10 V, Dead band ‑5 Hz …
5 Hz, 0 V… 10 V, Dead band 0 Hz … 5 Hz
0x2636:010 Analog input 1: Error response Error response for analog input 1.
Associated error code:
• 28801 | 0x7081 - Fault - Analog input 1
0 No response
1 Fault > CiA402
2 Warning
0x2636:013 Analog input 1: Minimum value for scaling Minimum value in percent for scaling the value at the analog input
-200.0 ... [0.0] ... 200.0 % (Value in percent (0x2DA4:001)).
0x2636:014 Analog input 1: Maximum value for scaling Maximum value in percent for scaling the value at the analog input
-200.0 ... [100.0] ... 200.0 % (Value in percent (0x2DA4:001)).
0x2DA4:005 Diagnostics of analog input 1: Scaled percent value Current value of the analog input is resolved with 2 decimal places.
• Read only: x.xx % Display of the actual value at the analog input, scaled with the following
parameters:
• Minimum value for scaling. 40x2636:013
• Maximum value for scaling. 40x2636:014
0x263D:001 Analog inputs internal control: Activation Activation of the internal control for all available analog inputs.
0 Off
1 On
0x263D:002 Analog inputs internal control: AI1 internal control Input of the manual value for the analog inputs.
-200.00 ... [100.00] ... 200.00 %

302
I/O extensions and control connections
Configure digital outputs
Digital output 1

13.3 Configure digital outputs

13.3.1 Digital output 1

Settings for digital output 1.

Digital output 1 is located onboard on terminal X3.

Details
The digital output 1 is controlled with the trigger selected in 0x2634:002.
The following settings are possible for the digital output:
• Inversion ①
• Manual I/O control ②

0x60FE 0x2635:002 0x263C:001 0x4016:005

0 X3
0
Trigger 0x2634:002 1
1 1 DO1
0x263C:002

Diagnostic parameters:
• Display of the logic state of the trigger signal:
• Display of the logic state of the digital output: 0x4016:005
Inversion
The trigger signal of the digital output can be internally inverted logically.
Manual I/O control
The digital output can be overridden manually. After the function is activated, the actual
values are "frozen". Afterwards, each digital output can be overwritten manually.
Setting:
• Activation: 0x263C:001
• Entering the manual value: 0x263C:002
Parameter
Address Name / setting range / [default setting] Information
0x2634:002 Digital outputs function: Digital output 1 Assignment of a trigger to digital output 1.
Trigger = FALSE: X3/DO1 set to LOW level.
Trigger = TRUE: X3/DO1 set to HIGH level.
Notes:
• An inversion set in 0x2635:002 is taken into consideration here.
10 Signal from application
115 Release holding brake
0x2635:002 Inversion of digital outputs: Digital output 1 Inversion of digital output 1
0 Not inverted
1 Inverted
0x4016:005 Digital output 1: Terminal state Display of the logic state of output terminal X3/DO1.
• Read only
0 FALSE
1 TRUE
0x263C:001 Digital outputs internal control: Activation Activation of the internal control for all available digital outputs.
0 Off
1 On
0x263C:002 Digital outputs internal control: DO1 internal control Input of the manual value for the digital outputs.
0 Off
1 On

303
I/O extensions and control connections
Configure digital outputs
Digital output 2

13.3.2 Digital output 2

13.3.3 Digital outputs 2 … 6

Settings for digital output 2... 6.

Digital outputs 2 ... 6 are only available with I/O extension module (Type A)
I9MAGBV0000000.

Parameter
Address Name / setting range / [default setting] Information
0x2635:003 Inversion of digital outputs: Digital output 2 Inversion of digital output 2
0 Not inverted
1 Inverted
0x2635:004 Inversion of digital outputs: Digital output 3 Inversion of digital output 3
0 Not inverted
1 Inverted
0x2635:005 Inversion of digital outputs: Digital output 4 Inversion of digital output 4
0 Not inverted
1 Inverted
0x2635:006 Inversion of digital outputs: Digital output 5 Inversion of digital output 5
0 Not inverted
1 Inverted
0x2635:007 Inversion of digital outputs: Digital output 6 Inversion of digital output 6
0 Not inverted
1 Inverted
0x263C:001 Digital outputs internal control: Activation Activation of the internal control for all available digital outputs.
0 Off
1 On
0x263C:003 Digital outputs internal control: DO2 internal control Input of the manual value for the digital outputs.
0 Off
1 On
0x263C:004 Digital outputs internal control: DO3 internal control
0 Off
1 On
0x263C:005 Digital outputs internal control: DO4 internal control
0 Off
1 On
0x263C:006 Digital outputs internal control: DO5 internal control
0 Off
1 On
0x263C:007 Digital outputs internal control: DO6 internal control
0 Off
1 On

304
Configure engineering port

14 Configure engineering port

The given path leads you to the engineering port.

305
Configure engineering port
Basic setting

14.1 Basic setting

Preconditions
• The wired communication with the inverter has been established.
• If this condition is not met, read more detailed notes in section "Generate a
connection between inverter and »EASY Starter«". ^ 33
• The PC with the installed »EASY Starter« is started.
Automatic configuration
By default, the engineering port of the inverter receives its IP address automatically from a
DHCP server. By pressing the "DHCP" button, the 0x2451:004 parameter is active ("enabled").
Now, the IP configuration is completed. The inverter can be accessed via the Ethernet
connection.
Manual configuration

Make sure to press the "Restart with current values" button every time you
change the values.

The engineering port must be configured when a static address is to be assigned.

For this purpose, the "DHCP" button must bet set to the "Disabled" state.
The following parameters can be entered in the »EASY Starter«:
• IP address
• Network mask
• Gateway address
Using a configuration file
A file named "ip.txt" can be used to reset the IP address. This file must be stored on the SD
card in the root directory.
The network settings are evaluated and accepted when the inverter is started. The file is then
renamed as "ip_old.txt".
The structure of the text file can look as follows:
- 192.168.101.221
- 255.255.255.0
- 192.168.101.1
If the static IP address is to be reset to DHCP, only the content of the ip.txt file must be set to
"DHCP". This serves to use DCHP for a dynamic address allocation at next boot.

306
Configure engineering port
Basic setting

Parameter
Address Name / setting range / [default setting] Information
0x2450 Engineering port control Activation of the engineering port settings (Ethernet).
0 No action/No error
1 Restart with current values
10 Busy
11 Action cancelled
12 Faulted
0x2451:001 Engineering port settings: IP address Setting of the IP address.
0.0.0.0 ... [0.0.0.0] ... 255.255.255.255
0x2451:002 Engineering port settings: Subnet Setting of the subnet mask.
0.0.0.0 ... [0.0.0.0] ... 255.255.255.255
0x2451:003 Engineering port settings: Gateway Setting of the gateway address.
0.0.0.0 ... [0.0.0.0] ... 255.255.255.255
0x2451:004 Engineering port settings: DHCP Use (enable) of the Dynamic Host Configuration Protocol (DHCP).
0 Disabled
1 Enabled
0x2451:007 Engineering port settings: DNS server address
0.0.0.0 ... [0.0.0.0] ... 255.255.255.255
0x245B:001 System time: Time base
0 NTP NTP synchronization
Network Time Protocol (Standard for the synchronization of clocks in
computer systems)
Note!
• NTP server addresses must be defined in 0x245A.
• An NTP server must send the current system time via Ethernet.
• The sent system time is automatically adopted.
1 EtherCAT Distributed Clocks EtherCAT Distributed Clocks synchronization
Note!
• The Distributed Clocks synchronization must be active.
• The system time of the higher-level controller is automatically
adopted.
2 Manual input No automatic synchronization
Note!
The time entered manually in 0x2452B:002 is adopted as the system
time.
0x245B:002 System time: Current time • 0x245B:001 = 0 or 1:
0 ... [] ... 18446744073709551615 ns - Display of the current synchronized system time
• 0x245B:001 = 2:
- Manual timing
- Format: TT/MM/YY HH:MM:SS.ms
- The system time is recalculated after each mains switching New
system time = last stored time + value of the switch-on hour
counter

307
Configure engineering port
NTP server addresses

14.2 NTP server addresses

Parameter
Address Name / setting range / [default setting] Information
0x245A:001 NTP server addresses: Activate NTP server addresses
0 No action/no error
1 Restart with current values
10 In progress
11 Action cancelled
12 Fault
0x245A:002 NTP server addresses: NTP server address 1
0.0.0.0 ... [0.0.0.0] ... 255.255.255.255
0x245A:003 NTP server addresses: NTP server address 2
0.0.0.0 ... [0.0.0.0] ... 255.255.255.255
0x245A:004 NTP server addresses: NTP server address 3
0.0.0.0 ... [0.0.0.0] ... 255.255.255.255
0x245A:005 NTP server addresses: NTP server address 4
0.0.0.0 ... [0.0.0.0] ... 255.255.255.255
0x245A:006 NTP server addresses: NTP server name 1
0x245A:007 NTP server addresses: NTP server name 2
0x245A:008 NTP server addresses: NTP server name 3
0x245A:009 NTP server addresses: NTP server name 4

14.3 Diagnostics
The network settings can be diagnosed as follows:
Parameter
Address Name / setting range / [default setting] Information
0x2452:001 Active engineering port settings: IP address Display of the active IP address.
• Read only
0x2452:002 Active engineering port settings: Subnet Display of the active subnet mask.
• Read only
0x2452:003 Active engineering port settings: Gateway Display of the active gateway address.
• Read only
0x2452:004 Active engineering port settings: DHCP Display of the DHCP status.
• Read only
0 Disabled
1 Enabled
0x2452:005 Active engineering port settings: MAC address Display of the MAC-ID.
• Read only
0x2452:006 Active engineering port settings: Link status Display of the connection status.
• Read only
0 No link established
1 Link established
0x2452:007 Active engineering port settings: DNS server address Display of the DNS server address.
• Read only

308
Configuring the network

15 Configuring the network

Supported drive profiles:
CiA 402 device profile ^ 310
Available network options:
4EtherCAT ^ 358
4onboard EtherCAT - Operation as master or slave on the system bus ^ 346
4EtherNet/IP ^ 380
4PROFINET ^ 417
4onboard EtherCAT - Operation as standard EtherCAT slave ^ 338

The following conventions are used in this documentation for specifying the
parameter address:
• The index is specified as a hexadecimal value.
• The subindex is specified as a decimal value.

309
Configuring the network
CiA 402 device profile
Supported operating modes

15.1 CiA 402 device profile

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
operating 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.
• CiA® is a registered community trademark of the CAN in Automation e. V user
organization.
• More information can be found in the CiA 402 specification (CANopen device profile for
drives and Motion Control) of the CAN in Automation (CiA) user organization:
http://www.can-cia.org

15.1.1 Supported operating modes

The inverter supports the following CiA 402 operating modes:
CiA 402 operating modes Can be used with
Servo control V/f characteristic control
Operating mode "CiA 402 cyclic sync position mode (csp)" ^ 135 l -
Operating mode "CiA 402 velocity mode (vl)" ^ 149 l l
Operating mode "CiA 402 cyclic sync velocity mode (csv)" ^ 156 l l
Operating mode "CiA 402 cyclic sync torque mode (cst)" ^ 167 l -

A CiA 402 operating mode can be activated via 0x6060.

Parameter
Address Name / setting range / [default setting] Information
0x6060 CiA: Operation mode CiA: Operation mode
-13 MS: Manual jog open loop (MOL) Manufacturer-specific manual control
4Operation mode "Manual Jog" ^ 331
-12 MS: Pole position identification (PPI) Manufacturer-specific pole position identification (PLI)
4Synchronous motor: Pole position identification (PPI) ^ 209
4Selection of the PPI method for CiA mode ^ 210
0 No selection No selection
2 CiA: Velocity mode (vl) 4Operating mode "CiA 402 velocity mode (vl)" ^ 149
8 CiA: Cyclic sync position (csp) 4Operating mode "CiA 402 cyclic sync position mode (csp)" ^ 135
9 CiA: Cyclic sync velocity mode (csv) 4Operating mode "CiA 402 cyclic sync velocity mode (csv)" ^ 156
10 CiA: Cyclic sync torque mode (cst) 4Operating mode "CiA 402 cyclic sync torque mode (cst)" ^ 167
0x6061 CiA: Active operation mode CiA: Active operation mode
• Read only
-13 MS: Manual jog open loop (MOL) Manufacturer-specific manual control
-12 MS: Pole position identification (PPI) Manufacturer-specific pole position identification (PLI)
-11 Identification
-10 Test mode
0 No selection No selection
2 CiA: Velocity mode (vl) 4Operating mode "CiA 402 velocity mode (vl)" ^ 149
8 CiA: Cyclic sync position (csp) 4Operating mode "CiA 402 cyclic sync position mode (csp)" ^ 135
9 CiA: Cyclic sync velocity mode (csv) 4Operating mode "CiA 402 cyclic sync velocity mode (csv)" ^ 156
10 CiA: Cyclic sync torque mode (cst) 4Operating mode "CiA 402 cyclic sync torque mode (cst)" ^ 167
0x6502 Supported drive modes Bit coded display of the operating modes supported.
• Read only
Bit 1 CiA: Velocity mode 1 = CiA: velocity mode is supported.
Bit 7 Cyclic sync position mode 1 ≡ Cyclic sync position mode is supported.
Bit 8 Cyclic sync velocity mode 1 ≡ Cyclic sync velocity mode is supported.
Bit 9 Cyclic sync torque mode 1 ≡ Cyclic sync torque mode is supported.

310
Configuring the network
CiA 402 device profile
Basic setting

15.1.2 Basic setting

Set the following parameters.
Parameter
Address Name / setting range / [default setting] Information
0x605A CiA: Quick stop mode Device status after exiting the quick stop ramp.
• Setting is only effective in the operating mode 0x6060 = "CiA: Velocity
mode (vl) [2]".
2 Ramp > switch on disabled 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 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.
0x605B Shutdown option code Defines the transition from the status "Operation enabled" to "Ready to
start".
0 Disable drive function 0: Immediate inverter disable (standard setting)
1 Slow down on quick stop ramp and disable 1: "Quick stop" with subsequent inverter disable.
drive function
0x605E CiA: Fault reaction Selection of the response to faults.
-2 Advanced quick stop If possible, the motor is braked to standstill with the "quick stop"
function. If this is not possible (e. g. in case of an encoder error), reverse
current braking or short-circuit braking are used for the braking process.
0 Coast The motor has no torque (coasts down to standstill).
2 Quick stop The motor is brought to a standstill with the "quick stop" function.
• In the operating mode 0x6060 = "CiA: Velocity mode (vl) [2]", the
speed change set in 0x6085 is effective.
0x607E Polarity Setting of the polarity of the position setpoint.
0 ... [0] ... 0 0 ≡ the position setpoint is interpreted as entered in 0x607A (Set
• Setting can only be changed if the inverter is position).
disabled.
0x6085 Quick stop deceleration Change in velocity used for deceleration to a standstill if quick stop is
0 ... [2147483647] ... 2147483647 activated.
• Setting is only effective in the operating mode 0x6060 = "CiA: Velocity
mode (vl) [2]".

15.1.3 Process input data

Information on the CiA 402 process input data can be found in the following sections:
• Configure position control 4Process input data (CiA 402 objects) ^ 138
• Configure speed control 4Process input data (CiA 402 objects) ^ 161
• Configure torque control 4Process input data (CiA 402 objects) ^ 170

15.1.4 Process output data

Information on the CiA 402 process output data can be found in the following sections:
• Configure position control 4Process output data (CiA 402 objects) ^ 138
• Configure speed control 4Process output data (CiA 402 objects) ^ 161
• Configure torque control 4Process output data (CiA 402 objects) ^ 170

311
Configuring the network
CiA 402 device profile
Commands for device state control

15.1.5 Commands for device state control

0x6040 (CiA control word) can be used to trigger commands to put the inverter into a certain
device state.
Command Bit pattern in the CiA control word (0x6040)
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reset fault Dependent on the operating mode Operation Activating Establish Switch-on
enable quick stop readiness
for
operation
Switch-off ^ 314 0 X X X X 1 1 0
Switch on ^ 315 0 X X X 0 1 1 1
Enable operation ^ 316 0 X X X 1 1 1 1
Activate quick stop ^ 317 0 X X X X 0 1 X
Disable operation ^ 318 0 X X X 0 1 1 1
Pulse inhibit ^ 319 0 X X X X X 0 X
Reset fault ^ 320 0↗1 X X X X X X X
X = state is not relevant

More Lenze-specific control bits (bit 8 ... 15)

Command Bit pattern in the CiA control word (0x6040)
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Reserved Release Reserved Dependent on the operating mode Stop motor
brake
Apply brake X 0 X X X X X X
Release brake X 1 X X X X X X
Stop motor X X X X X X X 1
X = state is not relevant

Detailed information on the various commands can be found in the following sections.
Parameter
Address Name / setting range / [default setting] Information
0x6040 CiA control word Mappable CiA control word with bit assignment according to device
0x0000 ... [0x0000] ... 0xFFFF profile CiA 402.
Bit 0 Switch on 1 = switch-on
Bit 1 Enable voltage 1 = Enable voltage
Bit 2 Disable quick stop 0 = activate quick stop
Bit 3 Enable operation 1 = Enable operation
Bit 4 Operation mode specific
Bit 5 Operation mode specific
Bit 6 Operation mode specific
Bit 7 Fault reset 0-1 edge = fault reset
Bit 8 Halt 1 = stop motor (ramping down to frequency setpoint 0 Hz)
Bit 9 Operation mode specific Operating mode specific
Bit 14 Release holding brake 1 = release holding brake
CAUTION!
• 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 opening of the holding brake lies with
the user of the external trigger source for the "Release holding brake"
command.
4Holding brake control ^ 241
0x2DE0:014 Overwrite bit 4 of CiA control word
0 No overwrite
1 Overwrite with FALSE
2 Overwrite with TRUE

312
Configuring the network
CiA 402 device profile
Commands for device state control

Example
A PLC program of a PLCopen control can, for instance, trigger several commands for state
changes in a row by the level change at the bRegulatorOn input of the "MC_Power" block.
In the mentioned example, these device commands are "Switch-off" and "Switch on" in this
order.

313
Configuring the network
CiA 402 device profile
Commands for device state control

15.1.5.1 Switch-off
This command serves to change the "Switch-on inhibited" device state to the "Ready to
switch on" device state.
If the pulse inhibit has already been deactivated and the device status of the inverter is
"Operation enabled", this command sets the pulse inhibit again.
• If automatic brake operation is activated, the parameterized Brake closing time
(0x2820:002) is observed: The system waits until the brake is applied before the pulse
inhibit is set. In the CiA 402 "CiA: Velocity mode”, the Brake closing time is not observed.
• The motor has no torque.
• The device state "Switched on" or "Operation enabled" changes back to the "Ready to
switch on" state.

DANGER!
Uncontrolled movement
If the motor has no torque, a load that is connected to motors without a holding brake may
cause uncontrolled movements!
▶ Without a load, the motor will coast.

1 From all states

2 Power section disabled (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA control word (0x6040)

Bit 15 ... 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reserved Reset fault Operating mode dependent Operation Activate quick Establish Switch-on
(specific) enabled stop readiness for
operation
X 0 X X X X 1 1 0
X = state is not relevant

314
Configuring the network
CiA 402 device profile
Commands for device state control

15.1.5.2 Switch on
This command serves to deactivate the switch on inhibit which is active after switch on or
after the reset (acknowledgement) of an error.
A changeover to the "Switched on" device status takes place.

1 From all states

2 Power section inhibited (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA control word (0x6040)

Bit 15 ... 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reserved Reset fault Operating mode-dependent Operation Activate quick Establish Switch-on
(specific) enabled stop readiness for
operation
X 0 X X X 0 1 1 1
X = state is not relevant

315
Configuring the network
CiA 402 device profile
Commands for device state control

15.1.5.3 Enable operation

This command enables the operation and stop an active quick stop again.
• A changeover to the "Operation enabled" device status takes place.
• The output stages of the inverter become active.

1 From all states

2 Power section inhibited (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA control word (0x6040)

316
Configuring the network
CiA 402 device profile
Commands for device state control

15.1.5.4 Activate quick stop

This command activates quick stop when the operation is enabled.
• The drive is brought to a standstill irrespective of the setpoint specified with the
deceleration (0x6085) set for quick stop.
• A changeover to the "Quick stop active" device status takes place.
• Then, state change to "Switch-on inhibited" parameter 0x605A "CiA: Quick stop mode".
If the operation is not enabled (device state "Ready to switch on" or "Switched on"), this
command changes the state to "operation disabled".

1 From all states

2 Power section disabled (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA control word (0x6040)

• During quick stop, the inverter executes the setpoint generation and no longer follows the
setpoint defined by the network master.
• If several inverters execute a chained synchronous motion, the quick stop function has to
be coordinated by the network master by means of a quick stop profile (master function).
In this case, quick stop cannot be activated via the control bit 2.
• During the quick stop, the maximum current (0x6073) and the maximum torque (0x6072)
are active. The lower of the two limits determines the motor torque output. The torque
limits from 0x60E0 and 0x60E1 are not effective during the quick stop.

317
Configuring the network
CiA 402 device profile
Commands for device state control

15.1.5.5 Disable operation

This command disables the enabled operation again.
• The pulse inhibit is set (pulses of the inverter are inhibited).
• If automatic brake operation is activated, the parameterized Brake closing time
(0x2820:002) is observed: The system waits until the brake is applied before the pulse
inhibit is set. In the CiA 402 "CiA: Velocity mode", the Brake closing time is not observed.
• A changeover to the "Switched on" device state takes place.

1 From all states

2 Power section disabled (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA control word (0x6040)

318
Configuring the network
CiA 402 device profile
Commands for device state control

15.1.5.6 Pulse inhibit

This command disables the output stages of the inverter.
• The pulse inhibit is activated (pulses of the inverter are inhibited) if not already active.
• The motor has no torque.
• A changeover to the "Switch-on inhibited" device state takes place.

DANGER!
Uncontrolled movement
If the motor has no torque, a load that is connected to motors without a holding brake may
cause uncontrolled movements!
▶ Without a load, the motor will coast.

1 From all states

2 Power section inhibited (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA control word (0x6040)

319
Configuring the network
CiA 402 device profile
Commands for device state control

15.1.5.7 Reset fault

This command resets a pending fault if the cause of the fault has been eliminated.
• The pulse inhibit remains active (pulses of the inverter are inhibited).
• A changeover to the "Switch-on inhibited" device status takes place (switch-on inhibit
remains active).

1 From all states

2 Power section inhibited (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA control word (0x6040)

Bit 15 ... 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reserved Reset fault Operating mode dependent Operation Activating Establish Switch-on
(specific) enabled quick stop readiness for
operation
X 0↗1 X X X X X X X
X = state is not relevant

320
Configuring the network
CiA 402 device profile
Device states

15.1.6 Device states

0x6041 (CiA status word) displays the current device status of the inverter.
Device status Bit pattern in the CiA 402 status word (0x6041)
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Warning is Operation Quick stop DC bus Fault active Operation Switched Ready to
active inhibited active ready for enabled on switch on
operation
Not ready to switch on ^ 323 X 1 X X 0 0 0 0
Switch-on inhibited ^ 324 X 1 X X 0 0 0 0
Ready to switch on ^ 325 X 1 1 X 0 0 0 1
Switched on ^ 326 X 1 1 X 0 0 1 1
Operation enabled ^ 327 X 0 0 X 0 1 1 1
Quick stop active ^ 328 X 0 1 X 0 1 1 1
Fault reaction active ^ 329 X 0 X X 1 1 1 1
Trouble ^ 330 X 1 X X 1 0 0 0
X = state is not relevant

Status bit 7: "Warning active"

Status bit 7 indicates a warning.
• A warning does not cause a state change.
• Warnings do not need to be reset.
More Lenze-specific status bits (bit 8 ... 15)
Device status Bit pattern in the CiA 402 status word (0x6041)
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Not active Brake Following Drive Internal Target Control RPDOs
released error is follows limitation is position word deactivated
active setpoint active reached processed
selection successfully
Brake applied X 0 X X X X X X
Brake released X 1 X X X X X X
Active 0 X X X X X X X
not active 1 X X X X X X X
X = state is not relevant

Detailed information on the various device states can be found in the following sections.

321
Configuring the network
CiA 402 device profile
Device states

Parameter
Address Name / setting range / [default setting] Information
0x6041 CiA status word Mappable CiA status word with bit assignment according to device
• Read only profile CiA 402.
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 disabled 0 = quick stop active
Bit 6 Switch on disabled 1 = operation inhibited
Bit 7 Warning 1 = warning active
Bit 8 RPDOs disabled 1 = cyclic PDOs have been deactivated.
Bit 9 CiA control enabled 1 = inverter can receive commands via network.
• Bit is not set in the operating mode 0x6060 = "MS: Velocity mode
[-2]".
Bit 10 Setpoint reached 1 = the actual speed is in the window.
Bit 11 Internal limit active 1 = internal limitation of a setpoint active.
Bit 12 Operation mode specific 1 = operation enabled and no test mode activated. (no internal setpoint
generation active.)
Bit 13 Operation mode specific 1 ≡ following error active
Bit 14 Brake released or switching
Bit 15 STO not active 0 = the inverter has been disabled by the integrated safety system
1 = the integrated safety system is not active
Not available for i410 and i510 (always TRUE).

322
Configuring the network
CiA 402 device profile
Device states

15.1.6.1 Not ready to switch on

This is the device state of the inverter directly after switching on the supply voltage.
• In this device status, the device is initialised.
• Communication is not possible yet.
• The inverter cannot be parameterised yet and no device commands can be carried out yet.
• The motor brake, if available, is closed.
• Operation is inhibited.

Mains on

Not ready Fault reaction

to switch on active

Switch-on inhibited Fault

Quick stop active

Ready to switch on

Switched on Operation enabled

1 From all states

2 Power section inhibited (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA status word (0x6041)

Bit 15 ... 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reserved Warning Operation Quick stop DC bus ready Fault active Operation Switched on Ready to
(specific) active inhibited active for operation enabled switch on
X X 0 X X 0 0 0 0
X = state is not relevant

323
Configuring the network
CiA 402 device profile
Device states

15.1.6.2 Switch-on inhibited

This is the device state of the inverter after the device has been initialised successfully.
A change to this state also takes place when the EtherCAT bus is in "Operational" state or the
PDO communication via (Control selection) is deactivated.
• Process data monitoring is active.
• Communication is possible.
• The DC-bus voltage can be present.
• The inverter can be parameterised.
• If the internal holding brake control (0x2820:001) is active in the inverter, the motor brake
is closed.
• Operation is inhibited.

1 From all states

2 Power section inhibited (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA status word (0x6041)

324
Configuring the network
CiA 402 device profile
Device states

15.1.6.3 Ready to switch on

This is the device state of the inverter after the device has been initialised successfully and
after the Switch-off command has been triggered.
A change to this device state also takes place if the "Switch-off" command was triggered in the
states "Switched on" or "Enable operation".
• Process data monitoring is active.
• Communication is possible.
• The DC-bus voltage is available.
• The inverter can be parameterised.
• If the internal holding brake control (0x2820:001) is active in the inverter, the motor brake
is closed.
• Operation is inhibited.

1 From all states

2 Power section inhibited (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA status word (0x6041)

325
Configuring the network
CiA 402 device profile
Device states

15.1.6.4 Switched on
This is the device state of the inverter after the "Switch on" command has been triggered in
the "Ready to switch on" device state.
• Process data monitoring is active.
• Communication is possible.
• The DC-bus voltage is available.
• The inverter can be parameterized.
• If the internal holding brake control (0x2820:001) is active in the inverter, the motor brake
is closed.
• Operation is disabled.

1 From all states

2 Power section disabled (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA status word (0x6041)

Bit 15 ... 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Reserved Warning Operation Quick stop DC bus ready Fault active Operation Switched on Ready to
(specific) active disabled active for operation enabled switch on
X X 0 1 X 0 0 1 1
X = stateis not relevant

326
Configuring the network
CiA 402 device profile
Device states

15.1.6.5 Operation enabled

This device state represents normal operation. Operation in the selected operating mode is
enabled and no errors have occurred.
• Only the parameters of the inverter can be changed that do not require an inverter
disable.
• A motor brake, if any, is open if the automatic operation of the holding brake control is
activated (0x2820:001 = 0).
• The drive control is active.

1 From all states

2 Power section inhibited (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA status word (0x6041)

327
Configuring the network
CiA 402 device profile
Device states

15.1.6.6 Quick stop active

This device state is active if quick stop is executed or active.
• Only the parameters of the inverter can be changed that do not require an inverter
disable.
• If the internal holding brake control (0x2820:001) is active in the inverter, the motor brake
is closed.
• The drive control is active.

1 From all states

2 Power section inhibited (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA status word (0x6041)

The "Enable operation" command stops an active quick stop.

328
Configuring the network
CiA 402 device profile
Device states

15.1.6.7 Fault reaction active

This device state becomes active if a minor fault occurs. This means that the inverter is still
able to drive the motor in a controlled way.
• The inverter is brought to a standstill irrespective of the setpoint specified with the
deceleration (0x6085) set for quick stop.
If the inverter is at standstill, a change to the "Trouble" device state take place
automatically.
• Only the parameters of the inverter can be changed that do not require an inverter
disable.
• If the internal holding brake control (0x2820:001) is active in the inverter, the motor brake
is closed.
• The drive control is active.

1 From all states

2 Power section inhibited (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA status word (0x6041)

329
Configuring the network
CiA 402 device profile
Device states

15.1.6.8 Trouble
This device state becomes active if a serious system fault occurs. This means that the inverter
is no longer able to drive the motor in a controlled way. The inverter is switched off
immediately.
• The pulse inhibit is active (pulses of the inverter are inhibited).
• The motor is torqueless.
• The motor brake, if available, is closed.
• Operation is inhibited.
• The inverter can be parameterised.

1 From all states

2 Power section inhibited (pulse inhibit)
3 Power section enabled

Bit pattern in the CiA status word (0x6041)

This device state can only be left with the "Reset fault" command if the cause of the fault has
been removed.

330
Configuring the network
CiA 402 device profile
Operation mode "Manual Jog"

15.1.7 Operation mode "Manual Jog"

Parameter
Address Name / setting range / [default setting] Information
0x2C67:001 MOL settings for 0x6060: Current setpoint 1
0 ... [71] ... 200 %
0x2C67:002 MOL settings for 0x6060: Frequency 1
-500.0 ... [1.0] ... 500.0 Hz
0x2C67:003 MOL settings for 0x6060: Current 1 - ramp time
10 ... [10] ... 1000 ms
0x2C67:004 MOL settings for 0x6060: Frequency 1 - ramp time
0 ... [200] ... 10000 ms
0x2C67:005 MOL settings for 0x6060: Starting angle 1
-179.9 ... [0.0] ... 179.9 °
0x2C67:006 MOL settings for 0x6060: Stopping time 1
0.0 ... [10000.0] ... 10000.0 s
• Setting can only be changed if the inverter is
disabled.
0x2C67:011 MOL settings for 0x6060: Current setpoint 2
0 ... [71] ... 200 %
0x2C67:012 MOL settings for 0x6060: Frequency 2
-500.0 ... [5.0] ... 500.0 Hz
0x2C67:013 MOL settings for 0x6060: Current 2 - ramp time
10 ... [10] ... 1000 ms
0x2C67:014 MOL settings for 0x6060: Frequency 2 - ramp time
0 ... [1000] ... 10000 ms
0x2C67:015 MOL settings for 0x6060: Starting angle 2
-179.9 ... [0.0] ... 179.9 °
0x2C67:016 MOL settings for 0x6060: Stopping time 2
0.0 ... [10000.0] ... 10000.0 s
• Setting can only be changed if the inverter is
disabled.

331
Configuring the network
CANopen
Commissioning

15.2 CANopen

15.2.1 Commissioning
Parameter
Address Name / setting range / [default setting] Information
0x2300 CANopen communication Restart / stop communication.
• After successful execution, the value 0 is shown.
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
management frames is possible.
10 In progress Only status feedback
11 Action cancelled
12 Fault

15.2.2 Basic setting and options

15.2.2.1 Node address setting

Parameter
Address Name / setting range / [default setting] Information
0x2301:001 CANopen settings: Node ID
1 ... [1] ... 127

15.2.2.2 Baud rate setting

Parameter
Address Name / setting range / [default setting] Information
0x2301:002 CANopen settings: Baud rate
0 Automatic
1 20 kbps
2 50 kbps
3 125 kbps
4 250 kbps
5 500 kbps
6 800 kbps
7 1 Mbps

15.2.2.3 Configuring the device as mini master

Parameter
Address Name / setting range / [default setting] Information
0x2301:003 CANopen settings: Slave/Master 1 = after mains switching, inverter starts as mini-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
0 ... [3000] ... 65535 here, which has to elapse after mains switching before the inverter
deposits the "Start Remote Node" NMT telegram on the CAN bus.

332
Configuring the network
CANopen
Process data transfer

15.2.3 Process data transfer

Parameter
Address Name / setting range / [default setting] Information
0x2301:006 CANopen settings: COB-ID Configuration - PDO Selection of the process for assigning the identifiers.
Irrespective of this selection, these are the following bits of the
identifiers:
• 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
2 Legacy base + node ID Identifier = inherited (basic) identifier + set node address

15.2.4 Parameter data transfer

Parameter
Address Name / setting range / [default setting] Information
0x2301:005 CANopen settings: Activate SDO2 channel 1 = activate SDO server channel 2.
0 Not active
1 Active
0x2301:007 CANopen settings: COB-ID Configuration - SDO2 1 = COB-ID configuration -SDO 2 freely configurable.
0 Base + node-ID
1 Freely configurable

333
Configuring the network
CANopen
Monitoring

15.2.5 Monitoring

15.2.5.1 Error responses

Parameter
Address Name / setting range / [default setting] Information
0x2857:001 CANopen monitoring: RPDO1-Timeout Selection of the response to triggering the RPDO1 time monitoring.
Associated error code:
• 33425 | 0x8291 - CAN: RPDO1 time-out
0 No response
1 Fault > CiA402
2 Warning
0x2857:002 CANopen monitoring: RPDO2-Timeout Selection of the response to triggering the RPDO2 time monitoring.
Associated error code:
• 33426 | 0x8292 - CAN: RPDO2 time-out
0 No response
1 Fault > CiA402
2 Warning
0x2857:003 CANopen monitoring: RPDO3-Timeout Selection of the response to triggering the RPDO3 time monitoring.
Associated error code:
• 33427 | 0x8293 - CAN: RPDO3 time-out
0 No response
1 Fault > CiA402
2 Warning
0x2857:004 CANopen monitoring: Timeout Rx PDO4 Associated error code:
• 33428 | 0x8294 - CAN: RPDO4 time-out
0 No response
1 Fault > CiA402
2 Warning
0x2857:005 CANopen monitoring: Heartbeat-Timeout Consumer 1 Selection of the response with "Heartbeat Event" in consumer 1.
Associated error code:
• 33156 | 0x8184 - CAN: heartbeat time-out consumer 1
0 No response
1 Fault > CiA402
2 Warning
0x2857:006 CANopen monitoring: Heartbeat-Timeout Consumer 2 Selection of the response with "Heartbeat Event" in consumer 2.
Associated error code:
• 33157 | 0x8185 - CAN: heartbeat time-out consumer 2
0 No response
1 Fault > CiA402
2 Warning
0x2857:007 CANopen monitoring: Heartbeat-Timeout Consumer 3 Selection of the response with "Heartbeat Event" in consumer 3.
Associated error code:
• 33158 | 0x8186 - CAN: heartbeat time-out consumer 3
0 No response
1 Fault > CiA402
2 Warning
0x2857:008 CANopen monitoring: Heartbeat-Timeout Consumer 4 Selection of the response with "Heartbeat Event" in consumer 4.
Associated error code:
• 33159 | 0x8187 - CAN: heartbeat time-out consumer 4
0 No response
1 Fault > CiA402
2 Warning
0x2857:010 CANopen monitoring: "Bus-off" state change Selection of the response to changing to the "Bus off" state.
Associated error code:
• 33154 | 0x8182 - CAN: bus off
0 No response
1 Fault > CiA402

334
Configuring the network
CANopen
Monitoring

Address Name / setting range / [default setting] Information

2 Warning
0x2857:011 CANopen monitoring: Warning Selection of the response that is executed in the case of too many
incorrectly sent or received CAN telegrams (> 96).
Associated error code:
• 33155 | 0x8183 - CAN: warning
0 No response
1 Fault > CiA402
2 Warning

335
Configuring the network
CANopen
Diagnostics

15.2.6 Diagnostics

15.2.6.1 Information on the network

Parameter
Address Name / setting range / [default setting] Information
0x2302:001 Active CANopen settings: Active node ID Display of the active node address.
• Read only
0x2302:002 Active CANopen settings: Active baud rate Display of the active baud rate.
• Read only
0 Automatic
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.
• 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 .
Bit 1 RPDO2-Timeout 1 = RPDO2 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 RPDO2 in .
Bit 2 RPDO3-Timeout 1 = RPDO3 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 RPDO3 in .
Bit 3 Reserved -
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 .
Bit 9 Heartbeat-Timeout Consumer 2 1 = within the "Heartbeat Consumer Time", no heartbeat telegram was
received from node 2 to be monitored.
• Status can only be reset by mains switching or error reset.
• "Heartbeat Consumer Time" setting in .
Bit 10 Heartbeat-Timeout Consumer 3 1 = within the "Heartbeat Consumer Time", no heartbeat telegram was
received from node 3 to be monitored.
• Status can only be reset by mains switching or error reset.
• "Heartbeat Consumer Time" setting in .
Bit 11 Heartbeat-Timeout Consumer 4 1 = within the "Heartbeat Consumer Time", no heartbeat telegram was
received from node 4 to be monitored.
• Status can only be reset by mains switching or error reset.
• "Heartbeat Consumer Time" setting in .
0x2308 CANopen status Display of the current state.
• Read only
0 Initialisation 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.

336
Configuring the network
CANopen
Diagnostics

Address Name / setting range / [default setting] Information

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.
• Read only
1 Error active The inverter is a fully-fledged communication node at the CANopen
network. 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
automatic restart is implemented.
0x230A:001 CANopen statistics: PDO1 received Display of the number of PDO1 telegrams received.
• Read only
0x230A:002 CANopen statistics: PDO2 received Display of the number of PDO2 telegrams received.
• Read only
0x230A:003 CANopen statistics: PDO3 received Display of the number of PDO3 telegrams received.
• Read only
0x230A:004 CANopen statistics: POD3 recieved
• Read only
0x230A:005 CANopen statistics: PDO1 transmitted Display of the number of PDO1 telegrams sent.
• Read only
0x230A:006 CANopen statistics: PDO2 transmitted Display of the number of PDO2 telegrams sent.
• Read only
0x230A:007 CANopen statistics: PDO3 transmitted Display of the number of PDO3 telegrams sent.
• Read only
0x230A:008 CANopen statistics: PDO4 transmitted
• Read only
0x230A:009 CANopen statistics: SDO1 telegrams Display of the number of SDO1 telegrams.
• Read only
0x230A:010 CANopen statistics: SDO2 telegrams Display of the number of SDO2 telegrams.
• Read only
0x230B CANopen error counter Display of the total number of CAN faults that have occurred.
• Read only

337
Configuring the network
onboard EtherCAT - Operation as standard EtherCAT slave

15.3 onboard EtherCAT - Operation as standard EtherCAT slave

EtherCAT® (Ethernet for Controller and Automation Technology) is an Ethernet-based fieldbus

The inverter is equipped with an onboard EtherCAT connection that can be used in two
variants:
• Connection of the inverter as Distributed Clocks (DC)-capable EtherCAT slave for process
data and safety data under a standard EtherCAT motion control
• Connection of the inverter to the EtherCAT system bus.

4onboard EtherCAT - Operation as master or slave on the system bus ^ 346

338
Configuring the network
onboard EtherCAT - Operation as standard EtherCAT slave
Commissioning

15.3.1 Commissioning
Preconditions
• The inverter is networked as EtherCAT slave to an EtherCAT master and, if necessary,
further EtherCAT devices.
• The entire wiring has already been checked for completeness, short circuit and earth fault.
• All EtherCAT devices are supplied with voltage and are switched on.
• The inverter is commissioned with the »EASY Starter«.
• Download »EASY Starter«
• The EtherCAT master is commissioned with a different engineering tool, e. g. with
Lenze »PLC Designer« or with Beckhoff TwinCAT. For this purpose, install the required ESI
device description file in the engineering tool for the for the EtherCAT master. We always
recommend the use of the current device description.
• Download »PLC Designer«
• Download XML/ESI files for Lenze devices
Parameterization required
The EtherCAT device must be configured as slave.

By default, the slave functionality is activated. 0x2371:009 = 0

How to activate the slave functionality:

1. Setting: 0x2371:009 = 0
2. Save parameter settings.
4Saving the parameter settings ^ 42
3. Restart inverter.
Device command: 0x2022:035 = 1
The inverter is now configured as a slave.

339
Configuring the network
onboard EtherCAT - Operation as standard EtherCAT slave
Commissioning

Commissioning steps
How to configure the network:
1. Configure gateway function of the master
1. Start »PLC Designer«.
2. Open or recreate a »PLC Designer« project.
3. Open the "Communication settings" tab of the master.
4. Click "Add gateway".
Do the following in the appearing dialog box:
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
gateway.
2. 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 devices in the network.
Otherwise, an error message displays which slave (product code) is to be
expected at which position.
3. Adapt EtherCAT device to the application
1. Adapt parameter values of the inverter.
2. Set the PDO-Mapping.
3. The selected parameters must be set as shown above.
4. 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
master. Afterwards, all EtherCAT slaves are initialized.

These steps must be carried out after every change within

the »PLC Designer« project. An already existing configuration and an existing
PLC program in the master are overwritten.

340
Configuring the network
onboard EtherCAT - Operation as standard EtherCAT slave
Basic setting and options

15.3.2 Basic setting and options

15.3.2.1 Synchronisation with "distributed clocks" (DC)

The Distributed Clocks (DC) functionality enables an exact time leveling for applications, in
which several axes execute simultaneous, coordinated movements. The data is accepted
synchronously with the PLC program. For DC synchronization, all slaves are synchronized with
a reference clock, the so-called "DC master".
Parameter
Address Name / setting range / [default setting] Information
0x2580:001 Distributed Clocks: Real time status Since its switch-on, the inverter has not yet received any real time
• Read only information from outside.
The inverter still works with a time based on the time of the last switch-
off or the time stamp of the firmware.
0 Not adjusted Since its switch-on, the inverter has not yet received any real time
1 Adjusted once information from outside.
2 Adjusted cyclically
0x2580:002 Distributed Clocks: First setting time Display of the time when the inverter has received a real time
• Read only: x ns information from outside for the for first time after its switch-on.
In the "No real time information received yet", the value "0" is displayed.
0x2580:003 Distributed Clocks: Newest setting time Display of the time when the inverter has most recently received a real
• Read only: x ns time information from outside.
0x2580:004 Distributed Clocks: Current time Display of the time information currently used by the inverter (device
• Read only: x ns time).

15.3.3 Process data transfer

• Process data is cyclically transferred between the EtherCAT master and the slaves
(permanent exchange of current input and output data).
• The transfer of process data is time-critical.
• Supported cycle times:
• 0.250 ms
• 0.500 ms
• 1,000 ms ... integer multiples of 1,000 ms ... max. 10,000 ms
• 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. This defines which
EtherCAT objects are to be transmitted cyclically. The mapping of the process data
depends on the technology application used.
• Process data is not saved in the device.
• Process data is, e.g. setpoints, actual values, control and status words.

341
Configuring the network
onboard EtherCAT - Operation as standard EtherCAT slave
Parameter data transfer

15.3.4 Parameter data transfer

• 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). SDOs (Service Data
Objects)
• The SDO services enable the writing and reading access to parameters and EtherCAT
objects.
• Process input data (CiA 402 objects) ^ 161
• Process output data (CiA 402 objects) ^ 161
• The transfer of parameter data is usually not time-critical.
• Parameter data is, for instance, operating parameters, motor data and diagnostic
information.
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.

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Configuring the network
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Monitoring

15.3.5 Monitoring
Three different EtherCAT monitoring systems are available.
• Monitoring for cable interruption
• For distributed clocks (DC):
• Sync0 monitoring
• PDO telegram failure detection
Monitoring for cable interruption
This monitoring generally checks whether the EtherCAT cable is interrupted. Monitoring is not
configurable and works with and without distributed clocks".
Behavior in the event of a cable interruption:
• The inverter changes to the "Safe-Operational" state.
• The inverter triggers a parameterizable error response.
• Error response: 40x605E
• Error code: 0x30018181
Sync0 monitoring for DC
This monitoring checks whether the Sync0 signals are generated correctly in time in the
inverter when the inverter is in the "Operational" state.
The following is monitored:
• After "Pre-Operational" has changed to "Safe-Operational", the generation of Sync0 pulses
has to be started within 5 seconds.
• The change from "Safe-Operational" to "Operational" without Sync0 signals being
generated.
• No more Sync0 signals are detected for the duration of the double Sync0 cycle time.
Error behavior:
• The inverter changes to the "Safe-Operational" state.
• The inverter triggers a parameterizable error response.
• Error response: 40x605E
• Error code: 0x30018700
• AL status code: 0x32
PDO telegram failure detection for DC
This monitoring checks whether an EtherCAT PDO telegram has arrived between two Sync0
signals (Sync Manager 2 Event).
For this purpose, the inverter has an internal error counter for PDO telegram failures:
• Each failed PDO telegram increases the counter by the value "3".
• Each correctly received PDO telegram decreases the counter by the value "1".
• Monitoring is configurable. 40x10F1:002
Error behavior:
• The inverter changes to the "Safe-Operational" state.
• The inverter triggers a parameterizable error response.
• Error response: 40x605E
• Error code: 0x30018181

Recommendation: Set 0x10F1:002 ≥ 4.

Thus one failed PDO telegram is tolerated, two PDO telegram failures in a row
are forbidden.

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Configuring the network
onboard EtherCAT - Operation as standard EtherCAT slave
Diagnostics

15.3.6 Diagnostics

15.3.6.1 LED status displays

The meaning of the "RUN" and "ERR" LEDs can be obtained from the following two tables.
LED "RUN" (green)
Blinking pattern 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 is possible. No process data exchange.
blinking
Safe-Operational The data is not active yet in the standard device.

"Operational" Valid process data is exchanged cyclically.

"ERR" LED (red)

Blinking pattern 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

"L/A" LED (green)

Blinking pattern State Meaning
off Not connected Network not available
Connected Network available
on No data transfer
Traffic Data transfer
blinking

15.3.6.2 Information on the network

Parameter
Address Name / setting range / [default setting] Information
0x2378 Network status Display of the active network status.
• Read only
1 Initialisation
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
0x2379 Network error Display of the active network error.
• Read only
0x2372:009 Onboard EtherCAT-Informationen: Active interface Display of the active EtherCAT master/slave functionality for the system
mode bus interface.
• Read only
0 Slave Slave functionality is active.
1 Master Master functionality is active.

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Configuring the network
onboard EtherCAT - Operation as standard EtherCAT slave
EoE communication

15.3.6.3 Device identification

The EtherCAT product code in 0x1018:002 consists of device-specific data and the currently
activated technology application (0x4000). The last three positions in the product code refer
to the activated technology application.
Parameter
Address Name / setting range / [default setting] Information
0x1018:001 Identity object: Vendor ID Display of the manufacturer's identification number.
• Read only
0x1018:002 Identity object: Product Code Display of the product code of the inverter.
• Read only
419446784 i950 (Basic Safety - STO)
419450880 i950 (BS-STO) 2
419479552 i950 (ES)
419479572 i950 (ES) - TA Table Positioning
419483648 i950 (ES) 4
419483668 i950 (ES) - TA Table Positioning
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

15.3.7 EoE communication

Parameter
Address Name / setting range / [default setting] Information
0x2020:001 EoE information: Virtual MAC address Display of the virtual MAC address.
• Read only
0x2020:002 EoE information: IP adress Display of the IP address.
• Read only
0x2020:003 EoE information: Subnet mask Display of the subnet mask.
• Read only
0x2020:004 EoE information: Standard gateway Display of the standard gateway.
• Read only
0x2020:005 EoE information: DNS server Display of the DNS server.
• Read only
0x2020:006 EoE information: DNS name Display of the DNS name.
• Read only
0x2020:007 EoE information: Received packages Display of the packages received during the EoE transmission.
0 ... [] ... 4294967295
0x2020:008 EoE information: Transmitted packages Display of the packages sent during the EoE transmission.
0 ... [] ... 4294967295

345
Configuring the network
onboard EtherCAT - Operation as master or slave on the system bus

15.4 onboard EtherCAT - Operation as master or slave on the system bus

EtherCAT® (Ethernet for Controller and Automation Technology) is an Ethernet-based fieldbus

4onboard EtherCAT - Operation as standard EtherCAT slave ^ 338

The EtherCAT system bus offers the simple possibility of synchronizing up to 16 inverters
without additional motion control via the onboard EtherCAT connection. The physically first
inverter on the system bus is the EtherCAT master, the other system bus nodes are slaves. The
system bus is configured automatically (plug & play).
Preconditions
• Only inverters of the i950 series are connected to the system bus.
• A maximum of 16 nodes including the master can be connected via the system bus.
• No further accessories are connected to the system bus.
• The inverters are not parameterised as CiA 402 motion drives, i.e. selection of a
technology application: 40x4000 > 1

The technology application set is not checked.

Details
• The inverter can act as a system bus master or system bus slave.
• The system bus is prepared, i. e. a configuration is not required.
• The master assigns an identical master value to all system bus nodes (slaves).
• The »EASY Starter« is sufficient ...
• to parameterise the devices in the network;
• to configure the process data individually.
• Download »EASY Starter«
• If further EtherCAT-compliant devices are to be used in addition to the inverters, the bus
configuration must be adapted to the »PLC Designer«.
• Download »PLC Designer«
• Download XML/ESI files for Lenze devices
• Detailed information regarding the adaptation of the EtherCAT configuration with
the »PLC Designer« can be found here:
• Online help »EASY Starter«/»PLC Designer«, topic "Controller-based Automation
EtherCAT"
• Communication manual "Controller-based Automation EtherCAT" (PDF)

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Configuring the network
onboard EtherCAT - Operation as master or slave on the system bus

System bus topology

X246 System bus interface EtherCAT IN

x247 System bus interface EtherCAT OUT
X6 Ethernet NRT interface
A EtherCAT system bus
B Engineering PC
M System bus master
S1 ... 15 System bus slaves 1 ... 15

347
Configuring the network
onboard EtherCAT - Operation as master or slave on the system bus
Commissioning

15.4.1 Commissioning
Commissioning can be subdivided as follows:
• Initial commissioning in which at least the system bus master must be determined.
• System bus change, in which slave devices are added or removed subsequently.
Preconditions
• The inverter is linked in the system bus network (max. 16 devices) as EtherCAT master or
EtherCAT slave.
See "system bus topology" under: 4onboard EtherCAT - Operation as standard EtherCAT
slave ^ 338
• The entire wiring has been checked for completeness, short circuit and earth fault.
• All system bus nodes are supplied with voltage and are switched on.
• An Engineering PC with installed »EASY Starter« is connected to the master.
• Download »EASY Starter«
Parameterisation required
Set and activate master functionality at the 1st inverter in the system bus network:
1. Setting: 0x2371:009 = 1
2. Save parameter settings.
4Saving the parameter settings ^ 42
3. Restart inverter.
Device command: 0x2022:035 = 1
The master function of the 1st inverter is now activated.
The cyclic master value and the individual process data are set via the technology application
(0x4000) of the system bus master.

The 0x2371:009 parameter does not need to be set for the slave devices. The
slave functionality is already preset with the value "0".

Select and configure technology applications:

1. Select a technology application (unequal to "CiA 402").
Selection with: 0x4000
2. Optionally set the "IO configuration" with: 0x4001
3. Save parameter settings.
4Saving the parameter settings ^ 42
The technology applications of the inverter are now set.

The technology application in the system bus master provides the master value.
The slave devices are FAST slaves (process slaves) as well and follow the master
value of the process master.

Start system bus:

1. Restart system bus master (1st inverter).
Device command: 0x2022:035 = 1
All devices currently found at the system are assigned and addressed to the corresponding
devices in the device tree of the system bus master according to their physical order at the
bus. See "Addressing of the system bus nodes under: 4Basic setting and options ^ 349
The number of devices at the system bus may be lower than the number of devices in the
device tree of the system bus master.
All devices at the system bus are set to the "Operational" bus state when they have been
identified as system bus nodes.

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Configuring the network
onboard EtherCAT - Operation as master or slave on the system bus
Basic setting and options

15.4.2 Basic setting and options

Addressing the system bus nodes
The first device in the system bus network is always active as EtherCAT master. In addition, this
device is also an internal EtherCAT slave, which e. g. provides a DC master (Distributed Clocks).
The slave devices at the system bus are addressed via their active EtherCAT station address.
This address is assigned by the master while the system bus is initialised:
• The internal slave in the master device has the address "1001".
• The first slave in the network has the address "1002".
• The second slave in the network has the address "1003" etc.
Master/slave functionality
The 0x2371:009 parameter is used to set the functionality of the system bus interface of the
inverter (EtherCAT master/slave).
Parameter
Address Name / setting range / [default setting] Information
0x2371:009 Onboard EtherCAT: Interface mode Selection of the master/slave functionality for the EtherCAT interface.
• Setting can only be changed if the inverter is For activating this setting, save the parameter set and restart the device.
disabled.
0 Slave Activation of the slave functionality.
1 Master Activation of the master functionality.

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Configuring the network
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Process data transfer

15.4.3 Process data transfer

In the system bus network …
• the setpoint process data (master to slave) are set via the system bus master inside the
technology application;
• the actual process data (slave to master) is set via the slave device.
Data mapping
All inverter i950 slave devices have a fixed generic data mapping. This data mapping enables
the use of the slave devices with an i950 inverter as system bus master and with other
EtherCAT-based master control systems (PLC).
• The process data is set to 8 double words (32 bytes) for each direction.
• Output data direction: From Master to Slave.
• Output data: 0xA200:001 ... 0xA200:008
• Input data direction: From Slave to Master.
• Input data: 0xA680:001 ... 0xA680:008
• This fixed data mapping is automatically activated as master for an i950 inverter.
• The process data is transmitted cyclically in a 1 ms cycle between the master and the
slaves.
• The process data transfer is synchronised by the "Distributed Clocks" EtherCAT mechanism.
• A i950 master device provides the DC master via the internal slave.
• The data in the slaves is accepted synchronously with the PLC program in the master.
• All slaves are synchronised with a reference clock, the so-called "DC master".
Parameter
Address Name / setting range / [default setting] Information
0xA200:001 Systembus output data: Systembus data output 1 Generic system bus output data from the PLC to the inverter.
• Read only
0xA200:002 Systembus output data: Systembus data output 2
• Read only
0xA200:003 Systembus output data: Systembus data output 3
• Read only
0xA200:004 Systembus output data: Systembus data output 4
• Read only
0xA200:005 Systembus output data: Systembus data output 5
• Read only
0xA200:006 Systembus output data: Systembus data output 6
• Read only
0xA200:007 Systembus output data: Systembus data output 7
• Read only
0xA200:008 Systembus output data: Systembus data output 8
• Read only
0xA680:001 Systembus input data: Systembus data input 1 Generic system bus input data from the inverter to the PLC.
0 ... [0] ... 4294967295
0xA680:002 Systembus input data: Systembus data input 2
0 ... [0] ... 4294967295
0xA680:003 Systembus input data: Systembus data input 3
0 ... [0] ... 4294967295
0xA680:004 Systembus input data: Systembus data input 4
0 ... [0] ... 4294967295
0xA680:005 Systembus input data: Systembus data input 5
0 ... [0] ... 4294967295
0xA680:006 Systembus input data: Systembus data input 6
0 ... [0] ... 4294967295
0xA680:007 Systembus input data: Systembus data input 7
0 ... [0] ... 4294967295
0xA680:008 Systembus input data: Systembus data input 8
0 ... [0] ... 4294967295

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Configuring the network
onboard EtherCAT - Operation as master or slave on the system bus
Process data transfer

15.4.3.1 Process output data

Parameter
Address Name / setting range / [default setting] Information
0xA200:001 Systembus output data: Systembus data output 1 Generic system bus output data from the PLC to the inverter.
• Read only
0xA200:002 Systembus output data: Systembus data output 2
• Read only
0xA200:003 Systembus output data: Systembus data output 3
• Read only
0xA200:004 Systembus output data: Systembus data output 4
• Read only
0xA200:005 Systembus output data: Systembus data output 5
• Read only
0xA200:006 Systembus output data: Systembus data output 6
• Read only
0xA200:007 Systembus output data: Systembus data output 7
• Read only
0xA200:008 Systembus output data: Systembus data output 8
• Read only
0xA200:009 Systembus output data: Systembus data output 9
• Read only
0xA200:010 Systembus output data: Systembus data output 10
• Read only
0xA200:011 Systembus output data: Systembus data output 11
• Read only
0xA200:012 Systembus output data: Systembus data output 12
• Read only
0xA200:013 Systembus output data: Systembus data output 13
• Read only
0xA200:014 Systembus output data: Systembus data output 14
• Read only
0xA200:015 Systembus output data: Systembus data output 15
• Read only
0xA200:016 Systembus output data: Systembus data output 16
• Read only

351
Configuring the network
onboard EtherCAT - Operation as master or slave on the system bus
Process data transfer

15.4.3.2 Process input data

Parameter
Address Name / setting range / [default setting] Information
0xA680:001 Systembus input data: Systembus data input 1 Generic system bus input data from the inverter to the PLC.
0 ... [0] ... 4294967295
0xA680:002 Systembus input data: Systembus data input 2
0 ... [0] ... 4294967295
0xA680:003 Systembus input data: Systembus data input 3
0 ... [0] ... 4294967295
0xA680:004 Systembus input data: Systembus data input 4
0 ... [0] ... 4294967295
0xA680:005 Systembus input data: Systembus data input 5
0 ... [0] ... 4294967295
0xA680:006 Systembus input data: Systembus data input 6
0 ... [0] ... 4294967295
0xA680:007 Systembus input data: Systembus data input 7
0 ... [0] ... 4294967295
0xA680:008 Systembus input data: Systembus data input 8
0 ... [0] ... 4294967295
0xA680:009 Systembus input data: Systembus data input 9
0 ... [0] ... 4294967295
0xA680:010 Systembus input data: Systembus data input 10
0 ... [0] ... 4294967295
0xA680:011 Systembus input data: Systembus data input 11
0 ... [0] ... 4294967295
0xA680:012 Systembus input data: Systembus data input 12
0 ... [0] ... 4294967295
0xA680:013 Systembus input data: Systembus data input 13
0 ... [0] ... 4294967295
0xA680:014 Systembus input data: Systembus data input 14
0 ... [0] ... 4294967295
0xA680:015 Systembus input data: Systembus data input 15
0 ... [0] ... 4294967295
0xA680:016 Systembus input data: Systembus data input 16
0 ... [0] ... 4294967295

352
Configuring the network
onboard EtherCAT - Operation as master or slave on the system bus
Monitoring

15.4.4 Monitoring
Monitoring of the master/slave functionality
The following scenarios are monitored:
• The inverter at position 1 is not configured as system bus master.
• Several inverters have been configured as system bus master.
Depending on the assignment of the system bus interfaces X246 (EtherCAT IN) and X247
(EtherCAT OUT) and the set interface role in 0x2371:009 (master/slave), a warning is output:
Network cable plugged in X246/X247 0x2371:009 = 0 0x2371:009 = 1
(Slave) (Master)
Only X246 (EtherCAT IN) is assigned. OK Warning
Only X247 (EtherCAT OUT) is assigned. Warning OK
X246 (EtherCAT IN) and X247 (EtherCAT OUT) are assigned. OK Warning

The parameters for setting network monitoring functions are described below.
Parameter
Address Name / setting range / [default setting] Information
0x285B:001 Onboard EtherCAT monitoring: Watchdog abgelaufen Associated error code:
• 33153 | 0x8181 - EtherCAT - Communication error
0 No response
1 Fault > CiA402
2 Warning
0x285B:002 Onboard EtherCAT monitoring: EtherCAT role check
0 No response
1 Fault > CiA402
2 Warning

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Configuring the network
onboard EtherCAT - Operation as master or slave on the system bus
Diagnostics

15.4.5 Diagnostics
For diagnostic purposes, the system bus interfaces X246 and X247 provide LED status displays
and diagnostic parameters for the EtherCAT system bus.
The diagnostic parameters are divided according to the interface role (master or slave) set in
0x2371:009.
In the »EASY Starter«, the diagnostic parameters can be accessed in the "Diagnostics" tab via
the "Network diagnostics" button:

15.4.5.1 LED status displays

LED "RUN"
Blinking pattern State Meaning
OFF No supply voltage.
off Initialisation (Init) Network not active
No data transfer
Pre-Operational (Pre-Op) Access possible
Blinking 1:1 No process data transfer
Safe-Operational (Safe-Op) States of the safe inputs are readable.
Blinking slowly 3:1
Operational (Op) Data transfer in action
on

LED "L/A"
Blinking pattern State Meaning
off Not connected Network not available
Connected Network available
on No data transfer
Traffic Data transfer
blinking

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Configuring the network
onboard EtherCAT - Operation as master or slave on the system bus
Diagnostics

15.4.5.2 Information on the network

The following parameters show information on the network.
Parameter
Address Name / setting range / [default setting] Information
0x2378 Network status Display of the active network status.
• Read only
1 Initialisation
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
0x2379 Network error Display of the active network error.
• Read only
0x5851:001 EtherCAT master diagnosis: EtherCAT master state Display of the EtherCAT master state.
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
0x5851:002 EtherCAT master diagnosis: EtherCAT master state Display of the EtherCAT master state overview.
summary
• Read only
Bit 0 Master OK
Bit 4 Init
Bit 5 Pre-Operational
Bit 6 Safe-Operational
Bit 7 Operational
Bit 8 Slaves in requested state
Bit 9 Master in requested state
Bit 10 Bus scan match
Bit 12 DC enabled
Bit 13 DC in sync
Bit 14 DC busy
Bit 16 Link up
0x5851:003 EtherCAT master diagnosis: EtherCAT error Display whether an EtherCAT network error has occurred.
• Read only
0x5851:004 EtherCAT master diagnosis: Bus scan match Display whether a "Bus Scan Match" exists.
• Read only
0x5851:005 EtherCAT master diagnosis: Configured cycle time Display of the configured cycle time.
• Read only: x us
0x5851:006 EtherCAT master diagnosis: Connected slaves Display of the number of slaves available in the network.
• Read only
0x5851:007 EtherCAT master diagnosis: Configured slaves Display of the number of configured slaves.
• Read only
0x5860:001 EtherCAT slaves station addresses: Station address Display of the slave station address.
slave 1
• Read only
0x5861:001 EtherCAT slaves device names: Device name slave 1 Display of the slave device name.
• Read only
0x5862:001 EtherCAT slaves device types: Device type slave 1 Display of the slave type designation.
• Read only
0x5863:001 Mandatory EtherCAT slaves: Slave 1 is mandatory
• Read only
0 FALSE
1 TRUE

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Configuring the network
onboard EtherCAT - Operation as master or slave on the system bus
Diagnostics

Address Name / setting range / [default setting] Information

0x5863:002 Mandatory EtherCAT slaves: Slave 2 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:003 Mandatory EtherCAT slaves: Slave 3 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:004 Mandatory EtherCAT slaves: Slave 4 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:005 Mandatory EtherCAT slaves: Slave 5 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:006 Mandatory EtherCAT slaves: Slave 6 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:007 Mandatory EtherCAT slaves: Slave 7 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:008 Mandatory EtherCAT slaves: Slave 8 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:009 Mandatory EtherCAT slaves: Slave 9 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:010 Mandatory EtherCAT slaves: Slave 10 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:011 Mandatory EtherCAT slaves: Slave 11 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:012 Mandatory EtherCAT slaves: Slave 12 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:013 Mandatory EtherCAT slaves: Slave 13 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:014 Mandatory EtherCAT slaves: Slave 14 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:015 Mandatory EtherCAT slaves: Slave 15 is mandatory
• Read only
0 FALSE
1 TRUE

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Configuring the network
onboard EtherCAT - Operation as master or slave on the system bus
Diagnostics

Address Name / setting range / [default setting] Information

15.4.5.3 Device identification

For device identification in the system bus network, the inverter provides the standard
EtherCAT parameters 0x1018:001 ... 0x1018:004.
The EtherCAT product code in 0x1018:002 consists of device-specific data and the currently
activated technology application (0x4000). The last three positions in the product code refer
to the activated technology application.
The 0x2372:009 parameter indicates the functionality of the system bus interface of the
inverter (EtherCAT master/slave).
Parameter
Address Name / setting range / [default setting] Information
0x1018:001 Identity object: Vendor ID Display of the manufacturer's identification number.
• Read only
0x1018:002 Identity object: Product Code Display of the product code of the inverter.
• Read only
419446784 i950 (Basic Safety - STO)
419450880 i950 (BS-STO) 2
419479552 i950 (ES)
419479572 i950 (ES) - TA Table Positioning
419483648 i950 (ES) 4
419483668 i950 (ES) - TA Table Positioning
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
0x2372:009 Onboard EtherCAT-Informationen: Active interface Display of the active EtherCAT master/slave functionality for the system
mode bus interface.
• Read only
0 Slave Slave functionality is active.
1 Master Master functionality is active.

357
Configuring the network
EtherCAT

15.5 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
Automation 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 sizing of an EtherCAT network can be found in the configuration
document.
Preconditions
• The inverter is equipped with the "EtherCAT" network module.
Connection via RJ45 sockets X246 (IN) and X247 (OUT) with commercially available
standard Ethernet cable from CAT 5/5e.
• Selection of the technology application in the inverter with parameter 40x4000 > 1.
Typical topology
Line

IN OUT IN OUT IN R
SD1 SD2 SDn

M Master
SD Slave Device

358
Configuring the network
EtherCAT
Commissioning

15.5.1 Commissioning
During commissioning, the EtherCAT master operates as gateway to access from the
Engineering PC to the slaves.
In the following, the required steps are described to control the device as EtherCAT slave.
During commissioning, the EtherCAT master operates as gateway to access from the
Engineering PC to the slaves.
In the following, the required steps are described to control the device as EtherCAT slave.
Preconditions
• The inverter is networked as EtherCAT slave to an EtherCAT master and, if necessary,
further EtherCAT devices.
• The entire wiring has already been checked for completeness, short circuit and earth fault.
• All EtherCAT devices are supplied with voltage and are switched on.
• The inverter is commissioned with the »EASY Starter«.
• Download »EASY Starter«
• The EtherCAT master is commissioned with a different engineering tool, e. g. with
Lenze »PLC Designer« or with Beckhoff TwinCAT. For this purpose, install the required ESI
device description file in the engineering tool for the for the EtherCAT master. We always
recommend the use of the current device description.
• Download »PLC Designer«
• Download XML/ESI files for Lenze devices
Parameterization required
The EtherCAT device must be configured as slave.

By default, the slave functionality is activated. 0x2371:009 = 0

How to activate the slave functionality:

1. Setting: 0x2371:009 = 0
2. Save parameter settings.
4Saving the parameter settings ^ 42
3. Restart inverter.
Device command: 0x2022:035 = 1
The inverter is now configured as a slave.

Restart of the communication

The communication needs to be restarted after the EtherCAT identifier is changed, so that the
changed settings can take effect.
For restarting communication, there are two options:
a) Switch inverter off and on again.
b) Set 0x2360 = "Restart with current values

359
Configuring the network
EtherCAT
Commissioning

These steps must be carried out after every change within

the »PLC Designer« project. An already existing configuration and an existing
PLC program in the master are overwritten.

360
Configuring the network
EtherCAT
Commissioning

Parameter
Address Name / setting range / [default setting] Information
0x2360 EtherCAT communication Restart communication.
• When the device command has been executed successfully, the value
0 is shown.
0 No action/no error Only status feedback
1 Restart with current values Restart communication with the current values.
10 In process Only status feedback
11 Action cancelled
12 Fault
0x5850:001 Commands for EtherCAT system bus master:
Kommunikation neu starten
0 No action/no error Only status feedback
1 Neustart
10 Busy Only status feedback
11 Action cancelled
12 Faulted

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Configuring the network
EtherCAT
Basic setting and options

15.5.2 Basic setting and options

15.5.2.1 Parameterising additional functions

Parameter
Address Name / setting range / [default setting] Information
0x2946:001 Speed limitation: Upper speed limit Upper limit for the speed limitation.
-480000 ... [0] ... 480000 rpm • Setting is only effective with the selection "Upper speed limit [5]" in .
• Entry via keypad and Lenze Tools is in rpm!
• Via RPDO, the unit is vel. unit. and the scaling must be taken into
account.
• ± 480000 rpm = ±2 ^ 31 [n-unit]
0x2946:002 Speed limitation: Lower speed limit Lower limit for speed limitation.
-480000 ... [0] ... 480000 rpm • Setting is only effective with the selection "Lower speed limit [5]" in .
• Entry via keypad and Lenze Tools is in rpm!
• Via RPDO, the unit is vel. unit. and the scaling must be taken into
account.
• ± 480000 rpm = ±2 ^ 31 [n-unit]
0x2DD5 Torque setpoint Display of the current torque setpoint.
• Read only: x.xx Nm
0x6040 CiA control word Mappable CiA control word with bit assignment according to device
0x0000 ... [0x0000] ... 0xFFFF profile CiA 402.
Bit 0 Switch on 1 = switch-on
Bit 1 Enable voltage 1 = Enable voltage
Bit 2 Disable quick stop 0 = activate quick stop
Bit 3 Enable operation 1 = Enable operation
Bit 4 Operation mode specific
Bit 5 Operation mode specific
Bit 6 Operation mode specific
Bit 7 Fault reset 0-1 edge = fault reset
Bit 8 Halt 1 = stop motor (ramping down to frequency setpoint 0 Hz)
Bit 9 Operation mode specific Operating mode specific
Bit 14 Release holding brake 1 = release holding brake
CAUTION!
• 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 opening of the holding brake lies with
the user of the external trigger source for the "Release holding brake"
command.
4Holding brake control ^ 241
0x6041 CiA status word Mappable CiA status word with bit assignment according to device
• Read only profile CiA 402.
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 disabled 0 = quick stop active
Bit 6 Switch on disabled 1 = operation inhibited
Bit 7 Warning 1 = warning active
Bit 8 RPDOs disabled 1 = cyclic PDOs have been deactivated.
Bit 9 CiA control enabled 1 = inverter can receive commands via network.
• Bit is not set in the operating mode 0x6060 = "MS: Velocity mode
[-2]".
Bit 10 Setpoint reached 1 = the actual speed is in the window.
Bit 11 Internal limit active 1 = internal limitation of a setpoint active.
Bit 12 Operation mode specific 1 = operation enabled and no test mode activated. (no internal setpoint
generation active.)
Bit 13 Operation mode specific 1 ≡ following error active
Bit 14 Brake released or switching

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Configuring the network
EtherCAT
Basic setting and options

Address Name / setting range / [default setting] Information

Bit 15 STO not active 0 = the inverter has been disabled by the integrated safety system
1 = the integrated safety system is not active
Not available for i410 and i510 (always TRUE).
0x6042 Set speed Set speed (velocity mode).
-32768 ... [0] ... 32767 rpm
0x6043 Internal set speed Display of the internal set speed (velocity demand).
• Read only: x rpm
0x6044 Actual speed Display of the actual speed (velocity mode).
• Read only: x rpm
0x6046:001 Speed limits: Min. speed Min. speed (velocity mode).
0 ... [0] ... 0 rpm
0x6046:002 Speed limits: Max. speed Max. speed (velocity mode).
2147483647 ... [2147483647] ... 2147483647 rpm
0x6048:001 Acceleration ramp: CiA acceleration: Delta speed CiA acceleration: Delta speed
0 ... [0] ... 2147483647 rpm
0x6048:002 Acceleration ramp: CiA acceleration: Delta time CiA acceleration: Delta time
0 ... [10] ... 65535 s
0x6049:001 Deceleration ramp: CiA deceleration: Delta speed CiA deceleration: Delta speed
0 ... [0] ... 2147483647 rpm
0x6049:002 Deceleration ramp: CiA deceleration: Delta time CiA deceleration: Delta time
0 ... [10] ... 65535 s
0x605A CiA: Quick stop mode Device status after exiting the quick stop ramp.
• Setting is only effective in the operating mode 0x6060 = "CiA: Velocity
mode (vl) [2]".
2 Ramp > switch on disabled 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 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.
0x605E CiA: Fault reaction Selection of the response to faults.
-2 Advanced quick stop If possible, the motor is braked to standstill with the "quick stop"
function. If this is not possible (e. g. in case of an encoder error), reverse
current braking or short-circuit braking are used for the braking process.
0 Coast The motor has no torque (coasts down to standstill).
2 Quick stop The motor is brought to a standstill with the "quick stop" function.
• In the operating mode 0x6060 = "CiA: Velocity mode (vl) [2]", the
speed change set in 0x6085 is effective.
0x6060 CiA: Operation mode CiA: Operation mode
-13 MS: Manual jog open loop (MOL) Manufacturer-specific manual control
4Operation mode "Manual Jog" ^ 331
-12 MS: Pole position identification (PPI) Manufacturer-specific pole position identification (PLI)
4Synchronous motor: Pole position identification (PPI) ^ 209
4Selection of the PPI method for CiA mode ^ 210
0 No selection No selection
2 CiA: Velocity mode (vl) 4Operating mode "CiA 402 velocity mode (vl)" ^ 149
8 CiA: Cyclic sync position (csp) 4Operating mode "CiA 402 cyclic sync position mode (csp)" ^ 135
9 CiA: Cyclic sync velocity mode (csv) 4Operating mode "CiA 402 cyclic sync velocity mode (csv)" ^ 156
10 CiA: Cyclic sync torque mode (cst) 4Operating mode "CiA 402 cyclic sync torque mode (cst)" ^ 167
0x6061 CiA: Active operation mode CiA: Active operation mode
• Read only
-13 MS: Manual jog open loop (MOL) Manufacturer-specific manual control
-12 MS: Pole position identification (PPI) Manufacturer-specific pole position identification (PLI)
-11 Identification
-10 Test mode
0 No selection No selection
2 CiA: Velocity mode (vl) 4Operating mode "CiA 402 velocity mode (vl)" ^ 149
8 CiA: Cyclic sync position (csp) 4Operating mode "CiA 402 cyclic sync position mode (csp)" ^ 135
9 CiA: Cyclic sync velocity mode (csv) 4Operating mode "CiA 402 cyclic sync velocity mode (csv)" ^ 156

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Configuring the network
EtherCAT
Basic setting and options

Address Name / setting range / [default setting] Information

10 CiA: Cyclic sync torque mode (cst) 4Operating mode "CiA 402 cyclic sync torque mode (cst)" ^ 167
0x6071 Set torque • 100 % = Rated motor torque 0x6076
-3276.8 ... [0.0] ... 3276.7 % The inverter does not support the CiA 402 torque mode.
0x6074 Internal set torque Display of the internal set torque.
• Read only: x.x % • 100 % = Rated motor torque 0x6076
0x6079 DC-bus 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
0 ... [2147483647] ... 2147483647 activated.
• Setting is only effective in the operating mode 0x6060 = "CiA: Velocity
mode (vl) [2]".
0x6502 Supported drive modes Bit coded display of the operating modes supported.
• Read only
Bit 1 CiA: Velocity mode 1 = CiA: velocity mode is supported.
Bit 7 Cyclic sync position mode 1 ≡ Cyclic sync position mode is supported.
Bit 8 Cyclic sync velocity mode 1 ≡ Cyclic sync velocity mode is supported.
Bit 9 Cyclic sync torque mode 1 ≡ Cyclic sync torque mode is supported.

364
Configuring the network
EtherCAT
Process data transfer

15.5.3 Process data transfer

• Process data is cyclically transferred between the EtherCAT master and the slaves
(permanent 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
EtherCAT objects that are to be transmitted cyclically).
• Process data is not saved in the device.
• Process data is, e. g. setpoints, actual values, control and status words.
Configuration
• The available objects can be mapped in all operating modes as dynamic (free)
configuration. The contents can be only be selected from the following objects.
• Generic standard mapping objects for all operating modes: 4Standard mapping ^ 365
• Mapping objects for a dynamic (free) assignment: 4Dynamic (free) configuration ^ 366
• The data format is 0xAAAABBCC (AAAA = index, BB = subindex, CC = length).
15.5.3.1 Standard mapping
Generic standard mapping of the RPDOs
Master à slave
RPDO mapping entry 1
RPDO mapping entry 2
RPDO mapping entry 3
RPDO mapping entry 4
RPDO mapping entry 5
RPDO mapping entry 6
RPDO mapping entry 7
RPDO mapping entry 8
RPDO mapping entry 9
RPDO mapping entry 10
RPDO mapping entry 11
RPDO mapping entry 12
RPDO mapping entry 13
RPDO mapping entry 14
RPDO mapping entry 15
RPDO mapping entry 16

Generic standard mapping of the TPDOs

Slave à master
RPDO mapping entry 1
RPDO mapping entry 2
RPDO mapping entry 3
RPDO mapping entry 4
RPDO mapping entry 5
RPDO mapping entry 6
RPDO mapping entry 7
RPDO mapping entry 8
RPDO mapping entry 9
RPDO mapping entry 10
RPDO mapping entry 11
RPDO mapping entry 12
RPDO mapping entry 13
RPDO mapping entry 14
RPDO mapping entry 15
RPDO mapping entry 16

365
Configuring the network
EtherCAT
Process data transfer

15.5.3.2 Dynamic (free) configuration

The freely configurable mapping objects contain an 8 bit dummy entry (0x00050008). This
ensures that each object is transferred cyclically with 16 bits.

In case of the freely configurable mapping objects, it is necessary to ensure that

the total size of the PDO telegrams is always a multiple of 2 bytes (i.e. 2 bytes, 4
bytes, 6 bytes, 8 bytes etc.). For this "filling up" to a 16-bit structure, an 8-bit
dummy entry is available (0x00050008). An odd size of the PDO telegram does
not work with the EtherCAT bus (error message in the sync master of the
EtherCAT master).

15.5.3.3 Expert settings

• The sync managers are configured for the cyclic data transfer and the mailbox
communication (display in ... ).
• For the communication, the I/O data mapping must be configured via ... (for RPDOs) and
... (for TPDOs).

366
Configuring the network
EtherCAT
Parameter data transfer

15.5.4 Parameter data transfer

15.5.5 Monitoring
The parameters for setting network monitoring functions are described below.
Parameter
Address Name / setting range / [default setting] Information
0x10F1:001 Error settings: Local error reaction An error response takes place exclusively via the inverter.
2 Device specific state
0x10F1:002 Error settings: Sync error counter limit Setting for PDO frame failure detection.
0 ... [20] ... 100 When the internal telegram failure error counter reaches the value set
here, the inverter changes to the "Safe-Operational" state and causes an
error (CiA402 error code 0x8700).

367
Configuring the network
EtherCAT
Diagnostics

15.5.6 Diagnostics

15.5.6.1 LED status display

"Operational" Valid process data is exchanged cyclically.

"ERR" LED (red)

"L/A" LED (green)

Blinking pattern State Meaning
off Not connected Network not available
Connected Network available
on No data transfer
Traffic Data transfer
blinking

368
Configuring the network
EtherCAT
Diagnostics

15.5.6.2 Information on the network

The following parameters show information on the network.
Parameter
Address Name / setting range / [default setting] Information
0x2362:007 Active EtherCAT settings: Tx length Display of the length of the transmitted cyclic data in bytes.
• Read only
0x2362:008 Active EtherCAT settings: Rx length Display of the length of the received cyclic data in bytes.
• Read only
0x2368 EtherCAT status Display of the current network status.
• Read only
0
1 Initialization Network initialization 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.
• No PDO transmission.
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.
• Read only
Bit 0 Watchdog elapsed
Bit 2 Invalid configuration
Bit 3 Stack init error
Bit 4 Invalid process data

369
Configuring the network
EtherCAT
Diagnostics

15.5.6.3 EtherCAT master diagnostics

Information is only displayed in the parameter list under Diagnostic Master if an online
connection to the master has been established.
The following information is displayed:
• Most recent error
• Number of emergency frames
• Status information
• Information on the network topology
• Frame and error counter
In addition to the EtherCAT states, additional diagnostic information of up to 4 selected
EtherCAT slaves is displayed under Diagnostic Slaves.
The following information is displayed:
• Slave information
• Addresses
• State
• Count values
• DC sync times
The EtherCAT slave address can be specified using the following parameters:
0x585C
0x585D
0x585E
0x585F
Parameter
Address Name / setting range / [default setting] Information
0x5851:001 EtherCAT master diagnosis: EtherCAT master state Display of the EtherCAT master state.
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
0x5851:002 EtherCAT master diagnosis: EtherCAT master state Display of the EtherCAT master state overview.
summary
• Read only
Bit 0 Master OK
Bit 4 Init
Bit 5 Pre-Operational
Bit 6 Safe-Operational
Bit 7 Operational
Bit 8 Slaves in requested state
Bit 9 Master in requested state
Bit 10 Bus scan match
Bit 12 DC enabled
Bit 13 DC in sync
Bit 14 DC busy
Bit 16 Link up
0x5851:003 EtherCAT master diagnosis: EtherCAT error Display whether an EtherCAT network error has occurred.
• Read only
0x5851:004 EtherCAT master diagnosis: Bus scan match Display whether a "Bus Scan Match" exists.
• Read only
0x5851:005 EtherCAT master diagnosis: Configured cycle time Display of the configured cycle time.
• Read only: x us
0x5851:006 EtherCAT master diagnosis: Connected slaves Display of the number of slaves available in the network.
• Read only

370
Configuring the network
EtherCAT
Diagnostics

Address Name / setting range / [default setting] Information

0x5851:007 EtherCAT master diagnosis: Configured slaves Display of the number of configured slaves.
• Read only
0x5860:001 EtherCAT slaves station addresses: Station address Display of the slave station address.
slave 1
• Read only
0x5860:002 EtherCAT slaves station addresses: Station address
slave 2
• Read only
0x5860:003 EtherCAT slaves station addresses: Station address
slave 3
• Read only
0x5860:004 EtherCAT slaves station addresses: Station address
slave 4
• Read only
0x5860:005 EtherCAT slaves station addresses: Station address
slave 5
• Read only
0x5860:006 EtherCAT slaves station addresses: Station address
slave 6
• Read only
0x5860:007 EtherCAT slaves station addresses: Station address
slave 7
• Read only
0x5860:008 EtherCAT slaves station addresses: Station address
slave 8
• Read only
0x5860:009 EtherCAT slaves station addresses: Station address
slave 9
• Read only
0x5860:010 EtherCAT slaves station addresses: Station address
slave 10
• Read only
0x5860:011 EtherCAT slaves station addresses: Station address
slave 11
• Read only
0x5860:012 EtherCAT slaves station addresses: Station address
slave 12
• Read only
0x5860:013 EtherCAT slaves station addresses: Station address
slave 13
• Read only
0x5860:014 EtherCAT slaves station addresses: Station address
slave 14
• Read only
0x5860:015 EtherCAT slaves station addresses: Station address
slave 15
• Read only
0x5860:016 EtherCAT slaves station addresses: Station address
slave 16
• Read only
0x5861:001 EtherCAT slaves device names: Device name slave 1 Display of the slave device name.
• Read only
0x5861:002 EtherCAT slaves device names: Device name slave 2
• Read only
0x5861:003 EtherCAT slaves device names: Device name slave 3
• Read only
0x5861:004 EtherCAT slaves device names: Device name slave 4
• Read only
0x5861:005 EtherCAT slaves device names: Device name slave 5
• Read only
0x5861:006 EtherCAT slaves device names: Device name slave 6
• Read only

371
Configuring the network
EtherCAT
Diagnostics

Address Name / setting range / [default setting] Information

0x5861:007 EtherCAT slaves device names: Device name slave 7
• Read only
0x5861:008 EtherCAT slaves device names: Device name slave 8
• Read only
0x5861:009 EtherCAT slaves device names: Device name slave 9
• Read only
0x5861:010 EtherCAT slaves device names: Device name slave 10
• Read only
0x5861:011 EtherCAT slaves device names: Device name slave 11
• Read only
0x5861:012 EtherCAT slaves device names: Device name slave 12
• Read only
0x5861:013 EtherCAT slaves device names: Device name slave 13
• Read only
0x5861:014 EtherCAT slaves device names: Device name slave 14
• Read only
0x5861:015 EtherCAT slaves device names: Device name slave 15
• Read only
0x5861:016 EtherCAT slaves device names: Device name slave 16
• Read only
0x5862:001 EtherCAT slaves device types: Device type slave 1 Display of the slave type designation.
• Read only
0x5862:002 EtherCAT slaves device types: Device type slave 2
• Read only
0x5862:003 EtherCAT slaves device types: Device type slave 3
• Read only
0x5862:004 EtherCAT slaves device types: Device type slave 4
• Read only
0x5862:005 EtherCAT slaves device types: Device type slave 5
• Read only
0x5862:006 EtherCAT slaves device types: Device type slave 6
• Read only
0x5862:007 EtherCAT slaves device types: Device type slave 7
• Read only
0x5862:008 EtherCAT slaves device types: Device type slave 8
• Read only
0x5862:009 EtherCAT slaves device types: Device type slave 9
• Read only
0x5862:010 EtherCAT slaves device types: Device type slave 10
• Read only
0x5862:011 EtherCAT slaves device types: Device type slave 11
• Read only
0x5862:012 EtherCAT slaves device types: Device type slave 12
• Read only
0x5862:013 EtherCAT slaves device types: Device type slave 13
• Read only
0x5862:014 EtherCAT slaves device types: Device type slave 14
• Read only
0x5862:015 EtherCAT slaves device types: Device type slave 15
• Read only
0x5862:016 EtherCAT slaves device types: Device type slave 16
• Read only
0x5863:001 Mandatory EtherCAT slaves: Slave 1 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:002 Mandatory EtherCAT slaves: Slave 2 is mandatory
• Read only
0 FALSE
1 TRUE

372
Configuring the network
EtherCAT
Diagnostics

Address Name / setting range / [default setting] Information

0x5863:003 Mandatory EtherCAT slaves: Slave 3 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:004 Mandatory EtherCAT slaves: Slave 4 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:005 Mandatory EtherCAT slaves: Slave 5 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:006 Mandatory EtherCAT slaves: Slave 6 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:007 Mandatory EtherCAT slaves: Slave 7 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:008 Mandatory EtherCAT slaves: Slave 8 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:009 Mandatory EtherCAT slaves: Slave 9 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:010 Mandatory EtherCAT slaves: Slave 10 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:011 Mandatory EtherCAT slaves: Slave 11 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:012 Mandatory EtherCAT slaves: Slave 12 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:013 Mandatory EtherCAT slaves: Slave 13 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:014 Mandatory EtherCAT slaves: Slave 14 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:015 Mandatory EtherCAT slaves: Slave 15 is mandatory
• Read only
0 FALSE
1 TRUE
0x5863:016 Mandatory EtherCAT slaves: Slave 16 is mandatory
• Read only
0 FALSE
1 TRUE

373
Configuring the network
EtherCAT
Diagnostics

Address Name / setting range / [default setting] Information

0x5864:001 EtherCAT slaves initialisation status: Initalisation Display of the initialisation state of the EtherCAT slave.
status slave 1
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5864:002 EtherCAT slaves initialisation status: Initalisation
status slave 2
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5864:003 EtherCAT slaves initialisation status: Initalisation
status slave 3
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5864:004 EtherCAT slaves initialisation status: Initalisation
status slave 4
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5864:005 EtherCAT slaves initialisation status: Initalisation
status slave 5
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5864:006 EtherCAT slaves initialisation status: Initalisation
status slave 6
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5864:007 EtherCAT slaves initialisation status: Initalisation
status slave 7
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed

374
Configuring the network
EtherCAT
Diagnostics

Address Name / setting range / [default setting] Information

0x5864:008 EtherCAT slaves initialisation status: Initalisation
status slave 8
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5864:009 EtherCAT slaves initialisation status: Initalisation
status slave 9
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5864:010 EtherCAT slaves initialisation status: Initalisation
status slave 10
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5864:011 EtherCAT slaves initialisation status: Initalisation
status slave 11
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5864:012 EtherCAT slaves initialisation status: Initalisation
status slave 12
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5864:013 EtherCAT slaves initialisation status: Initalisation
status slave 13
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5864:014 EtherCAT slaves initialisation status: Initalisation
status slave 14
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed

375
Configuring the network
EtherCAT
Diagnostics

Address Name / setting range / [default setting] Information

0x5864:015 EtherCAT slaves initialisation status: Initalisation
status slave 15
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5864:016 EtherCAT slaves initialisation status: Initalisation
status slave 16
• Read only
0 No Error
1 No access
2 Vendor ID check failed
3 Product code check failed
4 Revision check failed
0x5865:001 EtherCAT slaves device status: Device status slave 1 Display of the device status of the EtherCAT slave.
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:002 EtherCAT slaves device status: Device status slave 2
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:003 EtherCAT slaves device status: Device status slave 3
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:004 EtherCAT slaves device status: Device status slave 4
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:005 EtherCAT slaves device status: Device status slave 5
• Read only
0 Unknown
1 Init

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EtherCAT
Diagnostics

Address Name / setting range / [default setting] Information

2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:006 EtherCAT slaves device status: Device status slave 6
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:007 EtherCAT slaves device status: Device status slave 7
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:008 EtherCAT slaves device status: Device status slave 8
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:009 EtherCAT slaves device status: Device status slave 9
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:010 EtherCAT slaves device status: Device status slave 10
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:011 EtherCAT slaves device status: Device status slave 11
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap

377
Configuring the network
EtherCAT
Diagnostics

Address Name / setting range / [default setting] Information

4 Safe-Operational
8 Operational
65519 Not Present
0x5865:012 EtherCAT slaves device status: Device status slave 12
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:013 EtherCAT slaves device status: Device status slave 13
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:014 EtherCAT slaves device status: Device status slave 14
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:015 EtherCAT slaves device status: Device status slave 15
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present
0x5865:016 EtherCAT slaves device status: Device status slave 16
• Read only
0 Unknown
1 Init
2 Pre-Operational
3 Bootstrap
4 Safe-Operational
8 Operational
65519 Not Present

15.5.6.4 Error history buffer

Parameter
Address Name / setting range / [default setting] Information
0x1001 Error register
• Read only

378
Configuring the network
EtherCAT
Diagnostics

15.5.6.5 Device identification

The EtherCAT product code in 0x1018:002 consists of device-specific data and the currently
activated technology application (0x4000). The last three positions in the product code refer
to the activated technology application.
For device identification in the network, the inverter provides the EtherCAT objects listed in
the following.
The objects can only be accessed via the EtherCAT network.
Parameter
Address Name / setting range / [default setting] Information
0x1000 Device type CANopen device profile according CANopen specification CiA 301/
• Read only CiA 402.
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
0x1018:002 Identity object: Product Code Display of the product code of the inverter.
• Read only
419446784 i950 (Basic Safety - STO)
419450880 i950 (BS-STO) 2
419479552 i950 (ES)
419479572 i950 (ES) - TA Table Positioning
419483648 i950 (ES) 4
419483668 i950 (ES) - TA Table Positioning
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

379
Configuring the network
EtherNet/IP

15.6 EtherNet/IP

EtherNet/IP is available from inverter firmware 01.04.02.

As of inverter firmware 01.06, the EtherNet/IP functionality has been
incompatibly extended.

EtherNet/IP™ (EtherNet Industrial Protocol) is a fieldbus system based on Ethernet which uses
the Common Industrial Protocol™ (CIP™) for data exchange.
• EtherNet/IP™ and Common Industrial Protocol™ (CIP™) are trademarks and patented
technologies, licensed by the user organisation ODVA (Open DeviceNet Vendor
Assoziation).
• Detailed information on EtherNet/IP can be found on the web page of the user
organisation: http://www.odva.org
• Information about the dimensioning of a EtherNet/IP network can be found in the
planning manual for the inverter.

The inverter can be controlled by any EtherNet/IP client or client tool. EtherNet/IP client or
client tool must either support Class 1 Messaging or Class 3 Messaging. For this purpose, the
inverter must be configured as Generic Device Adapter or as AC Drive Device with
the »RSLogix™ 5000« programming software of Rockwell Automation® Corporation.
4Commissioning ^ 392
Registered trademarks used or trademarks of the Rockwell Automation® Corporation, USA:
• »RSLogix™«, »RSLogix™ 5000«
• »Allen-Bradley®«
• »CompactLogix™«, »ControlLogix®«, »SoftLogix™«
Preconditions
• The inverter is equipped with the EtherNet/IP network module.
• Connection via RJ45 sockets X266 and X267.
• Use commercially available standard Ethernet cable from CAT 5/5e.
• Selection of the technology application in the inverter with parameter 40x4000 > 1.
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

380
Configuring the network
EtherNet/IP
Supported CIP objects

15.6.1 Supported CIP objects

An object is described by its class, instances and attributes. Various services, such as reading
or writing services, can be applied to the objects.

This chapter only describes the CIP objects implemented by Lenze and their
supported features (attributes).
Not all object features as described in the "Common Industrial Protocol
Specification" of the ODVA are supported.

15.6.1.1 0x01-Identity Object

The "Identity Object" provides the identification and the general information on the device.

Device Type and Product Code are incompatibly changed as of FW 01.06.

0x01: Identity Object

Attribute Name Information
(Instance ID) As of FW 01.06 FW 01.04/FW 01.05
1 Vendor ID 587 (Lenze)
2 Device Type 2 (AC Drive) 43 (Generic Device)
3 Product Code 951 950
4 Revision e.g.: "2.1" e.g.: "1.1"
5 Status Current device status (status bits)
6 Serial Number Serial number of the inverter
7 Product Name i950 Servo Drive
8 State Current device state 40x23A8

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Configuring the network
EtherNet/IP
Supported CIP objects

15.6.1.2 0x04-Assembly Object

The inverter contains EtherNet/IP assembly object instances which refer to the
following »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).
See also:
4Process data transfer ^ 396 (Implicit Messaging)
4Parameter data transfer ^ 409 (Explicit Messaging)
The assembly object provides the following common services for accessing Assembly Object
instances:
• 0x0E: Get_Attribute_Single (read parameter/assembly data)
• 0x10: Set_Attribute_Single (write parameter/assembly data)
Predefined assembly object instances can be used according to the "CIP™ Network Library":
Assembly output objects (outputs)
Assembly output objects are used to enable the inverter (Adapter) and to specify a speed
setpoint 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.
Assembly output objects are assumed to have a 32-bit Run/Idle header. When mapping
assemblies, this header is automatically inserted into the data flow by most Allen-Bradley
PLC/SLC devices. This does not require any adaptations.
If your PLC does not support the 32-bit Run/Idle header, add a leading 32-bit header to the
output image. Set the data in the header to 0.
Bit 0 of the header can be defined in the process image of your PLC:
• Status 0: Idle mode
• Status 1: Run mode
Assembly input objects (inputs)
Assembly input objects are usually used to monitor the status of the inverter (Adapter) and to
query current actual values (e.g. the current speed).
The input objects are mapped in the Adaptermemory from byte 0 and transmitted
"modeless".
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.

382
Configuring the network
EtherNet/IP
Supported CIP objects

Assembly object instances for "AC Drive Profile" technology application

(0x4000 = 5)

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)
3 Speed Reference (high byte)
RunFwd
0 FaultRst
(CW)
1
22 2 Speed Reference (low byte)
(0x16)
3 Speed Reference (high byte)
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)
3 Speed Reference (high byte)
4 Torque Reference (low byte)
5 Torque Reference (high byte)

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)
3 Speed Actual (high byte)
Running1
0 Faulted
(Fwd, CW)
1
72 2 Speed Actual (low byte)
(0x48)
3 Speed Actual (high byte)
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)
3 Speed Actual (high byte)
4 Torque Actual (low byte)
5 Torque Actual (high byte)

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Configuring the network
EtherNet/IP
Supported CIP objects

Assembly object instances for "User" technology application

(0x4000 = 10000)
Output objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
110
0 ... 63 Lenze TA User Output
(0x6E)

Input objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
111
0 ... 63 Lenze TA User Input
(0x6F)

Assembly object instances for standard technology applications (generic selection)

Output objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
112
0 ... 32 Lenze TA Standard Output
(0x70)

Input objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
113
0 ... 63 Lenze TA Standard Input
(0x71)

Assembly object instances for "Speed Control" technology application

(0x4000 = 10)

Output objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
0 ... 3 Control signals 0x5030:010
4 ... 7 External velocity override 40x5030:011
8 ... 11 External velocity 40x5030:012
134 12 ... 15 External velocity offset 0x5030:013
(0x86) 16 ... 19 External acceleration 40x5030:014
20 ... 23 External deceleration 40x5030:015
24 ... 27 External jerk 40x5030:016
28 ... 31 External torque limit 40x5030:017

Input objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
0 ... 3 Status signals 0x5030:110
4 ... 7 Status signals limiter 40x5030:111
8 ... 11 Actual velocity 40x5030:112
135 12 ... 15 Status word 3 (reserved) 0x5030:113
(0x87) 16 ... 19 Error code 40x5030:114
20 ... 23 Actual torque 40x5030:115
24 ... 27 Display value 1 40x5030:116
28 ... 31 Display value 2 40x5030:117

384
Configuring the network
EtherNet/IP
Supported CIP objects

Assembly object instances for "Table Positioning" technology application

(0x4000 = 20)
Configuring the "Table Positioning" TA ^ 104
Output objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
0 ... 3 Control signals 40x5030:010
4 ... 7 External velocity override40x5030:011
8 ... 11 External velocity40x5030:012
136 12 ... 15 External position setpoint 40x5030:023
(0x88) 16 ... 19 External acceleration40x5030:014
20 ... 23 External deceleration40x5030:015
24 ... 27 External jerk40x5030:016
28 ... 31 External torque limit40x5030:017

Input objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
0 ... 3 Status signals 40x5030:110
4 ... 7 Status signals limiter40x5030:111
8 ... 11 Actual velocity40x5030:112
137 12 ... 15 Actual position40x5030:123
(0x89) 16 ... 19 Error code40x5030:114
20 ... 23 Actual torque40x5030:115
24 ...27 Display value 140x5030:116
28 ... 31 Display value 240x5030:117

Assembly object instances for "Electronic Gearbox" technology application

(0x4000 = 40)

Output objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
0 ... 3 Control signals 0x5040:010
4 ... 7 Control word 1 (reserved) 0x5040:011
8 ... 11 Control word 2 (reserved) 0x5040:012
138 12 ... 15 External velocity offset 0x5040:013
(0x8A) 16 ... 19 Control word 4 (reserved) 0x5040:014
20 ... 23 Control word 5 (reserved) 0x5040:015
24 ... 27 External base velocity 0x5040:016
28 ... 31 External torque limit 0x5040:017

Input objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
0 ... 3 Status signals 0x5040:110
4 ...7 Status signals limiter 0x5040:111
8 ... 11 Actual velocity 0x5040:112
139 12 ... 15 Actual Position 0x5040:113
(0x8B) 16 ... 19 Error code 0x5040:114
20 ... 23 Actual torque 0x5040:115
24 ... 27 Display value 1 0x5040:116
28 ... 31 Display value 2 0x5040:117

385
Configuring the network
EtherNet/IP
Supported CIP objects

Assembly object instances for "Sync and Correction" technology application

(0x4000 = 41)

Output objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
0 ... 3 Control signals 0x5040:010
4 ... 7 Control word 1 (reserved) 0x5040:011
8 ... 11 Control word 2 (reserved) 0x5040:012
140 12 ... 15 External position offset 0x5040:023
(0x8C) 16 ... 19 Control word 4 (reserved) 0x5040:014
20 ... 23 Control word 5 (reserved) 0x5040:015
24 ... 27 External base velocity 0x5040:016
28 ... 31 Control word 7 (reserved) 0x5040:027

Input objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
0 ... 3 Status signals 0x5040:110
4 ... 7 Status signals limiter0x5040:111
8 ... 11 Actual velocity0x5040:112
141 12 ... 15 Free Status Word 03 (0x5040:113)0x5040:113
(0x8D) 16 ... 19 Error code0x5040:114
20 ... 23 Actual torque0x5040:115
24 ... 27 Display value 10x5040:116
28 ... 31 Display value 20x5040:117

Assembly object instances for "Winder Dancer" technology application

(0x4000 = 50)

Output objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
0 ... 3 Control signals 0x5050:010
4 ... 7 Set diameter 0x5050:011
8 ... 11 Set velocity 0x5050:012
142 12 ... 15 Dancer set position 0x5050:023
(0x8E) 16 ... 19 Dancer control influence 0x5050:024
20 ... 23 Actual dancer position 0x5050:025
24 ... 27 Control word 6 (reserved) 0x5050:016
28 ... 31 Control word 7 (reserved) 0x5050:017

Input objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
0 ... 3 Status signals 0x5050:110
4 ... 7 Status signals limiter 0x5050:111
8 ... 11 Actual velocity 0x5050:112
143 12 ... 15 Actual position 0x5050:113
(0x8F) 16 ... 19 Error code 0x5050:114
20 ... 23 Actual diameter 0x5050:115
24 ... 27 Display value 1 0x5050:116
28 ... 31 Display value 2 0x5050:117

386
Configuring the network
EtherNet/IP
Supported CIP objects

Assembly object instances for "Winder Tension" technology application

(0x4000 = 51)

Output objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
0 ... 3 Control signals 0x5050:010
4 ... 7 Set diameter0x5050:011
8 ... 11 Set velocity0x5050:012
144 12 ... 15 Set tension 0x5050:013
(0x90) 16 ... 19 Tension control influence 0x5050:014
20 ... 23 Actual tension 0x5050:015
24 ... 27 Control word 6 (reserved)0x5050:016
28 ... 31 Control word 7 (reserved)0x5050:017

Input objects
Attribute Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
(Instance ID)
0 ... 3 Status signals 0x5050:110
4 ... 7 Status signals limiter0x5050:111
8 ... 11 Actual velocity0x5050:112
145 12 ... 15 Actual position0x5050:113
(0x91) 16 ... 19 Error code0x5050:114
20 ... 23 Actual diameter0x5050:115
24 ... 27 Display value 10x5050:116
28 ... 31 Display value 20x5050:117

15.6.1.3 0x28-Motor Data Object

The "Motor Data Object" provides the data basis for motor parameters.
0x28: Motor Data Object
Attribute Name Info / parameter
(Instance ID)
3 Motor Type AC Drive motor type 0x5020:026
Default setting: Squirrel cage induction motor 0x5020:026 = 1
6 Rated Current [mA] Rated motor current 40x6075
7 Rated Voltage [V] Rated voltage 40x2C01:007

387
Configuring the network
EtherNet/IP
Supported CIP objects

15.6.1.4 0x29-Control Supervisor Object

The "Control Supervisor Object" describes all management functions of the device for the
motor control.
0x29: Control Supervisor Object
Attribute Name Info / parameter
(Instance ID)
3 Run1 AC drive control word 0x5030:010: Bit 0 Run forward (CW)
4 Run2 AC drive control word 0x5030:010: Bit 1 Run reverse (CCW)
5 NetCtrl AC drive control word 0x5030:010: Bit 5 Activate network control
6 State AC drive status word 0x5030:110: Bit 8 Status bit 0
AC drive status word 0x5030:110: Bit 9 Status bit 1
AC drive status word 0x5030:110: Bit 10 (Drive State)
AC drive status word 0x5030:110: Bit 11 Status bit 3
7 Running1 AC drive status word 0x5030:110: Bit 2 Running forward
8 Running2 AC drive status word 0x5030:110: Bit 3 Running reverse
9 Ready AC drive status word 0x5030:110: Bit 4 Ready
10 Faulted AC drive status word 0x5030:110: Bit 0 Fault
11 Warning AC drive status word 0x5030:110: Bit 1 Warning
12 FaultRst AC drive control word 0x5030:010: Bit 2 Fault reset
13 FaultCode 0x5032:53 Error code
15 CtrlFromNet AC drive status word 0x5030:110: Bit 5 Network control active

15.6.1.5 0x2A-AC Drive Object

The "AC Drive Object" describes the device-specific functions of the inverter, e.g. speed
ramps, torque control etc.
0x2A: AC Drive Object
Attribute Name Info / parameter
(Instance ID)
3 AtReference Status Signals 0x5030:110: Bit 7 (Setpoint reached)
4 NetRef Control signals 0x5030:010: Bit 6 (Activate network setpoint)
6 DriveMode AC Drive Mode 0x5020:027
• 0 = Vendor specific
• 1 = Speed control (Open Loop)
• 2 = Speed control (Closed Loop)
• 3 = Torque control
7 SpeedActual / 2SpeedScale [rpm] Network actual speed (scaled) = 0x5030:122/20x5030:028
8 SpeedRef / 2SpeedScale [rpm] Network setpoint speed (scaled) = 0x5030:021/20x5030:028
11 TorqueActual / 2TorqueScale [Nm] Network actual torque (scaled) = 0x5030:123/20x5030:029
12 TorqueRef / 2TorqueScale [Nm] Network setpoint torque (scaled) = 0x5030:022/20x5030:029
18 AccelTime Acceleration time 0x5031:190
19 DecelTime Deceleration time 0x5031:191
20 LowSpdLimit Speed - Low limit 0x5031:193
21 HighSpdLimit Speed - High limit 0x5031:192
22 SpeedScale Speed scale value 0x5030:028
Scaling of SpeedActual and SpeedRef.
24 TorqueScale Torque scale value 0x5030:029
Scaling of TorqueActual and TorqueRef.
29 RefFromNet Status Signals 0x5030:110: Bit 6 (Network setpoint active)

388
Configuring the network
EtherNet/IP
Supported CIP objects

15.6.1.6 0x47-Device Level Ring (DLR) Object

The "Device Level Ring (DLR) Object" provides status information for the DLR protocol. The
DLR protocol is a "layer 2" protocol enabling the use of an Ethernet ring topology.
0x47: Device Level Ring (DLR) Object
Attribute Name Information
(Instance ID)
1 Network Topology Current network topology
• 0: Line topology
• 1 Ring topology
2 Network Status Current network status
• 0: Normal
• 1 Ring Fault (only for ring topology)
• 2: Unexpected Loop Detected (only for line topology)
• 3: Partial Network Fault
• 4: Rapid Fault/Restore Cycle
10 Active Supervisor Address IP address and MAC address of the active ring supervisor
12 Capability Flags Telegram processing method for the ring node implementation
• 2: Beacon-based ring node

15.6.1.7 0x48-Quality of Service (QoS) Object

The "Quality of Service (QoS) Object" enables different classifications and prioritizations of the
data packets for the EtherNet/IP communication. For this purpose the EtherNet/IP messages
are marked with "Differentiated Services Codepoints" (DSCP).
0x48: Quality of Service (QoS) Object
Attribute Name Information
(Instance ID)
4 DSCP Urgent Default: 55: Urgent/imperative messages
5 DSCP Scheduled Default: 47 (Scheduled messages)
6 DSCP High Default: 43 (Messages with high priority)
7 DSCP Low Default: 31 (Messages with low priority)
8 DSCP Explicit Default: 27 ("Explicit Messages"/parameter data)

15.6.1.8 0x67-Lenze Class Object 103

The "Lenze Class (0x67)" provides the image of the input data of the scanner.
The input data for the Scanner is sent to the Scanner via the configured assembly input object
instance.
0x67: Lenze Class Object 103
Attribute Name Information
(Instance ID)
3 I/O image of produced data Image of the scanner input data

15.6.1.9 0x68-Lenze Class Object 104

The "Lenze Class (0x68)" provides the image of the output data of the scanner.
The output data of the scanner is sent via the configured assembly output object instance.
0x68: Lenze Class Object 104
Attribute Name Information
(Instance ID)
3 I/O image of consumed data Image of the scanner output data

389
Configuring the network
EtherNet/IP
Supported CIP objects

15.6.1.10 0x6E-Lenze Class Object 110

The "Lenze Class (0x6E)" enables read or write access to Lenze inverter parameters.
The Lenze parameter must be specified as "Instance" and its subindices as "Attribute".

If there is no subindex, the attribute must be set to "0".

If the engineering tool used does not support the attribute value "0", the value
'1' must be entered.
Configuration of a display parameter by "Set_Attribute_Single" is not possible.

0x6E: Lenze Class Object 110

Service Type Instance Attribute Data
(Instance ID)
Get_Attribute_Single Index number of the Lenze parameter Subindex number of the Lenze Value of the parameter or subindices
Set_Attribute_Single parameter or 0x01 for parameters
without subindex.

15.6.1.11 0xF5-TCP/IP Interface Object

The "TCP/IP Interface Object" is used to configure the TCP/IP network interface of the device.
0xF5: TCP/IP Interface Object
Attribute Name Info / parameter
(Instance ID)
1 Status Current status of the TCP/IP network interface
2 Configuration Capability Possible options for TCP/IP configuration
• DHCP client
• Config. Settable
• ACD capable
3 Configuration Control Type of the TCP/IP configuration 0x23A1:005
Possible values for bit 0 ... 3
• 0000: Static TCP/IP configuration
• 0010: TCP/IP configuration via DHCP
4 Physical Link Object Path to "Physical Link Object"
5 Interface Configuration Current TCP/IP configuration
• IP address: 0x23A1:001
• Subnetwork: 0x23A1:002
• Gateway: 0x23A1:003
"Interface Configuration Change Requires Reset" is not supported, i.e. a write
access to attribute 5 is implemented immediately!
6 Host Name Host name: 0x23A1:004
8 TTL Value TTL value for EtherNet/IP multicast data packages: 0x23A1:006
9 Mcast Config Multicast settings
• Multicast assignment: 0x23A1:007
• Multicast IP address: 0x23A1:008
• Multicast number: 0x23A1:009
10 SelectAcd Activate address conflict detection (ACD) 0x23A7
• 0: Deactivate ACD
• 1 Activate ACD
11 LastConflictDetected ACD diagnostic information about the last address conflict that occurred.
13 Encapsulation Inactivity Timeout Number of seconds of inactivity before the TCP connection session is closed.

390
Configuring the network
EtherNet/IP
Supported CIP objects

15.6.1.12 0xF6-Ethernet Link Object

The "Ethernet Link Object" provides general information and status information of the
Ethernet interfaces (IEEE 802.3)
Instance 1 for interface X266, instance 2 for interface X267.
0xF6: Ethernet Link Object
Attribute Name Info / parameter
(Instance ID)
1 Interface Speed Current baud rate
• 10 Mbps
• 100 Mbps
2 Interface Flags Status bits of the Ethernet interface
The change of an attribute of the interface configuration becomes effective
immediately.
3 Physical Adress MAC address of the Ethernet interface: 0x23A2:005
4 Interface Counters Interface-specific counter
5 Media Counters Media-specific counter
6 Interface Control Interface settings
• Port 1: 0x23A4:001
• Port 2: 0x23A4:002
7 Interface Type Twisted Pair is supported.
8 Interface State Interface status
9 Admin State Administrative setting of the interface status
• Enable interface
• Disable interface

10 Interface Label Text for the identification/designation of the Ethernet interface

• X266 (instance 1)
• X267 (instance 2)
11 Interface Capability • Manual settings are effective immediately (no reset required).
• Autonegotiation is supported.
• Auto-MDIX is supported.
• Manual setting of Speed and Duplex is supported.

391
Configuring the network
EtherNet/IP
Commissioning

15.6.2 Commissioning
The steps required to control the device as an EtherNet/IP adapter with a Rockwell
EtherNet/IP scanner are described below.
Preconditions
• The inverter is networked as EtherNet/IP Adapter with an EtherNet/IP Scanner and, if
necessary, further EtherNet/IP nodes.
- Typically, an EtherNet/IP network consists of segments that contain point-to-point
connections in a star configuration.
- See also "Typical topologies" under: 4EtherNet/IP ^ 380
• 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.
- Download of current EDS files

The EDS file of the i950 supports AOP (Add On Profile). The tags used are
matched to the Lenze applications. This gives the user a better understanding
when configuring with »RSLogix™ 5000«.
As of inverter firmware V1.6.x, the EDS file with the name
Lenze_i951_ACD_V2.eds must be used.
- The »EDS Hardware Installation Tool« of the »RSLogix™ 5000« installs the EDS files.
• 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.

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Configuring the network
EtherNet/IP
Commissioning

15.6.2.1 Required commissioning steps

How to configure the network with "RSLogix™ 5000" (from version 20):
• The PC with the programming software »RSLogix™ 5000« must be in the same network as
the devices to be configured.
1. Configure IP communication.
1. Make basic IP settings on the engineering PC.
2. Via the Rockwell tool »BootP-DHCP Tool«, set a DHCP server or the »EASY Starter«:
a) IP address of the inverter (adapter) 0x23A1:001
b) Subnetwork mask 0x23A1:002
c) Gateway address 0x23A1:003
3. Save parameter settings: 0x2022:003 = "On / start [1]"
4. Restart the EtherNet/IP communication: 0x23A0 = "Restart with current values [1]"
The configuration of the IP communication is now completed.
2. Configure technology application:
1. Select technology application: 0x4000 > 1.
2. Select TA interface: 0x4001 = 0 "Network"
3. Save parameter settings: 0x2022:003 = "On / start [1]"
The technology application is now controlled via the scanner.
3. Define I/O configuration:
1. Start »RSLogix™ 5000«.
2. Open or recreate a »RSLogix™« project.
3. Configure the cyclic data transfer (Implicit Messaging).
4Network configuration of the inverter with EDS file ^ 397
4Network configuration of the inverter without EDS file ^ 403
4. Configure the acyclic data transfer (Explicit Messaging).
4Parameter data transfer ^ 409
The configuration of the network is now completed.
4. Complete the commissioning:
1. Save the "RSLogix™" project and load the configuration into the PLC (scanner).
4Save »RSLogix™« project/Load configuration into the Scanner ^ 393
2. Restart communication, when the EtherNet/IP configuration has been changed.
4Restart of the communication ^ 394
Commissioning is completed.
15.6.2.2 Save »RSLogix™« project/Load configuration into the Scanner
To save the "RSLogix™" project and load the configuration into the PLC (scanner):
1. Save »RSLogix™« project:
1. Click ""File"" in the upper toolbar.
2. Execute the "Save" menu command.
The configuration is saved in a file on your PC.
2. Load configuration into the scanner:
1. Click "Communications" in the upper toolbar.
2. Execute the "Download" menu command.
The "Download" dialog box is opened.
3. Click "Download".
The configuration is loaded into the Scanner.
If the download has been completed successfully, »RSLogix™« changes to the online mode.
The I/O-OK field in the upper left area of the screen is green.

393
Configuring the network
EtherNet/IP
Commissioning

15.6.2.3 Restart of the communication

The communication needs to be restarted after the EtherNet/IP configuration is changed, so
that the changed settings can take effect.
For restarting communication, there are two options:
• Switch inverter off and on again.
• 0x23A0 Set = "Restart with current values [1]".
Parameter
Address Name / setting range / [default setting] Information
0x23A0 EtherNet/IP communication Restart / stop communication.
• When the device command has been executed successfully, the value
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!
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.
5 Stop network communication Stop communication.
10 In process Only status feedback
11 Action cancelled
12 Fault

394
Configuring the network
EtherNet/IP
Basic setting and options

15.6.3 Basic setting and options

Parameter
Address Name / setting range / [default setting] Information
0x23A1:001 EtherNet/IP settings: IP address Set IP address.
0.0.0.0 ... [192.168.124.16] ... 255.255.255.255
0x23A1:005 EtherNet/IP settings: IP configuration Set IP configuration.
0 Stored IP The currently saved IP configuration is used.
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.
CAUTION!
If the inverter (Adapter) is connected to the network but is not assigned
an IP address via DHCP for approx. 40 s, the command Restart with
current values 0x23A0 = "[1]" is triggered automatically.
This process repeats cyclically until an IP address has been assigned via
DHCP.
0x23A1:002 EtherNet/IP settings: Subnet Set subnet mask.
0.0.0.0 ... [255.255.255.0] ... 255.255.255.255
0x23A1:003 EtherNet/IP settings: Gateway Set gateway address.
0.0.0.0 ... [0.0.0.0] ... 255.255.255.255
0x23A1:004 EtherNet/IP settings: Host name Set host name.
• String with up to 64 characters.
0x23A1:006 EtherNet/IP settings: Multicast TTL Setting of the multicast TTL value for the validity period of data packets
0 ... [1] ... 255 in the network. The TTL value defines the number of hops that the
multicast message can distribute via routers.
0x23A1:007 EtherNet/IP settings: Multicast allocation Selection for multicast-IP addressing.
0 Default allocation
1 Multicast number/start address
0x23A1:008 EtherNet/IP settings: Multicast IP address Set multicast IP address.
0.0.0.0 ... [239.64.2.224] ... 255.255.255.255
0x23A1:009 EtherNet/IP settings: Multicast number Set multicast number.
1 ... [1] ... 10
0x23A4:001 Port 1 Set baud rate for Ethernet port 1.
0 Auto-Negotiation
5 10 Mbps/Half Duplex
6 10 Mbps/Full Duplex
7 100 Mbps/Half Duplex
8 100 Mbps/Full Duplex
0x23A4:002 Port 2 Set baud rate for Ethernet port 2.
0 Auto-Negotiation
5 10 Mbps/Half Duplex
6 10 Mbps/Full Duplex
7 100 Mbps/Half Duplex
8 100 Mbps/Full Duplex
0x23A7 Address conflict detection Activate address conflict detection (ACD) (enable).
• If this value is changed, the device must be reset ("Power off/on" or
"Type 0 Reset").
0 Disabled
1 Enabled

395
Configuring the network
EtherNet/IP
Process data transfer

15.6.4 Process data transfer

In addition to the defined AC drive profile, the inverter supports customer-specific
configurations.
I/O-Konfiguration
The I/O configuration defines which parameters are transferred using the assembly objects.
There are two ways to configure the cyclic data transfer (Implicit Messaging)
in »RSLogix™ 5000« (from version 20):
4Network configuration of the inverter with EDS file ^ 397 (recommended)
4Network configuration of the inverter without EDS file ^ 403 (as "Generic Ethernet
Module“)

396
Configuring the network
EtherNet/IP
Process data transfer

15.6.4.1 Network configuration of the inverter with EDS file

The cyclic data transfer (Implicit Messaging) with EDS file is set up in 3 steps.
Preconditions
The inverter is registered with its EDS device description file in
the »RSLogix™ 5000« programming software.
Download EDS device description for Lenze EtherNet/IP communication modules

397
Configuring the network
EtherNet/IP
Process data transfer

Step 1 - Set up a new Ethernet device:

1. Go to the "Controller Organizer" under "I/O Configuration" à "Ethernet" and execute the
menu command "New Module" with a right-click.

2. Select the "i95A i950 Servo Drive“ module type in the dialog box.
Open the dialog "Select Module Type".

3. Open tab "Catalog".

a) Filter by "i9" or "lenze".
b) Select the ""i95A"" catalog.
4. Click "Create".
The "New Module" dialog box is opened.

398
Configuring the network
EtherNet/IP
Process data transfer

5. Select the dialog "General".

a) Assign a name for the inverter.
b) Assign an unambiguous IP address.

DNS is not supported.

The host name only describes the device.

6. Click "Change".
7. Open the "Module Definition" dialog box.

Access to the I/O data for the technology application selected and active in the inverter is
defined here. See table.

Only "Exclusive Owner“ connections are supported.

The selection of the technology application in the inverter must match the
selection of the technology application from the EDS file.

399
Configuring the network
EtherNet/IP
Process data transfer

Connection Name Size [Bytes] Selected technology application in the inverter Comment
Input Output Name 0x4000 =
AC Drive Profile – Basic Speed 4 4
AC Drive Profile – Extended Speed 4 4 Corresponds to the ODVA
AC Drive Profile – Basic Speed and Torque 6 6 "AC Drive Profile" technology application 5 profile "AC Drive Speed/
AC Drive Profile – Extended Speed and 6 6 Torque"
Torque
Lenze TA Speed Control 32 32 "Speed Control" technology application 10
Lenze TA Table Positioning 32 32 "Table Positioning" technology application 20
Lenze TA Electronic Gearbox 32 32 "Electronic Gearbox" technology
40
application
Lenze TA Sync and Correction 32 32 "Sync and Correction" technology
41
application
Lenze TA Winder Dancer 32 32 "Winder Dancer" technology application 50
Lenze TA Winder Tension 32 32 "Winder Tension" technology application 51
Lenze TA User 1 … 64 1 … 64 "User" technology application 10000
Use selection for Lenze
>1 and standard technology
Lenze TA Standard (generic) 32 32 Other technology applications
<100 applications not listed in this
table

400
Configuring the network
EtherNet/IP
Process data transfer

Step 2 - Set up connection:

1. Open the "Connection“ dialog box.

2. Set "Requested Packet Interval (RPI)" (cycle with which the inverter is scanned by the
scanner).

Default setting = 10 ms
For most applications, it is not necessary to scan the inverter more frequently.
Minimum value = 1 ms.
3. Select connection type: "Unicast" or "Multicast“.
4. Optional settings
a) "Inhibit Module": Activate locks the inverter.
b) "Major Fault On Controller If Connection Fails While in Run Mode": Activate switches the
inverter to "Error" if the EtherNet/IP connection to the inverter is lost during operation.
5. Click "OK".
6. Assembly tags are created in the "Controller Organizer" under "Controller" à "Controller
Tags".

In the sample configuration with the "LenzeServo1" inverter, these three assembly tags are
generated:
"LenzeServo1:C" for the configuration assembly
"LenzeServo1:I" for the input assembly
"LenzeServo1:O" for the output assembly
Clicking the icon in front of the assembly names expands the display of the assemblies.

Since the EDS file supports "EDS Add-On Profile (AOP)", the input tags and the
output tags are named application-specifically. The assignment of an alias tag is
thus not necessary.

The network configuration of the inverter is now complete.

Step 3 - Save configuration:

1. Save the "RSLogix™" project and load the configuration into the PLC (scanner).
Save »RSLogix™« project/Load configuration into the Scanner ^ 393
The configuration with the EDS file is now complete.

401
Configuring the network
EtherNet/IP
Process data transfer

Example for an output assembly

Display of the 2 words of the output assembly "LenzeServo1:O" when using the TA Speed
Control:

402
Configuring the network
EtherNet/IP
Process data transfer

15.6.4.2 Network configuration of the inverter without EDS file

The cyclic data transfer (Implicit Messaging) without EDS file is set up in 4 steps.

403
Configuring the network
EtherNet/IP
Process data transfer

Step 1 - Set up a new Ethernet device:

1. Go to the "Controller Organizer" under "I/O Configuration" à "Ethernet" and execute the
menu command "New Module" with a right-click.

2. Select the "ETHERNET MODULE Generic Ethernet Module" module type in the dialog box.

3. Click "Create".
The "New Module" dialog box is opened.
4. Fill in input fields.

404
Configuring the network
EtherNet/IP
Process data transfer

The example shows the configuration for the Lenze standard technology
application "Speed Control". 0x4000 = 10
The assembly input object 135 is used for reading status information of the
inverter and the assembly output object 134 is used for controlling the inverter.
If another technology application is used, the assigned assembly objects must
be used: 40x04-Assembly Object ^ 382

a) "Name:" The name to be entered should refer to the process or the device. Select
b) "Comm Format:" Data - DINT because the data in assembly objects are available in 32-
bit integer words.
c) "IP Address:" The inverter (adapter) must be in the same subnetwork as the PLC
(scanner). The subnetwork corresponds to the first 3 bytes of the IP address. 4Basic
setting and options ^ 395
d) Enter "Connection Parameters":
"Input:" Assembly Instance = 135, Size = 8
"Output:"Assembly Instance = 134, Size = 8
"Configuration:"Assembly Instance = 130, Size = 16
5. Click "OK".
The "Module Properties Report: ..." dialog box is opened.

405
Configuring the network
EtherNet/IP
Process data transfer

Step 2 - Set up connection:

1. Click the "Module Properties Report: ..." tab in the "Connection" dialog box.

2. Set "Requested Packet Interval (RPI)" (cycle with which the inverter is scanned by the
scanner).

The default setting is 10.0 ms. For most applications, it is not necessary to scan
the inverter more frequently.
The minimum value is 1.0 ms.
3. Select connection type: "Unicast" or "Multicast“.
For this purpose, activate/deactivate "Use Unicast Connection over EtherNet/IP".
4. Optional settings:
a) "Inhibit Module": Activate locks the inverter.
b) "Major Fault On Controller If Connection Fails While in Run Mode": Activate switches the
inverter to "Error" if the EtherNet/IP connection to the inverter is lost during operation.
5. Assembly tags are created in the "Controller Organizer" under "Controller" à "Controller
Tags".

6. Click "OK".
In the sample configuration with the "LenzeServo1" inverter, these three assembly tags are
generated:
"LenzeServo1:C" for the configuration assembly
"LenzeServo1:I" for the input assembly
"LenzeServo1:O" for the output assembly
Clicking the icon in front of the assembly names expands the display of the assemblies.

406
Configuring the network
EtherNet/IP
Process data transfer

Step 3 - Create alias tags for individual bits of the assemblies:

1. Go to "Controller Organizer" under "Controller" and 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 (example):

a) "Name:" Enter the name for the alias tag, e.g. "i950_Contr_Rel".
b) Select "Type:" "Alias".
c) "Alias For:" Select the assembly tag. e.g. assign the double word 0
(LenzeServo1:O.Data[0]) to the alias "i950_Contr_Rel" in the output assembly.
4. Click "Create".
The new alias tag is added to the database.
5. If necessary, create additional alias tags.
The network configuration of the inverter is now complete.

Step 3 - Save configuration:

1. Save the "RSLogix™" project and load the configuration into the PLC (scanner).
Save »RSLogix™« project/Load configuration into the Scanner ^ 393
The configuration without the EDS file is now complete.

407
Configuring the network
EtherNet/IP
Process data transfer

Example for an output assembly

Example: Display of the 8 double words of the output assembly "LenzeServo1:O":

408
Configuring the network
EtherNet/IP
Parameter data transfer

15.6.5 Parameter data transfer

Acyclic data transfer (Explicit Messaging)
Via the acyclic data transfer (Explicit Messaging) the PLC (Scanner) can access any drive
parameters or device parameters.
Typical applications:
• Monitoring
• Non-timed parameter access with low priority
• Writing and reading the parameter data of the inverter (Adapter)
• Writing and reading the assembly data of an EtherNet/IP device
The acyclic data transfer can be monitored: 4EtherNet/IP communication monitoring ^ 413

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.

Explizite Meldung
An explicit message is a logic instruction in the PLC program for the message transfer.

• 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 there is no subindex, the attribute must be set to "0". The attribute value "1" is
supported only for those clients that do not support attribute value "0".
• Possible data types of the variables:
- SINT (8 bits, 1-byte objects)
- INT (16 bits, 2-byte objects)
- DINT (32 bits, 4-byte objects)
• Device parameters and PLC program variables must have the same data lengths!

409
Configuring the network
EtherNet/IP
Parameter data transfer

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.

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!

410
Configuring the network
EtherNet/IP
Parameter data transfer

Write parameter value

Definitions to write a parameter value (Scanner à Adapter):
• Message Type = CIP Generic
• 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

CIP Generic Master (read/write assembly data)

For "CIP Generic Master" that do not support Implicit Messaging (class1), the assembly data
can be read or written via Explicit Messaging (class3).
Settings to read assembly data (Adapter à Scanner):
• Message Type = CIP Generic
• 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 DINT format and the same data length as the desired assembly!

Settings to write assembly data (Scanner à Adapter

• Message Type = CIP Generic
• Service Code = 0x10 (write assembly data, Set_Attribute_Single)
• Class = 0x04
• Instance = assembly number in the desired device (e.g. 23 for assembly "23")
• Attribute = 0x03
• Source Element = DINT array in the PLC (scanner), that is used as source of the assembly
data to be written.
• Source Length = data length (bytes) of the DINT array to be written.

411
Configuring the network
EtherNet/IP
Monitoring

15.6.6 Monitoring
Parameters for setting the network monitoring functions

412
Configuring the network
EtherNet/IP
Monitoring

15.6.6.1 EtherNet/IP communication monitoring

Implicit Messaging Timeout
The inverter (adapter) monitors the I/O connection to the scanner. If no "Implicit Message"
has been received within the timeout parameterized by the scanner for implicit messages, the
reaction set in 0x2859:001 is triggered in the inverter.
Explicit Messaging Timeout
If no "Explicit Message" has been received within the timeout parameterized by the scanner
for explicit messages, the reaction set in 0x2859:006 is triggered in the inverter.
Timeout for process controlling write accesses
The monitoring time set in 0x23A1:010 is used to monitor process-controlling write accesses
to technology applications.
Write accesses within this monitoring time reset the watchdog. After the monitoring time has
elapsed, the response set in 0x2859:007 is triggered in the inverter.
The following is monitored:
Acyclic write accesses (Explicit Messages) to the following attributes
• Write accesses to the data attribute of the output object of the assembly object instance
of the TA. 40x04-Assembly Object ^ 382
• Write accesses to the Lenze Class Object 104/0x68, Instance 1, Attribute 3 (I/O image of
consumed data). 40x68-Lenze Class Object 104 ^ 389
• Write accesses to the AC Drive Class Object 42/0x2A, Instance 1 40x2A-AC Drive
Object ^ 388
- Attribute 4 (NetRef)
- Attribute 8 (SpeedRef)
- Attribute 12 (TorqueRef)
• Write accesses to the Control Supervisor Class Object 41/0x29, Instance 1 40x29-Control
Supervisor Object^ 388
- Attribute 3 (Run1)
- Attribute 4 (Run2)
- Attribute 5 (NetCtrl)
Cyclic write accesses (Implicit Messages)
• A Exclusive Owner connection associated with the current TA is established, which
exchanges valid I/O data within the parameterized timeout time.

The following write accesses to Lenze parameters do not reset the watchdog:
Write accesses to the Lenze Class Object 110/0x6E via Explicit Messaging.
40x6E-Lenze Class Object 110^ 390
Write accesses via EASY Starter

Parameter
Address Name / setting range / [default setting] Information
0x23A1:010 EtherNet/IP settings: Timeout Setting of the maximum permissible time-out for the CIP
0 ... [10000] ... 65535 communication.
When the specified monitoring time has elapsed, the response set in
0x2859:007 is triggered in the inverter.
0x2859:007 Fieldbus network monitoring: Timeout Selection of the response to the time-out during the CIP communication.
communication The monitoring time for the CIP communication is defined in
0x23A1:010.
Associated error code:
• 33044 | 0x8114 - Network - Overall communication time-out
0 No response
1 Fault > CiA402
2 Warning

413
Configuring the network
EtherNet/IP
Monitoring

Address Name / setting range / [default setting] Information

0x2859:001 Fieldbus network monitoring: Watchdog elapsed Selection of the response to a permanent interruption of the
communication to the IO controller.
Associated error code:
• 33168 | 0x8190 - Network - Watchdog time-out
0 No response
1 Fault > CiA402
2 Warning
0x2859:006 Fieldbus network monitoring: Time-out explicit Selection of the response to timeouts during transfer of Explicit
message Messages.
0 No response
1 Fault > CiA402
2 Warning

15.6.6.2 Other monitoring

Parameter
Address Name / setting range / [default setting] Information
0x2859:003 Fieldbus network monitoring: Invalid configuration Selection of the response triggered by the reception of invalid
configuration data.
Associated error code:
• 33415 | 0x8287 - Network - Invalid configuration
0 No response
1 Fault > CiA402
2 Warning
0x2859:004 Fieldbus network monitoring: Initialisation error Selection of the response triggered by the occurrence of an error during
the initialization of the network component.
Associated error code:
• 33170 | 0x8192 - Network - Initialization error
0 No response
1 Fault > CiA402
2 Warning
0x2859:005 Fieldbus network monitoring: Invalid process data Selection of the response triggered by the reception of invalid process
data.
Process data marked as invalid (IOPS is "BAD") are received by the IO
Controller. Typically in case of
• a PLC in STOP state,
• alarms,
• acyclic demand data.
Associated error code:
• 33171 | 0x8193 - Network - Invalid cyclic process data
0 No response
1 Fault > CiA402
2 Warning

414
Configuring the network
EtherNet/IP
Diagnostics

15.6.7 Diagnostics

15.6.7.1 LED status display

The "NS" and "MS" LEDs indicate the CIP network status.
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 and 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)
Device self testing The network option executes a self-test.
Blinking green/red

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

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

415
Configuring the network
EtherNet/IP
Diagnostics

15.6.7.2 Information on the network

Parameter
Address Name / setting range / [default setting] Information
0x23A2:001 Active EtherNet/IP settings: IP address Display of the active IP address.
• Read only
0x23A2:002 Active EtherNet/IP settings: Subnet Display of the active subnet mask.
• Read only
0x23A2:003 Active EtherNet/IP settings: Gateway Display of the active gateway address.
• Read only
0x23A2:005 Active EtherNet/IP settings: MAC address Display of the active MAC address.
• Read only
0x23A2:006 Active EtherNet/IP settings: Multicast address Display of the active Multicast IP address.
• Read only
0x23A5:001 Active port settings: Port 1 (X266) Display of the active configuration for Ethernet port 1.
• Read only
0 Not connected
1 10 Mbps/Half Duplex
2 10 Mbps/Full Duplex
3 100 Mbps/Half Duplex
4 100 Mbps/Full Duplex
0x23A5:002 Active port settings: Port 2 (X267) Display of the active configuration for Ethernet port 2.
• Read only
0 Not connected
1 10 Mbps/Half Duplex
2 10 Mbps/Full Duplex
3 100 Mbps/Half Duplex
4 100 Mbps/Full Duplex
0x23A7 Address conflict detection Activate address conflict detection (ACD) (enable).
• If this value is changed, the device must be reset ("Power off/on" or
"Type 0 Reset").
0 Disabled
1 Enabled
0x23A8 CIP module status Display of the active CIP module status.
• Read only
0 Nonexistent
1 Device self testing
2 Standby
3 Operational
4 Major recoverable fault
5 Major unrecoverable fault
0x23A9 EtherNet/IP status Display of the active network status.
• Read only
0 No IP address
1 No connections
2 Connected
3 Connection timeout
4 Duplicate IP
5 Device self testing

416
Configuring the network
PROFINET

15.7 PROFINET

PROFINET® (Process Field Network) is a real-time capable network based on Ethernet.

• PROFINET® is a registered trademark and patented technology licensed by the PROFIBUS &
PROFINET International (PI) user organization.
• Detailed information on PROFINET can be found on the web page of the user organization:
http://www.profibus.com
• PROFINET transmits, between the IO-Devices and a IO-Controller (PLC), parameter data,
configuration data, diagnostic data, alarm messages, and process data.
• The data is transmitted as a function of its time-critical behavior via corresponding
communication channels.
• The device is implemented as a PROFINET-Device in a PROFINET RT network.
• The PROFINET connections are realized as standard RJ45 sockets.
• Further information about the dimensioning of a PROFINET network can be found in the
configuration document.
Preconditions
• The inverter is equipped with the "PROFINET" network module.
Connection via RJ45 sockets X256 and X257 with commercially available standard Ethernet
cable from CAT 5/5e.
• Selection of the technology application in the inverter with parameter 40x4000 > 1.

More information about connections can be found on the Internet:

www.profibus.org à PROFINET Cabling and Interconnection Technology

Typical topologies
Line Tree

C C

R
D1 D2 Dn SW1 SW2 SWn

Ring

Dn R D1

D3 D2

C IO controller SW Switch SCALANCE (MRP capable)

D IO device R Redundant domain

417
Configuring the network
PROFINET
Commissioning

15.7.1 Commissioning
In the following chapters, the steps required for controlling the inverter with a IO-Controller
via PROFINET are described.
Preconditions
• As an IO-Device, the inverter is connected to an IO-Controller and further PROFINET nodes
if required.
See "Typical topologies" under: 4PROFINET ^ 417
• The entire wiring has been checked for completeness, short circuit and earth fault.
• All PROFINET devices are supplied with voltage and are switched on.
• The functional test described in the mounting and switch-on instructions has been
completed successfully (without any errors or faults).
• The inverter is commissioned with the »EASY Starter«.
• Download »EASY Starter«
• The IO-Controller is commissioned with a different engineering tool, e. g.
Siemens »TIA Portal«.
For this purpose, install the required GSDML device description file in the engineering tool
for the IO-Controller for configuring the inverter.
We always recommend the use of the current device description.
• Download of GSDML files
• Please observe the necessary system requirements and the notes regarding the
inverter.
4Device description file ^ 420
15.7.1.1 Settings in the »EASY Starter«
1. Set the IP address and the station name ("PROFINET device name").
See: 4Station name and IP configuration ^ 421
2. Save the parameters in the inverter with mains failure protection. 40x2022:003
See: 4Saving the parameter settings ^ 42
3. Restart the PROFINET communication. 40x2380
See: 4Restarting or stopping the communication ^ 419

418
Configuring the network
PROFINET
Commissioning

15.7.1.2 Restarting or stopping the communication

The communication needs to be restarted after changes to the interface configuration (e. g.
station address and IP configuration) so the changed settings become effective without
switching the line voltage.
4Station name and IP configuration ^ 421
There are two options for restarting the communication:
• Set 0x2380 to 1 (restart with current values)
• Set 0x2380 to 2 (restart with the values saved last)
The following option can be used to stop communication:
• Set 0x2380 to 5 (stop network communication)
Parameter
Address Name / setting range / [default setting] Information
0x2380 PROFINET communication Restart / stop communication
• When the device command has been executed successfully, the value
0 is shown.
0 No action/no error Only status feedback
1 Restart with current values Restart communication with the current values.
2 Restart with stored values Restart communication with the values of the PROFINET parameters that
have been saved last (0x2381:001 ... 0x2381:009).
5 Stop network communication Stop communication
10 In progress Only status feedback
11 Action cancelled
12 Fault

15.7.1.3 Settings in the Siemens »TIA Portal«

Here, commissioning with the Siemens »TIA Portal« is described. Please note
that in the standard setting of the Siemens »TIA Portal« 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
catalog to the net view of the PROFINET.
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".
See: 4Station name and IP configuration

In order that the inverter can be identified via Ethernet when the IO controller is
switched off, the station name and the IP configuration must be saved in the
inverter with mains failure protection via the separate entry with the »EASY
Starter«. 0x2022:003
See: 4Saving the parameter settings ^ 42
5. Below the device name and the name of the device description file, the device view shows
the pre-assignment of output and input process data words.
In slot 1, pre-assigned process data words can be changed.
When using PROFIsafe, you can add safety process data in slot 2.
4PROFIsafe ^ 427
6. Save the project in the engineering tool.
7. Load the configuration into the IO-Controller.
8. Set the IO-Controller to "RUN".

419
Configuring the network
PROFINET
Commissioning

15.7.1.4 Device description file

The device description file must be installed in the engineering tool for configuring the
network (e. g. Siemens »TIA Portal«).
• Download of GSDML files
The name of the device description file is as follows:
"GSDML-V<x>.<zz>-Lenze-I<NNN>PN<Version>-<yyyy><mm><dd>.xml".
Wildcard Info
x Major version of the used GSDML scheme
zz One-digit or two-digit minor version of the used GSDML scheme
NNN Specifying the inverter name, e. g. i<550>, i<950>, ...
Version First software version that can be used with this GSDML.
yyyy Year of publication
mm Month of publication
dd Day of publication

Define the user data length

The configuration of 1 ... 16 process data double words (4 ... 64 bytes) and 8 safety data words
is supported.
Examples of selecting the device description file:
• "IEC 8 DWords I/O": 8 process data double words only in slot 1 of the PROFINET telegram)
• "Safety module 4 DWords": 4 safety double words (only in slot 2 of the PROFINET telegram
when the extended safety engineering is used simultaneously)
15.7.1.5 Establishing a connection to the »EASY Starter« via PROFINET
To establish a communication link to the inverter via PROFINET ports X2x6/X2x7, proceed as
follows:
Requirements:
• The network interface of the engineering PC provided for the connection is parameterised
for the PROFINET IP subnetwork.
• A valid IP configuration is set in the inverter. 4Station name and IP configuration ^ 421
Tools required:
• Engineering PC with installed »EASY Starter«.
• Standard Ethernet cable from CAT 5/5e
1. Plug the network cable into one of the two PROFINET ports X2x6 / X2x7 of the inverter.
2. Use the network cable to connect the inverter to the PC on which »EASY Starter« is
installed.
3. Start the »EASY Starter«.
The "Add devices" dialog is shown.
4. Select the "PROFINET " connection.
5. Enter the PROFINET IP address of the inverter.
6. Press the Insert button.
Once a connection has been successfully established, the inverter is displayed in the device
list. The tabs in »EASY Starter« then provide access to the inverter parameters.

420
Configuring the network
PROFINET
Basic setting and options

15.7.2 Basic setting and options

15.7.2.1 Station name and IP configuration

The station name and the IP configuration can be assigned by the IO-Controller. These settings
enable the IO-Controllerto identify the devices in the network and manage the data exchange.
The station name and the IP configuration can also be assigned by the »Engineering Tool«.
• The station name of the IO device must be entered with permissible characters according
to the PROFINET specification. 40x2381:004
• Display of the currently used station name: 40x2382:004
• The IP configuration comprises the assignments of:
• IP address 40x2381:001
• Subnet mask 40x2381:002
• Gateway address 40x2381:003
• Display of the actual IP configuration: 40x2382:001 ... 0x2382:003

Save the station name and the IP configuration in the IO Device with line voltage
failure protection so the IO Device can be identified via PROFINET if the IO
controller is switched off. 0x2022:003
4Saving the parameter settings ^ 42

An invalid station name or the assignment of invalid combinations of the IP

address, subnet mask, and gateway address can have the consequence that no
connection to PROFINET can be established.
In case of impermissible settings, the red LED "bus ERR" is blinking and the error
message "PROFINET: Stack initialization error [0x8192]" is output.
4LED status display ^ 425

Parameter
Address Name / setting range / [default setting] Information
0x2381:001 PROFINET settings: IP address Set IP address
0.0.0.0 ... [0.0.0.0] ... 255.255.255.255 • A changed value will only be effective after the PROFINET
communication is restarted (0x2380 = 1).
0x2381:002 PROFINET settings: Subnet Set subnet mask
0.0.0.0 ... [0.0.0.0] ... 255.255.255.255 • A changed value will only be effective after the PROFINET
communication is restarted (0x2380 = 1).
0x2381:003 PROFINET settings: Gateway Set gateway address
0.0.0.0 ... [0.0.0.0] ... 255.255.255.255 • A changed value will only be effective after the PROFINET
communication is restarted (0x2380 = 1).
• The gateway address is valid if the network address of the IP address
is identical to the gateway address. In this case, no gateway
functionality is used.
• DHCP is not supported.
0x2381:004 PROFINET settings: Station name Set station name
• A changed value will only be effective after the PROFINET
communication is restarted (0x2380 = 1).
0x2381:005 PROFINET settings: I&M1 System designation Input/output of the I&M1 system designation
• The default setting is an empty string.
0x2381:006 PROFINET settings: I&M1 Installation site Input/output of the I&M1 location identification code
• The default setting is an empty string.
0x2381:007 PROFINET settings: I&M2 Installation date Input/output of the I&M2 date of installation
• The default setting is an empty string.
0x2381:008 PROFINET settings: I&M3 additional information
Input/output of the I&M3 additional information
• The default setting is an empty string.
0x2381:009 PROFINET settings: I&M4 signature code Input/output of the I&M4 signature
["000000000000000000000000000000000000000000 • The default setting is an empty string.
0000000000000000000000000000000000000000000
00000000000000000000000"]

421
Configuring the network
PROFINET
Process data transfer

15.7.2.2 Suppress diagnostic messages to the IO controller

40x285A:001 serves to set which error response in the device suppresses the alarm message
to the IO-Controller.
Parameter
Address Name / setting range / [default setting] Information
0x285A:001 Diagnostic configuration: Alarm supression Bit coded selection of error responses which suppress the alarm
0x0000 ... [0x0000] ... 0xFFFF message to the IO controller.
Bit 1 Warning • Bit x = 1 = suppress alarm message.
• In the default setting "0", an alarm message is displayed for all error
Bit 2 Warning locked
responses.
Bit 3 Trouble
Bit 4 Fault > Application quick stop > Quick stop
Bit 5 Fault > inverter quick stop > quick stop
Bit 6 Fault > inverter quick stop > inverter
disabled
Bit 7 Fault
Bit 8 Fault > CiA402

15.7.3 Process data transfer

Process data serve to control the device.
• The process data is transmitted cyclically between the IO-Controller and the IO-Devices
participating in PROFINET.
• The process data can be directly accessed by the IO controller. In the PLC, for instance, the
data is stored directly in the IO area.
• The length of the process data is 1 ... 256 bytes (max. 64 slots) per direction.
• The process data is transmitted 1 : 1 according to its sequence.

422
Configuring the network
PROFINET
Parameter data transfer

15.7.4 Parameter data transfer

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, which provides access to all device parameters.
Details
• The access to the device data depends on the PROFIdrive profile.
• Only one parameter request is processed at a time (no pipelining).
• No spontaneous messages are transferred.
• There are only acyclic parameter requests.
Basically, a IO-Controller can always be used to request parameters from 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) as parameter request to the IO-
Device.
2. "Write.res" is used to confirm the input of the message for IO-Controller.
3. With Read.req, the IO-Controller requests the response of the IO-Device
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 by "Read.res (+)".
Frame structure
Destr ScrAddr VLAN Type 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.

423
Configuring the network
PROFINET
Monitoring

Assignment of the user data depending on the data type

Depending on the data type used, the user data is 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

15.7.5 Monitoring
The parameters for setting network monitoring functions are described below.
Parameter
Address Name / setting range / [default setting] Information
0x2859:002 Fieldbus network monitoring: Data exchange exited Selection of the response to exiting the "Data Exchange" state.
Associated error code:
• 33169 | 0x8191 - Network - Disruption of cyclic data exchange
0 No response
1 Fault > CiA402
2 Warning

424
Configuring the network
PROFINET
Diagnostics

15.7.6 Diagnostics

15.7.6.1 LED status display

Notes on the connection status with IO-Controller can be obtained via the LEDs "BUS RDY"
and "BUS ERR" of the PROFINET option (front of the device).
In addition, the LEDs "Link" and "Activity" at the RJ45 sockets indicate the connection status to
the network.
"BUS RDY" LED (green) State Meaning
Off Not connected No connection to the IO-Controller
Connected IO-Controller in STOP
Blinking
Data exchange IO-Controller in RUN (DATA_EXCHANGE)
On

"BUS ERR" LED (red) State Meaning

Off No fault No fault
IO-Device identifies The PROFINET function "node flashing test" is triggered by IO-Controller. The flickering
Blinking fast (localises) LED serves to identify (locate) an accessible IO-Device.
Impermissible settings Impermissible settings: Stack, station name or IP parameters are invalid.
Blinking
Fault Communication error (e. g. Ethernet cable removed)
On (red)

"Link" LED (green) Status/meaning

Off No connection to the network.
A physical connection to the network is available.
On

"Activity" LED (yellow) Status/meaning

Off No data transfer.
Data is exchanged via the network.

On or flickers

425
Configuring the network
PROFINET
Diagnostics

15.7.6.2 Information on the network

The following parameters show information on the network.
Parameter
Address Name / setting range / [default setting] Information
0x2382:001 Active PROFINET settings: IP address Display of the active IP address.
• Read only
0x2382:002 Active PROFINET settings: Subnet Display of the active subnet mask.
• Read only
0x2382:003 Active PROFINET settings: Gateway Display of the gateway address.
• Read only
0x2382:004 Active PROFINET settings: Station name Display of the active station name.
• Read only
0x2382:005 Active PROFINET settings: MAC Address Display of the active MAC address.
• Read only
0x2388 PROFINET status Bit coded display of the current Bus status.
• Read only
Bit 0 Initialized The network component is initialised.
Bit 1 Online After initialisation, the network component waits for a communication
partner and the system power-up.
Bit 2 Connected The network component has established a cyclic I/O communication
relationship to a communication partner.
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
elapsed, the response set in is triggered in the 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
0x2389:001 PROFINET error: Error 1 The parameter currently contains the error detected on the network.
• Read only • The error values may occur in combination with the error values from
0 No error parameter 0x2389:002.
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
0x2389:002 PROFINET error: Error 2 The parameter currently contains the error detected on the network.
• Read only • The error values may occur in combination with the error values from
parameter 0x2389:001.
Bit 7 IP address error The IP address is invalid. Valid IP addresses are defined according to RFC
3330.
Bit 8 Station name problem The station name must be assigned according to the PROFINET
specification.
Bit 9 DataExch left PROFINET communication is continuously interrupted in the
"Data_Exchange" state, e. g. by cable break.
• PROFINET communication changes to the "No_Data_Exchange" state.
• When the watchdog monitoring time specified by the IO Controller
has elapsed, the response set in is triggered in the device.

426
Configuring the network
PROFINET
PROFIsafe

Address Name / setting range / [default setting] Information

Bit 10 Stack boot error
Bit 11 Stack online error
Bit 12 Stack state error
Bit 13 Stack revision error
Bit 14 Initialization problem The stack cannot be initiated with the user specifications. A reason
Bit 15 Stack init error might be, e. g., a station name that does not correspond to the
PROFINET specification.

15.7.7 PROFIsafe

PROFIsafe via PROFINET enables the transfer of safe information via the PROFIsafe protocol
according to the specification "PROFIsafe - Profile for Safety Technology", version 2.0.
• The PROFIsafe data is transmitted in the second slot of a PROFINET telegram.
• In the PROFIsafe data, one bit each is used to control a certain safety function.
• The structure of the PROFIsafe data is described in the PROFIsafe profile.
• The length of the PROFIsafe data (also "PROFIsafe message") is fixed at 16 bytes.
• The inverter forwards the PROFIsafe messages to the safety module (Extended Safety) for
a safe evaluation.

The certified safety protocol for the transfer of safety-related data via PROFINET®.

427
Configuring the network
PROFINET
PROFIenergy

15.7.8 PROFIenergy
The device profile PROFIenergy enables an energy management for systems. With the support
of the "PROFIenergy Class 3", the energy saving function of the inverter can be triggered and
certain energy consumption values can be measured via standardised commands.
Parameter
Address Name / setting range / [default setting] Information
0x2590:003 Energy saving: State of actual energy saving mode
• Read only
Bit 0 StateReadyToOperate
Bit 4 StatePause
Bit 6 StateOperate

15.7.8.1 Supported commands

The following PROFIenergy commands are supported:
Command Description
Start_Pause Starts the energy saving function.
End_Pause Stops the energy saving function.
Query_Mode Requests the list of all supported energy modes.
Get_Mode Requests the data of an energy mode.
PEM_Status Requests the current status.
PEM_Status_with_CTTO Requests the current status of dynamic values.
PE_Identify Requests basic information on the modes.
Query_Version Requests the versioning of the query.
Get_Measurement_List Requests the list of the supported measured values.
Get_Measurement_List_with_object_number Requests the list of supported measured values indicating the
corresponding parameters.
Get_Measurement_Values Requests the values of the measured values.
Get_Measurement_Values_with_object_number Requests the values of the measured values indicating the
corresponding parameters.
PE_Mode_ID Manufacturer-specific energy saving mode
The energy saving mode is only active if the power section is inhibited.
(0x2590:003, bit 0 = 1)

15.7.8.2 Supported measured values

The standardised measured values are supported:
ID Measured value Description
34 Active power in W Active power
Corresponds to the current value from parameter 0x2DA2:001.
205 Active energy sum in kWh Energy sum
Corresponds to the current value from parameter 0x2DA3:003.
The value can be reset by writing "0".

Parameter
Address Name / setting range / [default setting] Information
0x2DA2:001 Output power: Effective power Display of the active output power for an energy analysis in the
• Read only: x.xxx kW respective application.
0x2DA3:003 Output energy: Overall energy Display of the energy balance:
-21474836.47 ... [0.00] ... 21474836.47 kWh • Positive values: Energy consumed
• Negative values: Generated energy
0x2DA3:003 = 0 resets the energy balance.
When replacing a device, the value of the old device can be adopted as
the starting value for the new device.

428
Configuring the network
Monitoring

15.8 Monitoring
Parameter
Address Name / setting range / [default setting] Information
0x2859:001 Fieldbus network monitoring: Watchdog elapsed Selection of the response to a permanent interruption of the
communication to the IO controller.
Associated error code:
• 33168 | 0x8190 - Network - Watchdog time-out
0 No response
1 Fault > CiA402
2 Warning
0x2859:003 Fieldbus network monitoring: Invalid configuration Selection of the response triggered by the reception of invalid
configuration data.
Associated error code:
• 33415 | 0x8287 - Network - Invalid configuration
0 No response
1 Fault > CiA402
2 Warning
0x2859:004 Fieldbus network monitoring: Initialisation error Selection of the response triggered by the occurrence of an error during
the initialization of the network component.
Associated error code:
• 33170 | 0x8192 - Network - Initialization error
0 No response
1 Fault > CiA402
2 Warning
0x2859:005 Fieldbus network monitoring: Invalid process data Selection of the response triggered by the reception of invalid process
data.
Process data marked as invalid (IOPS is "BAD") are received by the IO
Controller. Typically in case of
• a PLC in STOP state,
• alarms,
• acyclic demand data.
Associated error code:
• 33171 | 0x8193 - Network - Invalid cyclic process data
0 No response
1 Fault > CiA402
2 Warning
0x2859:006 Fieldbus network monitoring: Time-out explicit Selection of the response to timeouts during transfer of Explicit
message Messages.
0 No response
1 Fault > CiA402
2 Warning

429
Device functions
Optical device identification

16 Device functions
16.1 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 = "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

synchronous mode

The blinking duration can be set in 0x2021:002 or selected in the »EASY Starter« in the
dropdown list field:

Parameter
Address Name / setting range / [default setting] Information
0x2021:001 Optical tracking: Start detection 1 = start optical device identification.
0 Stop • After the start, the two LEDs "RDY" and "ERR" on the front of the
inverter are blinking with a blinking frequency of 20 Hz for the
1 Start
blinking duration set in 0x2021:002. The setting is then automatically
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
prematurely.
0x2021:002 Optical tracking: Blinking duration Setting of the blinking duration for the visual tracking.
0 ... [5] ... 6000 s

430
Device functions
Reset parameters to default

16.2 Reset parameters to default

Parameter
Address Name / setting range / [default setting] Information
0x2022:001 Device commands: Load default settings 1 = reset all parameters in the RAM memory of the inverter to the
• Setting can only be changed if the inverter is default setting that is stored in the inverter firmware.
disabled. • All parameter changes made by the user are lost during this process!
• 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
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)
0x2022:039 Device commands: Load TA default settings
• Setting can only be changed if the inverter is
disabled.
0 Off / ready Only status feedback
1 On / start
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)

431
Device functions
Saving/loading the parameter settings

16.3 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
protection, the inverter is provided with the corresponding device command in the
parameter.0x2022:003

432
Device functions
Saving/loading the parameter settings

Parameter
Address Name / setting range / [default setting] Information
0x2022:003 Device commands: Save user data 1 = save current parameter settings in the user memory of the memory
module with mains failure protection.
• This process may take some seconds. When the device command has
been executed successfully, the value 0 is shown.
• Do not switch off the supply voltage during the saving process and do
not unplug the memory module from the device!
• When the device is switched on, all parameters are automatically
loaded from the user memory of the memory module to the RAM
memory of the device.
0 Off / ready Only status feedback
1 On / start Execute device command
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)
101 No SD card connected
102 SD card is write protected
103 SD card is full
0x2022:040 Device commands: Parameter-Backup • When the device command has been executed successfully, the value
• Setting can only be changed if the inverter is 0 is shown.
disabled. • While the device command is being executed, do not switch off the
supply voltage and do not remove the memory module!
CAUTION!
• In parallel, the file "\firmware\update_data.tar" is stored on the SD
card.
• When booting, the firmware level of the device is compared with the
firmware level of the file.
• If the firmware versions are different, the device is automatically
updated to the firmware version of the file!
0 Off / ready Only status feedback
1 On / start Execute device command
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)
20 20%
40 40%
60 60%
80 80%
100 100%
101 No SD card connected
102 SD card is write protected
103 SD card is full
0x2022:043 Device commands: Restore • When the device command has been executed successfully, the value
• Setting can only be changed if the inverter is 0 is shown.
disabled. • While the device command is being executed, do not switch off the
supply voltage and do not remove the memory module!
0 Off / ready Only status feedback
1 On / start Execute device command
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)
20 20%
40 40%
60 60%
80 80%
100 100%

433
Device functions
Enabling the device

Address Name / setting range / [default setting] Information

101 No SD card connected

16.4 Enabling the device

Parameter
Address Name / setting range / [default setting] Information
0x2822:001 Axis commands: Enable inverter Parameters for interaction with engineering tools.
0 Inverter inhibited
1 Inverter enabled

16.5 Restart device

If the inverter communicates with the master as network node via EtherCAT:
executing the device command may cause an interruption of the EtherCAT
communication with the master and a standstill of the drive.

Parameter
Address Name / setting range / [default setting] Information
0x2022:035 Device commands: Restart Device • When the device command has been executed successfully, the value
0 is shown.
• While the device command is being executed, do not switch off the
supply voltage and do not remove the memory module!
0 Off / ready Only status feedback
1 On / start Restart of the device.
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)

16.6 Start/stop application

Parameter
Address Name / setting range / [default setting] Information
0x2022:044 Device commands: Start application • When the device command has been executed successfully, the value
• Setting can only be changed if the inverter is 0 is shown.
disabled. • While the device command is being executed, do not switch off the
supply voltage and do not remove the memory module!
0 Off / ready Only status feedback
1 On / start Execute device command
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)
0x2022:045 Device commands: Stop application • When the device command has been executed successfully, the value
• Setting can only be changed if the inverter is 0 is shown.
disabled. • While the device command is being executed, do not switch off the
supply voltage and do not remove the memory module!
0 Off / ready Only status feedback
1 On / start Execute device command
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)

434
Device functions
Restarting Extended Safety

16.7 Restarting Extended Safety

Parameter
Address Name / setting range / [default setting] Information
0x2022:041 Device commands: Restart extended safety • When the device command has been executed successfully, the value
0 is shown.
• While the device command is being executed, do not switch off the
supply voltage and do not remove the memory module!
0 Off / ready Only status feedback
1 On / start Execute device command
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)

16.8 Export logbook

The export of the complete logbook can be started with the 0x2022:036 parameter.
Parameter
Address Name / setting range / [default setting] Information
0x2022:036 Device commands: Export Logbook • When the device command has been executed successfully, the value
0 is shown.
• While the device command is being executed, do not switch off the
supply voltage and do not remove the memory module!
0 Off / ready Only status feedback
1 On / start Exports the logbook for the upload into the engineering tools.
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)

16.9 Delete logbook files

The logbook files can be deleted with the 0x2022:015 parameter.
Parameter
Address Name / setting range / [default setting] Information
0x2022:037 Device commands: Delete Logfiles • When the device command has been executed successfully, the value
0 is shown.
• While the device command is being executed, do not switch off the
supply voltage and do not remove the memory module!
0 Off / ready Only status feedback
1 On / start Deletion of log files on the device that were exported in an earlier step
via 0x2022:036 (Export Logbook).
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)

435
Device functions
Activate loaded application

16.10 Activate loaded application

The loaded application can be activated with the 0x2022:038 parameter.
Parameter
Address Name / setting range / [default setting] Information
0x2022:038 Device commands: Activate loaded application Start of the application that is provided/downloaded by
the »Application Loader«.
0 Off / ready Only status feedback
1 On / start Activates the loaded application.
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)

16.11 Uploading the application

Parameter
Address Name / setting range / [default setting] Information
0x2022:042 Device commands: Upload application
0 Off / ready Only status feedback
1 On / start Execute device command
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)
20 20%
40 40%
60 60%
80 80%
100 100%
101 No SD card connected

16.12 Inverter control word

Parameter
Address Name / setting range / [default setting] Information
0x2830 Inverter control word The control word serves to influence the control functions.
0x0000 ... [0x0000] ... 0xFFFF
Bit 0 Flying restart completed This bit enables the control to report the acceptance of the recorded
speed to the "flying restart" function. Thus, the flying restart process is
completed.
Bit 1 Block flying restart TRUE: the flying restart process is blocked.
Bit 4 Set load value TRUE: set load value.
Bit 5 Select new actual position TRUE: define new actual position.
• Setting/shifting of Actual position (0x6064) to Actual position start
value (0x2983) considering the set resolution (0x608F:001,
0x608F:002).
• Mode for setting the actual position: 0x2984)
Bit 6 Activate DC-injection braking or short-circuit DC-injection braking or short-circuit braking is activated via this bit.
braking
Bit 7 Disable speed and position monitoring
Bit 8 Disable VFC-Eco
Bit 9 Brake status override
Bit 10 Activate SLS
Bit 11 Stop mains failure control

436
Device functions
Access protection
Write access protection

16.13 Access protection

16.13.1 Write access protection

Optionally a write access protection can be installed for the inverter parameters.

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
disabled by resetting it to the delivery status. This means, all parameter settings
made by the user get lost! 4Reset parameters to default ^ 431

Details
Usually the write access protection function is implemented by the engineer/OEM , for
example to protect the inverter against incorrect parameterization by non-authorised 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 0x203E 0x203F 0x2040
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
Diagnostics (read access) Favorites All parameters

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

Correct PIN2 0 Write access to all parameters possible.
Access PIN2
Diagnostics (read access) Favorites All parameters

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

Correct PIN1 2 Write access only possible to favorites.
Correct PIN2 0 Write access to all parameters possible.
Access PIN1 PIN2
Diagnostics (read access) Favorites All parameters
If PIN1 and PIN2 are set identically, a write access to all parameters is possible after the PIN has been
entered correctly.

437
Device functions
Access protection
Write access protection

Parameter
Address Name / setting range / [default setting] Information
0x203D PIN1 access protection PIN definition for write access protection.
-1 ... [0] ... 9999 • 1 … 9999 = set/change PIN.
0x203E PIN2 access protection • 0 = delete PIN (deactivate access protection).
-1 ... [0] ... 9999 • When the PIN has been set successfully, the value -1 is shown;
otherwise 0.
• 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 = logout (reactivate access protection).
• After having logged in successfully, the value -1 is shown; otherwise 0.
• 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.

438
Device functions
Access protection
Write access protection

16.13.1.1 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 login or after the last active write access. It takes
max. 10 minutes to be automatically logged out again after each write access.
• Automatically after the mains voltage is switched on again.
• Manually by entering a "0" in the dialog box "Log in / Log off" (see above).

439
Device functions
Access protection
Write 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
displayed 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
dialog.
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:

440
Device functions
Switching frequency changeover
Brand 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
• Enable/inhibit inverter 0x2822:001
• Resetting parameters to default 0x2022:001
• Save parameter set 0x2022:003
• Load user parameter
• Load OEM parameter
• Error reset

16.13.2 Brand protection

The function can only be used after consulting the manufacturer.

Parameter
Address Name / setting range / [default setting] Information
0x2100:001 Brand protection: PIN set • 0: no brand protection.
-1 ... [0] ... 9999999 • 1 ... 9999999: possible pins.
• -1: brand protection is active.
0x2100:002 Brand protection: PIN input • 0: not checked.
-2 ... [0] ... 9999999 • 1 ... 9999999: possible pins.
• -1: check was successful.
• -2: check was not successful.
0x2100:003 Brand protection: Encryption Encryption for brand protection.
0 ... [0] ... 9

16.14 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
frequency 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.
Parameter
Address Name / setting range / [default setting] Information
0x2939 Switching frequency Selection of the inverter switching frequency.
1 4 kHz variable / drive-optimised Abbreviations used:
2 8 kHz variable / drive-optimised • "Variable": Adaptation of the switching frequency as afunction of the
3 16 kHz variable / drive-optimised current. The carrier frequency is reduced depending on the heat sink
temperature and the ixt load.
5 2 kHz fixed / drive-optimised
• "Fixed": The carrier frequency is fixed, no frequency reduction.
6 4 kHz fixed / drive-optimised • "Drive-optimised": reduces the capacitive currents from the motor to
7 8 kHz fixed / drive-optimised the earth.
8 16 kHz fixed / drive-optimised • "Min. Pv": reduces the capacitive currents from the motor to the
earth and optimizes power dissipation.

441
Device functions
Device overload monitoring (ixt)

16.15 Device overload monitoring (ixt)

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
therefore 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
terminals 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 currents
cause a greater device utilisation.
• If the total utilisation exceeds the total warning threshold set in 0x2D40:008 (default
setting: 95 %), the inverter outputs a warning.
• If the device utilisation exceeds the permanent error threshold 100 %, the inverter is
disabled immediately and generates an error message.
• The device overload can be obtained from the configuration document.
Parameter
Address Name / setting range / [default setting] Information
0x2D40:001 Device utilisation ixt: Power unit actual utilisation Display of the power module utilisation.
• Read only: x %
0x2D40:002 Device utilisation ixt: Power unit warning threshold If the device utilisation exceeds the threshold set, the inverter outputs a
0 ... [95] ... 101 % warning.
0x2D40:003 Device utilisation ixt: Power unit error threshold If the power module utilisation exceeds the displayed threshold, the
• Read only: x % inverter outputs a warning.
0x2D40:004 Device utilisation ixt: Device actual utilisation Display of the current device utilisation.
• Read only: x %
0x2D40:005 Device utilisation ixt: Device warning threshold
0 ... [95] ... 101 %
0x2D40:006 Device utilisation ixt: Device error threshold If the device utilisation exceeds the displayed threshold, the device
• Read only: x % outputs an error.
0x2D40:007 Device utilisation ixt: Actual total utilisation Display of the current total device utilisation.
• Read only: x %
0x2D40:008 Device utilisation ixt: Total utilisation warning If the total utilisation exceeds the set threshold, the device outputs a
threshold warning.
0 ... [95] ... 101 %
0x2D40:009 Device utilisation ixt: Total utilisation error threshold If the total utilisation exceeds the displayed threshold, the device
• Read only: x % outputs an error.

442
Device functions
Heatsink temperature monitoring
Firmware download with »EASY Starter (firmware loader)«

16.16 Heatsink temperature monitoring

In order to avoid an impermissible heating of the servo inverter, the temperature of the
heatsink is detected and monitored.

The temperature of the heatsink is measured in the temperature range of 0 ...

80 °C with a tolerance of -2 ... +4 °C. Beyond this temperature range, the
measuring accuracy decreases faster.

Parameter
Address Name / setting range / [default setting] Information
0x2D84:001, Heatsink temperature: Heatsink temperature Display of the current heatsink temperature.
004, 006 • Read only: x.x °C
0x2D84:002 Heatsink temperature: Warning threshold Warning threshold for temperature monitoring.
50.0 ... [90.0] ... 100.0 °C • If the heatsink temperature exceeds the threshold set here, the
inverter 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.

16.17 Update device firmware

16.17.1 Firmware download with »EASY Starter (firmware loader)«

16.17.1.1 Download via Ethernet connection

Parameter
Address Name / setting range / [default setting] Information
0x243C:001 Device: Ethernet commands: Device: Start firmware
update
• Setting can only be changed if the inverter is
disabled.
0 Off/Ready
1 On/Start
4 Action cancelled
20 20%
40 40%
60 60%
80 80%

443
Additional functions
Brake energy management

17 Additional functions
17.1 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:
• 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
Details
The voltage threshold for braking operation results on the basis of the rated mains voltage set:
Rated mains voltage (0x2540:001) Voltage thresholds for braking operation
Braking operation on Braking operation off
230 V 390 V DC 380 V DC
400 V 725 V DC 710 V DC
480 V 780 V DC 765 V DC

Parameter
Address Name / setting range / [default setting] Information
0x2541:003 Brake energy management: Reduced threshold The voltage threshold for the braking operation is reduced by the
0 ... [0] ... 100 V voltage value set here.

444
Additional functions
Brake energy management
Use of a brake resistor

17.1.1 Use of a brake resistor

For braking operation, optionally the brake chopper integrated in the inverter (brake
transistor) 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.

Parameter
Address Name / setting range / [default setting] Information
0x2550:001 Brake resistor: Minimum resistance Display of the minimum brake resistance value that can be used.
• Read only: x.x Ω
0x2550:002 Brake resistor: Resistance value Resistance value of the brake resistor connected.
0.0 ... [180.0] ... 500.0 Ω • The value to be entered can be obtained from the brake resistor
nameplate.
0x2550:003 Brake resistor: Rated power Rated power of the brake resistor connected.
0 ... [5600] ... 800000 W • The value to be entered can be obtained from the brake resistor
nameplate.
0x2550:004 Brake resistor: Maximum thermal load Thermal capacity of the brake resistor connected.
0 ... [485] ... 1000000 kWs • The value to be entered can be obtained from the brake resistor
nameplate.
0x2550:006 Brake resistor: Reference resistance Reference value for the calculation of brake chopper utilization.
0 Minimum resistance
1 Resistance value
0x2550:007 Brake resistor: Thermal load Display of the utilisation of the brake resistor connected.
• Read only: x.x %
0x2550:008 Brake resistor: Warning threshold Warning threshold for brake resistor monitoring.
50.0 ... [90.0] ... 150.0 % • If the utilisation shown in reaches the threshold set, the response
selected in 0x2550:010 is effected.
• The warning is reset with a hysteresis of 20 %.
0x2550:010 Brake resistor: Response to warning Selection of the response that is executed when the warning threshold
for brake resistor monitoring is reached.
0 No response
1 Fault > CiA402
2 Warning
0x2550:011 Brake resistor: Response to error Selection of the response to be executed when the error threshold for
brake resistor monitoring is reached.
0 No response
1 Fault > CiA402
2 Warning

445
Additional functions
Manual jog parameters

17.2 Manual jog parameters

Parameter
Address Name / setting range / [default setting] Information
0x2836:001 Manual control mode: Current setpoint Setting of the current setpoint value for manual control.
0 ... [30] ... 200 % • 100 % ≡ Rated current (0x2DDF:001)
0x2836:002 Manual control mode: Frequency Setting of the frequency for manual control.
-1000.0 ... [0.0] ... 1000.0 Hz
0x2836:003 Manual control mode: Ramp time (current) Setting of the period of time during which the current setpoint value is
0 ... [0] ... 1000 ms achieved from zero onwards.
0x2836:004 Manual control mode: Ramp time (frequency) Setting of the period of time during which the frequency is achieved
0 ... [500] ... 10000 ms from zero onwards.
The frequency ramp only starts up when the current ramp has reached
the value configured in 0x2836:001 (Current setpoint).
0x2836:005 Manual control mode: Time monitoring (frequency) Setting of the time period for time monitoring.
0 ... [2500] ... 100000 ms • The manual control features a time monitoring function which is
coupled to a write access to 0x2836:002 (Frequency).
• If no write access to 0x2836:002 takes place within the time period
set here, the frequency is moved to zero via the parameterised ramp.
When the 0 Hz have been reached, the inverter changes to the error
status and is inhibited. After acknowledging the error, the CiA402
state machine must be switched from "Switch-on inhibited" back to
the "Operation enabled" state before proceeding with manual
control.
0x2836:006 Manual control mode: Current controller gain Setting of the current controller gain.
0.00 ... [20.00] ... 750.00 V/A
0x2836:007 Manual control mode: Current controller reset time Setting of the current controller reset time.
0.01 ... [20.00] ... 2000.00 ms

446
Additional functions
Mains failure control

17.3 Mains failure control

This function can decelerate the drive in the event of a mains voltage failure and use its kinetic
energy to maintain the DC-bus voltage for a certain period of time. This makes it possible to
keep the drive running during a brief failure of the mains voltage or, in the event of a longer
failure, to run it to a standstill in a guided manner.
Details
The mains failure control is activated when the mains failure monitoring has detected a mains
failure.
In the default setting, the mains failure control is switched off. 4Activate mains failure
control ^ 450

Controlled regenerative operation raises the DC-bus voltage. This can trigger an
overvoltage fault. If an overvoltage fault is to be reliably excluded, the excess
energy must be dissipated by a brake resistor.

Functional description of the mains failure monitoring

The mains failure monitoring compares the currently measured DC-bus voltage with the
filtered DC-bus voltage.
If the measured DC-bus voltage 0x6079 is smaller than the filtered DC-bus voltage 0x2D66:014
and smaller than 90 % of the nominal DC-bus voltage, a mains failure is detected.
The mains failure is signaled in status word 2 of the inverter: 0x2833, bit 14 (Mains failure
detected)

If a lot of kinetic energy is fed back into the DC bus during a mains failure, the
mains failure monitoring will only respond with a delay or possibly not at all due
to the DC-bus voltage not dropping.

0x2540:001 x 0.9 x √2
<

& 0x2833, Bit 14 = 1

0x6079 0x2540:001 x 1.1 x √2 0x2D66:011 > 0.00 s 0x2D66:014
Mains failure detected
<
UDC
0x2D66:002
0x2D66:011 = 0.00 s
x
UDC,nom 0x2540:001 x √2

Fig. 54: Function of the mains failure monitoring

447
Additional functions
Mains failure control

Functional description of the mains failure control

Setting 0x2833, bit 14 (Mains failure detected) activates the mains failure control if it is
enabled. (0x2D66:001 = 2):
• The motor control switches to speed control with setpoint 0 rpm.
• The deceleration torque ramps up from a starting value to the parameterized maximum
value.
• Maximum value: 0x2D66:012
• Ramp time: 0x2D66:013
• The ramp time determines the jerk of the deceleration.
• The starting value depends on the current operating mode of the drive:
• Operation in motor mode: Starting torque = 0 Nm.
• Operation in generator mode: Starting torque = 0x6077 (Actual torque)
• After the drive has come to a standstill, the 0x3181 (Mains failure) error message is
output.
• The original motor control is reactivated with the parameterized values.

If undervoltage occurs during mains failure control, the controller is disabled.

448
Additional functions
Mains failure control

UDC 0x6079
UDC,min
UDC,thr
UDC,LU
0
t
0x2833
Bit 14 Mains failure detected
1
0
t
Mmot
0x2D66:012

0x2D66:013
0
t

0x2D66:012

nset

0
t
nact

0
t
Error
0x3181
Mains failure
1
0
t
Fig. 55: Sequence of mains failure control in motor operation

449
Additional functions
Mains failure control

Activate mains failure control

How to set up the mains failure control:
1. Define filter time for the DC-bus voltage:
a) 0x2D66:011 = 0.00 s (no filtering):
The current DC-bus voltage is compared with the nominal DC-bus voltageRated mains
voltage (0x2540:001) x √2.

Note the following when making this setting:

The usual short-term fluctuations of the mains voltage can already trigger the
mains failure control.
b) 0x2D66:011 > 0.00 s (filtering active):
The current DC-bus voltage is compared with the filtered DC-bus voltage 0x2D66:014
weighted with factor 0x2D66:002.

Note the following when making this setting:

The usual short-term fluctuations of the mains voltage cannot trigger the mains
failure control.
2. Set the activation threshold: 40x2D66:002 (= weighting for forming the comparison value).
Recommended setting: 75%
With the setting 75 %, the mains failure control is activated if the current DC-bus voltage is
more than 25 % below the comparison value.

For high values for the activation threshold, note the following:
The higher the value, the sooner a mains failure is detected due to a sudden
drop in DC-bus voltage.
The higher the value, the more energy reserve is available for the guided
shutdown in the DC bus.
If the value is too high, there is a risk of false tripping.
For low values for the activation threshold, note the following:
If the value is too low, the energy reserve in the DC bus may be too low.
An undervoltage fault would interrupt the guided shutdown.
3. Activate mains failure control: 0x2D66:001 = 2 (Enabled).
The mains failure control becomes active with these settings when the DC-bus voltage falls
below the comparison values.

Behavior in case of mains recovery

The mains failure control is not terminated when the mains returns.
To switch to normal operation immediately, the mains failure control must be
terminated via the control word:
Inverter control word 40x2830, bit 11 = 1 (Stop mains failure control)

Deactivate mains failure control

These events terminate the mains failure control:
• Lock mains failure control 40x2D66:001 = 0 (Disabled)
• Exit via Inverter control word 40x2830, bit 11 = 1 (Stop mains failure control)
• Inverter disable
• Inverter disable due to an error (e.g. undervoltage)

450
Additional functions
Mains failure control

Parameter
Address Name / setting range / [default setting] Information
0x2D66:001 Mains failure control: Enable function Enable mains failure control.
0 Disabled Operation without mains failure control.
2 Enabled Operation with mains failure control.
0x2D66:002 Mains failure control: DC-bus activation level Weighting of the source of the comparison value
60 ... [75] ... 90 % Recommended setting: 75%
If the DC-bus voltage falls below the comparison value, the mains failure
control is triggered:
• 0x2D66:011 = 0.00 s (no filtering): Comparison value = nominal DC-
bus voltage (0x2540:001 x √2) x 0x2D66:002.
• 0x2D66:011 > 0.00 s (filtering active): Comparison value = filtered DC-
bus voltage (0x2D66:014) x 0x2D66:002.
0x2D66:011 Mains failure control: Filter time Filter time for filtering the measured DC-bus voltage. 0x6079
0.00 ... [0.00] ... 60.00 s 0.00 s = no filtering
The setting also determines the source of the comparison value for
detecting the mains failure:
• 0x2D66:011 = 0.00 s (no filtering): Source = nominal DC-bus
voltage (0x2540:001 x √2).
• 0x2D66:011 > 0.00 s (filtering active): Source = filtered DC-bus
voltage (0x2D66:014).
0x2D66:012 Mains failure control: Ramp max. torque Maximum torque of the torque ramp for braking the drive to standstill.
0.0 ... [30.0] ... 3276.7 % Reference: Rated motor torque (0x6076)
0x2D66:013 Mains failure control: Ramp time Ramp time for reaching the maximum torque.
0.00 ... [1.00] ... 5.00 s Reference: Torque change 0 Nm → maximum torque
0x2D66:014 Mains failure control: Actual DC bus voltage (filtered) Display of the filtered DC-bus voltage.
• Read only: x.xxx V

451
Additional functions
Oscilloscope function

17.4 Oscilloscope function

The oscilloscope function is operated via the separate "Oscilloscope" tab of the »EASY
Starter« engineering tool. Here, you can find the user interface with all the relevant dialogs
and setting options.
Preconditions
• Configuring the oscilloscope and starting the recording is only possible when an online
connection to the inverter has been established.
• The oscilloscope function enable recording of those parameters of the inverter that are
marked with the "OSC" attribute. Only these parameters can be transferred into the
selection list of the oscilloscope.
User interface
In the Lenze engineering tool used, set the trigger condition and the sample rate via the
oscilloscope user interface when an online connection to the inverter has been established
and select the parameters to be recorded.
The configuration is transferred into the inverter and checked each time it changes. Should
the check identify invalid settings, the oscilloscope triggers an error message.
After the measurement is completed and when an online connection has been established,
the measured data in the inverter is transmitted to the engineering tool and represented
graphically on the oscilloscope user interface.

A Oscilloscope‑toolbar E Set trigger conditions

B Oscillogram field F Set sample rate and time base
C Channel list field G Start / stop of recording
D Status line H Comment input field and error message

452
Additional functions
Oscilloscope function

Toolbar
Icon Function
Load oscillogram / configuration from file

Load recorded oscillogram from the device

Save oscillogram in file

Copy oscillogram to the clipboard

Print oscillogram

Display cursor

Centre cursor

Scale curve automatically

Activate zoom function

"Time base:" Display of the set time base

Tool settings (right-hand side of the toolbar)

Technical data
Number of channels 1 ... 8
Data memory depth Maximally 2048 measured values for each channel
Data width of a channel Maximally 64 bits, according to the data type of the parameter to be recorded
Sample rate 62.5 µs or a multiple thereof
Minimum recording time 128 ms
(62.5 µs * 2048 measured values)
Maximum time base 20.47 s
Maximum recording 20.47 s
time
Trigger level According to the value range of the parameter to be triggered
Trigger selection
Trigger delay -100 % ... +400 %
Trigger source Channel 1 ... 8

453
Additional functions
Oscilloscope function

Selecting parameters to be recorded

The oscilloscope supports up to eight channels, thus maximally eight parameters can be
recorded in an oscillogram. The Channels list field serves to configure the parameters to be
recorded as signal sources:
Colum Name Meaning
n
1 - Curve colour for the representation in the oscillogram
2 Ch Channel number
3 On on / off
4 Inv Inversion on / off
5 Name Selection of the parameter to be recorded
6 yPos I Value at cursor I in vertical direction
7 yPos II Value at cursor II in vertical direction
8 | ΔyPos | Difference between the two values of yPos I and yPos II (displayed as amount)
9 Unit Scaling
10 AS Activation / deactivation of the autoscaling function
11 1 / Div
12 Offset The offset value is subtracted from the recorded raw value before the scaling is
executed. This serves to, e. g., make very small value fluctuations visible within one
consistently very high recording value (e. g. harmonics with a low amplitude).
13 Position Regarding the vertical curve scale -5 ... 5, the position value determines the vertical
position of the zero point of the Y axis of a curve.

How to select a parameter for recording:

1. Double-click the "Name" column in the Channel list field to open the "Selection of signal
sources" dialog box.
2. Select the parameters to be recorded in the dialog box.
3. Press the "Ok" button. This closes the dialog box and the selection is accepted.
4. Repeat the steps 1 ... 3 to select up to seven further parameters to be recorded.
The selected parameters are recorded when the oscilloscope is started.

How to change a parameter for recording:

1. Double-click the parameter to be changed in the Channels list field in the "Name" column.
2. Make a new selection in the "Selection of signal sources" dialog box.
3. Press the "Ok" button. This closes the dialog box and the selection is accepted.
The changed parameters are recorded when the oscilloscope is started.

How to cancel a selection again:

1. Right-click the parameter to be removed in the Channels list field in the "Name" column to
open the context menu.
2. Select the "Remove parameter" command in the context menu.
The selected and changed parameter will not be recorded anymore when the oscilloscope is
started.

454
Additional functions
Oscilloscope function

Defining the recording time / sample rate

How to define the duration and sample rate for recording:
1. Select the desired time base in the time base list field.
a) The current setting of the time base multiplied by 10 results in the recording time.
b) As the size of the measured data memory in the inverter is limited, a compromise is
usually made between sample rate and recording time.
2. Either enter the desired sample rate in [ms] in the sample rate input field or open the
"Sample rate selection" dialog by clicking the "Sample rate" button and select a sample rate
< 1 ms.
a) The sample rate in the inverter is automatically corrected to integer multiples of 62.5 µs.
Thus, the duration and sample rate are defined for recording and are considered when the
oscilloscope is started.

455
Additional functions
Oscilloscope function

Defining the trigger condition

Based on the trigger condition, define the starting time of recording in the inverter. The
oscilloscope offers various trigger conditions which serve to control the recording of the
measured values.
The trigger threshold can be changed in the "Value" input field on the "Settings" tab if the
channel is selected in "Signal source" that contains the corresponding parameter.
Setting Function
Signal source Selection of the trigger source:
Channel Triggering takes place on a channel configured in the "vertical channel settings" list
field.
immediate trigger No trigger condition, recording takes place immediately after the start.
Value Value, from which onwards triggering is caused.
Deceleration Time delay of recording with regard to the trigger event.
Pre-trigger When entering a negative delay time, you can detect signals that occur before the
trigger event.

Trigger event

Trigger level

Trigger
delay (negative)

The trigger time is marked with a dashed line in the oscillogram.

If it is triggered on the occurrence of an event, values caused by the event can be
detected in this way.
Post-trigger When entering a positive delay time, you can detect signals that occur a certain time
after the trigger event.

Trigger event

Trigger level

Trigger
delay
(positive)

Edge Two trigger types are available:

increasing First, the value must fall below the defined trigger value and then exceed it in order
that triggering is activated.
decreasing First, the value must exceed the defined trigger value and then fall below it in order
that triggering is activated.

Starting recording
Press the button , "Start recording"

In order to obtain a sample rate as high as possible when the parameter values are recorded,
the data is first saved in the measured data memory of the inverter and then transmitted to
the Engineering PC as oscillogram. The current recording status is displayed in the status bar.

456
Additional functions
Oscilloscope function

Adjusting the representation

As soon as the diagram does not show the complete measurement anymore, a
scrollbar appears below the time axis. You can use the scrollbar to move the
visible section horizontally. The time-axis inscription and the position indicator
are automatically corrected during scrolling.

After recording and subsequent transmission of the online oscillogram to the Engineering PC,
it is visualised in the oscilloscope. If required, you can now adjust the representation using the
zoom function or the automatic scaling function.
Change time base subsequently
A measurement already carried out can be extended or compressed by changing the time
base.
For this purpose, change the setting of the time base via the toolbar (on top).
Zoom function
The zoom function will be activated by selecting the in the toolbar. When the function is
activated, the button is highlighted.
Zoom function Proceeding
Zoom selection Hold down the left mouse button and draw the section to be zoomed:

• The selection is shown with a frame.

• When the left mouse button is released, the selection is zoomed in the
oscillogram.
Horizontal stretching On the horizontal scale:
Hold down the left mouse button and move the mouse pointer to the left to
stretch the shown selection from the right edge.

Hold down the right mouse button and move the mouse pointer to the right
to stretch the shown selection from the left edge.

Moving the mouse pointer in opposite direction continuously reduces the stretching.
Vertical stretching On the vertical scale:
Hold down the left mouse button and move the mouse pointer to the
bottom to stretch the shown selection from the top.

Hold down the right mouse button and move the mouse pointer to the top
to stretch the shown selection from the bottom.

Moving the mouse pointer in opposite direction continuously reduces the stretching.
Return to original Click the right mouse button in the diagram to return step by step to the
representation original representation.

457
Additional functions
Oscilloscope function

Automatic scaling function

Use the automatic scaling function to automatically scale and reposition the representation of
selectable signal characteristics in the oscillograph and reset the offset to "0".

How to execute automatic scaling

1. Select the channels and parameters for automatic scaling in the Channels dialog box.
2. Click the corresponding symbol in the oscilloscope toolbar to activate the automatic scaling
function.

The cursor function

In addition to the zoom and scaling function, there is the cursor function which is called by
double-clicking the Channels list field.
The double-click opens a list of all signal sources with the following options:
• Display of individual measured values of a selectable channel
• Addition, subtraction or multiplication of any two measured values
• Square-law mean value of any two measured values
How to use the cursor function:
1. Go to the oscilloscope toolbar and click the "Cursor" button to activate the cursor function.
a) Two movable vertical measuring lines are displayed in the oscillogram.
2. Select the channel for which individual measuring lines are to be displayed from the
Channels list field.
3. Hold down the left mouse button and drag the red vertical measuring line to the desired
position.
a) The active measuring line is represented by a continuous line, the inactive measuring
line is represented by a dotted line.
b) If you position the mouse pointer over the inactive measuring line, the measuring line
automatically becomes active.
c) The columns yPos I and yPos II in the Channels list field display the values measured at
the measuring lines. The column ΔyPos or QWM displays the cursor differential value or
square-law mean value of all values between both cursors.
d) The sum value to be displayed can be defined in the "tool settings" dialog. This dialog
can be set via the "Tool settings" dialog on the right in the toolbar.
e) Comparing peak values: Several values displayed in the oscillogram can be compared to
each other using a horizontal measuring line. The measuring line is automatically
created based on the current cursor point and thus cannot be shifted.

Managing oscillograms
If several data records are loaded in the oscilloscope at the same time, the measured data to
be displayed is selected via the respective tab above the displayed oscillogram. There are
three types of oscillograms:
• Device oscillogram
The device oscillogram is the only oscillogram to establish a connection to the target
system in order to carry out an oscilloscope measurement. It is always displayed as the
first "Device on the left" tab.
• Offline oscillogram
The offline oscillogram is an oscillogram already saved in the Engineering PC.
• The configuration of the offline oscillogram can be reused for future recordings.
• The offline oscillogram is displayed as a tab with the file name that was allocated for
this oscillogram while being saved.
• Merge oscillogram
The merge oscillogram ("Merge" tab) is automatically available if two or more oscillograms
are loaded in the oscilloscope at the same time.
• In the merge oscillogram, several characteristics from the currently loaded oscillograms
can be overlaid, e. g. to compare signal characteristics from different recordings.

458
Additional functions
Oscilloscope function

Commenting oscillograms
You can add a comment on the selected oscillogram into the comment input field.
• When you execute the "Save oscillogram" command, the comment is saved together with
the oscillogram in the file.
• When you select an oscillogram with a comment to be loaded in the "Load oscillogram"
dialog box, this comment is displayed in the dialog box.

Saving oscillogram in file

The reuse of a saved configuration is only reasonable for inverters of the same
type (e. g. i950 inverters), as otherwise due to a scaling of the oscilloscope
channels that is not adapted, incorrect values are displayed!

After selecting the parameters to be recorded from the selection list of the signal sources and
making any further necessary settings, you can save this configuration and the recording if
already carried out on the Engineering PC for a later reuse.

How to save the oscillogram:

1. Click the symbol in the toolbar. the "Save oscillogram" dialog box is displayed.
2. Define a name in the Name input field of the oscillogram to be saved.
3. Click the "Export to file" button.
4. Specify the folder and file name for the oscillogram be stored in the Save as dialog box.
5. Click the Save button. The dialog box is closed.
The current oscillogram is saved.

Loading oscillogram / configuration from file

The reuse of a saved configuration is only reasonable for inverters of the same
type (e.g. i950 inverters), as otherwise due to a scaling of the oscilloscope
channels that is not adapted, incorrect values are displayed!

Data sets/configurations which have already been saved can be reloaded into the oscilloscope
any time, e.g. for the overlay function.

How to load an oscillogram or a configuration:

1. Click the symbol in the oscilloscope toolbar. The "Load oscillogram" dialog box is displayed.
2. Press the Search... button.
3. Select the file to be imported within the desktop environment from the Open dialog box.
4. If the oscillogram is to be used as configuration, select the As configuration... option.
5. Click the Open button. The dialog box is closed.
The selected oscillogram or configuration is imported.

Closing the oscillogram

You can close an open OFFLINE oscillogram again any time.
• After an oscillogram is closed, it is no longer available in the oscillogram list field. The
oscilloscope changes automatically to the display of the ONLINE oscillogram.
• If the closed oscillogram was included in the MERGE oscillogram, its channels will be
removed from the MERGE oscillogram.
• Go to the oscilloscope toolbar and click the symbol to close the currently displayed
OFFLINE oscillogram.

459
Additional functions
Oscilloscope function

Overlay function
The overlay function serves to overlay several characteristics from the currently loaded data
sets, e.g. to compare signal characteristics from different recordings.
• If two or more oscillograms are loaded in the oscilloscope, e.g. the ONLINE oscillogram and
an oscillogram that was previously loaded into a file, a "MERGE" oscillogram will be
automatically available in the "Oscillogram" list field.
• If the merge oscillogram is selected, the desired characteristics to be overlaid or compared
can be selected from the loaded oscillograms in the Vertical channel settings group field.
• If an ONLINE oscillogram is used in the MERGE oscillogram, an update is carried out in the
MERGE oscillogram in the case of a renewed recording.
• Removing variables from an OFFLINE or ONLINE oscillogram causes the characteristics in
the MERGE oscillogram to be deleted.
Copying an oscillogram to the clipboard
For documentation purposes, it is possible to copy the measured data of an oscillogram as a
table or, alternatively, the oscilloscope user interface as a picture, to the clipboard for use in
other programs.

How to copy the oscillogram to the clipboard:

1. Click the symbol in the oscilloscope toolbar. The "Copy oscillogram" dialog box is displayed.
2. Select the desired option:
a) Curve points: the measured data is copied to the clipboard as a table.
b) Screenshot: the oscilloscope user interface is copied to the clipboard as a picture.
3. Press the OK button. The dialog box is closed and the selected option is copied to the
clipboard.

460
Safety functions

18 Safety functions
Supported safety functions for "Basic Safety - STO"
4Safe torque off (STO) ^ 464
Extended Safety
Supported safety functions
• Safe stop functions
- 4Safe torque off (STO) ^ 464
- 4Safe stop 1 (SS1) ^ 466
- 4Safe stop 2 (SS2) ^ 469
- 4Safe operating stop (SOS) ^ 473
- 4Safe stop emergency (SSE) ^ 475
• Safe speed
- 4Safe maximum speed (SMS) ^ 476
- 4Safe speed monitor (SSM) ^ 485
- 4Safely-limited speed (SLS) ^ 477
• Safe direction
- 4Safe direction (SDI) ^ 488
• Safely limited increment
- 4Safely-limited increment (SLI) ^ 486
• Safely limited position
- 4Safely-limited position (SLP) ^ 491
• Safe position evaluation
- 4Safe homing (SHom) ^ 494
• Safe cam
- 4Safe cam (SCA) ^ 501
• Safe position-dependent speed
- 4Position-dependent safe speed (PDSS) ^ 503
• Safe brake control
- 4Safe brake control (SBC) ^ 507
• Cascading
- 4STO cascading (CAS) ^ 510
• Operating mode selection
- 4Operation mode selector (OMS) ^ 512
- 4Repair mode selector (RMS) ^ 515
- 4Enable switch (ES) ^ 518
• Muting
- 4Safe Muting (MUT) ^ 519
Safety bus (S-Bus)
• 4PROFIsafe connection ^ 522
• 4FSoE connection ^ 525
Safe hardware
• 4Safe inputs ^ 528
• 4Safe output ^ 529

461
Safety functions
General information and basics
Stop functions

18.1 General information and basics

18.1.1 Stop functions

The stop functions include:
4Safe stop emergency (SSE) ^ 475
4Safe stop 1 (SS1) ^ 466
4Safe stop 2 (SS2) ^ 469
4Safe operating stop (SOS) ^ 473
The stop functions differ according to how they are triggered:
• Normal stop (simple stop)
- Triggered by a safe input with the parameterized functions STO, SS1, or SS2.
- Triggered by the activated bits STO, SS1 or SS2 via the safety bus.
• Emergency stop
- Triggered by a safe input with the parameterized function SSE.
- Triggered by the activated bits SSE via the safety bus.
- STO or SS1 can be configured as the function to be executed via the parameter "SSE:
Emergency stop function".
• Error stop
- Triggered as a response to an error.
• Repair Mode Select

18.1.2 Prioritisation
Stop functions with higher priority influence the flow of lower-order functions which have
already been initiated.
Hierarchy:
1. Safe torque off (STO)
• The function STO has the highest priority and hence precedence over all other
functions.
• Functions that have already been initiated (e. g. SS1 or SS2) are aborted and the drive
is switched off.
2. Safe stop 1 (SS1)
• The function SS1 has priority over SS2.
• Observing the defined stopping time for SS1 and SS2 as well as the SS1 mode, the drive
is rendered torqueless.
3. Monitoring functions
• The monitoring functions have equal priorities and can be executed simultaneously
with the stop function.

462
Safety functions
General information and basics
Restart

18.1.3 Restart
The restart sets the drive in motion after it was previously brought to a standstill via a stop
function.
Whether the restart needs to be acknowledged or if it launches automatically can be
parameterized in a manner dependent on the preceding stop function:
• Restart behavior according to STO / SS1 (0x2892:001)
• Restart behavior according to SS2 / SOS (0x289F:002)

DANGER!
The requirement for the safety function is lifted.
The drive may automatically restart when the requirement for the safety function is lifted!
▶ In the case of automatic restart, you must take external measures to ensure that the drive
only restarts after a confirmation in accordance with EN ISO 13849‑1.

The restart behaviour after an emergency stop corresponds to that for the
restart behaviour parameterised for the stop function STO / SS1.

Prerequisites for restart

• Setting "Acknowledged restart"
- After a normal stop, a Wiederanlaufquittierung (AIS) is necessary.
- After an error stop, an Fehlerquittierung (AIE) is necessary before the restart can be
acknowledged with AIS.
• Setting "Automatic restart"
- The drive must be in a stopped state (see status bit STO or SOS).
- The higher-level control must ensure that the drive only restarts after a confirmation.

463
Safety functions
Safe torque off (STO)

18.2 Safe torque off (STO)

This function corresponds to a "Stop 0" according to EN 60204.
The motor cannot generate torque and movements of the drive.

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.

DANGER!
The power supply is not safely disconnected.
Death or serious injury due to electrical voltage.
▶ Turn off the power supply.

Preconditions
Motion caused by external forces must be prevented by additional measures such as
mechanical braking.
The restart must be set. See chapter "Restart". ^ 463
Functional description
How to safely disconnect 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.
The power drivers do not generate a rotating field anymore.
3. The inverter switches to the STO active device status (status word 0x6041, Bit15 = 0).
The motor is safely switched to torqueless operation (STO).

The functional principle STO depicted applies to Basic Safety and Extended
Safety.
The terminals shown apply to Basic Safety.

X1
SIA GS SIB
SU

µC

3x
PWM M

Fig. 56: Functional principle STO

X1 Control terminals of the safety unit PWM Pulse width modulation
SU Hardware interface M Motor
µC Microcontroller

464
Safety functions
Safe torque off (STO)

Function chart
STO
n

0
t

Fig. 57: Safety function STO

Functional sequence and error response have no adjustable parameters.

Activation of the function

• Via a safe input.
• Via the safety bus. 4Safe network interfaces ^ 521
• As response to the error stop request.
• As response to the emergency stop request.
Parameter
Address Name / setting range / [default setting] Information
0x2875:001 S-Bus control bits: STO Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x2890 STO Source SD-In Selection of a safe input as a trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x2891 STO Source S-Bus Selection of the safety bus as the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 Activated
0x2892:001 STO: Restart Restart behavior after the function has been canceled.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Acknowledged restart display.
1 Automatic restart
0x2893 STO "STO active" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic

465
Safety functions
Safe stop 1 (SS1)

18.3 Safe stop 1 (SS1)

This function corresponds to a "Stop 1" according to EN 60204.
The function monitors the parameterized stopping time of the drive (n = 0) and switches the
drive to torque-free operation via the mode parameterized in 0x2897:001.
Preconditions
The drive is brought to standstill via the application.
Movements caused by external forces require additional measures. When the stopping time is
defined, the application time of the brake must be taken into consideration.
The restart is possible after the stopping time has completely elapsed. An exception from this
is the special operation.
Functional description

n = 0 means that the speed of the motor is lower than the motor speed
parameterized in the tolerance window. 40x287B:001

The deceleration ramp can be parameterized and monitored for the SS1 stop
function.

SS1-t SS1-t
0x2897:001 = 0 (STO after stopping time) 0x2897:001 = 1 (STO at n = 0)
SS1 SS1
n n
0x2894:001 0x2894:001
b STO b STO
a a STO
0x2897:002

0 0
t t
0x287B:001 0x287B:001

The safety function SS1 switches the inverter to STO when the set With this parameterization the motor comes to a standstill.
stopping time has elapsed. 40x2894:001 The deceleration n = 0 selection is parameterized in the following
The switching operation is triggered regardless of whether the motor is parameter: 0x2897:002
at a standstill or not!
Curve (a): The motor comes to a standstill within the parameterized Curve (a): The deceleration parameterized in 0x2897:002 starts when
stopping time. the speed is lower than the tolerance window of the motor speed
parameterized in 0x287B:001.
The inverter switches to STO after the speed threshold has reached n=0
and the deceleration time 0x2887:002 has elapsed.
Curve (b): The motor is not yet at a standstill at the moment of STO. Curve (b): If the deceleration ramp is set too long, the system switches to
Switching off with STO causes the motor to coast to a halt. STO after the stopping time has elapsed. In the case shown here, the
motor coasts to a halt.

Notes on setting the stopping time

Please note the following dependency when setting the stopping time 0x2894:001:
• If an encoder is available:
• The speed is calculated from the encoder data.
• In 0x2897:001, selection "1": STO at n = 0, a waiting time 0x2897:002 can be set to
determine when the STO status is assumed. This delay specifies the time between the
motor coming to a standstill and STO being activated.
• If no encoder is available:
• The function evaluates the speed status from the inverter. "n = 0" is reached at speed
n ≤ 5 rpm.
• The stopping time 0x2894:001 monitored by the safety device must be parameterized
0.5 s greater than the stop time parameterized in the inverter.

466
Safety functions
Safe stop 1 (SS1)

Activation of the function

• Via a safe input.
• Via the safety bus. 4Safe network interfaces ^ 521
• As response to the error stop request.
• As response to the emergency stop request.
Response of the function under normal circumstances
When the stopping time has elapsed (0x2894:001or after falling below the tolerance window
(0x287B:001) a standard stop is activated.
The power supply for generating the rotating field is safely interrupted (STO). The motor
cannot generate torque and movements of the drive.
Behavior of the function in the event of an error
An error message and an error stop are triggered if:
• The standstill is not reached with the expiry of the stopping time (0x2894:001).
• The parameterized deceleration ramp is exceeded while ramp monitoring is active.
The power supply for generating the rotating field is safely interrupted (STO). The motor
cannot generate torque and movements of the drive.

Canceling the Safe Stop request prematurely does not terminate the error stop
function.

467
Safety functions
Safe stop 1 (SS1)

Parameter
Address Name / setting range / [default setting] Information
0x2875:002 S-Bus control bits: SS1 Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x2878:004 Motor encoder (ES): Response time encoder Time required to detect faults caused by continuous signal errors at the
monitoring encoder interface.
• Read only: ms Changes only possible in the safety parameter list, otherwise only
12 12 display.
50 50
100 100
0x287B:001 Speed: Tolerance window (n=0) If the speed is within the tolerance window, the status "n = 0 rpm" is
• Read only: x rpm valid.
Changes only possible in the safety parameter list, otherwise only
display.
0x2894:001 SS1, SS2: Stopping time Monitored stopping time for SS1 and SS2.
• Read only: x ms Changes only possible in the safety parameter list, otherwise only
display.
0x2895 SS1 Source SD-In Selection of a safe input as a trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x2896 SS1 Source S-Bus Selection of the safety bus as the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 Activated
0x2897:001 SS1: Mode Condition at which STO is triggered.
• Read only Changes only possible in the safety parameter list, otherwise only
display.
0 STO after stopping time STO is only processed after the parameterized stopping time has
elapsed.
1 STO at n=0 STO is already triggered after reaching n=0.
0x2897:002 SS1: Delay STO after n=0 Delay time after detection of n = 0 until triggering of STO
• Read only: x ms Only relevant if "SS1 mode" = "STO with n=0" and operation with
encoder system.
Changes only possible in the safety parameter list, otherwise only
display.
0x2898 SS1 "SS1 active" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic

468
Safety functions
Safe stop 2 (SS2)

18.4 Safe stop 2 (SS2)

This function corresponds to a "Stop 2" according to EN 60204.
The function monitors whether the drive has reached the set tolerance margin (n = 0) within
the parameterized stopping time. After the stopping time has elapsed or the value has fallen
below the tolerance window, the monitoring system switches to safe operating stop (SOS). In
the safe operational stop, the drive is not switched to torque-free operation. All control
functions remain active to maintain the reached position.

DANGER!
Uncontrolled rotation of the motor possible if no safety rated encoder system is used.
Possible consequence: Death or severe injuries
▶ Use a safety rated encoder system to use this function.

Preconditions
The drive is brought to standstill via the application.
Movements caused by external forces require additional measures. When the stopping time is
defined, the application time of the brake must be taken into consideration.
The restart is possible after the stopping time has completely elapsed. An exception from this
is the special operation.
Functional description

The deceleration ramp can be parameterized and monitored for the SS2 stop
function.

SS2-t SS2-t
0x289B:001 = 0 (SOS after stopping time) 0x289B:001 = 1 (SOS at n = 0)
SS2 SS2
n n
0x2894:001 0x2894:001
b SOS b SOS
a STO a STO

0 0
t t
0x287B:001 0x287B:001

The safe operating stop is activated if the stopping time parameterized in

0x2894:001 has elapsed and the motor speed is lower than the value
parameterized in 0x287B:001.
Curve (a): For details see Safe operating stop (SOS) ^ 473
Curve (b): STO is also activated if, after the stopping time 0x2894:001 has elapsed, the speed is not lower than the value parameterized in
0x287B:001.

Activation of the function

• Via a safe input.
• Via the safety bus. 4Safe network interfaces ^ 521
• As response to the error stop request.
Response of the function under normal circumstances
When the stopping time has elapsed (0x2894:001or after falling below the tolerance window
(0x287B:001), the safety functionSafe operating stop (SOS) is activated.

469
Safety functions
Safe stop 2 (SS2)

Behavior of the function in the event of an error

An error message and an error stop are triggered if:
• The standstill is not reached with the expiry of the stopping time (0x2894:001).
• The parameterized deceleration ramp is exceeded while ramp monitoring is active.
The power supply for generating the rotating field is safely interrupted (STO). The motor
cannot generate torque and movements of the drive.

Canceling the Safe Stop request prematurely does not terminate the error stop
function.

Parameter
Address Name / setting range / [default setting] Information
0x2875:003 S-Bus control bits: SS2 Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x2878:004 Motor encoder (ES): Response time encoder Time required to detect faults caused by continuous signal errors at the
monitoring encoder interface.
• Read only: ms Changes only possible in the safety parameter list, otherwise only
12 12 display.
50 50
100 100
0x287B:001 Speed: Tolerance window (n=0) If the speed is within the tolerance window, the status "n = 0 rpm" is
• Read only: x rpm valid.
Changes only possible in the safety parameter list, otherwise only
display.
0x2894:001 SS1, SS2: Stopping time Monitored stopping time for SS1 and SS2.
• Read only: x ms Changes only possible in the safety parameter list, otherwise only
display.
0x2899 SS2 Source SD-In Selection of a safe input as a trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x289A SS2 Source S-Bus Selection of the safety bus as the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 Activated
0x289B:001 SS2: Mode Condition at which SOS is triggered.
• Read only Changes only possible in the safety parameter list, otherwise only
display.
0 SOS after stopping time SOS is only processed after the parameterized stopping time has
elapsed.
1 SOS at n=0 SOS is already triggered after reaching n=0.
0x289C SS2 "SS2 active" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic

470
Safety functions
Ramp monitoring

18.5 Ramp monitoring

In addition, the deceleration ramp can be parameterised and monitored for the stop functions
SS1 and SS2. If the parameterised ramp is not exceeded, it is then switched to the
parameterised stop function STO or SOS.
Condition
• Safe speed evaluation via the parameterized encoder system.
• Ramp monitoring is activated. 40x2894:002
• The starting value of the ramp and the S-ramp time must be specified.
Functional description
Monitoring the deceleration process achieves a higher level of safety.
• The application guides the drive to standstill.
• If the speed exceeds the parameterized deceleration ramp within the stopping time or
before the tolerance window (n = 0) is reached, an error message is triggered and an error
stop is initiated.
Safe ramp monitoring for SS1-r and SS2-r

C D
SS1 SS2
n ❶ n ❶
❸ ❸
❹ STO STO ❹ STO SOS

0 0
t t
❷ ❷

① 0x2894:001 SS1, SS2: Stopping time

② 0x287B:001 Speed monitoring: Tolerance window (n=0)
③ 0x2894:003 SS1, SS2: S-ramp time
④ 0x2894:005 SS1, SS2: Start offset ramp

The parameterized monitoring ramp considers the parameters of the

deceleration ramp in the application.

0...100 % of the actual speed are added to the actual speed as start offset. The
sum is used as constant starting value.
Alternative: An absolute value can be parameterized as start offset.
40x2894:006.
The following parameter determines whether the relative or the absolute offset
value is to be used. 40x2894:004
In the Lenze setting of the start offset, the tolerance window (n=0) is considered
as the offset.40x2894:005

The monitoring ramp starts after an internal deceleration time has elapsed. The
internal deceleration time depends on “SS1, SS2”: smoothing time” and “SS1,
SS2”: stopping time”.

Activation
If the stop functions SS1/SS2 are requested, a monitoring ramp is calculated and placed over
the current speed characteristic.

471
Safety functions
Ramp monitoring

Normal behavior
While the stopping time elapses or before the tolerance window (n = 0) is reached, the
parameterized speed ramp is not exceeded.
If the stopping time has elapsed and the parameterized speed ramp is not exceeded, the
parameterized stop function STO or SOS is triggered.
Error behaviour
An error message and an error stop are triggered if:
• the current speed exceeds the stopping time of the speed ramp parameterised.
• the current speed exceeds the parameterised speed ramp before the tolerance window is
reached.
The power supply for generationg the rotating field is safely interrupted (STO). The motor
cannot generate torques and movements of the drive.
Parameter
Address Name / setting range / [default setting] Information
0x2894:002 SS1, SS2: Ramp monitoring Selection of whether the deceleration ramp is to be monitored when SS1
• Read only and SS2 are executed.
0 Disabled Changes only possible in the safety parameter list, otherwise only
display.
1 Activated
0x2894:003 SS1, SS2: Ramp - Smoothing time S-ramp time of the deceleration ramp for SS1 and SS2.
• Read only: x % 0 % = linear ramp
Changes only possible in the safety parameter list, otherwise only
display.
0x2894:004 SS1, SS2: Ramp - Offset mode Definition of the speed offset at the start of ramp monitoring.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Relativ display.
1 Absolute
0x2894:005 SS1, SS2: Ramp - Start-offset relative Definition of the speed offset at the start of ramp monitoring.
• Read only: x % Currently monitored speed value with active ramp monitoring.
0x2894:006 SS1, SS2: Ramp - Start-offset absolute Changes only possible in the safety parameter list, otherwise only
• Read only: x rpm display.
0x2894:007 SS1, SS2: Ramp - Currently monitored speed Currently monitored speed value with active ramp monitoring.
• Read only: x rpm
0x2894:008 SS1, SS2: Ramp - Minimum difference Minimum difference between actual speed and monitored ramp.
• Read only: x rpm

472
Safety functions
Safe operating stop (SOS)

18.6 Safe operating stop (SOS)

In the safe operational stop, the drive is not switched to torque-free operation. All control
functions are maintained. The reached position remains active.

Preconditions
The drive is brought to standstill via the application.
Functional description
n
SOS
STO

0
t
0x289F:001

Fig. 58: SOS function

SOS is activated if the motor speed is lower than the tolerance window parameterized in
0x287B:001. In SOS state, relative position changes are added and stored in 0x289F:003. The
value in 0x289F:003 is continuously compared with the permissible value in 0x289F:001. If in
SOS state the position leaves the safely monitored tolerance window, an error message is
generated and STO is activated.
When the SOS state is left, the maximum relative position change is displayed in 0x289F:003.
The parameter 0x289F:002 defines the restart behavior after SOS has been deactivated.
When the SOS state is requested again, the sum of the last position changes is reset to zero in
0x289F:003.
Example:
The "SS2 active" state is interrupted by a STO request. If the STO request is reset, the
transition to the SOS state occurs. The position deviation is reset to p = 0.
Activation of the function
• Via a safe input.
• Via the safety bus. 4Safe network interfaces ^ 521
• Via the function Safe stop 2 (SS2)<^ 469
Behavior of the function in the event of an error
In the "Safe operational stop (SOS)" final state, an error message is triggered if the position
leaves the set tolerance window p = 0. 0x289F:001

473
Safety functions
Safe operating stop (SOS)

Parameter
Address Name / setting range / [default setting] Information
0x2875:019 S-Bus control bits: SOS Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x289D SOS Source SD-In Selection of a safe input as a trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28A0 SOS "SOS observed" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x289E SOS Source S-Bus Selection of the safety bus as the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 Activated
0x289F:001 SOS: Tolerance window (Delta p=0) If the position change is within the tolerance window, the status "Dp = 0"
• Read only: x incr. is valid.
Changes only possible in the safety parameter list, otherwise only
display.
0x289F:002 SOS: Restart Restart behavior after the function has been canceled.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Acknowledged restart display.
1 Automatic restart
0x289F:003 SOS: Maximum change of position Value of the maximum position change while SOS has been active.
• Read only: x incr.

474
Safety functions
Safe stop emergency (SSE)

18.7 Safe stop emergency (SSE)

The safety function SSE has the highest priority. The safety function SSE is controlled primarily
from all states, operating modes or safety functions. Depending on the parameter setting in
0x28A3:001, SSE activates one of these functions:
4Safe torque off (STO)
4Safe stop 1 (SS1)
Exception
One exception is the tripping source parameterized with SSE that can be deactivated by the
"Safe Muting" function. In this case, the SSE function is not effective.

Connect the emergency stop buttons which must not be overruled by special
operation or repair mode select (RMS) to the SSE function. For this purpose,
parameterize the safe input in 0x28A1 as the trigger source for the SSE function.
The SSE function can also be requested with the "SSE" bit via the safety bus.

Activation of the function

• Via a safe input.
• Via the safety bus. 4Safe network interfaces ^ 521
Parameter
Address Name / setting range / [default setting] Information
0x2875:024 S-Bus control bits: SSE Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x28A1 SSE Source SD-In Selection of a safe input as a trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28A2 SSE Source S-Bus Selection of the safety bus as the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 Activated
0x28A3:001 SSE: Emergency stop function Selection of the stop function for emergency stop.
• Read only Changes only possible in the safety parameter list, otherwise only
0 STO display.
1 SS1
0x28A4 SSE "SSE active" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic

475
Safety functions
Safe maximum speed (SMS)

18.8 Safe maximum speed (SMS)

This function monitors the set maximum speed of the motor.

Functional description
SMS
n
SLS1 STO/SS1/SS2
Nmax

0
t

-Nmax

Fig. 59: SMS function

This function monitors the set maximum speed of the motor: 0x28B0:001
If the speed of the drive is within the monitoring limits, the SMS observed status is output.
• Status word: 0x2870:002 Bit 4
• Safe output: 0x28B1
Activation of the function
0x28B0:001 > 0 rpm activates the function.
Behavior of the function in the event of an error
If the monitoring limits are exceeded, an error message is output and a parameterizable error
stop is triggered.
Selection of error stop: 0x28B0:002
Possible error stops:
4Safe torque off (STO) ^ 464
4Safe stop 1 (SS1) ^ 466
4Safe stop 2 (SS2) ^ 469
Parameter
Address Name / setting range / [default setting] Information
0x28B0:001 SMS: Maximum speed Nmax Activation of the SMS function and selection of the maximum speed.
• Read only: x rpm Nmax = 0 rpm deactivates the function.
Changes only possible in the safety parameter list, otherwise only
display.
0x28B0:002 SMS: Reaction (n>Nmax) Response when Nmax is exceeded.
• Read only Changes only possible in the safety parameter list, otherwise only
0 STO display.
1 SS1
2 SS2
0x28B1 SMS "SMS observed" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic

476
Safety functions
Safely-limited speed (SLS)

18.9 Safely-limited speed (SLS)

This function monitors the parameterized speed limits.
Up to four speeds can be parameterized and monitored simultaneously.

Preconditions
The drive must be braked by the application.
Note when you combine the Safely-limited speed (SLS) and Safe direction (SDI) functions.
• The parameterized directions of movement must be coordinated:
• SLS: 0x28C4:001 ... 0x28C4:004
• SDI: 0x28BA:001
• SLS braking time and SDI deceleration time must be coordinated:
• SLS: 0x28C3:001 ... 0x28C3:004
• SDI: 0x28BA:002
• The SLS deceleration time starts simultaneously with the SDI deceleration time.
Functional description
SLS SLS
n n
STO/SS1/SS2 SLS observed

Nlim Nlim
0 0
t t
-Nlim -Nlim

0x28C3:001 ... 0x28C5:001 ...

0x28C3:004 0x28C5:004

Fig. 60: SLS function

The function monitors the speed limits of the drive: 0x28C2:001 ... 0x28C2:004
Monitoring becomes active when the set braking time has elapsed or when the speed falls
below the set speed limit:
• Braking time: 0x28C3:001 ... 0x28C3:004
• Safely limited speed: 0x28C2:001 ... 0x28C2:004
In addition, the permissible direction of movement can be monitored: 0x28C4:001 ...
0x28C4:004
If the speed of the drive is within the monitoring limits, the SLS1 observed ... SLS4 observed
status is output.
• Status word: 0x2870:002 Bit 0 ... 0x2870:002 Bit 3.
• Safe output: 0x28C6:001 ... 0x28C6:004
Activation of the function
• Via a safe input.
• Via the safety bus. 4Safe network interfaces ^ 521
• Via internal status signals. (From Safety Firmware V1.1 with parameter set version V1.1)

477
Safety functions
Safely-limited speed (SLS)

Behavior of the function in the event of an error

If the monitoring limits are exceeded, an error message is output and a parameterizable error
stop is triggered.
Selection of error stop: 0x28C5:001 ... 0x28C5:004
Possible error stops:
4Safe torque off (STO) ^ 464
4Safe stop 1 (SS1) ^ 466
4Safe stop 2 (SS2) ^ 469

478
Safety functions
Safely-limited speed (SLS)

Parameter
Address Name / setting range / [default setting] Information
0x28BF:001 SLS: SLS1 - Internal source Selection of an internal status bit as trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
display.
0 Disabled
678496513 SDIpos active
678496769 SDIneg active
678497025 SLI active
678497793 OMS active
678503937 SSM within limits
678504193 SDIpos observed
678504449 SDIneg observed
678504705 SLP1 observed
678504961 SLP2 observed
678505217 SLP3 observed
678505473 SLP4 observed
678505729 SCA1 within limits
678505985 SCA2 within limits
678506241 SCA3 within limits
678506497 SCA4 within limits
678506753 PDSSpos observed
678507009 PDSSneg observed
678508801 Positive direction of movement
0x28BF:002 SLS: SLS1 - Internal source inversion Inverted evaluation of the selected internal status bit.
• Read only Changes only possible in the safety parameter list, otherwise only
display.
0 Not inverted
1 Invert
0x28BF:003 SLS: SLS2 - Internal source Selection of an internal status bit as trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
display.
0 Disabled
678496513 SDIpos active
678496769 SDIneg active
678497025 SLI active
678497793 OMS active
678503937 SSM within limits
678504193 SDIpos observed
678504449 SDIneg observed
678504705 SLP1 observed
678504961 SLP2 observed
678505217 SLP3 observed
678505473 SLP4 observed
678505729 SCA1 within limits
678505985 SCA2 within limits
678506241 SCA3 within limits
678506497 SCA4 within limits
678506753 PDSSpos observed
678507009 PDSSneg observed
678508801 Positive direction of movement
0x28BF:004 SLS: SLS2 - Internal source inversion Inverted evaluation of the selected internal status bit.
• Read only Changes only possible in the safety parameter list, otherwise only
display.
0 Not inverted
1 Invert

479
Safety functions
Safely-limited speed (SLS)

Address Name / setting range / [default setting] Information

0x28BF:005 SLS: SLS3 - Internal source Selection of an internal status bit as trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
display.
0 Disabled
678496513 SDIpos active
678496769 SDIneg active
678497025 SLI active
678497793 OMS active
678503937 SSM within limits
678504193 SDIpos observed
678504449 SDIneg observed
678504705 SLP1 observed
678504961 SLP2 observed
678505217 SLP3 observed
678505473 SLP4 observed
678505729 SCA1 within limits
678505985 SCA2 within limits
678506241 SCA3 within limits
678506497 SCA4 within limits
678506753 PDSSpos observed
678507009 PDSSneg observed
678508801 Positive direction of movement
0x28BF:006 SLS: SLS3 - Internal source inversion Inverted evaluation of the selected internal status bit.
• Read only Changes only possible in the safety parameter list, otherwise only
display.
0 Not inverted
1 Invert
0x28BF:007 SLS: SLS4 - Internal source Selection of an internal status bit as trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
display.
0 Disabled
678496513 SDIpos active
678496769 SDIneg active
678497025 SLI active
678497793 OMS active
678503937 SSM within limits
678504193 SDIpos observed
678504449 SDIneg observed
678504705 SLP1 observed
678504961 SLP2 observed
678505217 SLP3 observed
678505473 SLP4 observed
678505729 SCA1 within limits
678505985 SCA2 within limits
678506241 SCA3 within limits
678506497 SCA4 within limits
678506753 PDSSpos observed
678507009 PDSSneg observed
678508801 Positive direction of movement
0x28BF:008 SLS: SLS4 - Internal source inversion Inverted evaluation of the selected internal status bit.
• Read only Changes only possible in the safety parameter list, otherwise only
display.
0 Not inverted
1 Invert
0x2875:004 S-Bus control bits: SLS1 Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.

480
Safety functions
Safely-limited speed (SLS)

Address Name / setting range / [default setting] Information

0x2875:005 S-Bus control bits: SLS2
• Read only
0x2875:006 S-Bus control bits: SLS3
• Read only
0x2875:007 S-Bus control bits: SLS4
• Read only
0x28C0:001 SLS: SLS1 - Source SD-In Selection of a safe input as a trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28C0:002 SLS: SLS2 - Source SD-In
• Read only
0 Disabled
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28C0:003 SLS: SLS3 - Source SD-In
• Read only
0 Disabled
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28C0:004 SLS: SLS4 - Source SD-In
• Read only
0 Disabled
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28C1:001 SLS: SLS1 - Source S-Bus Selection of the safety bus as the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 Activated
0x28C1:002 SLS: SLS2 - Source S-Bus
• Read only
0 Disabled
1 Activated
0x28C1:003 SLS: SLS3 - Source S-Bus
• Read only
0 Disabled
1 Activated
0x28C1:004 SLS: SLS4 - Source S-Bus
• Read only
0 Disabled
1 Activated
0x28C2:001 SLS: SLS1 - Limited speed Nlim1 Setting of the safely limited speed.
• Read only: x rpm Changes only possible in the safety parameter list, otherwise only
0x28C2:002 SLS: SLS2 - Limited speed Nlim2 display.
• Read only: x rpm
0x28C2:003 SLS: SLS3 - Limited speed Nlim3
• Read only: x rpm

481
Safety functions
Safely-limited speed (SLS)

Address Name / setting range / [default setting] Information

0x28C2:004 SLS: SLS4 - Limited speed Nlim4
• Read only: x rpm
0x28C3:001 SLS: SLS1 - Braking time Nlim1 Safely monitored time to decelerate the drive below the set limited
• Read only: x ms speed.
0x28C3:002 SLS: SLS2 - Braking time Nlim2 Changes only possible in the safety parameter list, otherwise only
• Read only: x ms display.
0x28C3:003 SLS: SLS3 - Braking time Nlim3
• Read only: x ms
0x28C3:004 SLS: SLS4 - Braking time Nlim4
• Read only: x ms
0x28C4:001 SLS: SLS1 - Permitted direction Permissible direction of movement when monitoring SLS.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Both directions enabled display.
1 Positive direction enabled
2 Negative direction enabled
0x28C4:002 SLS: SLS2 - Permitted direction
• Read only
0 Enable both directions
1 Positive direction enabled
2 Negative direction enabled
0x28C4:003 SLS: SLS3 - Permitted direction
• Read only
0 Enable both directions
1 Positive direction enabled
2 Negative direction enabled
0x28C4:004 SLS: SLS4 - Permitted direction
• Read only
0 Enable both directions
1 Positive direction enabled
2 Negative direction enabled
0x28C5:001 SLS: SLS1 - Reaction (n>Nlim1) Response when the limited speed is exceeded.
• Read only Changes only possible in the safety parameter list, otherwise only
0 STO display.
1 SS1
2 SS2
0x28C5:002 SLS: SLS2 - Reaction (n>Nlim2)
• Read only
0 STO
1 SS1
2 SS2
0x28C5:003 SLS: SLS3 - Reaction (n>Nlim3)
• Read only
0 STO
1 SS1
2 SS2
0x28C5:004 SLS: SLS4 - Reaction (n>Nlim4)
• Read only
0 STO
1 SS1
2 SS2
0x28C6:001 SLS: "SLS1 active" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic

482
Safety functions
Safely-limited speed (SLS)

Address Name / setting range / [default setting] Information

0x28C6:002 SLS: "SLS2 active" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28C6:003 SLS: "SLS3 active" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28C6:004 SLS: "SLS4 active" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28C7:001 SLS: "SLS1 observed" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28C7:002 SLS: "SLS2 observed" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28C7:003 SLS: "SLS3 observed" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28C7:004 SLS: "SLS4 observed" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x2907:001 Additional speed limitation
0 ... [0] ... 480000 rpm
0x500A:150 SLS1
0.0000 ... [0.0000] ... 214748.3647
0x500A:151 SLS1 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500A:152 SLS2
0.0000 ... [0.0000] ... 214748.3647
0x500A:153 SLS2 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500A:154 SLS3
0.0000 ... [0.0000] ... 214748.3647
0x500A:155 SLS3 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500A:156 SLS4
0.0000 ... [0.0000] ... 214748.3647
0x500A:157 SLS4 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500A:159 Compensation velocity of SLS
0.0000 ... [0.0000] ... 214748.3647
0x500A:160 Follower - Response to SLS
false Inactive
true Active

483
Safety functions
Safely-limited speed (SLS)

Address Name / setting range / [default setting] Information

0x500A:161 Speed controller limitation (SLS)
false Inactive
true Active
0x500A:162 Deactivate safety interface
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Bit 1 Ignore SS1 request
Bit 2 Ignore SS2 request
Bit 3 Ignore SLS1-4 request
Bit 4 Ignore SDI request
Bit 5 Ignore SBC request
0x500A:163 Limiter status
• Read only
Bit 0 STO active
Bit 1 SS1 active
Bit 2 SS2 active
Bit 3 SOS active
Bit 4 SLS1 active
Bit 5 SLS2 active
Bit 6 SLS3 active
Bit 7 SLS4 active
Bit 8 SDIpos active
Bit 9 SDIneg active

484
Safety functions
Safe speed monitor (SSM)

18.10 Safe speed monitor (SSM)

This function monitors the amount of a set speed value.

NOTICE
The function has no hysteresis.
Possible consequences: The safe output can switch frequently when the speed of the drive is
near the monitoring limit.
Mechanical actuators at the safe output could wear out more quickly due to frequent
switching.
▶ In this case, avoid continuous operation at the monitoring limit.

Functional description
SSM
n

0 0x28B2:001
t

Status 1
0
t

Fig. 61: SSM function

This function monitors the amount of a set speed value. 0x28B2:001
If the speed of the drive is within the monitoring limits, the SSM within limits status is output.
• Status word: 0x2870:002 Bit 5
• Safe output: 0x28B3
Activation of the function
0x28B2:001 > 0 rpm activates the function.
Behavior of the function in the event of an error
If the monitoring limits are exceeded, no error message is output and no error stop is
triggered.
Only the SSM within limits status is reset.
Parameter
Address Name / setting range / [default setting] Information
0x28B2:001 SSM: Monitored speed Amount of the monitored speed.
• Read only: x rpm Value = 0 rpm deactivates the function.
Changes only possible in the safety parameter list, otherwise only
display.
0x28B3 SSM "SSM within limits" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic

485
Safety functions
Safely-limited increment (SLI)

18.11 Safely-limited increment (SLI)

This function monitors the amount of a maximum permissible position change.

The function cannot be activated if the drive is in the "Safe operating stop
(SOS)" state.

Functional description
Incr.
Increment size

1
(A)
t

1
(B)
t

1
(C)
t
tSLI active tSLI error

Fig. 62: SLI function

A Triggering the function C Error status
B Active monitoring
If the drive exceeds the parameterized maximum position change, the set stop function is
triggered.
Settings for special operation
• Increment: 0x28CA:003
• Stop function: 0x28A9:001
Settings for normal operation
• Increment: 0x28CA:001
• Stop function: 0x28CA:002
Activation of the function
• Via a safe input.
• Via the safety bus. Safe network interfaces ^ 521
• Via the special operation. 4Operation mode selector (OMS) ^ 512
Behavior of the function in the event of an error
If the monitoring limits are exceeded, an error message is output and a parameterizable error
stop is triggered.

486
Safety functions
Safely-limited increment (SLI)

Normal operation
Selection of error stop: 0x28CA:002
Possible error stops:
4Safe torque off (STO) ^ 464
4Safe stop 1 (SS1) ^ 466
4Safe stop 2 (SS2) ^ 469
Special operation
Selection of error stop: 0x28A9:001
Possible error stops:
4Safe torque off (STO) ^ 464
4Safe stop 1 (SS1) ^ 466
4Safe stop 2 (SS2) ^ 469
Parameter
Address Name / setting range / [default setting] Information
0x2875:011 S-Bus control bits: SLI Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x28C8 SLI Source SD-In Selection of a safe input as a trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28C9 SLI Source S-Bus Selection of the safety bus as the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 Activated
0x28CA:001 SLI: Increment size standard operation Number of increments for a safely limited increment in normal
• Read only: x incr. operation.
Changes only possible in the safety parameter list, otherwise only
display.
0x28CA:002 SLI: Error response standard operation Response when the safe increment is exceeded in normal operation.
• Read only Changes only possible in the safety parameter list, otherwise only
0 STO display.
1 SS1
2 SS2
0x28CA:003 SLI: Increment size special operation Number of increments for safely limited increment in special operation.
• Read only: x incr. Number = 0 deactivates the function.
Changes only possible in the safety parameter list, otherwise only
display.
0x28CA:004 SLI: Maximum change of position Value of the position change while SLI has been active.
• Read only: x incr.
0x28CB SLI "SLI active" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic

487
Safety functions
Safe direction (SDI)

18.12 Safe direction (SDI)

This function monitors the direction of rotation of the motor. A parameterisable tolerance
threshold ensures that the drive does not change the permissible direction of rotation. Within
the limits parameterised, the drive can rotate in the impermissible direction of rotation.

NOTICE
The delay in 0x28BA:002 is parameterised with a value > 0.
Machine parts and parts of the facility can be destroyed if this setting is not taken into
consideration for the calculation of the safety distance.
▶ Only utilise this function if the safety distance has been calculated previously, taking the
delay set into consideration.
▶ Evaluate the "SDIpos observed" or "SDIneg observed" feedback.

Conditions
• The risk analysis must ensure that the delay does not pose any hazard.
• The application leads the drive to the permissible direction of rotation.

Note when you combine the Safely-limited speed (SLS) and Safe direction (SDI) functions.
• The parameterized directions of movement must be coordinated:
• SLS: 0x28C4:001 ... 0x28C4:004
• SDI: 0x28BA:001
• SLS braking time and SDI deceleration time must be coordinated:
• SLS: 0x28C3:001 ... 0x28C3:004
• SDI: 0x28BA:002
• The SLS deceleration time starts simultaneously with the SDI deceleration time.
Functional description
SDIpos SDIneg
+n +n
0x28BA:002 SDIpos observed 0x28BA:002 SDIneg observed
STO/SS1/SS2

0
t
0
t

-n -n
0x28BA:003 0x28BA:003

Fig. 63: SDI function

The function monitors the permissible direction of movement of the drive: 0x28BA:001
After requesting the function, the monitoring can be activated with a delay: 0x28BA:002
A tolerance window defines the number of increments that the drive may move in the blocked
direction without triggering an error stop: 0x28BA:003
If the direction of movement of the drive is within the monitoring limits, the SDIpos observed
or SDIneg observed status is output.
• Status word: 0x2870:002 Bit 6 ... 0x2870:002 Bit 7.
• Safe output: 0x28BB:001 ... 0x28BB:002

488
Safety functions
Safe direction (SDI)

Activation of the function

• Via a safe input.
• Via the safety bus. Safe network interfaces ^ 521
Behavior of the function in the event of an error
If the monitoring limits are exceeded, an error message is output and a parameterizable error
stop is triggered.
Selection of error stop: 0x28BA:004
Possible error stops:
4Safe torque off (STO) ^ 464
4Safe stop 1 (SS1) ^ 466
4Safe stop 2 (SS2) ^ 469

489
Safety functions
Safe direction (SDI)

Parameter
Address Name / setting range / [default setting] Information
0x2875:008 S-Bus control bits: SDIpos Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x2875:009 S-Bus control bits: SDIneg
• Read only
0x28B8:001 SDI: SDIpos - Source SD-In Selection of a safe input as a trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28B8:002 SDI: SDIneg - Source SD-In
• Read only
0 Disabled
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28B9:001 SDI: SDIpos - Source S-Bus Selection of the safety bus as the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 Activated
0x28B9:002 SDI: SDIneg - Source S-Bus
• Read only
0 Disabled
1 Activated
0x28BA:001 SDI: Monitoring standard operation Setting of a permanent monitoring function for the direction of
• Read only movement in normal operation.
0 Both directions enabled Changes only possible in the safety parameter list, otherwise only
display.
1 Positive direction enabled
2 Negative direction enabled
0x28BA:002 SDI: Delay time Safe monitored time from activation to switching on the monitoring
• Read only: x ms SDIpos or SDIneg.
Changes only possible in the safety parameter list, otherwise only
display.
0x28BA:003 SDI: Tolerance threshold Setting of the tolerance threshold specifying by how many increments
• Read only: x incr. the motor may move in the direction locked by SDI.
Changes only possible in the safety parameter list, otherwise only
display.
0x28BA:004 SDI: Error reaction Response when a wrong direction of movement of the motor is
• Read only detected.
0 STO Changes only possible in the safety parameter list, otherwise only
display.
1 SS1
2 SS2
0x28BA:005 SDI: Maximum change of position Maximum occurred position change in the not allowed direction when
• Read only: x incr. SDI is active.
0x28BB:001 SDI: "SDIpos observed" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28BB:002 SDI: "SDIneg observed" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic

490
Safety functions
Safely-limited position (SLP)

18.13 Safely-limited position (SLP)

This function monitors the lower and upper position limit.
Up to four absolute lower and upper position limits can be parameterized and monitored.
Preconditions
Homing must be executed. 4Safe homing (SHom) ^ 494
Functional description
SLP observed
P
0x28D3:001
...
0x28D3:004 STO/SS1/SS2

0
0x28D4:001 t
...
0x28D2:001 0x28D4:004
...
0x28D2:004

Fig. 64: SLP function

The function monitors the lower and upper position limits of the drive:
• Lower position limit: 0x28D2:001 ... 0x28D2:004
• Upper position limit: 0x28D3:001 ... 0x28D3:004
After requesting the function, the monitoring is active immediately.
If the actual position of the drive is within the monitoring limits, the SLP1 observed ... SLP4
observed status is output.
• Status word: 0x2870:002 Bit 8 ... 0x2870:002 Bit 11.
• Safe output: 0x28D5:001 ... 0x28D5:004
Activation of the function
• Via a safe input.
• Via the safety bus. 4Safe network interfaces ^ 521
Behavior of the function in the event of an error
If the monitoring limits are exceeded, an error message is output and a parameterizable error
stop is triggered.
Selection of error stop: 0x28D4:001 ... 0x28D4:004
Possible error stops:
4Safe torque off (STO) ^ 464
4Safe stop 1 (SS1) ^ 466
4Safe stop 2 (SS2) ^ 469

491
Safety functions
Safely-limited position (SLP)

Parameter
Address Name / setting range / [default setting] Information
0x2875:013 S-Bus control bits: SLP1 Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x2875:014 S-Bus control bits: SLP2
• Read only
0x2875:015 S-Bus control bits: SLP3
• Read only
0x2875:016 S-Bus control bits: SLP4
• Read only
0x28D0:001 SLP: SLP1 - Source SD-In Selection of a safe input as a trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28D0:002 SLP: SLP2 - Source SD-In
• Read only
0 Disabled
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28D0:003 SLP: SLP3 - Source SD-In
• Read only
0 Disabled
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28D0:004 SLP: SLP4 - Source SD-In
• Read only
0 Disabled
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28D1:001 SLP: SLP1 - Source S-Bus Selection of the safety bus as the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 Activated
0x28D1:002 SLP: SLP2 - Source S-Bus
• Read only
0 Disabled
1 Activated
0x28D1:003 SLP: SLP3 - Source S-Bus
• Read only
0 Disabled
1 Activated
0x28D1:004 SLP: SLP4 - Source S-Bus
• Read only
0 Disabled
1 Activated
0x28D2:001 SLP: SLP1 - Lower position limit Definition of the lower position limit for monitoring.
• Read only: x incr. Changes only possible in the safety parameter list, otherwise only
0x28D2:002 SLP: SLP2 - Lower position limit display.
• Read only: x incr.

492
Safety functions
Safely-limited position (SLP)

Address Name / setting range / [default setting] Information

0x28D2:003 SLP: SLP3 - Lower position limit
• Read only: x incr.
0x28D2:004 SLP: SLP4 - Lower position limit
• Read only: x incr.
0x28D3:001 SLP: SLP1 - Upper position limit Definition of the upper position limit for monitoring.
• Read only: x incr. Changes only possible in the safety parameter list, otherwise only
0x28D3:002 SLP: SLP2 - Upper position limit display.
• Read only: x incr.
0x28D3:003 SLP: SLP3 - Upper position limit
• Read only: x incr.
0x28D3:004 SLP: SLP4 - Upper position limit
• Read only: x incr.
0x28D4:001 SLP: SLP1 - Error response Response when a position limit is exceeded.
• Read only Changes only possible in the safety parameter list, otherwise only
0 STO display.
1 SS1
2 SS2
0x28D4:002 SLP: SLP2 - Error response
• Read only
0 STO
1 SS1
2 SS2
0x28D4:003 SLP: SLP3 - Error response
• Read only
0 STO
1 SS1
2 SS2
0x28D4:004 SLP: SLP4 - Error response
• Read only
0 STO
1 SS1
2 SS2
0x28D5:001 SLP: "SLP1 observed" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28D5:002 SLP: "SLP2 observed" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28D5:003 SLP: "SLP3 observed" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28D5:004 SLP: "SLP4 observed" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic

493
Safety functions
Safe homing (SHom)

18.14 Safe homing (SHom)

Safety functions based on absolute positions require an absolute reference point to calculate
and monitor the position. This reference point is defined via the reference run.
The home position is the absolute reference point for these safety functions:
• Safely-limited position (SLP) ^ 491
• Position-dependent safe speed (PDSS) ^ 503
• Safe cam (SCA) ^ 501
During the reference run, the drive moves exclusively at a safely limited speed that can be
parameterized (SLS1 ... SLS4). When the reference position is traversed, the parameterized
position value is adopted as the "Home Position".
By parameterization it can be set whether the current position is stored non-volatilely when
the voltage supply is switched off. If the restart conditions are fulfilled after the voltage supply
is switched on again and after a minimum movement (minireference run), no new reference
run is performed.
4Mini-homing ^ 498
For the operation of a drive system with slip, consisting of motor encoder and load encoder,
the encoder slip between motor encoder and load encoder can be compensated with
parameterizable diagnostic positions.
4Slip compensation ^ 499

DANGER!
When switched off, the motor position must not be changed by external forces.
A change in motor position will result in injury or even death.
▶ Make sure that the motor position does not change.

NOTICE
Undetected local change of the home position.
An unrecognized local change of the home position leads to incorrect values of the absolute
position.
▶ Mount the components for detecting the reference position mechanically so that the home
position cannot change due to external influences.

Preconditions
In applications with only one position switch, this switch must be connected in parallel to the
inputs X82/IRS and X82/IRL.

494
Safety functions
Safe homing (SHom)

Functional description
Referenzieren
abgeschlossen

SHOM start 0x2880:001 0x2880:001

0
tx t
Timeout

0
t0 tmax t

SHOM load

0
t

SHOM active

0
t

SHOM available

0
t

Fig. 65: Timing of the SHOM function

Activation and sequence of the reference run
1. The reference run process is started via the defined input source: 0x2880:001
2. The superimposed application must start the reference run. The drive independently takes
over the motion control.
3. Homing is performed with the set safely limited speed (SLS): 0x2882:003
4. Within the defined "Timeout" period, the reference signal "SHom_Load" is expected,
which sets the safe reference point "Home Position" in the absolute position range:
- "Timeout" definition: 0x2882:002
- Source for "SHom_Load": 0x2881:001
- "Home Position" reference point: 0x2882:001
5. Once the reference point is set, the reference run is ended.
6. The drive changes to normal operation.

Display of the function status: 0x2882:006

Behavior of the function in the event of an error

A faulty reference run, e.g. due to a missing signal edge or a violation of the timing
requirement, triggers STO.

495
Safety functions
Safe homing (SHom)

Parameter
Address Name / setting range / [default setting] Information
0x2110:014 Delete home position Command: Deletion of the safe reference in order to set a new
0 Ready reference.
1 Start
2 In progress
3 Action cancelled
4 No access
0x2875:021 S-Bus control bits: SHom_Start Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x2880:001 SHom_Start: Source Selection of the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
13 S-Bus
14 IRS
0x2880:002 SHom_Start: IRS edge trigger Selection of the edge evaluation for the IRS reference input.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Rising edge display.
1 Falling edge
0x2875:022 S-Bus control bits: SHom_Load Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x2881:001 SHom_Load: Source Selection of the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
13 S-Bus display.
15 IRL
0x2881:002 SHom_Load: IRL edge trigger Selection of the edge evaluation for the IRL reference input.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Rising edge display.
1 Falling edge
0x2882:001 SHom: Home position Setting of the safe home position, which is taken over at SHom_Load.
• Read only: x incr. It is the absolute reference point for the SLP, SCA and PDSS safety
functions.
Changes only possible in the safety parameter list, otherwise only
display.
0x2882:002 SHom: Timeout The parameterized home mark must be detected within this monitoring
• Read only: x ms time after SHom_Start.
Changes only possible in the safety parameter list, otherwise only
display.
0x2882:003 SHom: SLS for homing Selection of the SLS function that is active during homing.
• Read only Changes only possible in the safety parameter list, otherwise only
3 SLS1 display.
4 SLS2
5 SLS3
6 SLS4
0x2882:004 SHom: Restart condition Setting specifying whether safe homing is required after the restart.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Homing required display.
1 Load saved reference
0x2882:005 SHom: Starting position tolerance Permitted tolerance between the safe position that is saved and the
• Read only: x incr. current safe position after restarting.
Changes only possible in the safety parameter list, otherwise only
display.
0x2882:006 SHom: Status Status of the safe reference.
• Read only
0 No reference
1 SHom active
2 SHom available
3 Mini-homing active
0x2882:007 SHom: Saved position Safe position saved at the last switch-off.
• Read only: x incr.

496
Safety functions
Safe homing (SHom)

Address Name / setting range / [default setting] Information

0x2883 SHom Source diagnostic positions Selection of the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
14 IRS
15 IRL
0x2884:001 SHom: Level diagnostic positions Selection of the level for detecting a SHom diagnostic position.
• Read only Changes only possible in the safety parameter list, otherwise only
0 LOW level display.
1 HIGH level
0x2884:002 SHom: Lower diagnostic position Setting of the lower SHom diagnostic position.
• Read only: x incr. Changes only possible in the safety parameter list, otherwise only
display.
0x2884:003 SHom: Upper diagnostic position Setting of the upper SHom diagnostic position.
• Read only: x incr. Changes only possible in the safety parameter list, otherwise only
display.
0x2884:004 SHom: Tolerance diagnostic positions Setting of the permissible tolerance when traversing the SHom
• Read only: x incr. diagnostic positions.
Changes only possible in the safety parameter list, otherwise only
display.
0x2884:005 SHom: Error response diagnostic positions Response to errors detected in the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 STO display.
1 SS1
2 SS2
0x2884:006 SHom: Current difference diagnostic position Display of the current difference when passing a SHom diagnostic
• Read only: x incr. position.
0x2885:001 SHom: Maximum compensated slip Setting of the maximum slip compensated per motor revolution.
• Read only: x incr. The setting 0 Incr. deactivates the function.
Changes only possible in the safety parameter list, otherwise only
display.
0x2885:002 SHom: End area slip compensation Selection of whether slip compensation is active in the end ranges
• Read only outside the diagnostic positions
0 Disabled Changes only possible in the safety parameter list, otherwise only
display.
1 Activated
0x2886 SHom "SHom active" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x2887 SHom "SHom available" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic

497
Safety functions
Safe homing (SHom)
Mini-homing

18.14.1 Mini-homing
The minireference travel is a minimum movement to plausibilize absolute position values. It is
performed and safely monitored with the Safely-limited speed (SLS) function. After a
successful minireference run, the axis switches to normal operation.
The minireference run can replace the complete reference run in certain operating states:
• After mains switching
• After acknowledgement of an SSI encoder error
- The short-time interruption of the optical signal triggers the parameterized safety
function, which stops the affected axis.
- Regardless of the triggered error reaction and the associated overtravel, however, the
absolute position data continues to be determined on both channels.
• After returning from the repair mode select (RMS). 4Repair mode selector (RMS) ^ 515

Preconditions
• The minireference run is only possible if a complete reference run was performed before
the first call.
• The safely limited speed for the reference run must be parameterized. 0x2882:003
• "Load stored reference" is set as a restart condition. 0x2884:004 = 1
• The minimum distance for the minireference run is calculated automatically:
Minimum distance ≥ 4 x tolerance window for the position comparison 0x287C:001
Functional description
• Operating states in which the minireference run starts automatically:
- After mains switching
- After acknowledgement of an SSI encoder error
- After returning from the repair mode select (RMS)
• Sequence of the plausibility check during the minireference run:
1. Are the saved position and the current position within the parameterized tolerance
window for the starting position? 0x2882:005
2. Are the position value currently received from the inverter and the internal position
value within the parameterized tolerance window for the position comparison?
0x287C:001
3. If the plausibility check is successful, the status bit "SHom present" is set. 0x2882:006
4. The drive changes to normal operation.

If complete homing is to be performed via the home position switch despite the
"SHom present" status bit being set, the status bit must be reset with the "Clear
home position" command. 0x2110:014
Only the status bit is reset via this path. The superimposed application must
start the reference run. 4Safe homing (SHom) ^ 494

Behavior of the function in the event of an error

A faulty minireference run triggers STO.
A complete reference run is required.

498
Safety functions
Safe homing (SHom)
Slip compensation

18.14.2 Slip compensation

If slip between the motor encoder and load encoder is to be expected due to operation, e.g. in
the case of a friction wheel drive, the slip can be cyclically evaluated and compensated for by
this function.
The function is intended especially for the travel ranges outside the buffer zones. The function
leads to a reduction in buffer end areas and serves to improve the availability of the system.
Slip compensation can also be permanently activated independently of a safety function.
It can be deactivated for the areas between the diagnostic positions and the end of the travel
path by setting the appropriate parameters.

WARNING!
The slip compensation may not be suitable for the application.
Serious injuries when exceeding the travel path.
▶ As part of the risk assessment for the machine, make sure that the application is suitable for
slip compensation.
▶ Traverse the diagnostics markers cyclically when using the slip compensation.
▶ Define a diagnostics interval with the help of the risk assessment. The diagnostics interval
must be determined via a master control component.

Preconditions
• It must be ensured that the boundary to the impermissible area A is not crossed.
Therefore, the buffer end range must be increased by the maximum compensated slip
(range B).
• The maximum compensated slip must be parameterized. 0x2885:001 > 0
This setting activates the slip compensation.
• Upper and lower diagnostic position must be parameterized. 0x2884:002, 0x2884:003
v

vmax

A B

Fig. 66: End zone using the example of the PDSS safety function
A Prohibited area B Buffer end zone

499
Safety functions
Safe homing (SHom)
Slip compensation

Functional description
• For slip compensation, the diagnostic positions ① and ② are required so that the freedom
from error of the load encoder is verified cyclically.
- To ensure that sufficient braking distance is available in the event of an error, it must be
ensured that the diagnostic positions are arranged in such a way that error detection
takes place in the range of the maximum permissible speed.
- The cycle for traversing the diagnostic positions must be controlled by the application.
The cycle must be monitored in terms of safety.
• Between the diagnostic positions ① and ②, a cyclic position comparison is performed
between the motor encoder and load encoder in each calculation cycle of the safety
function.
• The diagnostic positions must be located in front of the buffer areas at the ends of the
travel path:
v

s
① ②
Fig. 67: Position of the diagnostic marks using the example of the PDSS safety function
• When traversing the diagnostic positions, the diagnostic position is compared with the
current absolute value encoder position.
• If the difference is outside the parameterized tolerance window, the parameterized error
reaction is triggered.
- Definition of tolerance window: 0x2884:004
- Definition of error response: 0x2884:005

500
Safety functions
Safe cam (SCA)

18.15 Safe cam (SCA)

This function monitors lower and upper position limits.
Up to four absolute lower and upper positions limit values can be parameterized and
monitored.

Preconditions
Homing must be executed. 4Safe homing (SHom) ^ 494
Functional description
SCA
P
0x28D9:001
...
0x28D9:004

0
t

0x28D8:001
...
0x28D8:004

Status 1

0
t

Fig. 68: SCA function

The function compares the current absolute position with the parameterized position limits:
• Lower position limit: 0x28D8:001 ... 0x28D8:004
• Upper position limit: 0x28D9:001 ... 0x28D9:004
After requesting the function, the monitoring is active immediately.
If the actual position of the drive is within the monitoring limits, the SCA1 within
limits ... SCA4 within limits status is output.
• Status word: 0x2870:002 Bit 12 ... 0x2870:002 Bit15.
• Safe output: 0x28DA:001 ... 0x28DA:004
Activation of the function
0x28D8:001 ... 0x28D8:004/0x28D9:001 ... 0x28D9:004 > 0 incr. activates the function.
Behavior of the function in the event of an error
If the monitoring limits are exceeded, no error message is output and no error stop is
triggered.
Only the SCA1 within limits ... SCA4 within limits status is reset.

501
Safety functions
Safe cam (SCA)

Parameter
Address Name / setting range / [default setting] Information
0x28D8:001 SCA: SCA1 - Lower position limit Definition of the lower position limit for the function.
• Read only: x incr. Changes only possible in the safety parameter list, otherwise only
0x28D8:002 SCA: SCA2 - Lower position limit display.
• Read only: x incr.
0x28D8:003 SCA: SCA3 - Lower position limit
• Read only: x incr.
0x28D8:004 SCA: SCA4 - Lower position limit
• Read only: x incr.
0x28D9:001 SCA: SCA1 - Upper position limit Definition of the upper position limit for the function.
• Read only: x incr. Changes only possible in the safety parameter list, otherwise only
0x28D9:002 SCA: SCA2 - Upper position limit display.
• Read only: x incr.
0x28D9:003 SCA: SCA3 - Upper position limit
• Read only: x incr.
0x28D9:004 SCA: SCA4 - Upper position limit
• Read only: x incr.
0x28DA:001 SCA: "SCA1 within limits" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28DA:002 SCA: "SCA2 within limits" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28DA:003 SCA: "SCA3 within limits" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28DA:004 SCA: "SCA4 within limits" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic

502
Safety functions
Position-dependent safe speed (PDSS)

18.16 Position-dependent safe speed (PDSS)

This function monitors the speed of a drive as a function of the absolute position along a
motion range.
This enables the use of a physically limited motion range without the use of mechanical
buffers and limit switches.
The function can be parameterized as permanently active.

WARNING!
When using the slip compensation: The slip compensation may not be suitable for the
application.
Serious injuries when exceeding the travel path.
▶ As part of the risk assessment for the machine, make sure that the application is suitable for
slip compensation.
▶ Traverse the diagnostics markers cyclically when using the slip compensation.
▶ Define a diagnostics interval with the help of the risk assessment. The diagnostics interval
must be determined via an upstream control component.

In connection with this function, please also note the information on slip
compensation and safe homing:
4Slip compensation ^ 499
4Safe homing (SHom) ^ 494

Functional description
v PDSS PDSS

0x28DE:008
Prohibited zone Prohibited zone

s
0x28DE:002 0x2884:002 0x2884:003 0x28DE:003
0x28DE:004 0x28DE:005
Fig. 69: PDSS function, representation of the most important parameters
Safe creeping speed (SCS)
v v

vmax vmax

Prohibited Prohibited
zone zone

s s
0x28DE:002 0x28DE:002 0x28DE:004
It depends on the application whether the drive travels to the position By parameterizing a safe creeping speed (SCS), the forbidden zone can
limit (0x28DE:002) with the limited speed vmax (0x28DE:008). The limited be almost approached.
speed is determined by the monitoring function. The distance to the position limit (0x28DE:002) and the parameterized
tolerance must be selected large enough to exclude a collision.
The direction-dependent switching of the speed allows the drive to
move away from the prohibited zone at maximum speed.

If the motion control of the drive is within the monitoring limits, the PDSS positive
observed ... PDSS negative observed status is output.

503
Safety functions
Position-dependent safe speed (PDSS)

• Status word: 0x2870:002 Bit 16 ... 0x2870:002 Bit17.

• Safe output: 0x28DF ... 0x28E0
Activation of the function
• Via a safe input.
• Via the safety bus. 4Safe network interfaces ^ 521
Error behavior
If the monitoring limits are exceeded, an error message is output and a parameterizable error
stop is triggered.
Selection of error stop: 0x28DE:011
Possible error stops:
4Safe torque off (STO) ^ 464
4Safe stop 1 (SS1) ^ 466
4Safe stop 2 (SS2) ^ 469

504
Safety functions
Position-dependent safe speed (PDSS)

Parameter
Address Name / setting range / [default setting] Information
0x2875:023 S-Bus control bits: PDSS Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x28DC PDSS Source SD-In Selection of a safe input as a trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28DD PDSS Source S-Bus Selection of the safety bus as the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 Activated
0x28DE:001 PDSS: Permanent activation Selection of how the function is activated.
• Read only Changes only possible in the safety parameter list, otherwise only
display.
0 On demand On request via defined source.
1 Activated Permanent activation
0x28DE:002 PDSS: Lower position limit Definition of the lower position limit for the function.
• Read only: x incr. Changes only possible in the safety parameter list, otherwise only
display.
0x28DE:003 PDSS: Upper position limit Definition of the upper position limit for the function.
• Read only: x incr. Changes only possible in the safety parameter list, otherwise only
display.
0x28DE:004 PDSS: Lower SCS limit Lower SCS limit for PDSS.
• Read only: x incr. Value less than or equal to the lower position limit deactivates the
function.
Changes only possible in the safety parameter list, otherwise only
display.
0x28DE:005 PDSS: Upper SCS limit Upper SCS limit for PDSS.
• Read only: x incr. Value less than or equal to the upper position limit deactivates the
function.
Changes only possible in the safety parameter list, otherwise only
display.
0x28DE:006 PDSS: SCS from lower limit Safe creeping speed from the lower SCS limit onwards in the direction of
• Read only: x rpm the lower position limit.
Changes only possible in the safety parameter list, otherwise only
display.
0x28DE:007 PDSS: SCS from upper limit Safe creeping speed from the upper SCS limit onwards in the direction of
• Read only: x rpm the upper position limit.
Changes only possible in the safety parameter list, otherwise only
display.
0x28DE:008 PDSS: Maximum speed Value of the maximum permissible speed for the function.
• Read only: x rpm Changes only possible in the safety parameter list, otherwise only
display.
0x28DE:009 PDSS: Maximum deceleration lower limit Amount of the maximum deceleration in the direction of the lower
• Read only position limit.
Changes only possible in the safety parameter list, otherwise only
display.
0x28DE:010 PDSS: Maximum deceleration upper limit Amount of the maximum deceleration in the direction of the upper
• Read only position limit.
Changes only possible in the safety parameter list, otherwise only
display.
0x28DE:011 PDSS: Error response Response to errors detected in the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 STO display.
1 SS1
2 SS2
0x28DE:012 PDSS: Currently monitored speed Display of the currently monitored speed.
• Read only: x rpm

505
Safety functions
Position-dependent safe speed (PDSS)

Address Name / setting range / [default setting] Information

0x28DE:013 PDSS: Minimum difference monitored speed Minimum difference between actual speed and monitored envelope
• Read only: x rpm curve.
0x28DF PDSS "PDSSpos observed" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28E0 PDSS "PDSSneg observed" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic

506
Safety functions
Safe brake control (SBC)

18.17 Safe brake control (SBC)

(From standard device firmware V1.3, safety firmware V1.1 with parameter set version V1.1)
This function provides for a safe brake control by the inverter.

DANGER!
Use of non-safety-rated brakes
Possible consequence: Severe injuries or death.
▶ Only use safety-rated brakes with suitable safety-related parameters according to
EN ISO 13849‑1 and/or EN 62061or EN IEC 61508.

The internal test rate of the brake output (X106) restricts the request rate to
max. 1 brake request/10 seconds.
An application-dependent test rate of the connected brake reduces the request
rate accordingly.

Conditions
• The brake is connected to X106.
• Brake function and monitoring of the brake control are controlled via X106.
• Parameter 0x2820:023 and 0x2820:005:
- Both parameters must be set to "0".
- Other settings are not compatible with the SBC function.
The warning "Incompatible SBC device configuration - 0x6187" is output.
STO stop function is activated.

507
Safety functions
Safe brake control (SBC)

Functional description
Control of the SBC function without time delay Control of the SBC function with time delay

Brake mode (0x28E6:001) = "SBC without STO" Brake mode (0x28E6:001) = "SBC without STO"
Request "Release holding brake" Request "Release holding brake"
1 1

0 0
t t
Request "SBC" Request "SBC"
1 1

0 0
SBC settings: SBC delay t SBC settings: SBC delay t
Brake open delay Brake open delay
0x28E6:002 = 0 0x28E6:002 > 0
0x28E6:004 = 0 0x28E6:004 > 0

Status "SBC active" t Status "SBC active" t

1 1

0 0
Status "SBC activated" t Status "SBC activated" t

1 1

0 0
Brake voltage X106 t Brake voltage X106 t

On On

Off Off
t t
Brake mode (0x28E6:001) = "Automatic with STO" Brake mode (0x28E6:001) = "Automatic with STO"
SBC settings: STO delay SBC settings: STO delay

0x28E6:003 = 0 0x28E6:003 > 0

Request "STO" t Request "STO" t

1 1

0 0
Status "STO active" t Status "STO active" t

1 1

0 0
t t

Activation of the function

• Via a safe input.
• Via the safety bus. 4Safe network interfaces ^ 521
Response of the function in the event of an error
If an error is detected, the brake control is switched off.

In the "SBC without STO" mode (0x28E6:001 = 1), no stop function is activated
in the event of an error.

508
Safety functions
Safe brake control (SBC)

Parameter
Address Name / setting range / [default setting] Information
0x2875:026 S-Bus control bits: SBC Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x28E4 SBC Source SD-In Selection of a safe input as a trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
0x28E5 SBC Source S-Bus Selection of the safety bus as the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 Activated
0x28E6:001 SBC: Brake mode Selection whether the STO control is combined with the brake control.
• Read only Changes only possible in the safety parameter list, otherwise only
1 SBC without STO display.
2 Automatic with STO
0x28E6:002 SBC: Delay SBC Time between SBC request and activation of the brake output.
• Read only: x ms Changes only possible in the safety parameter list, otherwise only
display.
0x28E6:003 SBC: Delay STO Time between SBC request and activation of STO in automatic mode.
• Read only: x ms Changes only possible in the safety parameter list, otherwise only
display.
0x28E6:004 SBC: Brake open delay Time between SBC deactivation and brake opening.
• Read only: x ms Changes only possible in the safety parameter list, otherwise only
display.
0x28E7:001 SBC: "SBC active" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28E7:002 SBC: "SBC activated" - Output
• Read only
0 Disabled
1 SD-Out1 positive logic
2 SD-Out1 negative logic

509
Safety functions
STO cascading (CAS)

18.18 STO cascading (CAS)

This function allows for the synchronised shutdown of an entire drive network.
Preconditions
• Input SD-In4 must be parameterized in 0x2124 as source for requesting cascading.
• A value ≤ 10 ms must be parameterized for SD-In4 as the active input for the "Emergency
Stop" function and the input delay.
• The function "Safe stop emergency (SSE)" must be parameterized in Safe torque off (STO)
as the stop function to be executed.
• As restart behavior of the drive after executing the function "Safe torque off (STO)",
"Acknowledged restart" must be parameterized in 0x2892:001.
• The control of the output SD-OUT1 via a parameterized safety bus must be locked. 4Safe
network interfaces ^ 521

The plausibility check rejects wrong settings until the function is correctly
parameterized.

• When using the cascading safety function in connection with a special operation, "SS2"
must be parameterized as stop function in operating mode selector switch (OMS).

The stop function STO will trigger the "Cascading" function. Confirmation with
the enable switch (ES) is not possible.

Description of the principle

i950 #1 i950 #2 i950 #n

SD-Out1 SD-Out1 SD-Out1

SD-In4 SD-In4 SD-In4

Fig. 70: CAS function

With 0x2125:001, the time period is shown, which elapses from switching the SD-Out1 output
to the OFF state to recording the OFF state at the SD-In4 input.
• If, after a stop, the time period "0 ms" is shown, another safety function has triggered the
stop via the cascade.
• The time period is shown until the next system acknowledgement takes place.
Activation of the function
The function is activated by parameterisation of the SD-In4 input as source for a cascading
request in 0x2124.

510
Safety functions
STO cascading (CAS)

Parameter
Address Name / setting range / [default setting] Information
0x2124 CAS Source SD-In Selection of a safe input as a trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
4 SD-In4
0x211A:004 SD-In: SD-In4 input delay Delay time between the detection of the signal change at the safe input
• Read only: x ms and the effective evaluation of the input signal.
Changes only possible in the safety parameter list, otherwise only
display.
0x2125:001 CAS: Stop delay Delay between setting and receiving the stop signal via cascading.
• Read only: x ms

511
Safety functions
Operation mode selector (OMS)

18.19 Operation mode selector (OMS)

This function can be used to switch between normal operation and special operation of the
drive.
The special operation makes it possible to override a normal stop (STO, SS1, SS2) by enabling
it via the enable switch (ES). The "emergency stop" function also has the highest priority in
special operation.
For special operation, the motion function SLS and the monitoring function SLI can be
parameterized separately.
If the monitoring function SMS is active, special operation is also monitored.

DANGER!
When returning to normal operation, the automatic restart is not permissible.
Possible consequence: Death or severe injuries
▶ Parameterize the acknowledged restart.

Preconditions
• A source for activating the function must be configured. 0x28A8
- Only one safe input or the safety bus can be configured as a source.
- If a safe input is configured as a source, 0x28A9:003 Function at low level must be
selected carefully, since according to the closed-circuit principle, no additional danger
may emanate from normal operation or special operation.
• A source for the ES enable switch must be configured. 0x28AE
• A stop function for special operation must be configured. 0x28A9:001
• A motion function for special operation must be configured. 0x28A9:002
• If the movement is to be monitored in special operation, theSLI and SMS functions can be
activated for this purpose.
- SLI: 0x28CA:003
- SMS: 0x28B0:001 > 0 rpm

The plausibility check rejects ambiguous settings until they are parameterised
correctly.

512
Safety functions
Operation mode selector (OMS)

Functional description
Standard operation Special operation
Activation OMS

Acknowledge (AIS) Deactivation OMS Stop function

for restart

Enable switch (ES)

active

Motion function

Enable switch (ES)

inactive

Fig. 71: OMS function

Sequence of the special operation

1. Activate OMS via the configured trigger source.
The stop function configured for OMS is activated.
2. Activate the enable switch ES via the configured trigger source.
The stop function is now overruled.
3. The drive can be moved with the configured motion function.
If monitoring functions are activated, the movement is monitored.
4. When the action is complete, deactivate the ES enable switch.
The drive can no longer be moved.
The stop function configured for OMS is activated.
5. Deactivate the trigger source for OMS.
The special operation is finished.
6. The drive waits for the restart to be acknowledged.
7. Acknowledge the restart via terminal AIS or the safety bus.
The drive changes to normal operation.

Behavior of the function in the event of an error

Activation of OMS via a safe input
• In case of a wire breakage at the safe input when OMS is activated via a HIGH signal:
- OMS is deactivated.
- The drive changes to normal operation. No stop function is triggered.
• In the event of an error at the safe input (e.g. discrepancy error):
- OMS is deactivated.
- The "ERR" LED is blinking.
- The drive changes to normal operation. No stop function is triggered.
- Once the error has been corrected and acknowledged, the special operation can be
reactivated.

Activation of OMS via the safety bus

• In case of failure of safe communication:
- OMS is deactivated.
- The drive changes to normal operation. No stop function is triggered.
Error when executing the movement function
• When a parameterized monitoring responds:
- The parameterized stop function for special operation is triggered.
- The drive does not change to normal operation.

513
Safety functions
Operation mode selector (OMS)

Parameter
Address Name / setting range / [default setting] Information
0x2875:012 S-Bus control bits: OMS Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x28A8 OMS Source Selection of the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
13 S-Bus
0x28A9:001 OMS: Stop function Definition of the stop function in special operation.
• Read only Changes only possible in the safety parameter list, otherwise only
0 STO display.
1 SS1
2 SS2
0x28A9:002 OMS: Motion function Definition of the motion function in special operation.
• Read only Changes only possible in the safety parameter list, otherwise only
3 SLS1 display.
4 SLS2
5 SLS3
6 SLS4
11 Free mode
0x28A9:003 OMS: Function at low level Function that is executed at LOW level on the safe input with the OMS
• Read only function.
0 Normal operation CAUTION!
1 Special operation According to the closed-circuit principle, no additional danger may
emanate from the parameterization!
Changes only possible in the safety parameter list, otherwise only
display.
0x28AA OMS "OMS active" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28CA:003 SLI: Increment size special operation Number of increments for safely limited increment in special operation.
• Read only: x incr. Number = 0 deactivates the function.
Changes only possible in the safety parameter list, otherwise only
display.

514
Safety functions
Repair mode selector (RMS)

18.20 Repair mode selector (RMS)

This function moves the drive from a situation that is blocking it ("Deadlock").
Example: If an encoder fails, the drive must be moved to a position where it can be repaired.

The connected encoders are not evaluated safety-related.

Only the stop functions configurable for RMS and the enable switch ES are
enabled. All other safety functions are disabled.

DANGER!
Unexpected motions with unexpected speed.
Violation of the permissible movement limits.
Possible consequence: Death or severe injuries
▶ Use RMS exclusively to free an axis from a "deadlock".
▶ If necessary, take additional safety measures to ensure that no persons can be endangered,
since all monitoring functions are deactivated except for the ES enable switch.
▶ Use other functions to move the drive when it is not in a "deadlock"!

DANGER!
When returning to normal operation, the automatic restart is not permissible.
Possible consequence: Death or severe injuries
▶ Parameterize the acknowledged restart.

Preconditions
• A source for activating the function must be configured. 0x28AB
• A source for the ES enable switch must be configured. 0x28AE
• A stop function for RMS must be configured. 0x28AC:001

The plausibility check rejects ambiguous settings until they are parameterised
correctly.

515
Safety functions
Repair mode selector (RMS)

Functional description
Standard operation Repair Mode Select (RMS)
Activation RMS

Acknowledge (AIS) Deactivation RMS Stop function

for restart

Enable switch (ES)

active

Motion function

Enable switch (ES)

inactive

Fig. 72: RMS function

Repair mode select procedure

1. Activate RMS via the configured trigger source.
The stop function configured for RMS is activated.
Speed functions and absolute position functions are deactivated.
The SHom status is reset.
2. Activate the enable switch ES via the configured trigger source.
The stop function is now overruled.
3. The drive can now be released from the "deadlock".
4. When the action is complete, deactivate the ES enable switch.
The drive can no longer be moved.
The stop function configured for RMS is activated.
5. Deactivate the trigger source for RMS.
The encoder evaluation is switched active again.
The repair mode is finished.
6. The minireference run starts automatically.
7. Procedure for successful minireference run
1. The drive waits for the restart to be acknowledged.
2. Acknowledge the restart via terminal AIS or the safety bus.
The drive changes to normal operation.
8. Procedure in the event of an incorrect minireference run
1. STO is triggered.
2. A complete reference run is required.4Safe homing (SHom) ^ 494
After completion of the reference run, the drive switches to normal operation.

Behavior of the function in the event of an error

A faulty minireference run after the end of the repair mode triggers STO.
A complete reference run is required before normal operation can be resumed.4Safe
homing (SHom) ^ 494

516
Safety functions
Repair mode selector (RMS)

Parameter
Address Name / setting range / [default setting] Information
0x2875:020 S-Bus control bits: RMS Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x28AB RMS Source Selection of the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
13 S-Bus
0x28AD RMS "RMS active" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic
0x28AC:001 RMS: Stop function Definition of the stop function in repair mode.
• Read only Changes only possible in the safety parameter list, otherwise only
0 STO display.
1 SS1

517
Safety functions
Enable switch (ES)

18.21 Enable switch (ES)

This function makes it possible to override the normal stop functions in special operation.
• Safe torque off (STO)
• Safe stop 1 (SS1)
• Safe stop 2 (SS2)

Preconditions
A source for activating the function must be configured. 0x28AE
Special operation must be configured and activated.
• Operation mode selector (OMS)
• Repair mode selector (RMS)

The plausibility check rejects ambiguous settings until they are parameterised
correctly.

Functional description
The enable switch overrides the stop function active in special mode. The stop function is
deactivated without delay.
The drive can then be moved with the parameterized motion function for special operation as
long as the enable switch is active.
If the enable switch is deactivated, the stop function for special operation is activated again
without delay.
Activation of the function
• Via a safe input.
• Via the safety bus. 4Safe network interfaces^ 521
Parameter
Address Name / setting range / [default setting] Information
0x2875:010 S-Bus control bits: ES Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x28AE ES Source Selection of the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-In1
2 SD-In2
3 SD-In3
4 SD-In4
13 S-Bus
0x28AF ES "ES active" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic

518
Safety functions
Safe Muting (MUT)

18.22 Safe Muting (MUT)

(From standard device firmware V1.3, safety firmware V1.1 with parameter set version V1.1)
This function deactivates selected safe inputs and all functions of the safety bus.
"Safe Muting" is used to move the drive even if the inverter is in a safety state.

The function may only be used during commissioning or for maintenance work.
The function is active for a maximum of 30 minutes. It can be ended at any time.

DANGER!
Activating the safe muting function deactivates safety functions!
Possible consequence: Death or severe injuries
▶ Only authorized personnel is permitted to activate the safe muting function.
▶ One input must be parameterized as emergency stop. This input must not be deactivated by
safe muting.

Conditions
In order to activate the safe muting function, you need the following:
• A PC with »EASY Starter« (1.16 or higher) or »PLC Designer« with LSPE (Lenze Safety
Parameter Editor).
• A permanent communication link between LSPE and inverter.
If the connection is interrupted during safe muting, safe muting is aborted immediately
with an error message. The inverter changes to the monitored operation where all safety
functions are active again.
• A valid parameter set that contains the settings for safe muting:
• The sources to be hidden. 0x213A
• The muting password. 0x213B:001
Activation of the function
• The function can only be activated via the LSPE (Lenze Safety Parameter Editor) in
the »EASY Starter« or »PLC Designer«.
• The activation is protected by the muting password.
1. Activate function
1. Open the +Safety parameter list+ tab.
2. Select Safe Muting.
3. Enter password.
4. Check information in the window and make sure that the correct device is selected.
Optical device identification is activated automatically. The flashing blue LED indicates at
which inverter Safe Muting is activated.
5. Start activates the function.
The function is now active for a maximum of 30 minutes.

The remaining time is displayed in 0c213B:002

2. End function automatically or manually

1. End function
a) The function is automatically ended after 30 minutes.
b) Stop ends the function manually.
2. Monitored operation is reactivated immediately.
All previously deactivated safety functions are active again.

519
Safety functions
Safe Muting (MUT)

Behavior of the function in the event of an error

If the Safe Muting function is aborted by an error, the monitored operation is immediately
reactivated.
All previously deactivated safety functions are active again.
Parameter
Address Name / setting range / [default setting] Information
0x2110:015 Activate muting Command: Activate the Safe Muting (MUT) function.
0 Ready
1 Start
2 In progress
3 Action cancelled
4 No access
0x213A:001 MUT: Mute S-Bus Selection of sources to be hidden.
• Read only Changes only possible in the safety parameter list, otherwise only
0 No muting display.
3 Mute completely
0x213A:002 MUT: Mute SD-In1
• Read only
0 No muting
1 Mute
0x213A:003 MUT: Mute SD-In2
• Read only
0 No muting
1 Mute
0x213A:004 MUT: Mute SD-In3
• Read only
0 No muting
1 Mute
0x213A:005 MUT: Mute SD-In4
• Read only
0 No muting
1 Mute
0x213B:001 MUT: Password Password to activate the function.
• Read only Changes only possible in the safety parameter list, otherwise only
display.
0x213B:002 MUT: Remaining time Remaining time until the function is automatically terminated.
• Read only: x s The function is active for a maximum of 30 minutes.
0x213C MUT "MUT active" - Output Selection of the safe output for the "Function active" feedback.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 SD-Out1 positive logic
2 SD-Out1 negative logic

520
Safety functions
Safe network interfaces

18.23 Safe network interfaces

Parameter
Address Name / setting range / [default setting] Information
0x2128 S-Bus configuration Configuration of safe bus system.
• Read only Changes only possible in the safety parameter list, otherwise only
0 No safety bus display.
4 PROFIsafe/PROFINET 8 words
10 FSoE/EtherCAT fieldbus
11 FSoE/Onboard EtherCAT

521
Safety functions
Safe network interfaces
PROFIsafe connection

18.23.1 PROFIsafe connection

PROFIsafe is the certified safety protocol for the transmission of safety-related data via
PROFINET®.
The function supports the transfer of secure information via the PROFIsafe protocol according
to the specification "PROFIsafe Profile for Safety Technology", Version 2.0, of the PROFIBUS
user organization (PNO). The inverter forwards the PROFIsafe information to the function for
secure evaluation.

Operation with PROFIsafe via PROFINET is only permitted according to the

specification PROFIsafe Profile for Safety Technology Version 2.x!

Addressing
In order to ensure that a data telegram reaches the right node, a unique PROFIsafe
destination address is necessary. If PROFIsafe has been chosen as the safety bus, the safety
address will be used as the PROFIsafe destination address. This address must match the
corresponding configuration of the safety PLC.
PROFIsafe Frame

The PROFIsafe data is transmitted in the second slot of a PROFINET data

telegram. This must be taken into account during the hardware configuration of
the safety PLC.

PROFINET data telegram

Header Slot 1 Slot 2 Trailer
Data PROFIsafe data

PROFIsafe data
In the PROFIsafe data, a bit is used to control a safety function. The structure of the PROFIsafe
data is described in the PROFIsafe profile. The length of the PROFIsafe data (or PROFIsafe
message) is 16 bytes.
PROFIsafe message V2 mode
Bit offset
Byte offset 7 6 5 4 3 2 1 0
0...11 PROFIsafe process data
(PROFIsafe output data/PROFIsafe input data)
12 Control byte or status byte
13...15 CRC2
Signature from PROFIsafe process data, the PROFIsafe parameters and the running numbers.

The meaning of the PROFIsafe process data is described separately in the following chapters
according to PROFIsafe output data and PROFIsafe input data.

522
Safety functions
Safe network interfaces
PROFIsafe connection

PROFIsafe output data

The PROFIsafe output data (control data) is transmitted from the control.
The "S bus: display control data" parameter (0x2874) displays the control data.
If not stated otherwise in the table, the functions are LOW active, i. e. the bit state "0"
activates the respective function.
Bit offset
Byte offset Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 0 SDIpos SLS4 SLS3 SLS2 SLS1 SS2 SS1 STO
Byte 1 SLP4 SLP3 SLP2 SLP1 OMS SLI ES SDIneg
(HIGH active) (HIGH active)
Byte 2 SSE PDSS SHOM Load SHOM Start RMS SOS AIE AIS
(0↗1) (0↗1) (HIGH active) (0↗1) (0↗1)
Byte 3 - - - - - - SBC SD-Out1
(HIGH active)
Byte 4 - - - - - - - -
Byte 5 - - - - - - - -
Byte 6 - - - - - - - -
Byte 7 - - - - - - - -
Byte 8 - - - - - - - -
Byte 9 - - - - - - - -
Byte 10 - - - - - - - -
Byte 11 - - - - - - - -
Byte 12 Status byte
Byte 13 CRC2 (consecutive number)
Byte 14
Byte 15

PROFIsafe input data

The PROFIsafe input data (status information) is transmitted to the control.
The status information is HIGH active.
Bit offset
Byte offset Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 0 SDIpos active SLS4 active SLS3 active SLS2 active SLS1 active SS2 active SS1 active STO active
Byte 1 SLP4 SLP3 SLP2 SLP1 SOS active* SLI active ES active SDIneg active
monitored monitored monitored monitored
Byte 2 SSE active SDIneg SDIpos SLS4 SLS3 SLS2 SLS1 SOS monitored
monitored monitored monitored monitored monitored monitored
Byte 3 Fault active SMS OMS active RMS active SD-In4 SD-In3 SD-In2 SD-In1
monitored
Byte 4 SCA4 within SCA3 within SCA2 within SCA1 within PDSSneg PDSSpos SHOM SHOM active
the limits the limits the limits the limits monitored monitored available
Byte 5 MUT active SBC activated SBC active SD-Out1 Positive n=0 Safe speed OK SSM within the
direction of limits
movement
Byte 6 n safe, byte 0
Byte 7 n safe, byte 1
Byte 8 p safe, byte 0
Byte 9 p safe, byte 1
Byte 10 p safe, byte 2
Byte 11 p safe, byte 3
Byte 12 Status byte
Byte 13 CRC2 (consecutive number)
Byte 14
Byte 15

523
Safety functions
Safe network interfaces
PROFIsafe connection

Parameter
Address Name / setting range / [default setting] Information
0x212A:002 S-Bus: PROFIsafe status
• Read only
0 Init
1 Param
2 Data_Exchange
3 Data_Exchange_Passivated
4 Data_Exchange_Fault
5 Hardware_Failure
0x212A:003 S-Bus: PROFIsafe status byte
• Read only
Bit 0 iPar_OK
Bit 1 Device_Fault/ChF_Ack_Req
Bit 2 CE_CRC
Bit 3 WD_timeout
Bit 4 FV_activated
Bit 5 Toggle_d
Bit 6 cons_nr_R
0x212A:004 S-Bus: PROFIsafe control byte
• Read only
Bit 0 iPar_EN
Bit 1 OA_Req
Bit 2 R_cons_nr
Bit 3 Use_TO2
Bit 4 activate_FV
Bit 5 Toggle_h
Bit 6 ChF_Ack
Bit 7 Loopcheck

524
Safety functions
Safe network interfaces
FSoE connection

18.23.2 FSoE connection

FSoE availability
i950 extended safety FSoE via onboard EtherCAT FSoE via EtherCAT module I9MAFT0000000S
Technology application
From safety firmware V1.1 with parameter set From safety firmware V1.2 with parameter set
version V1.1 version V1.2
With Lenze With Beckhoff With Lenze With Beckhoff
components components components components
EtherCAT master Lenze Controller Beckhoff PLC Lenze Controller Beckhoff PLC
FSoE master Lenze c250-S TwinSAFE Lenze c250-S TwinSAFE
Device profile CiA 402 From device firmware
(0x4000 = 0) V01.04.01 - -
Without SD card
CiA 402 Advanced
-
(0x4000 = 1) From device firmware From device firmware
All other technology V01.04.01 V01.03.07
With SD card With SD card From device firmware V01.04.01
applications
With SD card
(0x4000 > 1)

Fail-safe-over-EtherCAT (FSoE) enables the transmission of safe information via FSoE protocol
according to ETG.5100 S specification, version 1.2.0 of the EtherCAT user organisation (ETG).
Safety over EtherCAT® is a registered trademark and patented technology, licensed by
Beckhoff Automation GmbH, Germany.
ESI file
The ESI file can be used to integrate Lenze EtherCAT devices into the EtherCAT configuration
software of PLC manufacturers.
The ESI file is NOT required for Lenze controllers with EtherCAT master functionality. For Lenze
controllers, all device description files are installed with Lenze PLC Designer and Lenze
Package Manager.

Download of the current ESI file à www.lenze.com

Addressing
A definite FsoE address ensures that a data frame reaches the correct node. If "FSoE" has been
selected as safety bus, the safety address is at the same time accepted as the FSoE target
address. This address must match the corresponding configuration of the safety PLC.

The checksums (CRC) of a parameter set are calculated via the set safety
parameters. The calculated checksums of the safety parameter set must match
the corresponding configuration of the safety PLC.

FSoE frame
Range Values
FSoE data Safety outputs: 11 bytes
Safety inputs: 31 bytes

525
Safety functions
Safe network interfaces
FSoE connection

FSoE output data

The FSoE output data (control data) is transmitted from the control.
Bit offset
Byte offset Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 0 Command (CMD)
Byte 1 AIE SDIneg SDIpos - SOS SS2 SS1 STO
Byte 2 SSE SLI ES RMS OMS SHOM load SHOM start AIS
Byte 3 CRC_0 (low-byte)
Byte 4 CRC_0 (high-byte)
Byte 5 SLP4 SLP3 SLP2 SLP1 SLS4 SLS3 SLS2 SLS1
Byte 6 - - - - - SBC SD-Out1 PDSS
Byte 7 CRC_1 (low-byte)
Byte 8 CRC_1 (high-byte)
Byte 9 Connection-ID (low-byte)
Byte 10 Connection-ID (high-byte)

FSoE input data

The FsoE input data (status information) is transmitted to the control.
Bit offset
Byte offset Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 0 Command (CMD)
Byte 1 Error active SDIneg active SDIpos active - SOS active - - STO active
Byte 2 SSE active SLI active ES active RMS active OMS active SOS observed SS2 active SS1 active
Byte 3 CRC_0 (low-byte)
Byte 4 CRC_0 (high-byte)
Byte 5 SLS4 observed SLS3 observed SLS2 observed SLS1 observed SLS4 active SLS3 active SLS2 active SLS1 active
Byte 6 SCA4 SCA3 SCA2 SCA1 SLP4 observed SLP3 observed SLP2 observed SLP1 observed
withinLimit withinLimit withinLimit withinLimit
Byte 7 CRC_1 (low-byte)
Byte 8 CRC_1 (high-byte)
Byte 9 SSM within SMS observed PDSSneg obs. PDSSpos obs. SDIneg SDIpos SHom SHom active
limits observed observed available
Byte 10 - - - - MUT active Positive n=0 Safe speed OK
direction
Byte 11 CRC_2 (low-byte)
Byte 12 CRC_2 (high-byte)
Byte 13 - - - - SD-In4 SD-In3 SD-In2 SD-In1
Byte 14 - - - - - SBC activated SBC active SD-Out1
Byte 15 CRC_3 (low-byte)
Byte 16 CRC_3 (high-byte)
Byte 17 Actual Speed n_safe, Byte 0
Byte 18 Actual Speed n_safe, Byte 1
Byte 19 CRC_4 (low-byte)
Byte 20 CRC_4 (high-byte)
Byte 21 Actual Position p_safe, Byte 0
Byte 22 Actual Position p_safe, Byte 1
Byte 23 CRC_5 (low-byte)
Byte 24 CRC_5 (high-byte)
Byte 25 Actual Position p_safe, Byte 2
Byte 26 Actual Position p_safe, Byte 3
Byte 27 CRC_6 (low-byte)
Byte 28 CRC_6 (high-byte)
Byte 29 Connection-ID (low-byte)
Byte 30 Connection-ID (high-byte)

526
Safety functions
Safe network interfaces
FSoE connection

Parameter
Address Name / setting range / [default setting] Information
0x212A:001 S-Bus: FSoE project CRC
0 ... [] ... 4294967295
0xE600:001 FSoE Slave Frame Elements: Command
• Read only
0xE600:002 FSoE Slave Frame Elements: Connection ID
• Read only
0xE600:003 FSoE Slave Frame Elements: CRC_0
• Read only
0xE600:004 FSoE Slave Frame Elements: CRC_1
• Read only
0xE600:005 FSoE Slave Frame Elements: CRC_2
• Read only
0xE600:006 FSoE Slave Frame Elements: CRC_3
• Read only
0xE600:007 FSoE Slave Frame Elements: CRC_4
• Read only
0xE600:008 FSoE Slave Frame Elements: CRC_5
• Read only
0xE600:009 FSoE Slave Frame Elements: CRC_6
• Read only
0xE700:001 FSoE Master Frame Elements: Command
• Read only
0xE700:002 FSoE Master Frame Elements: Connection ID
• Read only
0xE700:003 FSoE Master Frame Elements: CRC_0
• Read only
0xE700:004 FSoE Master Frame Elements: CRC_1
• Read only
0xE901:001 FSoE Connection Communication Parameter: Version
• Read only
0xE901:002 FSoE Connection Communication Parameter: Safety
address
• Read only
0xE901:003 FSoE Connection Communication Parameter:
Connection ID
• Read only
0xE901:004 FSoE Connection Communication Parameter:
Watchdog Time
• Read only
0xE901:006 FSoE Connection Communication Parameter:
Connection Type
• Read only
0 Master
1 Slave
0xE901:007 FSoE Connection Communication Parameter:
Communication Parameter Length
• Read only
0xE901:008 FSoE Connection Communication Parameter:
Application Parameter Length
• Read only
0xEA00:001 FSoE Connection Diagnosis: Connection State
• Read only
0 Reset
1 Session
2 Connection
3 Parameter
4 Data
5 Failsafe

527
Safety functions
Connection to the applications
Safe inputs

18.24 Connection to the applications

18.24.1 Safe inputs

Parameter
Address Name / setting range / [default setting] Information
0x2118:001 SD-In: SD-In1 sensor type Configure or deactivate safe input as active or passive input.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Input disabled display.
1 Passive sensor
2 Active sensor
0x2118:002 SD-In: SD-In2 sensor type
• Read only
0 Input disabled
1 Passive sensor
2 Active sensor
0x2118:003 SD-In: SD-In3 sensor type
• Read only
0 Input disabled
1 Passive sensor
2 Active sensor
0x2118:004 SD-In: SD-In4 sensor type
• Read only
0 Input disabled
1 Passive sensor
2 Active sensor
0x2119:001 SD-In: SD-In1 discrepancy time Maximum time within which the two channels of the secure input may
• Read only: x ms be in impermissible states without an error being detected..
0x2119:002 SD-In: SD-In2 discrepancy time Changes only possible in the safety parameter list, otherwise only
• Read only: x ms display.
0x2119:003 SD-In: SD-In3 discrepancy time
• Read only: x ms
0x2119:004 SD-In: SD-In4 discrepancy time
• Read only: x ms
0x211A:001 SD-In: SD-In1 input delay Delay time between the detection of the signal change at the safe input
• Read only: x ms and the effective evaluation of the input signal.
0x211A:002 SD-In: SD-In2 input delay Changes only possible in the safety parameter list, otherwise only
• Read only: x ms display.
0x211A:003 SD-In: SD-In3 input delay
• Read only: x ms
0x211A:004 SD-In: SD-In4 input delay
• Read only: x ms
0x211B Input image Bit-coded display of the status of the safe inputs
• Read only Logic: 1 = channel/input active
Bit 0 SD-In1 channel A
Bit 1 SD-In1 channel B
Bit 2 SD-In2 channel A
Bit 3 SD-In2 channel B
Bit 4 SD-In3 channel A
Bit 5 SD-In3 channel B
Bit 6 SD-In4 channel A
Bit 7 SD-In4 channel B
Bit 16 AIE
Bit 17 AIS
Bit 24 IRS
Bit 25 IRL
Bit 31 Button S82

528
Safety functions
Connection to the applications
Safe output

18.24.2 Safe output

Parameter
Address Name / setting range / [default setting] Information
0x2129:001 S-Bus control bits: SD-Out1 Display of the control bit status from the safety bus.
• Read only
0x2120:001 SD-Out: SD-Out1 source S-Bus Selection of the safety bus as the trigger source for the function.
• Read only Changes only possible in the safety parameter list, otherwise only
0 Disabled display.
1 Activated
0x2121:001 SD-Out: SD-Out1 logic function Logical function for linking the switching conditions for SD-Out1.
• Read only Changes only possible in the safety parameter list, otherwise only
0 OR display.
1 AND
0x2122 Output image Bit-coded display of the status of the safe outputs
• Read only Logic: 1 = channel active
Bit 0 SD-Out1 channel A
Bit 1 SD-Out1 channel B

529
Safety functions
Connection to the applications
Control signals

18.24.3 Control signals

Parameter
Address Name / setting range / [default setting] Information
0x2870:001 SafetyInterface: Control Bit-coded control word of the safety functions.
• Read only
Bit 0 STO active
Bit 1 SS1 active
Bit 2 SS2 active
Bit 3 SOS active
Bit 4 SLS1 active
Bit 5 SLS2 active
Bit 6 SLS3 active
Bit 7 SLS4 active
Bit 8 SDIpos active
Bit 9 SDIneg active
Bit 10 SLI active
Bit 11 SSE active
Bit 12 ES active
Bit 13 OMS active
Bit 14 RMS active
Bit 15 SBC active
Bit 16 MUT active
0x2874 S-Bus control data Display of the control data from the safety bus, filtered with the
• Read only functions parameterized via S-Bus.
Logic: 1 = Function requested
Bit 0 STO
Bit 1 SS1
Bit 2 SS2
Bit 3 SLS1
Bit 4 SLS2
Bit 5 SLS3
Bit 6 SLS4
Bit 7 SDIpos
Bit 8 SDIneg
Bit 9 ES
Bit 10 SLI
Bit 11 OMS
Bit 12 SLP1
Bit 13 SLP2
Bit 14 SLP3
Bit 15 SLP4
Bit 16 AIS
Bit 17 AIE
Bit 18 SOS
Bit 19 RMS
Bit 20 SHom_Start
Bit 21 SHom_Load
Bit 22 PDSS
Bit 23 SSE
Bit 24 SD-Out1
Bit 25 SBC
0x2875:001 S-Bus control bits: STO Display of the control bit status from the safety bus without filtering and
• Read only changing the logic.
0x2875:002 S-Bus control bits: SS1
• Read only
0x2875:003 S-Bus control bits: SS2
• Read only

530
Safety functions
Connection to the applications
Control signals

Address Name / setting range / [default setting] Information

0x2875:004 S-Bus control bits: SLS1
• Read only
0x2875:005 S-Bus control bits: SLS2
• Read only
0x2875:006 S-Bus control bits: SLS3
• Read only
0x2875:007 S-Bus control bits: SLS4
• Read only
0x2875:008 S-Bus control bits: SDIpos
• Read only
0x2875:009 S-Bus control bits: SDIneg
• Read only
0x2875:011 S-Bus control bits: SLI
• Read only
0x2875:013 S-Bus control bits: SLP1
• Read only
0x2875:014 S-Bus control bits: SLP2
• Read only
0x2875:015 S-Bus control bits: SLP3
• Read only
0x2875:016 S-Bus control bits: SLP4
• Read only
0x2875:017 S-Bus control bits: AIS
• Read only
0x2875:018 S-Bus control bits: AIE
• Read only
0x2875:021 S-Bus control bits: SHom_Start
• Read only
0x2875:022 S-Bus control bits: SHom_Load
• Read only
0x2875:023 S-Bus control bits: PDSS
• Read only
0x2875:024 S-Bus control bits: SSE
• Read only
0x2875:026 S-Bus control bits: SBC
• Read only

531
Safety functions
Connection to the applications
Status signals

18.24.4 Status signals

Parameter
Address Name / setting range / [default setting] Information
0x211C:001 Status bits inputs: SD-In1 Display of the status bit of the safe inputs.
• Read only
0x211C:002 Status bits inputs: SD-In2
• Read only
0x211C:003 Status bits inputs: SD-In3
• Read only
0x211C:004 Status bits inputs: SD-In4
• Read only
0x211C:005 Status bits inputs: AIS Dig-In
• Read only
0x211C:006 Status bits inputs: AIE Dig-In
• Read only
0x211C:007 Status bits inputs: IRS Dig-In
• Read only
0x211C:008 Status bits inputs: IRL Dig-In
• Read only
0x2123:001 Status bits outputs: SD-Out1 Display of the status bit of the save output.
• Read only
0x2132 ES state Display of the internal states of the extended safety.
• Read only
0x2870:002 SafetyInterface: State Bit-coded status word of the safety functions
• Read only
Bit 0 SLS1 observed
Bit 1 SLS2 observed
Bit 2 SLS3 observed
Bit 3 SLS4 observed
Bit 4 SMS observed
Bit 5 SSM within limits
Bit 6 SDIpos observed
Bit 7 SDIneg observed
Bit 8 SLP1 observed
Bit 9 SLP2 observed
Bit 10 SLP3 observed
Bit 11 SLP4 observed
Bit 12 SCA1 within limits
Bit 13 SCA2 within limits
Bit 14 SCA3 within limits
Bit 15 SCA4 within limits
Bit 16 PDSS positive observed
Bit 17 PDSS negative observed
Bit 18 SOS observed
Bit 19 SBC activated
Bit 20 SHom activated
Bit 21 SHom available
Bit 22 Safe speed OK
Bit 23 n=0
Bit 24 Positive travel direction
Bit 25 Slip > 25 %
Bit 26 Slip > 50 %
Bit 27 Slip > 75%
Bit 31 Fault active
0x2870:003 SafetyInterface: IO State Bit-coded I/O status word of the inputs.
• Read only
Bit 0 SD-In1
Bit 1 SD-In2

532
Safety functions
Connection to the applications
Status signals

Address Name / setting range / [default setting] Information

Bit 2 SD-In3
Bit 3 SD-In4
Bit 4 AIS SD-In
Bit 5 AIE SD-In
Bit 6 IRS SD-In
Bit 7 IRL SD-In
Bit 8 AIS S-Bus
Bit 9 AIE S-Bus
Bit 10 SHom_Start S-Bus
Bit 11 SHom_Load S bus
Bit 12 SD-Out1
Bit 16 SD-In1 channel A
Bit 17 SD-In1 channel B
Bit 18 SD-In2 channel A
Bit 19 SD-In2 channel B
Bit 20 SD-In3 channel A
Bit 21 SD-In3 channel B
Bit 22 SD-In4 channel A
Bit 23 SD-In4 channel B
Bit 24 SD-Out1 channel A
Bit 25 SD-Out1 channel B
0x2871:001 SafetyInterface bits: STO active Display of the individual bits from the control word of the safety
• Read only functions 0x2870:001
0x2871:002 SafetyInterface bits: SS1 active Logic: 1 = function active
• Read only
0x2871:003 SafetyInterface bits: SS2 active
• Read only
0x2871:004 SafetyInterface bits: SOS active
• Read only
0x2871:005 SafetyInterface bits: SLS1 active
• Read only
0x2871:006 SafetyInterface bits: SLS2 active
• Read only
0x2871:007 SafetyInterface bits: SLS3 active
• Read only
0x2871:008 SafetyInterface bits: SLS4 active
• Read only
0x2871:009 SafetyInterface bits: SDIpos active
• Read only
0x2871:010 SafetyInterface bits: SDIneg active
• Read only
0x2871:011 SafetyInterface bits: SLI active
• Read only
0x2871:012 SafetyInterface bits: SSE active
• Read only
0x2871:013 SafetyInterface bits: ES active
• Read only
0x2871:014 SafetyInterface bits: OMS active
• Read only
0x2871:015 SafetyInterface bits: RMS active
• Read only
0x2871:016 SafetyInterface bits: SBC active
• Read only
0x2871:017 SafetyInterface bits: MUT active
• Read only
0x2871:033 SafetyInterface bits: SLS1 observed Display of the individual bits from the status word of the safety
• Read only functions. 0x2870:002
Logic: 1 = function active

533
Safety functions
Connection to the applications
Status signals

Address Name / setting range / [default setting] Information

0x2871:034 SafetyInterface bits: SLS2 observed
• Read only
0x2871:035 SafetyInterface bits: SLS3 observed
• Read only
0x2871:036 SafetyInterface bits: SLS4 observed
• Read only
0x2871:037 SafetyInterface bits: SMS observed
• Read only
0x2871:038 SafetyInterface bits: SSM within limits
• Read only
0x2871:039 SafetyInterface bits: SDIpos observed
• Read only
0x2871:040 SafetyInterface bits: SDIneg observed
• Read only
0x2871:041 SafetyInterface bits: SLP1 observed
• Read only
0x2871:042 SafetyInterface bits: SLP2 observed
• Read only
0x2871:043 SafetyInterface bits: SLP3 observed
• Read only
0x2871:044 SafetyInterface bits: SLP4 observed
• Read only
0x2871:045 SafetyInterface bits: SCA1 within limits
• Read only
0x2871:046 SafetyInterface bits: SCA2 within limits
• Read only
0x2871:047 SafetyInterface bits: SCA3 within limits
• Read only
0x2871:048 SafetyInterface bits: SCA4 within limits
• Read only
0x2871:049 SafetyInterface bits: PDSSpos observed
• Read only
0x2871:050 SafetyInterface bits: PDSSneg observed
• Read only
0x2871:051 SafetyInterface bits: SOS observed
• Read only
0x2871:052 SafetyInterface bits: SBC activated
• Read only
0x2871:053 SafetyInterface bits: SHom active
• Read only
0x2871:054 SafetyInterface bits: SHom available
• Read only
0x2871:055 SafetyInterface bits: Safe speed OK
• Read only
0x2871:056 SafetyInterface bits: n=0
• Read only
0x2871:057 SafetyInterface bits: Positive direction
• Read only
0x2871:058 SafetyInterface bits: Slip > 25%
• Read only
0x2871:059 SafetyInterface bits: Slip > 50%
• Read only
0x2871:060 SafetyInterface bits: Slip > 75%
• Read only
0x2871:064 SafetyInterface bits: Error active
• Read only
0x2871:073 SafetyInterface bits: AIS S-Bus Display of individual bits from the I/O status word of the inputs.
• Read only 0x2870:003
0x2871:074 SafetyInterface bits: AIE S-Bus Logic: 1 = function active
• Read only

534
Safety functions
Connection to the applications
Status signals

Address Name / setting range / [default setting] Information

0x2871:075 SafetyInterface bits: SHom_Start S-Bus
• Read only
0x2871:076 SafetyInterface bits: SHom_Load S-Bus
• Read only

535
Safety functions
Safe parameter setting
Safety address

18.25 Safe parameter setting

18.25.1 Safety address

The safety address is set using the 0xF980 parameter.
Parameter
Address Name / setting range / [default setting] Information
0xF980:001 Safety addresses: FSoE address Display of the safe address set in the device.
• Read only
0xF980:002 Safety addresses: Safety address Setting of the safe address.
• Read only Permitted value range: 1 ... 65534
Changes only possible in the safety parameter list, otherwise only
display.

18.25.2 Parameter set information

Parameter
Address Name / setting range / [default setting] Information
0x2114:001 Parameter set: Version Display of the version of the safe parameter set.
• Read only
1003 i950 ES V1.0 Versions of the safe parameter set for i950 extended safety.
10103 i950 ES V1.1
10203 i950 ES V1.2
10303 i950 ES V1.3
0x2114:002 Parameter set: Project CRC Project CRC of the safe parameter set.
0 ... [0] ... 4294967295
0x2115:001 Parameter set: Status Current status of the safe parameter set.
• Read only
0 No parameter set
1 Valid parameter set
4 CRC error
5 Version error
7 Plausibility error
8 Assignment error
9 Local read error
10 Communication error with basic device
11 Faulty release
12 Different CRCs
13 Changed parameter set
14 Parameter set checked
15 Parameter set check active
0x2115:002 Parameter set: Current CRC Display of the current parameter CRC from the safe parameter set.
• Read only
0x2115:003 Parameter set: Last valid CRC Display of the last valid parameter set CRC.
• Read only
0x2115:004 Parameter set: Parameter setting time stamp Time when the parameter set is taken over from the device as the value
• Read only: x s of the power-on time meter.
0x2115:005 Parameter set: Error information 1 Error number in case of a plausibility error. 0x2115:001 = 7
• Read only Details: 4Extended Safety - Parameter set plausibility errors ^ 686
0x2115:006 Parameter set: Error information 2 Reserved
• Read only
0x2115:007 Parameter set: Error information 3
• Read only
0x2115:008 Parameter set: Current CRC without safety address Display of the current parameter CRC from the safe parameter set
• Read only without safety address.

536
Safety functions
Response times

18.26 Response times

The overall system must be taken into account when determining the response time following
a safety function request.
Decisive for the reaction time are:
• Response time of the connected safety sensors.
• Input delay of the safety inputs.
• Internal processing time.
• Deceleration times, braking times, and stopping times from the parameterized safety
functions.
• When a feedback system is used:
- The response time of encoder monitoring. 0x2878:004
• When a safety bus is used:
- Monitoring time for cyclic services.
- Monitoring time in the safety PLC.
- Processing time in the safety PLC.
• Delay times due to further components.

ti
S t1 t2
t3 μC t5 SF tbr SBC

t=0

tps

t4
μC

Fig. 73: Response times to the request of a safety function

1 Standard device μC Microcontroller
2 Integrated safety S Safety sensors
3 Safety PLC SF Activated safety function
4 Safety bus SBC Safe Brake Control
Response times of safe inputs
Response time to an event in the safety sensors [ms]
t1 Response time of the safety sensors according to manufacturer
information
t2 Input delay of the safe inputs
Parameterizable via: 0...100
0x211A:001, 0x211A:002, 0x211A:003, 0x211A:004
Input filter 2
ti Processing time in drive-based safety sensor technology 4
Safety function starts after t1 + t2 + ti
Tab. 3: Response time to an event in the safety sensors

Response time of the safe output

Response time of the safe output to a safety function [ms]
Safe output SD-Out 1 switches to 4
Tab. 4: Response time - safe output

537
Safety functions
Response times

Response times of safe SBC brake control

Response time from the detection of the SBC safety function to the switch-off of the safe brake control [ms]
tbr Delay time between request and activation of the brake control
Parameterizable via: 0 ... 30000
0x28E6:002
ti Processing time in drive-based safety sensor technology 4
Control X106 starts after tbr + ti

Test pulse interval and error response time [ms]

Test pulse interval, brake control 100
Error response time, min. time for error detection and error triggering 200

Response time of encoder monitoring

Time required to detect faults caused by continuous signal errors at the encoder interface. [ms]
Default setting 50
Parameterizable via: 12/50/100
0x2878:004

It must be evaluated for each application what minimum response time is

possible.
The longer the reaction time, the more the safe speed is filtered. For dynamic
processes (acceleration, deceleration), this behavior must be taken into account
in the safe parameterization of speed limit values.

538
Safety functions
Response times

Response times of the safety bus

Response time to an event on the safety sensors (input data) [ms]

t1 Response time of the safety sensors See manufacturer information

t2 Input delay of the safe inputs
Parameterizable via: 0...100
0x211A:001, 0x211A:002, 0x211A:003, 0x211A:004
Input filter 2
t3 Processing time in integrated safety technology
Main Task cycle time Technology application 1
PLC project As set
Internal transmission time Safety: from firmware 1.0.1 40
PROFIsafe Standard device: from firmware 1.2
Internal transmission time FSoE Safety: from firmware 1.1.x 8
Standard device: from firmware 1.3
Input data ready for transmission t1 + t2 + t3
tps PROFINET cycle time See manufacturer information
EtherCAT cycle time See manufacturer information
Input data ready for processing in the safety PLC t1 + t2 + t3 + tps
Tab. 5: Response time to an event on the safety sensors

Response time to a control word (output data) [ms]

t4 Processing time in the safety PLC Calculate
tps PROFINET cycle time See manufacturer information
EtherCAT cycle time See manufacturer information
t5 Processing time in integrated safety technology
Main Task cycle time Technology application 1
PLC project As set
Internal transmission time Safety: from firmware 1.0.1 108
PROFIsafe Standard device: from firmware 1.2
Internal transmission time FSoE Safety: from firmware 1.1.x 16
Standard device: from firmware 1.3
Safety function starts after t4 + tps + t5
Tab. 6: Response time for request via the safety bus
Information on how to calculate the processing time and transmission time of the safety bus
can be found in the documentation of the safety PLC used.

When the safety bus communication is disturbed, it is changed to the fail-safe

state after the safety bus monitoring time (F_WD_Time) has elapsed. The safety
bus communication is passivated.

Example
• After an event at a safe input, the message is fed back to the integrated safety technology
via the safety PLC.
• The integrated safety technology then triggers a safety function.
• The maximum response time to the event is then calculated to:
- tmax = t1 + t2 + t3 + max (F_WD_Time; tps + t4 + tps + t5)
- Include the times of the safety functions in the calculation, e.g. for SS1 the stopping
time until STO is active. 0x2894:001

Parameter set acceptance from the SD card

Safe parameter set acceptance is supported by means of a safe parameter set saved in the
device.

539
Safety functions
Diagnostics
LED status display

18.27 Diagnostics

18.27.1 LED status display

The LEDs "RDY" and "ERR" show the current safety status:
LED display after initialization/during operation
LED "RDY" (yellow) Status Meaning
off - No status message active
Restart acknowledgement requested
on (yellow)
SOS active
blinking yellow 2 Hz
Service status Transfer of parameter set requested.
blinking yellow 1 Hz

"ERR" LED (red) Status Meaning

off - The device is working correctly.
Safety bus error Communication via the safety bus is not established:
blinking red 2 Hz • There is no valid configuration.
• The start-up has not been completed yet.
Safety technology error One of the following errors has been detected:
blinking red 1 Hz • Monitoring device was activated
• Discrepancy of the inputs
• Acknowledgeable errors

LED display for critical device errors

LED "RDY" (yellow) "ERR" LED (red) Status Meaning
From safety firmware 1.0.x
off Critical The device is defective. It must be replaced.
on (red)
From safety firmware 1.3.x
Critical The device is defective. It must be replaced.
blinking yellow blinking red

540
Safety functions
Diagnostics
LED status display

18.27.1.1 LED status during parameter set transfer

Status LEDs for parameter set transfer
LED "RDY" (yellow) "ERR" LED (red) Meaning
A modified parameter set was detected during acceleration.
On Blinking 1 Hz Acknowledge with the S82 button.

LED "RDY" (yellow) "ERR" LED (red) Meaning

A modified safety address was detected during the parameter set
On transfer in the "Init" state. Acknowledge with the S82 button.
Blinking 2 Hz

Acknowledging the parameter set or the safety address

The parameter set and the safety address are acknowledged by the same procedure.

The parameter set transfer is aborted if the response time of 2.5 seconds is
exceeded.
The parameter set transfer must be repeated.

How to acknowledge the parameter set or the safety address.

• The "RDY" LED is lit.
• The "ERR" LED is blinking.
1. Press and hold the S82 button.
The "RDY" LED starts blinking.
2. The "RDY" LED goes off after 3 seconds.
3. Release the S82 button within the space of 2.5 seconds.
The "RDY" LED is lit.
4. Press and hold the S82 button within the space of 2.5 seconds.
The "RDY" LED starts blinking.
5. The "RDY" LED goes off after 3 seconds.
6. Release the S82 button within the space of 2.5 seconds.
The new parameter set or new safety address has been acknowledged.

The action is recorded in the inverter logbook.

If the parameter set is invalid, an error is reported and the "ERR" LED starts
blinking.

RDY I
RDY
ERR 0
t
S82

I
S82
0
t

t max t max t max

Fig. 74: Sequence of the acknowledgement procedure

RDY "RDY" LED tmax Maximum permissible response
S82 S82 button time
t Time axis

541
Safety functions
Diagnostics
Event history

18.27.2 Event history

Extended Safety error messages are entered in 0x603F and in the logbook of the inverter.
The meaning of the error messages is described in chapter Error codes, causes and remedies.
The event history provides additional information if the operating status cannot be sufficiently
diagnosed via the logbook.

542
Safety functions
Diagnostics
Event history

Parameter
Address Name / setting range / [default setting] Information
0x2130:001 Event history: Current error type Error type of the current event in 0x2130:002
• Read only
0 No error 4Error types ^ 561
1 Warning
2 Trouble
0x2130:002 Event history: Internal event 1 Currently active event
• Read only
Bit 0
0x2130:003 Event history: Internal event 2 Second most recent stored event
• Read only
Bit 0
0x2130:004 Event history: Internal event 3 ...
• Read only
Bit 0
0x2130:005 Event history: Internal event 4 ...
• Read only
Bit 0
0x2130:006 Event history: Internal event 5 ...
• Read only
Bit 0
0x2130:007 Event history: Internal event 6 ...
• Read only
Bit 0
0x2130:008 Event history: Internal event 7 ...
• Read only
Bit 0
0x2130:009 Event history: Internal event 8 ...
• Read only
Bit 0
0x2130:010 Event history: Internal event 9 ...
• Read only
Bit 0
0x2130:011 Event history: Internal event 10 ...
• Read only
Bit 0
0x2130:012 Event history: Internal event 11 ...
• Read only
Bit 0
0x2130:013 Event history: Internal event 12 ...
• Read only
Bit 0
0x2130:014 Event history: Internal event 13 ...
• Read only
Bit 0
0x2130:015 Event history: Internal event 14 ...
• Read only
Bit 0
0x2130:016 Event history: Internal event 15 ...
• Read only
Bit 0
0x2130:017 Event history: Internal event 16 Oldest stored event
• Read only
Bit 0

543
Safety functions
Diagnostics
Diagnostic parameters

18.27.3 Diagnostic parameters

Parameter
Address Name / setting range / [default setting] Information
0x212C:001 Device module: ES firmware version Identification data for the device module "Extended Safety" (ES)
• Read only
0x212D:001 Device module: ES HW version
• Read only
0x212D:002 Device module: ES product code
• Read only
0x212D:003 Device module: ES serial number
• Read only
0x212D:004 Device module: ES production date
• Read only
0x2131:001 Device module: ES power-on time
• Read only: x s
0x28E8:001 Diagnostic: Configuration diagnostic value 1 "Diagnostic value 1" configuration
0 Not used • Display in 0x28E9:001.
• The configured value can be recorded via the oscilloscope function
1 PDSS - Current monitored speed
integrated in the Lenze tool.
2 SS1, SS2 - Current speed ramp
10 Internal actual speed nSD
11 Internal actual speed nBD
20 PROFIsafe - Status
21 PROFIsafe - Status Byte
22 PROFIsafe - Control Byte
23 FSoE - Slave Command
24 FSoE - Master Command
25 FSoE - Slave SafeData 0
26 FSoE - Master SafeData 0
30 Internal event 1
0x28E8:002 Diagnostic: Configuration diagnostic value 2 "Diagnostic value 2" configuration
0 Not used • Display in 0x28E9:002.
• The configured value can be recorded via the oscilloscope function
1 PDSS - Current monitored speed
integrated in the Lenze tool.
2 SS1, SS2 - Current speed ramp
10 Internal actual speed nSD
11 Internal actual speed nBD
20 PROFIsafe - Status
21 PROFIsafe - Status Byte
22 PROFIsafe - Control Byte
23 FSoE - Slave Command
24 FSoE - Master Command
25 FSoE - Slave SafeData 0
26 FSoE - Master SafeData 0
30 Internal event 1
0x28E9:001 Diagnostic: Diagnostic value 1 Display of the value selected in 0x28E8:001.
• Read only
0x28E9:002 Diagnostic: Diagnostic value 2 Display of the value selected in 0x28E8:002.
• Read only

544
Diagnostics and fault elimination
LED status display

19 Diagnostics and fault elimination

This section contains information on error handling, drive diagnostics and fault analysis.

19.1 LED status display

The "RDY" and "ERR" LED status displays on the front of the inverter provide some quick
information about certain operating states.

Link
BUS-RDY
Activity

Link
BUS-ERR
Activity
RDY L/A
ERR X236
RUN
L/A
X237

X16

The description of the network-specific "BUS RDY" and "BUS ERR" LEDs can be found in
chapters 4LED status display ^ 425
"RDY" LED (blue) "ERR" LED (red) Status/meaning
Off Off Supply voltage not available.
Initialisation in progress (inverter is being started.)
On On
Safe torque off (STO) active. The inverter has been inhibited by the integrated safety system.
Off
Blinks (1 Hz) 4Safe torque off (STO) ^ 464
Inverter inhibited, error active.
Blinks (1 Hz) On 4Error handling ^ 561
Inverter enabled.
Off
On Motor rotates according to the specified setpoint or quick stop is active.
Firmware update active.
4Update device firmware ^ 443
Both LEDs are blinking in a rapidly alternating
mode
"Visual tracking" function is active.
4Optical device identification ^ 430
Both LEDs are blinking in a very rapidly
synchronous mode

545
Diagnostics and fault elimination
Logbook

19.2 Logbook
With the logbook, the controller has access to the last 32 messages of the inverter.
• The logbook is saved persistently in the inverter.
• The logbook has a ring buffer structure:
• As long as free memory is available in the logbook, a message is entered following the
next free memory unit.
• When all memory units are occupied, the oldest message is deleted for a new
message.
• Always the most recent messages remain available.
• On the basis of the "Diag code" (32-bit word) of each individual message it can be seen
which axis the message refers to.
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
command, 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 LEM logbook.

Observe that the logbook only presents a snapshot at the time the data is 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
EtherCAT 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.

Parameter
Address Name / setting range / [default setting] Information
0x2022:015 Device commands: Delete logbook • When the device command has been executed successfully, the value
0 is shown.
• Do not switch off the supply voltage during the deletion process and
do not unplug the memory module!
0 Off / ready Only status feedback
1 On / start
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Device disabled)

546
Diagnostics and fault elimination
Diagnostic parameters

19.3 Diagnostic parameters

The inverter provides many diagnostic parameters which are helpful for operation,
maintenance, error diagnosis, error correction, etc.
• The following overview lists the most common diagnostic parameters.
• 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.

547
Diagnostics and fault elimination
Diagnostic parameters

Parameter
Address Name / setting range / [default setting] Information
0x2030 CRC parameter set Display of the checksum of the parameter set.
• Read only The checksum is formed without the parameters of the technology
applications.
• Each parameter set has an individual checksum (CRC32) that is
created from the settings of all storable indices (P-flag) of the
parameter set. If a setting changes, the checksum changes as well.
• Cyclic redundancy check (CRC): By comparing the checksums of
parameter sets, you can check whether the parameter sets are
identical or not.
• If the checksum is identical with the checksum of the parameter set
file saved in the Controller, the parameter set file does not need to be
written into the inverter.
0x2B0B Frequency setpoint Display of the current frequency setpoint. The frequency setpoint is
• Read only: x.x Hz internally transferred to the motor control (based on scaling and ramp
generator).
0x2D4F Motor utilisation (i²xt) Display of the current thermal motor utilisation.
• Read only: x %
0x2DA2:001 Output power: Effective power Display of the active output power for an energy analysis in the
• Read only: x.xxx kW respective application.
0x2DA3:003 Output energy: Overall energy Display of the energy balance:
-21474836.47 ... [0.00] ... 21474836.47 kWh • Positive values: Energy consumed
• Negative values: Generated energy
0x2DA3:003 = 0 resets the energy balance.
When replacing a device, the value of the old device can be adopted as
the starting value for the new device.
0x2DD0:001 Field values: Actual value Display of the actual current flow value.
• Read only: x %
0x2DD0:002 Field values: Setpoint value Display of the setpoint flow value.
• Read only: x %
0x2DD1:001 Motor currents: Actual D-current (id) Display of the actual D current.
• Read only: x.xx A
0x2DD1:002 Motor currents: Actual Q-current (iq) Display of the actual Q current.
• Read only: x.xx A
0x2DD1:003 Motor currents: Setpoint D-current (id) Display of the setpoint D current.
• Read only: x.xx A
0x2DD1:004 Motor currents: Setpoint Q-current (iq) Display of the setpoint Q current.
• Read only: x.xx A
0x2DD1:005 Motor currents: Motor current (Ieff) Display of the effective motor current.
• Read only: x.xx A
0x2DD2 Target position interpolated Display of the interpolated position setpoint.
• Read only: x pos. unit
0x2DD3:001 Speed setpoints: Speed setpoint Display of the speed setpoint value 1.
• Read only: x rpm
0x2DD3:002 Speed setpoints: Speed setpoint 2 Display of the speed setpoint value 2.
• Read only: x rpm
0x2DD3:003 Speed setpoints: Speed setpoint limited Display of the limited speed setpoint.
• Read only: x rpm
0x2DD4:001 Speed controller output signals: Output signal 1 Display of the output signal 1 from the speed controller.
• Read only: x.x %
0x2DD4:002 Speed controller output signals: Output signal 2 Display of the output signal 2 from the speed controller.
• Read only: x.x %
0x2DD6:001 Torque filter cascade: Starting value Display of the start value.
• Read only: x.x %
0x2DD6:002 Torque filter cascade: Notch filter 1 input value Display of the input value for notch filter 1.
• Read only: x.x %
0x2DD6:003 Torque filter cascade: Notch filter 2 input value Display of the input value for notch filter 2.
• Read only: x.x %
0x2DD6:004 Torque filter cascade: Torque setpoint filtered Display of the filtered torque setpoint value.
• Read only: x.x %
0x2DD7:001 Voltage values: Actual voltage (motor voltage limit) Display of the current motor voltage limit.
• Read only: x.x V

548
Diagnostics and fault elimination
Diagnostic parameters

Address Name / setting range / [default setting] Information

0x2DD7:002 Voltage values: Output signal D current controller Display of the output voltage of the D-current controller.
• Read only: x.x V
0x2DD7:003 Voltage values: Output signal Q current controller Display of the output voltage of the Q-current controller.
• Read only: x.x V
0x2DD7:004 Voltage values: D voltage (magnetisation) Display of the D-voltage (magnetisation).
• Read only: x.x V
0x2DD7:005 Voltage values: Q voltage (torque) Display of the Q-voltage (torque).
• Read only: x.x V
0x2DD7:006 Voltage values: Phases U-V Display of the actual voltage phase U - phase V.
• Read only: x.x V
0x2DD7:007 Voltage values: Phases V-W Display of the actual voltage phase V - phase W.
• Read only: x.x V
0x2DD7:008 Voltage values: Phases W-U Display of the actual voltage phase W - phase U.
• Read only: x.x V
0x2DD7:009 Voltage values: Phase U Display of the actual voltage of phase U.
• Read only: x.x V
0x2DD7:010 Voltage values: Phase V Display of the actual voltage of phase V.
• Read only: x.x V
0x2DD7:011 Voltage values: Phase W Display of the actual voltage of phase W.
• Read only: x.x V
0x2DDC Actual slip value Display of the actual slip.
• Read only: x.x Hz
0x2DDD Output frequency Display of the current output frequency of the inverter.
• Read only: x.x Hz
0x2DDE Actual rotor angle position Display of the actual position of the rotor angle.
• Read only
0x2DDF:001 Axis information: Rated current Display of the rated current of the axis.
• Read only: x.xx A
0x2DDF:002 Axis information: Maximum current Display of the maximum current of the axis.
• Read only: x.xx A
0x2DE0:006 OEM service Data - SN Display of OEM service data.
• Read only
0x6077 Actual torque Display of the actual torque.
• Read only: x.x % • 100 % = Rated motor torque 0x6076
0x6078 Actual current Display of the motor actual current.
• Read only: x.x % • 100 % = Rated motor current 0x6075
0x6079 DC-bus voltage Display of the current DC-bus voltage.
• Read only: x.xxx V

549
Diagnostics and fault elimination
Diagnostic parameters
Inverter diagnostics

19.3.1 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
• Status of the internal motor control

550
Diagnostics and fault elimination
Diagnostic parameters
Inverter diagnostics

Parameter
Address Name / setting range / [default setting] Information
0x2010:001 Device event monitor: EreignisortEvent location
• Read only
0 No error
1 Functional safety
4 Basic settings
5 Communication
6 Kinematics
7 Motion
8 Technology application
0x2010:002 Device event monitor: Event type
• Read only
0 No response
1 Fault > CiA402
2 Warning
11 Information
13 Warning locked
15 Trouble > logbook only
16 Trouble
18 Fault > logbook only
19 Fault > Application quick stop > Quick stop
20 Fault > inverter quick stop > quick stop
21 Fault > inverter quick stop > inverter
disabled
23 Fault
0x2010:003 Device event monitor: Event status
• Read only
0 No event active
1 Reset possible
2 Reset not possible
0x2010:005 Device event monitor: Number of current event
• Read only
Bit 0
0x2010:006 Device event monitor: Time stamp of current event
• Read only: x ns
0x2012:001 Device information: SD card status
• Read only
0 No SD card connected
1 SD card connected
0x2012:002 Device information: Application Credit available
• Read only
0x2013:001 Application information: Active application
• Read only
0 CiA 402
1 "CiA 402 advanced" technology application
5
10 "Speed Control" technology application
20 "Table Positioning" technology application
40 "Electronic Gearbox" technology application
41 "Sync and Correction" technology
application
50 "Winder Dancer" technology application
51 "Winder Tension" technology application
100 "User" technology application
0x2013:002 Application information: Application Credit required
• Read only

551
Diagnostics and fault elimination
Diagnostic parameters
Inverter diagnostics

Address Name / setting range / [default setting] Information

0x2040 Access protection status Bit-coded display of the active access protection after login by PIN1/
• Read only PIN2.
Bit 0 No write access
Bit 1 Only favorites changeable
0x2539:001 Hardware-Diagnose: 24 V supply actual voltage
• Read only: x.x V
0x2539:002 Hardware-Diagnose: Control board temperature
• Read only: x.x °C
0x2823 Status of axis commands
• Read only
0x282A:001 Status words: Cause of disable Bit-coded display of the cause(s) for disabled inverter.
• Read only
Bit 2 Axis command 1 = the inverter was disabled via axis command 0x2822:001.
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
• Defective device hardware
Bit 12 CiA402 Inverter disabled 1 = the inverter was disabled by the internal state machine.
The bit is only set if
• Operating mode 0x6060 = "CiA: Velocity mode (vl) [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 14 Safety 1 = the inverter has been disabled by the integrated safety system.
Bit 16 PROFINET energy pause active -
0x282A:004 Status words: Extended status word Bit-coded status word.
• Read only
Bit 0 Brake is opened -
Bit 1 Reserved
0x2831 Inverter-Statuswort Bit coded status word of the internal motor control.
• Read only
Bit 0 Position controller controller in limitation -
Bit 1 Speed setpoint 1 limited 1 = input of speed controller 1 in limitation.
Bit 2 Speed controller in limitation 1 = output of speed controller 1 in limitation.
Bit 3 Torque setpoint limited 1 = setpoint torque in limitation.
Bit 4 Soll-Q-Strom limitiert 1 = setpoint current in limitation.
Bit 5 Speed setpoint 2 limited 1 = input of speed controller 2 in "torque mode" in limitation.
Bit 6 Obere Drehzahlgrenze aktiv 1 = in "torque mode", the speed is limited to upper speed limit
0x2946:001 .
Bit 7 Untere Drehzahlgrenze aktiv 1 = in "torque mode", the speed is limited to lower speed limit
0x2946:002 .
Bit 8 Flying restart active -
Bit 9 Flying restart ready
Bit 10 Output frequency limited 1 = setpoint frequency with V/f operation in limitation.
Bit 11 Magnetisation completed 1 = Magnetisation completed during V/f operation.
Otherwise 0.
Bit 12 Motorphasenfehler 1 = motor phase failure detection active.
Bit 13 Feedback open circuit -
Bit 14 Error reset blocking time active 1 = the error can only be reset when the blocking time has elapsed.
Bit 15 Clamp active -
0x2833 Inverter status word 2 Bit-coded status word 2 of the inverter.
• Read only
Bit 0 Motor encoder modified
Bit 1 Manual test mode active 1 = manual test mode active.
Bit 2 Manual control active 1 = manual control active.
Bit 4 Motor encoder = absolute value encoder -
Bit 5 Motor encoder absolute position available

552
Diagnostics and fault elimination
Diagnostic parameters
Motor diagnostics

Address Name / setting range / [default setting] Information

Bit 6 DC braking active 1 = DC braking active.
Bit 7 Motor encoder angle drift invalid -
Bit 8 Load encoder modified
Bit 9 Load encoder angle drift invalid
Bit 10 Load encoder = absolute value encoder
Bit 11 Load encoder absolute position available
Bit 12 Brake open
Bit 13 Cable check active
Bit 14 Mains failure detected
0x284F Current error Test display of the current error.
• Read only • This object contains a reference for the text to be displayed from the
ESI file as well as the substitution values for all wildcards in this text.
• The text has the same structure as the diagnostic messages in the
history buffer.
0x603F Error code Error message
• Read only
Bit 0

19.3.2 Motor diagnostics

The following parameters supply some information about the current operating status of the
motor.
Parameter
Address Name / setting range / [default setting] Information
0x2832 Identification status Display of the status for the automatic identification of the motor
• Read only parameters.
Bit 0 Identification enabled Parameters for interaction with engineering tools.
Bit 1 Identification active
Bit 2 Identification completed
Bit 3 Identification failed
0x2D82 Motor actual voltage (Veff) Display of the current motor voltage.
• Read only: x.x V
0x2D83:001 Motor-Phasenströme: Zero system current Display of the zero current.
• Read only: x.xx A
0x2D83:002 Motor-Phasenströme: Phase U current Display of the current of phase U.
• Read only: x.xx A
0x2D83:003 Motor-Phasenströme: Phase V current Display of the current of phase V.
• Read only: x.xx A
0x2D83:004 Motor-Phasenströme: Phase W current Display of the current of phase W.
• Read only: x.xx A
0x2D8A Actual speed error Display of the speed error.
• Read only: x rpm
0x6404 Motor manufacturer Setting of the motor manufacturer.
["Lenze"]

553
Diagnostics and fault elimination
Diagnostic parameters
Network diagnostics

19.3.3 Network diagnostics

The following parameters show some general information with regard to the network option
available and the network.

554
Diagnostics and fault elimination
Diagnostic parameters
Network diagnostics

Parameter
Address Name / setting range / [default setting] Information
0x231F:001 Communication module ID: Active module ID Display of the network options currently configured in the device.
• Read only
48 No network
67 CANopen
71 EtherNet/IP
82 PROFINET
84 EtherCAT
0x231F:002 Communication module ID: Module ID connected Display of the network options currently available in the device.
• Read only
48 No network
67 CANopen
71 EtherNet/IP
82 PROFINET
84 EtherCAT
0x24E7:001 EtherCAT input data: Input data 1
0 ... [] ... 4294967295
0x24E7:002 EtherCAT input data: Input data 2
0 ... [] ... 4294967295
0x24E7:003 EtherCAT input data: Input data 3
0 ... [] ... 4294967295
0x24E7:004 EtherCAT input data: Input data 4
0 ... [] ... 4294967295
0x24E7:005 EtherCAT input data: Input data 5
0 ... [] ... 4294967295
0x24E7:006 EtherCAT input data: Input data 6
0 ... [] ... 4294967295
0x24E7:007 EtherCAT input data: Input data 7
0 ... [] ... 4294967295
0x24E7:008 EtherCAT input data: Input data 8
0 ... [] ... 4294967295
0x24E7:009 EtherCAT input data: Input data 9
0 ... [] ... 4294967295
0x24E7:010 EtherCAT input data: Input data 10
0 ... [] ... 4294967295
0x24E7:011 EtherCAT input data: Input data 11
0 ... [] ... 4294967295
0x24E7:012 EtherCAT input data: Input data 12
0 ... [] ... 4294967295
0x24E7:013 EtherCAT input data: Input data 13
0 ... [] ... 4294967295
0x24E7:014 EtherCAT input data: Input data 14
0 ... [] ... 4294967295
0x24E7:015 EtherCAT input data: Input data 15
0 ... [] ... 4294967295
0x24E7:016 EtherCAT input data: Input data 16
0 ... [] ... 4294967295
0x24E8:001 EtherCAT output data: Output data 1
• Read only
0x24E8:002 EtherCAT output data: Output data 2
• Read only
0x24E8:003 EtherCAT output data: Output data 3
• Read only
0x24E8:004 EtherCAT output data: Output data 4
• Read only
0x24E8:005 EtherCAT output data: Output data 5
• Read only
0x24E8:006 EtherCAT output data: Output data 6
• Read only

555
Diagnostics and fault elimination
Diagnostic parameters
Network diagnostics

Address Name / setting range / [default setting] Information

0x24E8:007 EtherCAT output data: Output data 7
• Read only
0x24E8:008 EtherCAT output data: Output data 8
• Read only
0x24E8:009 EtherCAT output data: Output data 9
• Read only
0x24E8:010 EtherCAT output data: Output data 10
• Read only
0x24E8:011 EtherCAT output data: Output data 11
• Read only
0x24E8:012 EtherCAT output data: Output data 12
• Read only
0x24E8:013 EtherCAT output data: Output data 13
• Read only
0x24E8:014 EtherCAT output data: Output data 14
• Read only
0x24E8:015 EtherCAT output data: Output data 15
• Read only
0x24E8:016 EtherCAT output data: Output data 16
• Read only

Related topics
4Configuring the network ^ 309

556
Diagnostics and fault elimination
Diagnostic parameters
I/O diagnostics

19.3.4 I/O diagnostics

This section describes the diagnostics of the analog and digital inputs and outputs that can be
found on the control terminal X3.

557
Diagnostics and fault elimination
Diagnostic parameters
I/O diagnostics

19.3.4.1 Digital inputs and outputs

The following parameters serve to diagnose the digital inputs and outputs of the inverter.
Parameter
Address Name / setting range / [default setting] Information
0x282C:001 I/O diagnostic: Application level of the digital inputs This parameter indicates the bit coded state or the digital inputs contain
• Read only the setting of 0x2632:001 (Digital input 1).
Bit 16 Digital input 1
Bit 17 Digital input 2
Bit 18 Digital input 3
Bit 19 Digital input 4
Bit 20 Digital input 5
Bit 21 Digital input 6
Bit 22 Digital input 7
Bit 23 Digital input 8
Bit 24 Digital input 9
0x282C:002 I/O diagnostic: Digital output levels
• Read only
Bit 16 Level of digital output 1
Bit 17 Level of digital output 2
Bit 18 Level of digital output 3
Bit 19 Level of digital output 4
Bit 20 Level of digital output 5
Bit 21 Level of digital output 6
0x60FD Digital input status Bit coded display of the current status of the digital inputs
• Read only
Bit 0 Reserved -
Bit 1 Reserved
Bit 2 Reserved
Bit 3 Reserved
Bit 16 Digital input 1 0 ≡ LOW level, 1 ≡ HIGH level.
Bit 17 Digital input 2
Bit 18 Digital input 3
Bit 19 Digital input 4
Bit 20 Digital input 5
Bit 21 Digital input 6
Bit 22 Digital input 7
Bit 23 Digital input 8
Bit 24 Digital input 9
0x60FE:001 Digital outputs: Digtal output status
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Bit 0 n/a
Bit 16 Digital output 1
Bit 17 Level for digital output 2
Bit 18 Level for digital output 3
Bit 19 Level for digital output 4
Bit 20 Level for digital output 5
Bit 21 Level for digital output 6
0x4016:005 Digital output 1: Terminal state Display of the logic state of output terminal X3/DO1.
• Read only
0 FALSE
1 TRUE

Related topics
4Configure digital inputs ^ 298
4Configure digital outputs ^ 303

558
Diagnostics and fault elimination
Diagnostic parameters
Diagnostics of the application

19.3.4.2 Analog inputs and outputs

The following parameters serve to diagnose the analog inputs and outputs of the inverter.
Parameter
Address Name / setting range / [default setting] Information
0x2DA4:001 Diagnostics of analog input 1: Value in percent Display of the current input value at X3/AI1 scaled as value in percent.
• Read only: x.x % • 100 % = 10 V or 20 mA or 5 V
0x2DA4:016 Diagnostics of analog input 1: Status Bit coded display of the status of analog input 1 (X3/AI1).
• 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 5 Mode 5: 0 ... 20 mA active
Bit 6 24 V supply OK
Bit 7 Calibration successful
Bit 9 Input current too low (mode 4)
Bit 10 Input voltage too low (mode 2)
Bit 11 Input voltage too high (mode 4)

Related topics
4Configure analog inputs ^ 301

19.3.5 Diagnostics of the application

Parameter
Address Name / setting range / [default setting] Information
0x5810:001 Application diagnostics: Application state Display of the application status.
• Read only
0 Unknown/application missing
1 Running
2 Stopped
3 Stopped at breakpoint

19.3.6 Service life diagnostics

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 "Clamp responded too often" errors that have occurred.
Parameter
Address Name / setting range / [default setting] Information
0x2D81:001 Life-diagnosis: Operating time Display showing for how long the device has been running so far (device
• Read only: x s status “operation enabled”).
0x2D81:002 Life-diagnosis: Power-on time Display showing for how long the device has been supplied with line
• Read only: x s voltage so far.
0x2D81:004 Life-diagnosis: Main switching cycles Display of the number of switching cycles of the mains voltage.
• Read only
0x2D81:006 Life-diagnosis: Short-circuit counter Display of the number of short circuits that have occurred.
• Read only
0x2D81:007 Life-diagnosis: Earth fault counter Display of the number of earth faults that have occurred.
• Read only
0x2D81:009 Life-diagnosis: Fan operating time Display showing for how long the internal fan has been running so far.
• Read only: x s

559
Diagnostics and fault elimination
Diagnostic parameters
Device identification

19.3.7 Device identification

The following parameters show some general information about the inverter.
Parameter
Address Name / setting range / [default setting] Information
0x2000:001 Device data: Product code Product code of the complete device.
• Read only
0x2000:002 Device data: Serial number Serial number of the complete device.
• Read only Example: "0000000000000000XYZXYZ"
0x2000:003 Device data: Production date The date of manufacture and the time of the device, e. g.
• Read only "2013-03-13 11: 59: 04".
0x2000:004 Device data: CU firmware version Firmware version of the control unit.
• Read only Example: "01.00.01.00"
0x2000:006 Device data: CU bootloader version Bootloader version of the control unit.
• Read only Example: "2015.10-20180517"
0x2000:008 Device data: Object directory version Example: "108478"
• Read only
0x2000:015 Device data: Communication firmware revision Firmware version of the network option.
number
• Read only
0x2000:019 Device data: Safety module version
• Read only
0x2002:001 Device module: Safety module Display of a generated string based on the connected safety module
• Read only (e. g. "E50SM").
0x2002:006 Device module: CU serial number Serial number of the control unit.
• Read only
0x2002:007 Device module: PU serial number Serial number of the power unit.
• Read only
0x2002:010 Device module: Type communication module Display of the type designation of the communication module.
• Read only
0x2002:011 Device module: Serial number communication Display of the serial number of the communication module.
module
• Read only
0x2002:012 Device module: Hardware version communication Display of the hardware version of the communication module.
module
• Read only
0x2002:013 Device module: Type encoder 1 Display of the type designation of the encoder 1.
• Read only
0x2002:014 Device module: Serial number encoder 1 Display of the serial number of the encoder 1.
• Read only
0x2002:015 Device module: Hardware version encoder 1 Display of the hardware version of the encoder 1.
• Read only
0x2002:016 Device module: Type encoder 2 Display of the type designation of the encoder 2.
• Read only
0x2002:017 Device module: Serial number encoder 2 Display of the serial number of the encoder 2.
• Read only
0x2002:018 Device module: Hardware version encoder 2 Display of the hardware version of the encoder 2.
• Read only
0x67FF Device profile number
• Read only

560
Diagnostics and fault elimination
Error handling
Error types

19.4 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.

19.4.1 Error types

In the event of an error, the inverter response is determined by the error type defined for the
error.
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 for error response
^ 561
• Exception: In case of a serious fault, the inverter is disabled immediately. The motor has
no torque (coasts). For details see the table "Error codes, causes and remedies".
19.4.1.1 Timeout for error response
Parameter
Address Name / setting range / [default setting] Information
0x2826 Time-out for error response This timer is started when a change-over to the "Fault reaction active"
0 ... [4] ... 100 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.

19.4.2 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
inverter and motor from damages.
In case of errors with configurable error type, the default setting can be changed in
consideration of safety aspects and the operational performance. The selection "No response
[0]" is, however, only available for minor errors.
The "Error codes, causes and remedies" 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. ^ 563

561
Diagnostics and fault elimination
Error handling
Error reset

19.4.3 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 button in the »EASY Starter« ("Diagnostics" tab).
• Via bit 7 in the mappable CiA 402 control word 0x6040.
Parameter
Address Name / setting range / [default setting] Information
0x2840 Error reset time Setting of the delay time for "reset error" (0x2841 = 1).
• Read only: x ms
0x2841 Reset error 1 ≡ reset error (error acknowledgement)
0 ... [0] ... 1

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, causes and remedies" table gives the blocking time (if available) for each
error. This table also shows whether mains switching is required for the error reset. ^ 563

562
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

19.5 Error codes, causes and remedies

19.5.1 Error code overview

The following table contains the most important error codes of the device in ascending order.
• Clicking the error code shows you a detailed description of the error message.
• If the device displays an "internal error" that is not listed here, restart the device. If the
error persists, make a note of the error code and contact the manufacturer.

563
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

0 0x0000 No error Information -
1 0x0001 Logbook: Corrupt restore data Information -
16 0x0010 Internal error Warning -
17 0x0011 Internal error Warning -
18 0x0012 Internal error Warning -
19 0x0013 Internal error Warning -
61 0x003D Logbook cleared Information -
64 0x0040 Logbook: Timeout restoring data Information -
65 0x0041 Logbook: Error restoring data Information -
66 0x0042 First boot with this firmware version Information -
67 0x0043 Logbook was restored. Information -
68 0x0044 Logbook: Error reading persistent data. Information -
202 0x00CA Internal error Warning -
203 0x00CB Internal error Warning -
263 0x0107 Application was downloaded. Information -
4097 0x1001 CmpLenzeErrorManagementAccess loaded without errors Information -
4353 0x1101 Initialization - Parameter value could not be written Information -
4353 0x1101 Test-Mode - More Application Credit required, application is starting delayed Warning -
4354 0x1102 Load default setting - Parameter value could not be written Warning -
4354 0x1102 Application-Credit - Invalid license data Warning -
4355 0x1103 Application-Credit - License data missing Warning -
4865 0x1301 Boot application - More Application Credit required Warning -
5000 0x1388 Internal error Warning -
5001 0x1389 CTRL - Feature not supported Warning -
5002 0x138A CTRL - Invalid index Warning -
5003 0x138B ISW - Invalid offset Warning -
5005 0x138D CTRL - Invalid size Warning -
5006 0x138E ISW - Invalid data Warning -
5007 0x138F ISW - Not ready Warning -
5008 0x1390 CTRL - Busy Warning -
5009 0x1391 ISW - Cannot queue acyclic EtherCAT command Warning -
5010 0x1392 CFG - No memory left Warning -
5011 0x1393 CTRL - Invalid parameter Warning -
5012 0x1394 CTRL - Not found Warning -
5014 0x1396 ISW - Invalid state Warning -
5015 0x1397 ISW - Cannot add slave to timer list Warning -
5016 0x1398 SLV - Time-out Warning -
5017 0x1399 ISW - Open failed Warning -
5018 0x139A LLA - Send failed Warning -
5019 0x139B CFG - Error when queuing a mailbox command Warning -
5020 0x139C ISW - Invalid mailbox command Warning -
5021 0x139D ISW - Unknown mailbox protocol command Warning -
5022 0x139E ISW - Access denied Warning -
5026 0x13A2 CFG - Invalid product key Warning -
5027 0x13A3 PRJ - Wrong format of master XML file Warning -
5028 0x13A4 CTRL - Function disabled Warning -
5030 0x13A6 PRJ - Mismatch of bus configuration and number of connected slaves Warning -
5031 0x13A7 PRJ - Error reading master XML file Warning -
5033 0x13A9 PRJ - Configurator error - cyclic commands are missing in master XML file Warning -
5034 0x13AA PRJ - AL_STATUS register read command is missing in master XML file Warning -
5035 0x13AB ISW - Fatal internal McSm error Warning -
5036 0x13AC SLV - Slave error Warning -
5037 0x13AD SLV - Frame lost, IDX mismatch Warning -
5038 0x13AE SLV - At least one EtherCAT command is missing in the received frame Warning -

564
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

5040 0x13B0 CTRL - IOCTL EC_IOCTL_DC_LATCH_REQ_LTIMVALS not possible in DC Warning -
Latching auto read mode
5041 0x13B1 SLV - Auto increment address - increment mismatch (slave missing) Warning -
5042 0x13B2 CTRL - Slave in invalid state, e.g. not in OP (API not callable in this state) Warning -
5043 0x13B3 SLV - Fixed station address lost or slave missing - FPRD to AL_STATUS failed Warning -
5044 0x13B4 PRJ - Too many cyclic commands in XML configuration file Warning -
5046 0x13B6 RAP - Master core not accessible Warning -
5047 0x13B7 SLV - COE mailbox send - WKC error Warning -
5048 0x13B8 SLV - COE mailbox receive - WKC error Warning -
5049 0x13B9 CTRL - No mailbox support Warning -
5050 0x13BA CoE - Protocol not supported Warning -
5051 0x13BB PRJ - EoE protocol not supported Warning -
5052 0x13BC FoE . Protocol not supported Warning -
5053 0x13BD PRJ - SoE protocol not supported Warning -
5054 0x13BE PRJ - VoE protocol not supported Warning -
5055 0x13BF PRJ - Configuration violates evaluation limits Warning -
5056 0x13C0 CFG - Evaluation time expired Warning -
5063 0x13C7 COE - invalid slave state Warning -
5064 0x13C8 CoE - SDO Abort 'Toggle bit not alternated (0x05030000)' Warning -
5065 0x13C9 CoE - SDO Abort 'SDO protocol time-out (0x05040000)' Warning -
5066 0x13CA CoE - SDO Abort 'Client/server command specifier not valid or unknown Warning -
(0x05040001)'
5067 0x13CB CoE - SDO Abort 'Invalid block size (block mode only) (0x05040002)' Warning -
5068 0x13CC CoE - SDO Abort 'Invalid sequence number (block mode only) (0x05040003)' Warning -
5069 0x13CD CoE - SDO Abort 'CRC error (block mode only) (0x05040004)' Warning -
5070 0x13CE CoE - SDO Abort 'Out of memory (0x05040005)' Warning -
5071 0x13CF CoE - SDO Abort 'Unsupported access to an object (0x06010000)' Warning -
5072 0x13D0 CoE - SDO Abort 'Attempt to read a write only object (0x06010001)' Warning -
5073 0x13D1 CoE - SDO Abort 'Attempt to write a read only object (0x06010002)' Warning -
5074 0x13D2 CoE - SDO-Abort 'Object does not exist in the object dictionary (0x06020000)' Warning -
5075 0x13D3 CoE - SDO Abort 'Object cannot be mapped to the PDO (0x06040041)' Warning -
5076 0x13D4 CoE - SDO Abort 'Number and length of objects to be mapped exceed PDO Warning -
length (0x06040042)'
5077 0x13D5 CoE - SDO Abort 'General parameter incompatibility (0x06040043)' Warning -
5078 0x13D6 CoE - SDO Abort 'General internal incompatibility in the device (0x06040047)' Warning -
5079 0x13D7 CoE - SDO Abort 'Access failed due to an hardware error (0x06060000)' Warning -
5080 0x13D8 CoE - SDO Abort 'Data type or length of service parameters do not match Warning -
(0x06070010)'
5081 0x13D9 CoE - SDO Abort 'Data type does not match, service parameter too high Warning -
(0x06070012)'
5082 0x13DA CoE - SDO Abort 'Data type does not match, service parameter too low Warning -
(0x06070013)'
5083 0x13DB CoE - SDO Abort 'Subindex does not exist (0x06090011)' Warning -
5084 0x13DC CoE - SDO Abort 'Write access - Parameter value exceeds limits (0x06090030)' Warning -
5085 0x13DD CoE - SDO Abort 'Write access - Parameter value too high (0x06090031)' Warning -
5086 0x13DE CoE - SDO Abort 'Write access - Parameter value too low (0x06090032)' Warning -
5087 0x13DF CoE - SDO Abort 'Maximum value less than minimum value (0x06090036)' Warning -
5088 0x13E0 CoE - SDO Abort 'General error (0x08000000)' Warning -
5089 0x13E1 CoE - SDO Abort 'Data cannot be transferred to the application/stored in the Warning -
application (0x08000020)'
5090 0x13E2 CoE - SDO Abort 'Local control - 'Data cannot be transferred to the Warning -
application/stored in the application (0x08000021)'
5091 0x13E3 CoE- SDO Abort 'Actual device state - Data cannot be transferred to the Warning -
application/stored in the application (0x08000022)'
5092 0x13E4 CoE - SDO Abort 'Object dictionary - Dynamic generation fails or object Warning -
dictionary is missing (0x08000023)'
5093 0x13E5 CoE - SDO Abort 'Unknown abort code' Warning -

565
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

5094 0x13E6 CoE - Invalid parameter Warning -
5095 0x13E7 CoE - CoE protocol not supported Warning -
5096 0x13E8 CoE - Unknown FoE error Warning -
5097 0x13E9 CoE - FoE error 'Not found' Warning -
5098 0x13EA CoE - FoE error 'Access denied' Warning -
5099 0x13EB CoE - FoE error 'Disk full' Warning -
5100 0x13EC CoE - FoE error 'Illegal' Warning -
5101 0x13ED CoE - FoE error 'Wrong packet number' Warning -
5102 0x13EE CoE - FoE error 'Already existing' Warning -
5103 0x13EF CoE - FoE error 'User missing' Warning -
5104 0x13F0 CoE - FoE error 'Only possible in bootstrap' Warning -
5105 0x13F1 CoE - FoE error 'No bootstrap' Warning -
5106 0x13F2 CoE - FoE error 'No access rights' Warning -
5107 0x13F3 CoE - FoE error 'Program error' Warning -
5108 0x13F4 CoE - FoE error 'Invalid parameter' Warning -
5112 0x13F8 CTRL - Master configuration not found Warning -
5113 0x13F9 SLV - Command error while EEPROM upload Warning -
5114 0x13FA SLV - Command error while EEPROM download Warning -
5115 0x13FB PRJ - Cyclic command too long Warning -
5116 0x13FC PRJ - Invalid input offset in cyc cmd, please check InputOffs Warning -
5117 0x13FD PRJ - Invalid output offset in cyc cmd, please check OutputOffs Warning -
5385 0x1509 RAP - Invalid cookie Warning -
5386 0x150A RAP - Watchdog expired Warning -
5387 0x150B RAP - Connecting 2nd server denied, multi server support is disabled Warning -
5388 0x150C RAP - Logon aborted Warning -
5389 0x150D RAP - Invalid version Warning -
5401 0x1519 RAP - Server stopped Warning -
5402 0x151A RAP - Watchdog expired Warning -
5403 0x151B RAP - Reconnect time expired Warning -
5404 0x151C RAP - Client logged on Warning -
5405 0x151D RAP - Client reconnected Warning -
5406 0x151E RAP - Socket changed after reconnect Warning -
5449 0x1549 DCM - Init function not called or call not successful Warning -
5450 0x154A DCM - Controller error - synchronization out of limit Warning -
5451 0x154B DCM - Not enough memory Warning -
5452 0x154C DCM - Hardware layer - (BSP) invalid Warning -
5453 0x154D DCM - Hardware layer - Error while modifying the timer Warning -
5454 0x154E DCM - Hardware layer - Timer is not running Warning -
5455 0x154F DCM - Hardware layer - Function is called on wrong CPU Warning -
5513 0x1589 EtherCAT - State change of master successful Warning -
5514 0x158A EtherCAT - Bus scan successful Warning -
5515 0x158B EtherCAT - Bus scan error Warning -
5516 0x158C EtherCAT - Distributed clocks state Warning -
5517 0x158D EtherCAT - Distributed clocks - Latching state Warning -
5518 0x158E CoE - SDO download failure Warning -
5519 0x158F CoE - SDO upload failure Warning -
5520 0x1590 CoE - OD-list upload failure Warning -
5521 0x1591 CoE - Object description upload failure Warning -
5522 0x1592 CoE - Object entry description upload failure Warning -
5523 0x1593 CoE - Emergency transfer failure Warning -
5524 0x1594 CoE - Emergency request Warning -
5525 0x1595 Cyclic command - WKC error Warning -
5526 0x1596 Master init command - WKC error Warning -
5527 0x1597 Slave init command - WKC error Warning -
5528 0x1598 EoE receive - WKC error Warning -

566
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

5529 0x1599 CoE receive - WKC error Warning -
5530 0x159A FoE receive - WKC error Warning -
5531 0x159B SoE receive - WKC error Warning -
5532 0x159C EoE send - WKC error Warning -
5533 0x159D CoE send - WKC error Warning -
5534 0x159E FoE send - WKC error Warning -
5535 0x159F SoE send - WKC error Warning -
5536 0x15A0 Retry sending a frame Warning -
5537 0x15A1 Response on Ethernet frame Warning -
5538 0x15A2 Additional error information Warning -
5539 0x15A3 EtherCAT command - IDX actual value Warning -
5540 0x15A4 EtherCAT command - IDX set value Warning -
5541 0x15A5 Init command response error - No response Warning -
5542 0x15A6 Init command response error - Validation error Warning -
5543 0x15A7 Init command response error - Failed Warning -
5544 0x15A8 Master init command response error - No response Warning -
5545 0x15A9 Master init command response error - Validation error Warning -
5546 0x15AA Missing EtherCAT command in Ethernet frame Warning -
5547 0x15AB Mailbox init command - Time-out Warning -
5548 0x15AC At least one EtherCAT slave not in 'Operational' Warning -
5549 0x15AD EtherCAT cable connected Warning -
5550 0x15AE EtherCAT cable not connected Warning -
5551 0x15AF Cyclic commands - Time-out Warning -
5552 0x15B0 Redundant operation - Ethernet cable is missing at 2nd EtherCAT interface Warning -
5553 0x15B1 At least one slave is in state 'Error' Warning -
5554 0x15B2 Slave error Warning -
5555 0x15B3 Communication to device interrupted Warning -
5556 0x15B4 SDO abort Warning -
5557 0x15B5 DC slaves are 'in-sync' Warning -
5558 0x15B6 DC slaves are 'out-of-sync' Warning -
5559 0x15B7 DC single latch on slave Warning -
5560 0x15B8 MbxTferRcv - file upload failure Warning -
5561 0x15B9 MbxTferRcv - file download failure Warning -
5562 0x15BA Client registration lost Warning -
5563 0x15BB Redundant operation - Ethernet cable connected Warning -
5564 0x15BC SoE write error init command mbox Warning -
5592 0x15D8 Hot Connect - all groups detected Warning -
5593 0x15D9 Hot Connect - all group errors detected Warning -
5594 0x15DA Slave removed from bus Warning -
5595 0x15DB Slave added to bus Warning -
5596 0x15DC Topology was changed Warning -
5597 0x15DD Port closed Warning -
5598 0x15DE MbxTferRcv - Write IDN failure Warning -
5599 0x15DF MbxTferRcv - Read IDN failure Warning -
5600 0x15E0 SoE - Emergency transfer failure Warning -
5601 0x15E1 SoE - Emergency request Warning -
5602 0x15E2 SoE - Notification transfer failure Warning -
5603 0x15E3 SoE - Notification request Warning -
5604 0x15E4 FoE abort Warning -
5701 0x1645 Bus scan state Warning -
5703 0x1647 Latch/Edge - No edge Warning -
5704 0x1648 Remote API diagnosis port - Connection established Warning -
5705 0x1649 Remote API diagnosis port - Connection disconnected Warning -
5706 0x164A Client registered from cookie Warning -
5707 0x164B Client unregistered from cookie Warning -

567
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

5708 0x164C Unknown notification Warning -
5709 0x164D Slave latched Warning -
5710 0x164E Bus scan - Error Warning -
5711 0x164F Invalid number of slaves Warning -
5712 0x1650 Cannot get SlaveInfo Warning -
5713 0x1651 Deviation of slave Warning -
5714 0x1652 Slave is not configured Warning -
5715 0x1653 SlaveInfo Warning -
5716 0x1654 SLV - Error retrieving configuration data Warning -
5717 0x1655 Bus scan - Deviation Warning -
5718 0x1656 Communication to device interrupted Warning -
5719 0x1657 Slave state error Warning -
5722 0x165A Wrong response on 'configured fix address request' for slave Warning -
5723 0x165B Wrong response on 'alias address' request for slave Warning -
5724 0x165C Cannot execute EC_IOCTL_DC_SLV_SYNC_DEVLIMIT_GET Warning -
5725 0x165D Cannot read latch timer Warning -
5726 0x165E Cannot execute EC_IOCTL_DC_SLV_SYNC_RESTART Warning -
5729 0x1661 RAP - Invalid parameter size Warning -
5730 0x1662 RAP - Marshaling error Warning -
5731 0x1663 Unable to enqueue (missing calls to ProcessNotificationJobs) Warning -
5732 0x1664 No connection to slaves Warning -
5733 0x1665 ecatSetTargetState cannot set EtherCAT master into target state, master is Warning -
busy (time-out)
5734 0x1666 ecatStop() returns 'Busy', retry... Warning -
5735 0x1667 Mailbox transfer request - Error Warning -
5736 0x1668 Mailbox transfer Warning -
5737 0x1669 Waiting for mailbox transfer from master... Warning -
5738 0x166A Mailbox transfer - Fatal time-out error Warning -
5739 0x166B Bus cycle and Sync period are different Warning -
5740 0x166C Error getting the bus scan state Warning -
5741 0x166D Wrong response on DC supported request or slave Warning -
5742 0x166E Unable to set 'DC slave sync disable' Warning -
5743 0x166F Error when restarting bus scan Warning -
5744 0x1670 Bus scan time-out Warning -
6200 0x1838 Configuration error - Check of VendorID failed Warning -
6201 0x1839 Configuration error - Check of ProductCode failed Warning -
6202 0x183A Configuration error - Check of Revision failed Warning -
6203 0x183B Configuration error - Check of VendorID failed Warning -
6204 0x183C Configuration error - Odd device at bus end Warning -
6210 0x1842 Internal error counter resetted Warning -
6212 0x1844 All slaves 'Operational' again Warning -
6213 0x1845 Cyclic command - WKC error Warning -
6214 0x1846 Frame response - Error Warning -
6215 0x1847 Not all slaves are 'Operational' Warning -
6216 0x1848 Emergency message - Overflow, further messages blocked Warning -
6220 0x184C New configuration loaded Warning -
6221 0x184D New configuration loaded, no slaves defined Warning -
6222 0x184E Master - Start failed, configuration error Warning -
6223 0x184F New configuration loaded from slaves EEPROM Warning -
6230 0x1856 Master - Start failed Warning -
6231 0x1857 Master - Start failed, bus configuration error Warning -
6232 0x1858 Master - Start failed, EtherCAT cable disconnected Warning -
6233 0x1859 Master - Start failed, DC/DCM configuration Warning -
6234 0x185A Master - Start failed, cannot set slaves to 'Pre-Operational' Warning -
6240 0x1860 Master - Set 'Operational' failed Warning -

568
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

6241 0x1861 Master - Set 'Operational' failed, Master not initialized Warning -
6242 0x1862 Master - Set 'Operational' failed, EtherCAT cable disconnected Warning -
6243 0x1863 Master - Set 'Operational' failed, DCM not in-sync Warning -
6244 0x1864 Master - Set 'Operational' failed, bus cycle and DC different Warning -
6245 0x1865 Master - Set 'Operational' takes some time... Warning -
6246 0x1866 Master - Set 'Operational' failed, time-out Warning -
6247 0x1867 Master - Set 'Operational' failed, slave error Warning -
6248 0x1868 Master - Set 'Operational' aborted by reset command Warning -
6250 0x186A Master - Stopping failed Warning -
6251 0x186B Master - Stopping failed, cannot set Slaves 'Pre-Operational' Warning -
6260 0x1874 Master - Shutdown failed Warning -
6270 0x187E Remote API Server - Start failed Warning -
6280 0x1888 Start Download Service Warning -
6281 0x1889 Download Service done Warning -
6300 0x189C MMC - Internal error Warning -
6301 0x189D MMC - 'Modular Machine Configuration' is active, EtherCAT master is Warning -
controlled by L_ETC_MMCController
6302 0x189E MMC - Service started Warning -
6303 0x189F MMC - Service stopped Warning -
6304 0x18A0 MMC - Error in configuration files Warning -
6305 0x18A1 MMC - File does not exist Warning -
6306 0x18A2 MMC - Parsing error Warning -
6307 0x18A3 MMC - parsing of file successful Warning -
6308 0x18A4 MMC - Devices not sorted in ascending order or devices missing Warning -
6309 0x18A5 MMC - Number of devices in device tree differs Warning -
6310 0x18A6 MMC - Device type mismatch for Alias Address Warning -
6311 0x18A7 MMC - Invalid Alias Address Warning -
6312 0x18A8 MMC - Duplicated Alias Address Warning -
6313 0x18A9 MMC - No configuration checks Warning -
6314 0x18AA MMC - Invalid configuration Warning -
6315 0x18AB MMC - Mandatory slave missing Warning -
6316 0x18AC MMC - Optional slave is present, but not allowed Warning -
6317 0x18AD MMC - No valid service active Warning -
6318 0x18AE MMC - Address assignment error, less slaves connected than configured Warning -
6319 0x18AF MMC - Address assignment error, more slaves connected than configured Warning -
6320 0x18B0 MMC - Address assignment error, invalid device Warning -
6321 0x18B1 MMC - Address assignment successful Warning -
6322 0x18B2 MMC - Address assignment failed Warning -
6323 0x18B3 MMC - Address assignment done Warning -
6324 0x18B4 MMC - Address assignment error, writing address by CoE Warning -
6325 0x18B5 MMC - Slave ident error Warning -
6326 0x18B6 MMC - Slave ident error, slave ident data failed Warning -
6327 0x18B7 MMC - Service state cannot be changed, set bus to 'INIT' first Warning -
6499 0x1963 Last ETC message Warning -
8992 0x2320 Short circuit or earth leakage at the motor end Fault -
9024 0x2340 Short circuit at the motor end Fault -
9041 0x2351 Motor utilization too high (i²xt) Fehler > CiA402 0x2D50:001
9088 0x2380 Trouble - utilization of the power section (ixt) too high Fault -
9089 0x2381 Warning - Utilization of the power section (ixt) too high Warning -
9090 0x2382 Fault - Device utilization (ixt) too high Fault -
9091 0x2383 Warning - Device utilization (ixt) too high Warning -
9092 0x2384 Ultimate motor current reached Fault > CiA402 0x2D46:002
9093 0x2385 Parameterized max. motor current > max. device current Warning -
9094 0x2386 Clamp is active Warning -
9095 0x2387 Clamp responded too often Fault -

569
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

9097 0x2389 Warning - device utilization (ixt) too high Warning -
9099 0x238B Trouble - Device utilization (ixt) too high Fault -
12673 0x3181 Mains failure Fault -
12816 0x3210 Fault - DC bus overvoltage Fault -
12832 0x3220 Fault - DC bus undervoltage Trouble -
16912 0x4210 Fault - Power unit overtemperature Fault -
17000 0x4268 Modulo axis is required Fault -
17003 0x426B Start position outside cycle length Fault -
17004 0x426C Different cycle lengths Fault -
17005 0x426D Invalid direction of rotation Fault -
17006 0x426E Mark stack - Limit reached Fault -
17007 0x426F Number of virtual marks exceeded Fault -
17008 0x4270 Invalid synchronization parameters Fault -
17009 0x4271 Invalid parameter setting for jogging Fault -
17010 0x4272 Invalid deceleration ramp for stop function (lrStopDec <= 0) Fault -
17011 0x4273 Invalid diameter Fault -
17012 0x4274 Torque follower not cannot be activated Fault -
17013 0x4275 Speed follower cannot be activated Fault -
17014 0x4276 Invalid AxisRef connected to function Fault -
17015 0x4277 Motor parameters could not be read Fault -
17016 0x4278 Lower speed limit parameter is not mapped Fault -
17017 0x4279 Upper speed limit parameter is not mapped Fault -
17018 0x427A Torque setpoint parameter is not mapped Fault -
17019 0x427B Dancer position outside the defined range Fault -
17020 0x427C Dancer limits are invalid Fault -
17021 0x427D Invalid parameter setting for clutch Fault -
17022 0x427E TM was not called cyclic Fault -
17024 0x4280 Fault - Heat sink temperature sensor Fault -
17025 0x4281 Heat sink fan warning Warning -
17026 0x4282 Thermal overload of control unit Information -
17030 0x4286 Invalid number of cam points Fault -
17100 0x42CC Clutching not possible (master axis is moving) Fault -
17101 0x42CD Invalid parameter setting of product length Fault -
17102 0x42CE Position of the touch probe sensor unknown Fault -
17103 0x42CF Gap occurred in the slave axis Fault -
17104 0x42D0 Gap occurred in the master axis Fault -
17105 0x42D1 Internal error Fault -
17106 0x42D2 Invalid parameter setting of synchronous phase Fault -
17107 0x42D3 Invalid parameter setting of the cross cutter for cutting operation Fault -
17108 0x42D4 Invalid parameter setting of cutting length Fault -
17109 0x42D5 Slave axis outside parking position Fault -
17110 0x42D6 Master axis changes the direction of rotation Fault -
17111 0x42D7 Internal - Invalid cam selected Fault -
17112 0x42D8 Selected axis is not supported Fault -
17113 0x42D9 Axis is not supported Fault -
17114 0x42DA Invalid parameter setting of profile Fault -
17115 0x42DB Axis enabled is required Fault -
17116 0x42DC Correction window out of cycle length measuring system Fault -
17117 0x42DD Correction value larger than correction window Fault -
17123 0x42E3 Dancer limits not teached Fault -
17125 0x42E5 Position of the slave axis is greater than the upper limit set Fault -
17126 0x42E6 Position of the slave axis is smaller than the lower limit set Fault -
17127 0x42E7 Target position is greater than the upper limit set Fault -
17128 0x42E8 Invalid mark position Fault -
17129 0x42E9 Invalid positioning Fault -

570
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

17140 0x42F4 TM not called in cyclic motion task Fault -
17150 0x42FE Invalid parameters of traversing profile Fault -
17151 0x42FF Invalid coil parameters Fault -
17152 0x4300 Traversing angular shift limit reached Fault -
17154 0x4302 DC bus undervoltage Fault -
17155 0x4303 Coupling mode supports modulo axes only Fault -
17157 0x4305 X axis TM error Fault -
17158 0x4306 Y axis TM error Fault -
17164 0x430C Diameter calculation failed Fault -
17165 0x430D Actual dancer position greater than maximum dancer position Fault -
17166 0x430E Parameter lrIdentDiamMaxDancerPos is invalid Fault -
17167 0x430F Value for stored material in dancer is invalid (=<0) Fault -
17168 0x4310 Motor overtemperature Warning 0x2D49:002
17168 0x4310 Loading the diameter during identification is not allowed Fault -
17169 0x4311 Invalid master axis connected Fault -
17280 0x4380 Fault - Motor temperature sensor Warning 0x2D49:002
17281 0x4381 Error - Motor temperature monitoring (PTC) Fault > CiA402 0x2D48:002
17282 0x4382 Motor overtemperature (load encoder/master encoder) Warning 0x2D49:002
17283 0x4383 Motor temperature sensor error (load encoder/master encoder) Warning 0x2D49:002
19000 0x4A38 Invalid delay time for PT1 filter Fault -
19002 0x4A3A Invalid mode for curve function Fault -
19003 0x4A3B Invalid compare mode Fault -
19005 0x4A3D Invalid mode ConvAxisV Fault -
19006 0x4A3E Process controller - Invalid delay time Fault -
19007 0x4A3F Process controller - Invalid rate time Fault -
19008 0x4A40 Process controller - Invalid reset time Fault -
19024 0x4A50 Invalid mode for signal delay Fault -
19030 0x4A56 FrictComp - Aborted by restarting identification Fault -
19031 0x4A57 FrictComp - Aborted by disabling follower Fault -
19032 0x4A58 FrictComp - Max. velocity could not be reached Fault -
19033 0x4A59 FrictComp - Acceleration too high Fault -
19034 0x4A5A Min. diameter greater than max. diameter Fault -
19048 0x4A68 IdentMInertia - Max. speed or max. torque too high Fault -
19049 0x4A69 Aborted by restarting ident identification - IdentMInertia Fault -
19050 0x4A6A IdentMInertia - Aborted by disabling follower Fault -
19051 0x4A6B IdentMInertia - Aborted by other function Fault -
19052 0x4A6C IdentMInertia - Max velocity not reached Fault -
19053 0x4A6D IdentMInertia - Torque not reached Fault -
19503 0x4C2F Mark register - Max. number of TP exceeded Fault -
19801 0x4D59 Identification mode not supported Fault -
19803 0x4D5B Motor rated speed =0 Fault -
19804 0x4D5C Motor moment of inertia = 0 Fault -
19806 0x4D5E Invalid start mode Fault -
19807 0x4D5F Invalid natural frequency Fault -
19808 0x4D60 Invalid amplitude ratio Fault -
19809 0x4D61 Invalid compensation method Fault -
19810 0x4D62 Compensation method cannot be changed Fault -
20001 0x4E21 SDO access - General error Fault -
20002 0x4E22 SDO access - Invalid index Fault -
20003 0x4E23 SDO access - Invalid offset Fault -
20004 0x4E24 SDO access - Invalid length Fault -
20005 0x4E25 SDO access- Invalid data Fault -
20006 0x4E26 SDO access - Not ready Fault -
20007 0x4E27 SDO access - Master is busy Fault -
20008 0x4E28 SDO access - No memory Fault -

571
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

20009 0x4E29 SDO access - Invalid state Fault -
20010 0x4E2A SDO access - Invalid status Fault -
20011 0x4E2B SDO access - Time-out Fault -
20012 0x4E2C SDO access - Invalid mailbox commands in current slave state Fault -
20013 0x4E2D SDO access - Cable not connected to the controller Fault -
20015 0x4E2F SDO access - All channels for SDO request busy Fault -
20020 0x4E34 SDO - AbortCode 0x05030000 'Toggle bit not alternated' Fault -
20021 0x4E35 SDO - AbortCode 0x05040000 'SDO protocol time-out' Fault -
20022 0x4E36 SDO - AbortCode 0x05040001 'Client/server command specifier not valid or Fault -
unknown'
20023 0x4E37 SDO - AbortCode 0x05040002 'Invalid block size (block mode only)' Fault -
20024 0x4E38 SDO - AbortCode 0x05040003 'Invalid sequence number (block mode only)' Fault -
20025 0x4E39 SDO - AbortCode 0x05040004 'CRC error (block mode only)' Fault -
20026 0x4E3A SDO - AbortCode 0x05040005 'Out of memory' Fault -
20027 0x4E3B SDO - AbortCode 0x06010000 'Unsupported access to an object' Fault -
20028 0x4E3C SDO - AbortCode 0x06010001 'Attempt to read a write only object' Fault -
20029 0x4E3D SDO - AbortCode 0x06010002 'Attempt to write a read only object' Fault -
20030 0x4E3E SDO - AbortCode 0x06020000 'Object does not exist in the object dictionary' Fault -
20031 0x4E3F SDO - AbortCode 0x06040041 'Object cannot be mapped to the PDO' Fault -
20032 0x4E40 SDO - AbortCode 0x06040042 'Number and length of objects to be mapped Fault -
exceed PDO length'
20033 0x4E41 SDO - AbortCode 0x06040043 'General parameter incompatibility' Fault -
20034 0x4E42 SDO - AbortCode 0x06040047 'General internal incompatibility in the device' Fault -
20035 0x4E43 SDO - AbortCode 0x06060000 'Access failed due to an hardware error' Fault -
20036 0x4E44 SDO - AbortCode 0x06070010 'Data type or length of service parameters do Fault -
not match'
20037 0x4E45 SDO - AbortCode 0x06070012 'Data type does not match, service parameter Fault -
too high'
20038 0x4E46 SDO - AbortCode 0x06070013 'Data type does not match, service parameter Fault -
too low'
20039 0x4E47 SDO - AbortCode 0x06090011 'Subindex does not exist' Fault -
20040 0x4E48 SDO - AbortCode 0x06090030 'Write access - Parameter value exceeds limits' Fault -
20041 0x4E49 SDO - AbortCode 0x06090031 'Write access - Parameter value too high' Fault -
20042 0x4E4A SDO - AbortCode 0x06090032 'Write access - Parameter value too low' Fault -
20043 0x4E4B SDO - AbortCode 0x06090036 'Maximum value less than minimum value' Fault -
20044 0x4E4C SDO - AbortCode 0x08000000 'General error' Fault -
20045 0x4E4D SDO - AbortCode 0x08000020 'Data cannot be transferred to the application/ Fault -
stored in the application'
20046 0x4E4E SDO - AbortCode 0x08000021 'Local control - 'Data cannot be transferred to Fault -
the application/stored in the application'
20047 0x4E4F SDO - AbortCode 0x08000022 Actual device state - Data cannot be Fault -
transferred to the application/stored in the application'
20048 0x4E50 SDO - AbortCode 0x08000023 'Object dictionary - Dynamic generation fails or Fault -
object dictionary is missing'
20049 0x4E51 SDO - AbortCode 0x 'Unknown abort code' Fault -
20301 0x4F4D Invalid AxisRef Fault -
20302 0x4F4E Input "parameter" not used Fault -
20303 0x4F4F Requested parameter does not exist Fault -
20304 0x4F50 Invalid state of the axis Fault -
20305 0x4F51 Parameter number does not correspond to a Boolean parameter Fault -
20306 0x4F52 Positive SW limit exceeded Fault -
20307 0x4F53 Negative SW limit exceeded Fault -
20308 0x4F54 Invalid input for source of type MC_Source Fault -
20309 0x4F55 No setpoints generated in current PLC cycle Fault -
20310 0x4F56 Controller disabled during operation Fault -
20311 0x4F57 Motion prohibited by axis state Fault -

572
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

20312 0x4F58 Positive SW limit reached Fault -
20313 0x4F59 Negative SW limit reached Fault -
20314 0x4F5A Touch probe - No valid source Fault -
20315 0x4F5B Touch probe - No valid number Fault -
20316 0x4F5C Touch Probe - Channel is already in use Fault -
20317 0x4F5D Touch Probe - Selection not supported Fault -
20318 0x4F5E No Touch Probe active Fault -
20319 0x4F5F Input for external TP configuration not connected Fault -
20320 0x4F60 Invalid acceleration Fault -
20321 0x4F61 Invalid deceleration Fault -
20322 0x4F62 Invalid velocity Fault -
20323 0x4F63 Arithmetic error in profile calculation Fault -
20324 0x4F64 Movement cannot be executed with the specified parameters Fault -
20325 0x4F65 Velocity - Specified value exceeds parameterized maximum value Fault -
20326 0x4F66 Acceleration - Specified value exceeds parameterized maximum value Fault -
20327 0x4F67 Jerk - Specified value exceeds parameterized maximum value Fault -
20328 0x4F68 Target position outside SW limits Fault -
20330 0x4F6A MoveAbsolute - Invalid acceleration Fault -
20331 0x4F6B MoveAbsolute - Invalid deceleration Fault -
20332 0x4F6C MoveAbsolute - Invalid velocity Fault -
20333 0x4F6D MoveAbsolute - Arithmetic error in profile calculation Fault -
20334 0x4F6E MoveAbsolute - Movement cannot be executed with the specified Fault -
parameters
20335 0x4F6F MoveAbsolute - Velocity - Specified value exceeds parameterized maximum Fault -
value
20336 0x4F70 MoveAbsolute - Acceleration - Specified value exceeds parameterized Fault -
maximum value
20337 0x4F71 MoveAbsolute - Jerk - Specified value exceeds parameterized maximum value Fault -
20338 0x4F72 MoveAbsolute - Target position outside SW limits Fault -
20340 0x4F74 MoveAdditive - Invalid acceleration Fault -
20341 0x4F75 MoveAdditive - Invalid deceleration Fault -
20342 0x4F76 MoveAdditive - Invalid velocity Fault -
20343 0x4F77 MoveAdditive - Arithmetic error in profile calculation Fault -
20344 0x4F78 MoveAdditive - Movement cannot be executed with the specified parameters Fault -
20345 0x4F79 MoveAdditive - Velocity - Specified value exceeds parameterized maximum Fault -
value
20346 0x4F7A MoveAdditive - Acceleration - Specified value exceeds parameterized Fault -
maximum value
20347 0x4F7B MoveAdditive - Jerk - Specified value exceeds parameterized maximum value Fault -
20348 0x4F7C MoveAdditive - Target position outside the SW limit Fault -
20350 0x4F7E MoveContinuousAbsolute - Fault -
20351 0x4F7F MoveContinuousAbsolute - Invalid deceleration Fault -
20352 0x4F80 MoveContinuousAbsolute - Invalid velocity Fault -
20353 0x4F81 MoveContinuousAbsolute - Arithmetic error in profile calculation Fault -
20354 0x4F82 MoveContinuousAbsolute - Movement cannot be executed with the specified Fault -
parameters
20355 0x4F83 MoveContinuousAbsolute - Velocity - Specified value exceeds parameterized Fault -
maximum value
20356 0x4F84 MoveContinuousAbsolute - Acceleration - Specified value exceeds Fault -
parameterized maximum value
20357 0x4F85 MoveContinuousAbsolute - Jerk - Specified value exceeds parameterized Fault -
maximum value
20358 0x4F86 MoveContinuousAbsolute - Target position outside SW limits Fault -
20360 0x4F88 MoveContinuousRelative - Invalid acceleration Fault -
20361 0x4F89 MoveContinuousRelative - Invalid deceleration Fault -
20362 0x4F8A MoveContinuousRelative - Invalid velocity Fault -

573
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

20363 0x4F8B MoveContinuousRelative - Arithmetic error in profile calculation Fault -
20364 0x4F8C MoveContinuousRelative - Movement cannot be executed with the specified Fault -
parameters
20365 0x4F8D MoveContinuousRelative - Velocity - Specified value exceeds parameterized Fault -
maximum value
20366 0x4F8E MoveContinuousRelative - Acceleration - Specified value exceeds Fault -
parameterized maximum value
20367 0x4F8F MoveContinuousRelative - Jerk - Specified value exceeds parameterized Fault -
maximum value
20368 0x4F90 MoveContinuousRelative - Target position outside SW limits Fault -
20370 0x4F92 MoveRelative - Invalid acceleration Fault -
20371 0x4F93 MoveRelative - Invalid deceleration Fault -
20372 0x4F94 MoveRelative - Invalid velocity Fault -
20373 0x4F95 MoveRelative - Arithmetic error in profile calculation Fault -
20374 0x4F96 MoveRelative - Movement cannot be executed with the specified parameters Fault -
20375 0x4F97 MoveRelative - Velocity - Specified value exceeds parameterized maximum Fault -
value
20376 0x4F98 MoveRelative - Acceleration - Specified value exceeds parameterized Fault -
maximum value
20377 0x4F99 MoveRelative - Jerk - Specified value exceeds parameterized maximum value Fault -
20378 0x4F9A MoveRelative - Target position outside SW limits Fault -
20380 0x4F9C MoveSuperImposed - Invalid acceleration Fault -
20381 0x4F9D MoveSuperImposed - Invalid deceleration Fault -
20382 0x4F9E MoveSuperImposed - Invalid velocity Fault -
20383 0x4F9F MoveSuperImposed - Arithmetic error in profile calculation Fault -
20384 0x4FA0 MoveSuperImposed - Movement cannot be executed with the specified Fault -
parameters
20385 0x4FA1 MoveSuperImposed - Velocity - Specified value exceeds parameterized Fault -
maximum value
20386 0x4FA2 MoveSuperImposed - Acceleration - Specified value exceeds parameterized Fault -
maximum value
20387 0x4FA3 MoveSuperImposed - Jerk - Specified value exceeds parameterized maximum Fault -
value
20388 0x4FA4 MoveSuperImposed - Target position outside SW limits Fault -
20390 0x4FA6 MoveVelocity - Invalid acceleration Fault -
20391 0x4FA7 MoveVelocity - Invalid deceleration Fault -
20392 0x4FA8 MoveVelocity - Invalid velocity Fault -
20393 0x4FA9 MoveVelocity - Arithmetic error in profile calculation Fault -
20394 0x4FAA MoveVelocity - Movement cannot be executed with the specified parameters Fault -
20395 0x4FAB MoveVelocity - Velocity - Specified value exceeds parameterized maximum Fault -
value
20396 0x4FAC MoveVelocity - Acceleration - Specified value exceeds parameterized Fault -
maximum value
20397 0x4FAD MoveVelocity - Jerk - Specified value exceeds parameterized maximum value Fault -
20398 0x4FAE MoveVelocity - Target position outside SW limits Fault -
20401 0x4FB1 Halt - Invalid deceleration Fault -
20403 0x4FB3 Halt - Arithmetic error in profile calculation Fault -
20406 0x4FB6 Halt - Acceleration - Specified value exceeds parameterized maximum value Fault -
20407 0x4FB7 Halt - Jerk - Specified value exceeds parameterized maximum value Fault -
20411 0x4FBB Stop - Invalid deceleration Fault -
20413 0x4FBD Stop - Arithmetic error in profile calculation Fault -
20416 0x4FC0 Stop - Acceleration - Specified value exceeds parameterized maximum value Fault -
20417 0x4FC1 Stop - Jerk - Specified value exceeds parameterized maximum value Fault -
20430 0x4FCE Invalid direction specified Fault -
20431 0x4FCF Invalid buffer mode specified Fault -
20432 0x4FD0 Requested direction not enabled Fault -
20433 0x4FD1 Function cannot be executed due to axis status Fault -

574
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

20434 0x4FD2 Invalid override value Fault -
20435 0x4FD3 Concurrent MC_Power for one axis Fault -
20436 0x4FD4 Concurrent SetQuickstop for one axis Fault -
20499 0x5013 Cyclic PDO interface of drive disabled (0x2824) Fault -
20500 0x5014 Positive HW limit exceeded Fault -
20501 0x5015 Negative HW limit exceeded Fault -
20502 0x5016 Following error - Warning level exceeded Fault -
20503 0x5017 Following error - Error level exceeded Fault -
20504 0x5018 Communication error to controlled drive Fault -
20505 0x5019 Initialization error of the axis data Fault -
20506 0x501A Communication time-out to controlled drive Fault -
20507 0x501B EtherCAT could not be restarted Fault -
20508 0x501C Not ready for re-initialization Fault -
20509 0x501D Error during initialization Fault -
20510 0x501E Axis could not be switched on Fault -
20511 0x501F Drive error Fault -
20512 0x5020 Homing - No homing parameters defined Fault -
20513 0x5021 Homing - Mode not supported by axis Fault -
20514 0x5022 Homing - Mode unknown Fault -
20515 0x5023 Homing - No external touch probe configuration Fault -
20516 0x5024 Homing - Invalid touch probe configuration Fault -
20518 0x5026 Homing - Error writing parameters to the drive Fault -
20519 0x5027 Homing - Error in drive during homing Fault -
20520 0x5028 Homing - Arithmetic error in profile calculation Fault -
20521 0x5029 Homing - Torque limits not mapped Fault -
20522 0x502A Homing - Invalid velocity or acceleration Fault -
20525 0x502D Reset of drive error failed Fault -
20529 0x5031 Position drift during brake test Fault -
20530 0x5032 Invalid brake mode Fault -
20531 0x5033 Torque pre-control - Time-out Fault -
20532 0x5034 Invalid brake state Fault -
20533 0x5035 Fast_IO_OUT - Invalid output selected Fault -
20534 0x5036 Fast_IO_OUT - Wrong Axis connected Fault -
20535 0x5037 Fast_IO_OUT - Wrong Axis parameter Fault -
20536 0x5038 Fast_IO_OUT - Mapping error Fault -
20537 0x5039 Fast_IO_OUT - Internal overflow Fault -
20538 0x503A Touch probe - Invalid channel selection Fault -
20539 0x503B Touch probe - Invalid mode selection Fault -
20540 0x503C Touch probe - Only positive edge is supported Fault -
20541 0x503D Touch probe - Invalid edge selection Fault -
20542 0x503E Touch probe - Channel in use Fault -
20543 0x503F Touch probe - PDO mapping fault Fault -
20544 0x5040 Touch probe - Internal channel in use Fault -
20545 0x5041 Touch probe - Time-out Fault -
20546 0x5042 Touch probe - Communication error Fault -
20547 0x5043 Touch probe - Invalid signal selection Fault -
20548 0x5044 Touch probe - Wrong axis type Fault -
20550 0x5046 Touch probe - Rising edge blocked Fault -
20551 0x5047 Touch probe - Falling edge blocked Fault -
20552 0x5048 Touch probe - Internal error Fault -
20600 0x5078 Set values greater than the parameterized maximum values Fault -
20601 0x5079 Set values inconsistent Fault -
20602 0x507A Position difference per task cycle greater than half the cycle length Fault -
20603 0x507B Invalid task cycle time Fault -
20608 0x5080 Internal error - AIS Warning -

575
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

20609 0x5081 Internal error - AIE Warning -
20610 0x5082 Internal error - Button S82 Warning -
20619 0x508B SD-Inx/CLx - Error Warning -
20620 0x508C Internal switch-off path - Error Warning -
20621 0x508D Internal switch-off path - Test pulse error Warning -
20650 0x50AA Initialization - SDO write access failed Fault -
20651 0x50AB Initialization - SDO read access failed Fault -
20652 0x50AC Initialization - Cycle time of the fastest task too high Fault -
20653 0x50AD Initialization - Motor rated torque = 0 Fault -
20654 0x50AE Initialization - Motor rated speed = 0 Fault -
20655 0x50AF Initialization - Reading of firmware version failed Fault -
20656 0x50B0 Initialization - Invalid Encoder resolution Fault -
20657 0x50B1 Initialization - Reading of encoder revolutions failed Fault -
20658 0x50B2 Initialization - Reading of encoder CRC failed Fault -
20659 0x50B3 Initialization - Absolute encoder position not available Fault -
20660 0x50B4 Controller firmware incompatible Fault -
20661 0x50B5 Invalid mode Fault -
20662 0x50B6 Initialization error at the encoder backplane bus Fault -
20663 0x50B7 Function 'Optical device identification' not supported Fault -
20664 0x50B8 Invalid gear factor Fault -
20665 0x50B9 Position outside cycle length Fault -
20666 0x50BA Invalid cycle length (AddOffsetCyclic) Fault -
20667 0x50BB Invalid input position (AddOffsetCyclic) Fault -
20668 0x50BC Invalid cycle length (ZeroDetect) Fault -
20669 0x50BD Invalid input position (ZeroDetect) Fault -
20670 0x50BE Invalid start position (IntegrateAxis) Fault -
20671 0x50BF Simultaneous direction setting for 'JogPos' and 'JogNeg' Fault -
20672 0x50C0 Value outside value range Fault -
20673 0x50C1 State not 'Disabled' Fault -
20674 0x50C2 Brake test - Invalid input value Fault -
20675 0x50C3 Brake test - Already active Fault -
20676 0x50C4 Brake grind in - Invalid input value Fault -
20677 0x50C5 Brake grind in - Already active Fault -
20678 0x50C6 Selected control mode not allowed Fault -
20679 0x50C7 Virtual axes not supported Fault -
20680 0x50C8 Axis not disabled Fault -
20681 0x50C9 Invalid feed constant Fault -
20682 0x50CA Invalid traversing range Fault -
20683 0x50CB Invalid cycle length Fault -
20684 0x50CC Invalid position resolution Fault -
20685 0x50CD Torque limit too large Fault -
20686 0x50CE Torque limit < 0 Fault -
20687 0x50CF Invalid encoder signal Fault -
20688 0x50D0 Encoder signal greater than parameterized measuring range Fault -
20689 0x50D1 Invalid parameterized measuring range Fault -
20690 0x50D2 STO active in drive Fault -
20691 0x50D3 Inverter disable active Fault -
20692 0x50D4 Invalid SW limits Fault -
20693 0x50D5 Invalid jerk Fault -
20694 0x50D6 Parameter 'vl Target Velocity' not included in mapping Fault -
20695 0x50D7 Parameter 'vl Actual Velocity' not included in mapping Fault -
20696 0x50D8 Axis not homed Fault -
20697 0x50D9 Axis not in SimpleMode Fault -
20698 0x50DA Axis in SimpleMode Fault -
20699 0x50DB Function not supported by axis Fault -

576
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

20700 0x50DC Execution index already in use Fault -
20701 0x50DD SS1 active Fault -
20702 0x50DE SS2 active Fault -
20703 0x50DF Velocity limited by SLS1 Fault -
20704 0x50E0 Velocity limited by SLS2 Fault -
20705 0x50E1 Velocity limited by SLS3 Fault -
20706 0x50E2 Velocity limited by SLS4 Fault -
20707 0x50E3 Invalid execution index Fault -
20754 0x5112 24 V supply critical Warning -
20756 0x5114 Reference voltage error Warning -
20757 0x5115 6 V voltage error Warning -
20758 0x5116 5 V voltage error Warning -
20759 0x5117 3.3 V voltage error Warning -
22000 0x55F0 Phasing not allowed Fault -
22010 0x55FA Invalid CamRef Fault -
22011 0x55FB Invalid cam type Fault -
22012 0x55FC Invalid cam data Fault -
22013 0x55FD Invalid number of memory segments Fault -
22014 0x55FE Insufficient memory segments defined for cam Fault -
22015 0x55FF Invalid law of motion Fault -
22016 0x5600 Invalid input data Fault -
22025 0x5609 Master out of cam Fault -
22026 0x560A OffsetScaling - Invalid velocity/acceleration Fault -
22027 0x560B Invalid cam table Fault -
22028 0x560C Invalid start or end position of cam Fault -
22029 0x560D Invalid scaling factor Fault -
22030 0x560E Clutch in error Fault -
22035 0x5613 Not allowed movement by master Fault -
22036 0x5614 Clutch needs reversing Fault -
22037 0x5615 Invalid default jerk Fault -
22038 0x5616 Invalid open instant deceleration Fault -
22039 0x5617 Invalid reversing Fault -
22050 0x5622 File not found Fault -
22051 0x5623 Invalid file Fault -
22052 0x5624 Invalid checksum Fault -
22053 0x5625 Invalid data size Fault -
22060 0x562C Invalid TappetRef Fault -
22061 0x562D Invalid tappet data Fault -
22062 0x562E Invalid tappet type Fault -
22063 0x562F Invalid tappet switching time Fault -
22064 0x5630 Invalid tappet position Fault -
22065 0x5631 Dynamic tappet sampling error Fault -
22082 0x5642 LinearCoupling - Invalid X cycle length Fault -
22083 0x5643 LinearCoupling - Invalid Y cycle length Fault -
22084 0x5644 LinearCoupling - Invalid input position Fault -
22085 0x5645 Invalid number of tappets Fault -
24592 0x6010 Internal error Warning -
24960 0x6180 Internal error - STO activated Warning -
24965 0x6185 Communication error - Basic device Warning -
24966 0x6186 Synchronization error - Basic device Information -
24970 0x618A Warning - Internal fan Warning -
25360 0x6310 Incorrect parameter set download Warning -
25376 0x6320 Parameter error in object Warning -
25472 0x6380 F-parameter error Information -
25473 0x6381 F_Dest_Add unequal F-address Information -

577
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

25474 0x6382 F_Dest_Add = 0 or FFFFhex Information -
25475 0x6383 F_Source_Add = 0 or FFFFhex Information -
25477 0x6385 F_SIL exceeds technical SIL Information -
25478 0x6386 F_CRC_Length error Information -
25479 0x6387 Wrong F-parameter version Information -
25481 0x6389 New safety parameter set deleted Information -
25482 0x638A New safety parameter set loaded Information -
25483 0x638B Memory module - Access error Warning -
25484 0x638C Different safety parameter sets Warning -
25485 0x638D Extended Safety - No safety parameter set Warning -
25486 0x638E Extended Safety - Safety parameter set defect Warning -
25488 0x6390 Safety parameter set - Plausibility error Warning -
25489 0x6391 Safety parameter set - Communication error Warning -
25490 0x6392 Different safety addresses detected Warning -
25491 0x6393 SSM - Wrong PDO version Warning -
28801 0x7081 Fault - Analog input 1 No response 0x2636:010
28961 0x7121 Fault - Pole position identification Fault -
29443 0x7303 Fault - Motor feedback Fault > CiA402 0x2C45
29444 0x7304 Error - Load encoder/master encoder Fault > CiA402 0x2C55
29568 0x7380 Motor encoder - Communication error Fault > CiA402 0x2C41:004
29569 0x7381 HIPERFACE motor encoder - wrong absolute value because motor speed is Fault > CiA402 0x2C41:004
too high
29570 0x7382 Load encoder/master encoder - Communication error Fault > CiA402 0x2C51:004
29571 0x7383 HIPERFACE load encoder/master encoder - wrong absolute value because Fault > CiA402 0x2C51:004
motor speed is too high
33042 0x8112 Network - Time-out explicit message -
33044 0x8114 Network - Overall communication time-out Warning 0x2859:007
33152 0x8180 EtherCAT DC - Synchronization required Warning -
33153 0x8181 EtherCAT - Communication error Fault > CiA402 0x285B:001
33162 0x818A PROFIsafe passivated Information -
33163 0x818B PROFIsafe has left data exchange Information -
33165 0x818D PROFIsafe - CRC1 error Information -
33168 0x8190 Network - Watchdog time-out Warning 0x2859:001
33169 0x8191 Network - Disruption of cyclic data exchange No response 0x2859:002
33170 0x8192 Network - Initialization error Warning 0x2859:004
33171 0x8193 Network - Invalid cyclic process data Warning 0x2859:005
33173 0x8195 FSoE - Unexpected command Information -
33174 0x8196 FSoE - Unknown command Information -
33175 0x8197 FSoE - Invalid connection ID Information -
33176 0x8198 FSoE - CRC error Information -
33177 0x8199 FSoE - Watchdog expired Information -
33178 0x819A Network - Initialization with safety option failed Information -
33179 0x819B Network - Communication time-out with safety option Information -
33180 0x819C FSoE - Invalid communication parameter data Information -
33181 0x819D FSoE - Invalid application parameter length Information -
33182 0x819E FSoE - Invalid application parameter data Information -
33183 0x819F FSoE - Passivated Information -
33192 0x81A8 FSoE - Invalid slave address Information -
33193 0x81A9 FSoE - Invalid communication parameter length Information -
33194 0x81AA FSoE - Data exchange left Information -
33408 0x8280 EtherCAT - Wrong sync manager address Fault -
33409 0x8281 EtherCAT - Wrong sync manager size Fault -
33410 0x8282 EtherCAT - Wrong sync manager settings Fault -
33411 0x8283 PDO mapping: Unknown object Fault -
33412 0x8284 No PDO mapping object Fault -

578
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

33413 0x8285 Too many objects mapped Fault -
33414 0x8286 PDO mapping error Fault -
33415 0x8287 Network - Invalid configuration Warning 0x2859:003
33416 0x8288 PDO mapping object is already used by PLC. Fault -
34560 0x8700 EtherCAT - Sync error Fault -
34561 0x8701 Sync PLL - Time-out Fault -
36992 0x9080 Discrepancy check or function check error - SD-In1 Warning -
36993 0x9081 Discrepancy check or function check error - SD-In2 Warning -
36994 0x9082 Discrepancy check or function check error - SD-In3 Warning -
36995 0x9083 Discrepancy check or function check error - SD-In4 Warning -
36997 0x9085 Disabled SD-In2 = HIGH Warning -
36998 0x9086 Disabled SD-In3 = HIGH Warning -
36999 0x9087 Disabled SD-In4 = HIGH Warning -
37000 0x9088 SD-Out1 - Channel A remains stuck at HIGH Warning -
37001 0x9089 SD-Out1 - Channel A remains stuck at LOW Warning -
37002 0x908A SD-Out1 - Channel B remains stuck at HIGH Warning -
37003 0x908B SD-Out1 - Channel B remains stuck at LOW Warning -
37004 0x908C SD-In1 - Channel A remains stuck at HIGH Warning -
37005 0x908D SD-In1 - Channel B remains stuck at HIGH Warning -
37006 0x908E SD-In2 - Channel A remains stuck at HIGH Warning -
37007 0x908F SD-In2 - Channel B remains stuck at HIGH Warning -
37008 0x9090 SD-In3 - Channel A remains stuck at HIGH Warning -
37009 0x9091 SD-In3 - Channel B remains stuck at HIGH Warning -
37010 0x9092 SD-In4 - Channel A remains stuck at HIGH Warning -
37011 0x9093 SD-In4 - Channel B remains stuck at HIGH Warning -
37012 0x9094 CLA/CLB - Short circuit Warning -
43605 0xAA55 The chronology of the logbook is not consistent Information -
65280 0xFF00 Fatal internal error Fault -
65281 0xFF01 Fatal internal communication error Fault -
65282 0xFF02 Fault - Motor holding brake -
65283 0xFF03 Fatal internal error - task overflow Fault -
65284 0xFF04 PPI - Motor movement too large Fault > CiA402 0x2C60
65285 0xFF05 Safe torque off (STO) activated Warning -
65286 0xFF06 Motor overspeed Fault > CiA402 0x2D44:002
65287 0xFF07 Not permitted during identification or in test mode Warning -
65288 0xFF08 Not permitted during identification Warning -
65289 0xFF09 Motor phase missing No response 0x2D45:001
0x2D45:004
65290 0xFF0A Motor phase failure phase U No response 0x2D45:001
0x2D45:004
65291 0xFF0B Motor phase failure phase V No response 0x2D45:001
0x2D45:004
65292 0xFF0C Motor phase failure phase W No response 0x2D45:001
0x2D45:004
65293 0xFF0D No resolver connected - command cannot be executed Warning -
65294 0xFF0E Speed too low - command cannot be executed Warning -
65295 0xFF0F No resolver as motor encoder connected - command cannot be executed Warning -
65296 0xFF10 Time-out during resolver identification Warning -
65297 0xFF11 Numeric problem during resolver identification Warning -
65298 0xFF12 Inverter error too large Warning -
65299 0xFF13 Identification aborted Fault > CiA402 0x2C60
65300 0xFF14 Not permitted in state 'operation enabled' or 'quick stop active' Warning -
65301 0xFF15 No HIPERFACE absolute value encoder as motor encoder connected - Warning -
command cannot be executed
65302 0xFF16 Connected HIPERFACE motor encoder is not supported Fault > CiA402 0x2C41:004

579
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

65303 0xFF17 Connected HIPERFACE motor encoder is not supported - command cannot be Warning -
executed
65304 0xFF18 Communication time-out in manual control mode Fault -
65305 0xFF19 Motor parameter identification fault Fault -
65306 0xFF1A Connected HIPERFACE load encoder/master encoder is not supported Fault > CiA402 0x2C51:004
65307 0xFF1B Connected HIPERFACE load encoder/master encoder is not supported - Warning -
command cannot be executed
65308 0xFF1C No resolver as load encoder/master encoder connected - command cannot Warning -
be executed
65309 0xFF1D No HIPERFACE absolute value encoder as load encoder/master encoder Warning -
connected - command cannot be executed
65310 0xFF1E FIQ runtime error Fault -
65312 0xFF20 Brand protection - check failed Warning -
65313 0xFF21 Time-out holding brake feedforward control Fault -
65314 0xFF22 Velocity error Fault -
65315 0xFF23 Position error Fault -
65316 0xFF24 Sync0 cycle time invalid Fault -
65318 0xFF26 Cable check - Motor movement too large Fault -
65319 0xFF27 Cable check - Wrong motor angle detected Fault -
65334 0xFF36 Warning - Brake resistor overload Warning -
65344 0xFF40 Error - Brake transistor Fault -
65345 0xFF41 Error - Charging circuit Fault -
65346 0xFF42 Mains phase failure Fault -
65360 0xFF50 General error (see manual) Fault -
65361 0xFF51 Internal communication to PLC failed Fault -
65416 0xFF88 SS1/SS2 - Stop time exceeded Warning -
65417 0xFF89 SLS1 - Nlim1 exceeded Warning -
65418 0xFF8A SLS2 - Nlim2 exceeded Warning -
65419 0xFF8B SLS3 - Nlim3 exceeded Warning -
65420 0xFF8C SLS4 - Nlim4 exceeded Warning -
65421 0xFF8D SLS/SMS - Error stop not executed Warning -
65422 0xFF8E SDIpos - Wrong direction Warning -
65423 0xFF8F SDIneg - Wrong direction Warning -
65424 0xFF90 SMS - Nmax exceeded Warning -
65425 0xFF91 SOS - Tolerance limit exceeded Warning -
65426 0xFF92 No feedback system configured Warning -
65427 0xFF93 CAS - Round trip time exceeded Warning -
65428 0xFF94 CAS - Hardware or discrepancy error Warning -
65429 0xFF95 SS1/SS2 - Speed ramp exceeded Warning -
65430 0xFF96 SLI - Safely limited increment exceeded Warning -
65431 0xFF97 SLP1 - Position limits exceeded Warning -
65432 0xFF98 SLP2 - Position limits exceeded Warning -
65433 0xFF99 SLP3 - Position limits exceeded Warning -
65434 0xFF9A SLP4 - Position limits exceeded Warning -
65435 0xFF9B SLP - No home position Warning -
65437 0xFF9D PDSS - Velocity exceeded Warning -
65438 0xFF9E PDSS - Creep velocity SCS exceeded Warning -
65439 0xFF9F PDSS - No diagnostic mark detected Warning -
65440 0xFFA0 PDSS - Diagnostic mark detected at invalid position Warning -
65446 0xFFA6 SHom - Time-out Warning -
65447 0xFFA7 SHom - Home position deleted Information -
65448 0xFFA8 SHom - Maximum slip value exceeded Warning -
65449 0xFFA9 SHom - Tolerance of start position exceeded Warning -
65450 0xFFAA SHom - Tolerance of position comparison exceeded Warning -
65451 0xFFAB SSM - Invalid safe velocity Warning -

580
Diagnostics and fault elimination
Error codes, causes and remedies
Error code overview

Error code Error message Error type Configurable in

65452 0xFFAC SSM - Encoder error Warning -
65453 0xFFAD SSM - Resolver error Warning -
65454 0xFFAE SSM - Error in standard device data Warning -
65455 0xFFAF SSM - Speed deviation too high Warning -
65456 0xFFB0 SSM - Synchronization error Warning -

581
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

19.5.2 Causes and remedies

0 0x0000 No error

Cause Remedy Error type/response

No error For information only. No remedy necessary. Information

1 0x0001 Logbook: Corrupt restore data

Cause Remedy Error type/response

Logbook: Corrupt restore data For information only. No remedy necessary. Information

16 0x0010 Internal error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

17 0x0011 Internal error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

18 0x0012 Internal error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

19 0x0013 Internal error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

61 0x003D Logbook cleared

Cause Remedy Error type/response

Logbook cleared For information only. No remedy necessary. Information

64 0x0040 Logbook: Timeout restoring data

Cause Remedy Error type/response

Logbook: Timeout restoring data For information only. No remedy necessary. Information

65 0x0041 Logbook: Error restoring data

Cause Remedy Error type/response

Logbook: Error restoring data For information only. No remedy necessary. Information

582
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

66 0x0042 First boot with this firmware version

Cause Remedy Error type/response

First boot with this firmware version For information only. No remedy necessary. Information

67 0x0043 Logbook was restored.

Cause Remedy Error type/response

Logbook was restored. For information only. No remedy necessary. Information

68 0x0044 Logbook: Error reading persistent data.

Cause Remedy Error type/response

Logbook: Error reading persistent data. For information only. No remedy necessary. Information

202 0x00CA Internal error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

203 0x00CB Internal error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

263 0x0107 Application was downloaded.

Cause Remedy Error type/response

Application was downloaded. For information only. No remedy necessary. Information

4097 0x1001 CmpLenzeErrorManagementAccess loaded without errors

Cause Remedy Error type/response

CmpLenzeErrorManagementAccess loaded For information only. No remedy necessary. Information
without errors

4353 0x1101 Initialization - Parameter value could not be written

Cause Remedy Error type/response

Initialization - Parameter value could not be For information only. No remedy necessary. Information
written

4353 0x1101 Test-Mode - More Application Credit required, application is starting delayed

Cause Remedy Error type/response

The "Application-Credit" is not sufficient for the Use SD card with sufficient "Application-Credit". Warning
application.
The start of the application is delayed.

583
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

4354 0x1102 Load default setting - Parameter value could not be written

Cause Remedy Error type/response

Write access denied with corresponding error Evaluate parameter value based on the error Warning
message. message in the logbook.
Correct parameter value accordingly.

4354 0x1102 Application-Credit - Invalid license data

Cause Remedy Error type/response

Faulty license data was detected when the Use SD card with valid license data. Warning
"Application-Credit" was loaded.

4355 0x1103 Application-Credit - License data missing

Cause Remedy Error type/response

No license data was found on the SD card when Use SD card with valid license data. Warning
then the "Application-Credit" was loaded.

4865 0x1301 Boot application - More Application Credit required

Cause Remedy Error type/response

The "Application-Credit" is not sufficient for the Use SD card with sufficient "Application-Credit". Warning
boot application.
Booting is delayed.

5000 0x1388 Internal error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5001 0x1389 CTRL - Feature not supported

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5002 0x138A CTRL - Invalid index

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5003 0x138B ISW - Invalid offset

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

584
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5005 0x138D CTRL - Invalid size

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5006 0x138E ISW - Invalid data

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5007 0x138F ISW - Not ready

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5008 0x1390 CTRL - Busy

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5009 0x1391 ISW - Cannot queue acyclic EtherCAT command

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5010 0x1392 CFG - No memory left

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5011 0x1393 CTRL - Invalid parameter

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5012 0x1394 CTRL - Not found

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5014 0x1396 ISW - Invalid state

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

585
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5015 0x1397 ISW - Cannot add slave to timer list

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5016 0x1398 SLV - Time-out

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5017 0x1399 ISW - Open failed

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5018 0x139A LLA - Send failed

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5019 0x139B CFG - Error when queuing a mailbox command

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5020 0x139C ISW - Invalid mailbox command

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5021 0x139D ISW - Unknown mailbox protocol command

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5022 0x139E ISW - Access denied

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5026 0x13A2 CFG - Invalid product key

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

586
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5027 0x13A3 PRJ - Wrong format of master XML file

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5028 0x13A4 CTRL - Function disabled

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5030 0x13A6 PRJ - Mismatch of bus configuration and number of connected slaves

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5031 0x13A7 PRJ - Error reading master XML file

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5033 0x13A9 PRJ - Configurator error - cyclic commands are missing in master XML file

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5034 0x13AA PRJ - AL_STATUS register read command is missing in master XML file

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5035 0x13AB ISW - Fatal internal McSm error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5036 0x13AC SLV - Slave error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5037 0x13AD SLV - Frame lost, IDX mismatch

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

587
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5038 0x13AE SLV - At least one EtherCAT command is missing in the received frame

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5040 0x13B0 CTRL - IOCTL EC_IOCTL_DC_LATCH_REQ_LTIMVALS not possible in DC Latching auto read mode

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5041 0x13B1 SLV - Auto increment address - increment mismatch (slave missing)

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5042 0x13B2 CTRL - Slave in invalid state, e.g. not in OP (API not callable in this state)

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5043 0x13B3 SLV - Fixed station address lost or slave missing - FPRD to AL_STATUS failed

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5044 0x13B4 PRJ - Too many cyclic commands in XML configuration file

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5046 0x13B6 RAP - Master core not accessible

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5047 0x13B7 SLV - COE mailbox send - WKC error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5048 0x13B8 SLV - COE mailbox receive - WKC error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

588
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5049 0x13B9 CTRL - No mailbox support

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5050 0x13BA CoE - Protocol not supported

Cause Remedy Error type/response

Slave does not support CoE. Use slave that supports CoE. Warning

5051 0x13BB PRJ - EoE protocol not supported

Cause Remedy Error type/response

Slave does not support EoE. Use slave that supports EoE. Warning

5052 0x13BC FoE . Protocol not supported

Cause Remedy Error type/response

Slave does not support FoE. Use slave that supports FoE. Warning

5053 0x13BD PRJ - SoE protocol not supported

Cause Remedy Error type/response

Slave does not support SoE. Use slave that supports SoE. Warning

5054 0x13BE PRJ - VoE protocol not supported

Cause Remedy Error type/response

Slave does not support VoE. Use slave that supports VoE. Warning

5055 0x13BF PRJ - Configuration violates evaluation limits

Cause Remedy Error type/response

Warning

5056 0x13C0 CFG - Evaluation time expired

Cause Remedy Error type/response

Warning

5063 0x13C7 COE - invalid slave state

Cause Remedy Error type/response

The slave status is invalid. Check if slave is at least PreOperational. Warning
Check other access rights.

5064 0x13C8 CoE - SDO Abort 'Toggle bit not alternated (0x05030000)'

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

589
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5065 0x13C9 CoE - SDO Abort 'SDO protocol time-out (0x05040000)'

Cause Remedy Error type/response

SDO protocol timeout Check if timeout is set too low. Warning

5066 0x13CA CoE - SDO Abort 'Client/server command specifier not valid or unknown (0x05040001)'

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5067 0x13CB CoE - SDO Abort 'Invalid block size (block mode only) (0x05040002)'

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5068 0x13CC CoE - SDO Abort 'Invalid sequence number (block mode only) (0x05040003)'

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5069 0x13CD CoE - SDO Abort 'CRC error (block mode only) (0x05040004)'

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5070 0x13CE CoE - SDO Abort 'Out of memory (0x05040005)'

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5071 0x13CF CoE - SDO Abort 'Unsupported access to an object (0x06010000)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning

5072 0x13D0 CoE - SDO Abort 'Attempt to read a write only object (0x06010001)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning

5073 0x13D1 CoE - SDO Abort 'Attempt to write a read only object (0x06010002)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning

590
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5074 0x13D2 CoE - SDO-Abort 'Object does not exist in the object dictionary (0x06020000)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check if object exists.

5075 0x13D3 CoE - SDO Abort 'Object cannot be mapped to the PDO (0x06040041)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check if object exists.

5076 0x13D4 CoE - SDO Abort 'Number and length of objects to be mapped exceed PDO length (0x06040042)'

Cause Remedy Error type/response

Access denied. Check the length of the objects to be mapped. Warning

5077 0x13D5 CoE - SDO Abort 'General parameter incompatibility (0x06040043)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning

5078 0x13D6 CoE - SDO Abort 'General internal incompatibility in the device (0x06040047)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning

5079 0x13D7 CoE - SDO Abort 'Access failed due to an hardware error (0x06060000)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

5080 0x13D8 CoE - SDO Abort 'Data type or length of service parameters do not match (0x06070010)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

5081 0x13D9 CoE - SDO Abort 'Data type does not match, service parameter too high (0x06070012)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

5082 0x13DA CoE - SDO Abort 'Data type does not match, service parameter too low (0x06070013)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

591
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5083 0x13DB CoE - SDO Abort 'Subindex does not exist (0x06090011)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

5084 0x13DC CoE - SDO Abort 'Write access - Parameter value exceeds limits (0x06090030)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

5085 0x13DD CoE - SDO Abort 'Write access - Parameter value too high (0x06090031)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

5086 0x13DE CoE - SDO Abort 'Write access - Parameter value too low (0x06090032)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

5087 0x13DF CoE - SDO Abort 'Maximum value less than minimum value (0x06090036)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

5088 0x13E0 CoE - SDO Abort 'General error (0x08000000)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

5089 0x13E1 CoE - SDO Abort 'Data cannot be transferred to the application/stored in the application (0x08000020)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

5090 0x13E2 CoE - SDO Abort 'Local control - 'Data cannot be transferred to the application/stored in the application (0x08000021)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

5091 0x13E3 CoE- SDO Abort 'Actual device state - Data cannot be transferred to the application/stored in the application (0x08000022)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

592
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5092 0x13E4 CoE - SDO Abort 'Object dictionary - Dynamic generation fails or object dictionary is missing (0x08000023)'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

5093 0x13E5 CoE - SDO Abort 'Unknown abort code'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.

5094 0x13E6 CoE - Invalid parameter

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.
Check transfer properties.

5095 0x13E7 CoE - CoE protocol not supported

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check object properties.
Check transfer properties.

5096 0x13E8 CoE - Unknown FoE error

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check file.
Check transfer properties.

5097 0x13E9 CoE - FoE error 'Not found'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check file.
Check transfer properties.

5098 0x13EA CoE - FoE error 'Access denied'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check file.
Check transfer properties.

5099 0x13EB CoE - FoE error 'Disk full'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check file.
Check transfer properties.

593
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5100 0x13EC CoE - FoE error 'Illegal'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check file.
Check transfer properties.

5101 0x13ED CoE - FoE error 'Wrong packet number'

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5102 0x13EE CoE - FoE error 'Already existing'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check file.
Check transfer properties.

5103 0x13EF CoE - FoE error 'User missing'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check file.
Check transfer properties.

5104 0x13F0 CoE - FoE error 'Only possible in bootstrap'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check file.
Check transfer properties.

5105 0x13F1 CoE - FoE error 'No bootstrap'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check file.
Check transfer properties.

5106 0x13F2 CoE - FoE error 'No access rights'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check file.
Check transfer properties.

5107 0x13F3 CoE - FoE error 'Program error'

Cause Remedy Error type/response

Warning

594
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5108 0x13F4 CoE - FoE error 'Invalid parameter'

Cause Remedy Error type/response

Access denied. Check access authorization. Warning
Check file.
Check transfer properties.

5112 0x13F8 CTRL - Master configuration not found

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5113 0x13F9 SLV - Command error while EEPROM upload

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5114 0x13FA SLV - Command error while EEPROM download

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5115 0x13FB PRJ - Cyclic command too long

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5116 0x13FC PRJ - Invalid input offset in cyc cmd, please check InputOffs

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5117 0x13FD PRJ - Invalid output offset in cyc cmd, please check OutputOffs

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5385 0x1509 RAP - Invalid cookie

Cause Remedy Error type/response

Warning

5386 0x150A RAP - Watchdog expired

Cause Remedy Error type/response

Warning

595
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5387 0x150B RAP - Connecting 2nd server denied, multi server support is disabled

Cause Remedy Error type/response

Warning

5388 0x150C RAP - Logon aborted

Cause Remedy Error type/response

Warning

5389 0x150D RAP - Invalid version

Cause Remedy Error type/response

Warning

5401 0x1519 RAP - Server stopped

Cause Remedy Error type/response

Warning

5402 0x151A RAP - Watchdog expired

Cause Remedy Error type/response

Warning

5403 0x151B RAP - Reconnect time expired

Cause Remedy Error type/response

Warning

5404 0x151C RAP - Client logged on

Cause Remedy Error type/response

Warning

5405 0x151D RAP - Client reconnected

Cause Remedy Error type/response

Warning

5406 0x151E RAP - Socket changed after reconnect

Cause Remedy Error type/response

Warning

5449 0x1549 DCM - Init function not called or call not successful

Cause Remedy Error type/response

Warning

596
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5450 0x154A DCM - Controller error - synchronization out of limit

Cause Remedy Error type/response

Warning

5451 0x154B DCM - Not enough memory

Cause Remedy Error type/response

Warning

5452 0x154C DCM - Hardware layer - (BSP) invalid

Cause Remedy Error type/response

Warning

5453 0x154D DCM - Hardware layer - Error while modifying the timer

Cause Remedy Error type/response

Warning

5454 0x154E DCM - Hardware layer - Timer is not running

Cause Remedy Error type/response

Warning

5455 0x154F DCM - Hardware layer - Function is called on wrong CPU

Cause Remedy Error type/response

Warning

5513 0x1589 EtherCAT - State change of master successful

Cause Remedy Error type/response

EtherCAT - State change of master successful For information only. No remedy necessary. Warning

5514 0x158A EtherCAT - Bus scan successful

Cause Remedy Error type/response

EtherCAT - Bus scan successful For information only. No remedy necessary. Warning

5515 0x158B EtherCAT - Bus scan error

Cause Remedy Error type/response

Error in the network topology Check network topology. Warning

5516 0x158C EtherCAT - Distributed clocks state

Cause Remedy Error type/response

Warning

597
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5517 0x158D EtherCAT - Distributed clocks - Latching state

Cause Remedy Error type/response

Warning

5518 0x158E CoE - SDO download failure

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5519 0x158F CoE - SDO upload failure

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5520 0x1590 CoE - OD-list upload failure

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5521 0x1591 CoE - Object description upload failure

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5522 0x1592 CoE - Object entry description upload failure

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5523 0x1593 CoE - Emergency transfer failure

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5524 0x1594 CoE - Emergency request

Cause Remedy Error type/response

Emergency request Refer to the documentation of the slave device Warning
to determine the error.

5525 0x1595 Cyclic command - WKC error

Cause Remedy Error type/response

WKC error Check slave status. Warning
Check network topology.

598
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5526 0x1596 Master init command - WKC error

Cause Remedy Error type/response

WKC error Check slave status. Warning
Check network topology.

5527 0x1597 Slave init command - WKC error

Cause Remedy Error type/response

WKC error Check slave status. Warning
Check network topology.

5528 0x1598 EoE receive - WKC error

Cause Remedy Error type/response

WKC error Check slave status. Warning
Check network topology.

5529 0x1599 CoE receive - WKC error

Cause Remedy Error type/response

WKC error Check slave status. Warning
Check network topology.

5530 0x159A FoE receive - WKC error

Cause Remedy Error type/response

WKC error Check slave status. Warning
Check network topology.

5531 0x159B SoE receive - WKC error

Cause Remedy Error type/response

WKC error Check slave status. Warning
Check network topology.

5532 0x159C EoE send - WKC error

Cause Remedy Error type/response

WKC error Check slave status. Warning
Check network topology.

5533 0x159D CoE send - WKC error

Cause Remedy Error type/response

WKC error Check slave status. Warning
Check network topology.

5534 0x159E FoE send - WKC error

Cause Remedy Error type/response

WKC error Check slave status. Warning
Check network topology.

599
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5535 0x159F SoE send - WKC error

Cause Remedy Error type/response

WKC error Check slave status. Warning
Check network topology.

5536 0x15A0 Retry sending a frame

Cause Remedy Error type/response

Warning

5537 0x15A1 Response on Ethernet frame

Cause Remedy Error type/response

Warning

5538 0x15A2 Additional error information

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5539 0x15A3 EtherCAT command - IDX actual value

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5540 0x15A4 EtherCAT command - IDX set value

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5541 0x15A5 Init command response error - No response

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5542 0x15A6 Init command response error - Validation error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5543 0x15A7 Init command response error - Failed

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

600
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5544 0x15A8 Master init command response error - No response

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5545 0x15A9 Master init command response error - Validation error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5546 0x15AA Missing EtherCAT command in Ethernet frame

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5547 0x15AB Mailbox init command - Time-out

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5548 0x15AC At least one EtherCAT slave not in 'Operational'

Cause Remedy Error type/response

Master is "Operational". Check slave status. Warning
At least one slave is not "Operational". Check network topology.

5549 0x15AD EtherCAT cable connected

Cause Remedy Error type/response

EtherCAT cable connected For information only. No remedy necessary. Warning

5550 0x15AE EtherCAT cable not connected

Cause Remedy Error type/response

Network cabling is faulty. Check network cabling. Warning

5551 0x15AF Cyclic commands - Time-out

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5552 0x15B0 Redundant operation - Ethernet cable is missing at 2nd EtherCAT interface

Cause Remedy Error type/response

Network cabling is faulty. Check network cabling. Warning

601
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5553 0x15B1 At least one slave is in state 'Error'

Cause Remedy Error type/response

At least one slave is in the "Error" state. Check slave status. Warning
Check network topology.

5554 0x15B2 Slave error

Cause Remedy Error type/response

A slave reports an error. Analyze detailed error message in the logbook. Warning
Check slave status.
Check network topology.

5555 0x15B3 Communication to device interrupted

Cause Remedy Error type/response

The connection to the slave is interrupted. Check slave status. Warning
The slave does not respond. Check network topology.
The slave is no longer available.

5556 0x15B4 SDO abort

Cause Remedy Error type/response

CoE access denied. Analyze detailed error message in the logbook. Warning
Check object properties.
Check transfer properties.

5557 0x15B5 DC slaves are 'in-sync'

Cause Remedy Error type/response

DC slaves are 'in-sync' For information only. No remedy necessary. Warning

5558 0x15B6 DC slaves are 'out-of-sync'

Cause Remedy Error type/response

The DC deviation is outside the permissible Check slave status. Warning
limits. Check slave properties.
Check network topology.

5559 0x15B7 DC single latch on slave

Cause Remedy Error type/response

Internal message For information only. No remedy necessary. Warning

5560 0x15B8 MbxTferRcv - file upload failure

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

602
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5561 0x15B9 MbxTferRcv - file download failure

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5562 0x15BA Client registration lost

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5563 0x15BB Redundant operation - Ethernet cable connected

Cause Remedy Error type/response

Warning

5564 0x15BC SoE write error init command mbox

Cause Remedy Error type/response

Warning

5592 0x15D8 Hot Connect - all groups detected

Cause Remedy Error type/response

Warning

5593 0x15D9 Hot Connect - all group errors detected

Cause Remedy Error type/response

Warning

5594 0x15DA Slave removed from bus

Cause Remedy Error type/response

A slave has been removed from the network For information only. No remedy necessary. Warning
topology.

5595 0x15DB Slave added to bus

Cause Remedy Error type/response

A slave has been added to the network For information only. No remedy necessary. Warning
topology.

5596 0x15DC Topology was changed

Cause Remedy Error type/response

The network topology has been changed. For information only. No remedy necessary. Warning

603
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5597 0x15DD Port closed

Cause Remedy Error type/response

"Border Close" has been executed on the port. Analyze detailed error message in the logbook. Warning

5598 0x15DE MbxTferRcv - Write IDN failure

Cause Remedy Error type/response

IDN - Write error. Analyze detailed error message in the logbook. Warning

5599 0x15DF MbxTferRcv - Read IDN failure

Cause Remedy Error type/response

IDN - read error. Analyze detailed error message in the logbook. Warning

5600 0x15E0 SoE - Emergency transfer failure

Cause Remedy Error type/response

SoE - emergency transfer error. Analyze detailed error message in the logbook. Warning

5601 0x15E1 SoE - Emergency request

Cause Remedy Error type/response

SoE - emergency request. Analyze detailed error message in the logbook. Warning

5602 0x15E2 SoE - Notification transfer failure

Cause Remedy Error type/response

SoE - transfer error during a notification. Analyze detailed error message in the logbook. Warning

5603 0x15E3 SoE - Notification request

Cause Remedy Error type/response

SoE - notification has been requested. Analyze detailed error message in the logbook. Warning

5604 0x15E4 FoE abort

Cause Remedy Error type/response

FoE has been aborted. Check file. Warning
Check transfer properties.
Analyze detailed error message in the logbook.

5701 0x1645 Bus scan state

Cause Remedy Error type/response

Bus scan state For information only. No remedy necessary. Warning

5703 0x1647 Latch/Edge - No edge

Cause Remedy Error type/response

No edge. Analyze detailed error message in the logbook. Warning

604
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5704 0x1648 Remote API diagnosis port - Connection established

Cause Remedy Error type/response

Remote API diagnosis port - Connection For information only. No remedy necessary. Warning
established

5705 0x1649 Remote API diagnosis port - Connection disconnected

Cause Remedy Error type/response

Remote API diagnosis port - Connection For information only. No remedy necessary. Warning
disconnected

5706 0x164A Client registered from cookie

Cause Remedy Error type/response

Client has registered with cookie. Analyze detailed error message in the logbook. Warning

5707 0x164B Client unregistered from cookie

Cause Remedy Error type/response

Client logged out from cookie. Analyze detailed error message in the logbook. Warning

5708 0x164C Unknown notification

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5709 0x164D Slave latched

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5710 0x164E Bus scan - Error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5711 0x164F Invalid number of slaves

Cause Remedy Error type/response

The number of detected slaves differs from the Analyze detailed error message in the logbook. Warning
number of expected slaves. Check network topology.

5712 0x1650 Cannot get SlaveInfo

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

605
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5713 0x1651 Deviation of slave

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5714 0x1652 Slave is not configured

Cause Remedy Error type/response

The slave is not configured Check slave status. Warning
Check network topology.

5715 0x1653 SlaveInfo

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5716 0x1654 SLV - Error retrieving configuration data

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5717 0x1655 Bus scan - Deviation

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5718 0x1656 Communication to device interrupted

Cause Remedy Error type/response

Communication interruption Check slave status. Warning
Check network topology.

5719 0x1657 Slave state error

Cause Remedy Error type/response

Detected slave status differs from expected Analyze detailed error message in the logbook. Warning
slave status. Check slave status.
Check network topology.

5722 0x165A Wrong response on 'configured fix address request' for slave

Cause Remedy Error type/response

Wrong response to the request. Check slave status. Warning
Check network topology.

606
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5723 0x165B Wrong response on 'alias address' request for slave

Cause Remedy Error type/response

Wrong response to the request. Check slave status. Warning
Check network topology.

5724 0x165C Cannot execute EC_IOCTL_DC_SLV_SYNC_DEVLIMIT_GET

Cause Remedy Error type/response

The command cannot be executed Analyze detailed error message in the logbook. Warning

5725 0x165D Cannot read latch timer

Cause Remedy Error type/response

Read error Analyze detailed error message in the logbook. Warning

5726 0x165E Cannot execute EC_IOCTL_DC_SLV_SYNC_RESTART

Cause Remedy Error type/response

The command cannot be executed Analyze detailed error message in the logbook. Warning

5729 0x1661 RAP - Invalid parameter size

Cause Remedy Error type/response

RAP - Invalid parameter size For information only. No remedy necessary. Warning

5730 0x1662 RAP - Marshaling error

Cause Remedy Error type/response

Order error Analyze detailed error message in the logbook. Warning

5731 0x1663 Unable to enqueue (missing calls to ProcessNotificationJobs)

Cause Remedy Error type/response

Warning

5732 0x1664 No connection to slaves

Cause Remedy Error type/response

Possibly the network cable is missing. Check slave status. Warning
Check network topology.

5733 0x1665 ecatSetTargetState cannot set EtherCAT master into target state, master is busy (time-out)

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

607
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5734 0x1666 ecatStop() returns 'Busy', retry...

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5735 0x1667 Mailbox transfer request - Error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5736 0x1668 Mailbox transfer

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5737 0x1669 Waiting for mailbox transfer from master...

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5738 0x166A Mailbox transfer - Fatal time-out error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5739 0x166B Bus cycle and Sync period are different

Cause Remedy Error type/response

Incorrect setting. Check bus cycle. Warning
Check sync period.

5740 0x166C Error getting the bus scan state

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5741 0x166D Wrong response on DC supported request or slave

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5742 0x166E Unable to set 'DC slave sync disable'

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

608
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

5743 0x166F Error when restarting bus scan

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

5744 0x1670 Bus scan time-out

Cause Remedy Error type/response

The bus scan was aborted due to timeout. Analyze detailed error message in the logbook. Warning
Check network topology.

6200 0x1838 Configuration error - Check of VendorID failed

Cause Remedy Error type/response

The vendor ID could not be checked. Analyze detailed error message in the logbook. Warning
Check network topology.

6201 0x1839 Configuration error - Check of ProductCode failed

Cause Remedy Error type/response

The product code could not be checked. Analyze detailed error message in the logbook. Warning
Check network topology.

6202 0x183A Configuration error - Check of Revision failed

Cause Remedy Error type/response

The revision could not be checked. Analyze detailed error message in the logbook. Warning
Check network topology.

6203 0x183B Configuration error - Check of VendorID failed

Cause Remedy Error type/response

The vendor ID could not be checked. Analyze detailed error message in the logbook. Warning
Check network topology.

6204 0x183C Configuration error - Odd device at bus end

Cause Remedy Error type/response

A surplus device was detected at the end of the Analyze detailed error message in the logbook. Warning
bus. Check network topology.

6210 0x1842 Internal error counter resetted

Cause Remedy Error type/response

Internal error counter resetted For information only. No remedy necessary. Warning

6212 0x1844 All slaves 'Operational' again

Cause Remedy Error type/response

All slaves 'Operational' again For information only. No remedy necessary. Warning

609
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

6213 0x1845 Cyclic command - WKC error

Cause Remedy Error type/response

WKC error Analyze detailed error message in the logbook. Warning
Check slave status.
Check network topology.

6214 0x1846 Frame response - Error

Cause Remedy Error type/response

Frame response error Analyze detailed error message in the logbook. Warning
Check slave status.
Check network topology.

6215 0x1847 Not all slaves are 'Operational'

Cause Remedy Error type/response

Not all slaves have been set to 'Operational'. Analyze detailed error message in the logbook. Warning
Check slave status.
Check network topology.

6216 0x1848 Emergency message - Overflow, further messages blocked

Cause Remedy Error type/response

Too many emergency messages. Check if slave sends too many emergency Warning
messages.
Eliminate cause.

6220 0x184C New configuration loaded

Cause Remedy Error type/response

New configuration loaded For information only. No remedy necessary. Warning

6221 0x184D New configuration loaded, no slaves defined

Cause Remedy Error type/response

New configuration loaded, no slaves defined For information only. No remedy necessary. Warning

6222 0x184E Master - Start failed, configuration error

Cause Remedy Error type/response

Internal error See related entries in the logbook. Warning

6223 0x184F New configuration loaded from slaves EEPROM

Cause Remedy Error type/response

New configuration loaded from slaves EEPROM For information only. No remedy necessary. Warning

6230 0x1856 Master - Start failed

Cause Remedy Error type/response

Internal error See related entries in the logbook. Warning

610
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

6231 0x1857 Master - Start failed, bus configuration error

Cause Remedy Error type/response

Bus configuration error Check network topology. Warning

6232 0x1858 Master - Start failed, EtherCAT cable disconnected

Cause Remedy Error type/response

Network cabling is faulty. Check network cabling. Warning

6233 0x1859 Master - Start failed, DC/DCM configuration

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

6234 0x185A Master - Start failed, cannot set slaves to 'Pre-Operational'

Cause Remedy Error type/response

Slaves cannot be set to 'Pre-Operational'. See related entries in the logbook. Warning

6240 0x1860 Master - Set 'Operational' failed

Cause Remedy Error type/response

Operational' could not be set. See related entries in the logbook. Warning

6241 0x1861 Master - Set 'Operational' failed, Master not initialized

Cause Remedy Error type/response

Master not initialized. See related entries in the logbook. Warning

6242 0x1862 Master - Set 'Operational' failed, EtherCAT cable disconnected

Cause Remedy Error type/response

Network cabling is faulty. Check network cabling. Warning

6243 0x1863 Master - Set 'Operational' failed, DCM not in-sync

Cause Remedy Error type/response

Internal error See related entries in the logbook. Warning

6244 0x1864 Master - Set 'Operational' failed, bus cycle and DC different

Cause Remedy Error type/response

Incorrect setting. Check bus cycle. Warning
Check sync period.

6245 0x1865 Master - Set 'Operational' takes some time...

Cause Remedy Error type/response

Master - Set 'Operational' takes some time... For information only. No remedy necessary. Warning

611
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

6246 0x1866 Master - Set 'Operational' failed, time-out

Cause Remedy Error type/response

Internal error See related entries in the logbook. Warning

6247 0x1867 Master - Set 'Operational' failed, slave error

Cause Remedy Error type/response

Slave error See related entries in the logbook. Warning

6248 0x1868 Master - Set 'Operational' aborted by reset command

Cause Remedy Error type/response

Master - Set 'Operational' aborted by reset For information only. No remedy necessary. Warning
command

6250 0x186A Master - Stopping failed

Cause Remedy Error type/response

Master cannot be stopped. See related entries in the logbook. Warning

6251 0x186B Master - Stopping failed, cannot set Slaves 'Pre-Operational'

Cause Remedy Error type/response

Slave error See related entries in the logbook. Warning

6260 0x1874 Master - Shutdown failed

Cause Remedy Error type/response

Master - Shutdown failed For information only. No remedy necessary. Warning

6270 0x187E Remote API Server - Start failed

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

6280 0x1888 Start Download Service

Cause Remedy Error type/response

Start Download Service For information only. No remedy necessary. Warning

6281 0x1889 Download Service done

Cause Remedy Error type/response

Download Service done For information only. No remedy necessary. Warning

6300 0x189C MMC - Internal error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

612
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

6301 0x189D MMC - 'Modular Machine Configuration' is active, EtherCAT master is controlled by L_ETC_MMCController

Cause Remedy Error type/response

MMC - "Modular Machine Configuration" is For information only. No remedy necessary. Warning
active.

6302 0x189E MMC - Service started

Cause Remedy Error type/response

MMC - Service started For information only. No remedy necessary. Warning

6303 0x189F MMC - Service stopped

Cause Remedy Error type/response

MMC - Service stopped For information only. No remedy necessary. Warning

6304 0x18A0 MMC - Error in configuration files

Cause Remedy Error type/response

MMC configuration file is faulty. Check MMC configuration file. Warning

6305 0x18A1 MMC - File does not exist

Cause Remedy Error type/response

MMC - File does not exist For information only. No remedy necessary. Warning

6306 0x18A2 MMC - Parsing error

Cause Remedy Error type/response

MMC configuration file is faulty. Check MMC configuration file. Warning

6307 0x18A3 MMC - parsing of file successful

Cause Remedy Error type/response

MMC - parsing of file successful For information only. No remedy necessary. Warning

6308 0x18A4 MMC - Devices not sorted in ascending order or devices missing

Cause Remedy Error type/response

MMC configuration file is faulty. Check MMC configuration file. Warning

6309 0x18A5 MMC - Number of devices in device tree differs

Cause Remedy Error type/response

MMC configuration file is faulty. Check MMC configuration file. Warning
Check network topology.

6310 0x18A6 MMC - Device type mismatch for Alias Address

Cause Remedy Error type/response

MMC configuration file is faulty. Check MMC configuration file. Warning
Analyze detailed error message in the logbook.

613
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

6311 0x18A7 MMC - Invalid Alias Address

Cause Remedy Error type/response

Incorrect alias address. Check SSA addresses of the slaves. Warning
Analyze detailed error message in the logbook.

6312 0x18A8 MMC - Duplicated Alias Address

Cause Remedy Error type/response

Double alias address. Check SSA addresses of the slaves. Warning
Analyze detailed error message in the logbook.

6313 0x18A9 MMC - No configuration checks

Cause Remedy Error type/response

MMC - No configuration checks For information only. No remedy necessary. Warning

6314 0x18AA MMC - Invalid configuration

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

6315 0x18AB MMC - Mandatory slave missing

Cause Remedy Error type/response

MMC configuration file is faulty. Check MMC configuration file. Warning
Network topology is faulty. Check network topology.

6316 0x18AC MMC - Optional slave is present, but not allowed

Cause Remedy Error type/response

MMC configuration file is faulty. Check MMC configuration file. Warning
Network topology is faulty. Check network topology.

6317 0x18AD MMC - No valid service active

Cause Remedy Error type/response

MMC - No valid service active For information only. No remedy necessary. Warning

6318 0x18AE MMC - Address assignment error, less slaves connected than configured

Cause Remedy Error type/response

MMC configuration file is faulty. Analyze detailed error message in the logbook. Warning
Network topology is faulty. Check MMC configuration file.
Check network topology.

6319 0x18AF MMC - Address assignment error, more slaves connected than configured

Cause Remedy Error type/response

MMC configuration file is faulty. Analyze detailed error message in the logbook. Warning
Network topology is faulty. Check MMC configuration file.
Check network topology.

614
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

6320 0x18B0 MMC - Address assignment error, invalid device

Cause Remedy Error type/response

MMC configuration file is faulty. Analyze detailed error message in the logbook. Warning
Network topology is faulty. Check MMC configuration file.
Check network topology.

6321 0x18B1 MMC - Address assignment successful

Cause Remedy Error type/response

MMC - Address assignment successful For information only. No remedy necessary. Warning

6322 0x18B2 MMC - Address assignment failed

Cause Remedy Error type/response

MMC configuration file is faulty. Analyze detailed error message in the logbook. Warning
Network topology is faulty. Check MMC configuration file.
Check network topology.

6323 0x18B3 MMC - Address assignment done

Cause Remedy Error type/response

MMC - Address assignment done For information only. No remedy necessary. Warning

6324 0x18B4 MMC - Address assignment error, writing address by CoE

Cause Remedy Error type/response

MMC - Address assignment error, writing For information only. No remedy necessary. Warning
address by CoE

6325 0x18B5 MMC - Slave ident error

Cause Remedy Error type/response

MMC configuration file is faulty. Analyze detailed error message in the logbook. Warning
Network topology is faulty. Check MMC configuration file.
Check network topology.

6326 0x18B6 MMC - Slave ident error, slave ident data failed

Cause Remedy Error type/response

MMC configuration file is faulty. Analyze detailed error message in the logbook. Warning
Network topology is faulty. Check MMC configuration file.
Check network topology.

6327 0x18B7 MMC - Service state cannot be changed, set bus to 'INIT' first

Cause Remedy Error type/response

Service request rejected because master not in Check status of the master. Warning
"Init" status Set status of the master to "Init".

615
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

6499 0x1963 Last ETC message

Cause Remedy Error type/response

Warning

8992 0x2320 Short circuit or earth leakage at the motor end

Cause Remedy Error type/response

• Short circuit/earth fault of motor cable • Check motor cable. Fault
• Capacitive charging current of the motor • Check length of the motor cable. • The error can only be reset after a blocking
cable too high. • Use shorter or lower-capacitance motor time.
cable. Blocking time: 5 s

9024 0x2340 Short circuit at the motor end

Cause Remedy Error type/response

Short circuit of motor cable Check motor cable for short circuit. Fault
• The error can only be reset after a blocking
time.
Blocking time: 5 s

9041 0x2351 Motor utilization too high (i²xt)

Cause Remedy Error type/response

Motor thermally overloaded, e.g. by an Check drive sizing. Fehler > CiA402 (configurable)
impermissible continuous current or by Check the setting in the warning threshold or Setting parameters: 0x2D50:001
frequent or too long acceleration processes. error threshold.

9088 0x2380 Trouble - utilization of the power section (ixt) too high

Cause Remedy Error type/response

Power section overloaded. Check drive sizing. Fault

9089 0x2381 Warning - Utilization of the power section (ixt) too high

Cause Remedy Error type/response

Power section overloaded. Check drive sizing. Warning

9090 0x2382 Fault - Device utilization (ixt) too high

Cause Remedy Error type/response

Device utilisation (ixt) too high by frequent and Check drive sizing. Fault
too long acceleration processes. • Reduce the maximum current of the inverter • The inverter is disabled immediately. The
0x6073. motor has no torque (is coasting).
• In case of high mass inertias, reduce • The error can only be reset after a blocking
maximum current of the inverter 0x6073 to time.
150 %. Blocking time: 3 s

Related topics
4Device overload monitoring (ixt) ^ 442

616
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

9091 0x2383 Warning - Device utilization (ixt) too high

Cause Remedy Error type/response

Device utilisation (ixt) too high by frequent and Check drive dimensioning. Warning
too long acceleration processes.

Related topics
4Device overload monitoring (ixt) ^ 442

9092 0x2384 Ultimate motor current reached

Cause Remedy Error type/response

Ultimate motor current reached. • Reduce the maximum current of the inverter. Fault > CiA402 (configurable)
0x6073 Setting parameters: 0x2D46:002
• Optimize the current controller. 0x2942

9093 0x2385 Parameterized max. motor current > max. device current

Cause Remedy Error type/response

Parameterized max. motor current 0x6073 > Reduce max. motor current. 0x6073 Warning
max. device current 0x2DDF:002

9094 0x2386 Clamp is active

Cause Remedy Error type/response

Max. device current has been reached. (Display • Select a flatter speed ramp. Warning
in 0x2DDF:002) • Reduce the load.
• Set Imax controller more dynamically.
0x2B08

9095 0x2387 Clamp responded too often

Cause Remedy Error type/response

Maximum current of the axis (display in • Select a flatter speed ramp. Fault
0x2DDF:002) has been reached too often in • Reduce the load.
succession. • Set Imax controller more dynamically.

9097 0x2389 Warning - device utilization (ixt) too high

Cause Remedy Error type/response

Frequent and too long acceleration processes Check drive sizing. Warning
with overcurrent.

9099 0x238B Trouble - Device utilization (ixt) too high

Cause Remedy Error type/response

Frequent and too long acceleration processes Check drive sizing. Fault
with overcurrent.

12673 0x3181 Mains failure

Cause Remedy Error type/response

Fault

617
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

12816 0x3210 Fault - DC bus overvoltage

Cause Remedy Error type/response

DC-bus voltage has exceeded the error • Reduce dynamic performance of the load Fault
threshold for overvoltage due to a too high profile.
braking energy or a too high mains voltage. The • Check mains voltage.
error threshold (display in 0x2540:006) results • Check settings for brake energy
from the setting of the rated mains voltage in management.
0x2540:001. • 0x2541:001 = [0]: Connect brake resistor to
the power unit and activate the integrated
brake chopper.

Related topics
4Mains voltage ^ 44
4Brake energy management ^ 444

12832 0x3220 Fault - DC bus undervoltage

Cause Remedy Error type/response

DC-bus voltage has fallen below the error • Check mains voltage. Trouble
threshold for undervoltage. The error threshold • Check DC-bus voltage. • The error can only be reset after a blocking
(display in 0x2540:003) results from the setting • Check mains settings. time.
of the rated mains voltage in 0x2540:001. • Check fuses. Blocking time: 5 s

16912 0x4210 Fault - Power unit overtemperature

Cause Remedy Error type/response

The heatsink temperature of the power unit • Check mains voltage. Fault
(display in 0x2D84:001, 004, 006) has exceeded • Provide for a sufficient cooling of the device.
the fixed error threshold (100 °C). In case of a 100 % load, 60 C to +70°C are
• Ambient temperature too high. normal. Display of the heatsink temperature
• Fan or ventilation slots are polluted. in 0x2D84:001, 004, 006.
• Fan is defective. • Clean fan and ventilation slots. If required,
replace fan.
• Reduce switching frequency 0x2939

17000 0x4268 Modulo axis is required

Cause Remedy Error type/response

Instead of a Modulo axis, a linear axis is Check the setting of the travel range. Fault
connected. Parameterize the traversing range of the axis to
Modulo.

17003 0x426B Start position outside cycle length

Cause Remedy Error type/response

The starting position is outside the valid cycle Set starting position to a value smaller than the Fault
length of the axis. parameterized cycle length.

17004 0x426C Different cycle lengths

Cause Remedy Error type/response

The connected axes have different cycle lengths. Adjust the cycle lengths of the axes used. Fault

618
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

17005 0x426D Invalid direction of rotation

Cause Remedy Error type/response

Invalid direction of rotation Check selection of the rotating direction. Fault

17006 0x426E Mark stack - Limit reached

Cause Remedy Error type/response

The length of the stacks of the end marks have Reduce the distance between the touch probe Fault
been exceeded as the distance between touch sensor and the tool.
probe sensor and tool is bigger than the length
of the register.

17007 0x426F Number of virtual marks exceeded

Cause Remedy Error type/response

Maximum number of virtual marks was Increase setting for maximum permissible Fault
exceeded. virtual marks.

17008 0x4270 Invalid synchronization parameters

Cause Remedy Error type/response

Invalid parameter setting of the synchronization Check parameterization of the line Fault
synchronization.

17009 0x4271 Invalid parameter setting for jogging

Cause Remedy Error type/response

Invalid parameter setting of the manual jog Check parameter setting. Fault
function (jogging)

17010 0x4272 Invalid deceleration ramp for stop function (lrStopDec <= 0)

Cause Remedy Error type/response

Invalid deceleration ramp for the stop function Check parameter setting. Fault

17011 0x4273 Invalid diameter

Cause Remedy Error type/response

Invalid value for the diameter Check parameterization of the minimum Fault
diameter.

17012 0x4274 Torque follower not cannot be activated

Cause Remedy Error type/response

The torque follower cannot be activated. Check that the axis is free of errors. Fault
Deactivate stop function.

17013 0x4275 Speed follower cannot be activated

Cause Remedy Error type/response

The speed follower cannot be activated. Check that the axis is free of errors. Fault
Deactivate stop function.

619
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

17014 0x4276 Invalid AxisRef connected to function

Cause Remedy Error type/response

The referenced axis (AXIS_REF) is invalid. The function is not supported for the axis used. Fault

17015 0x4277 Motor parameters could not be read

Cause Remedy Error type/response

The access to the motor parameters via SDO Check EtherCAT status. Fault
has failed. Possibly the connected axis is not accessible.

17016 0x4278 Lower speed limit parameter is not mapped

Cause Remedy Error type/response

The process image (mapping) cannot be Add the lower speed limitation the EtherCAT Fault
reached for the lower speed limit. mapping of the drive. 0x2946:002

17017 0x4279 Upper speed limit parameter is not mapped

Cause Remedy Error type/response

The process image (mapping) cannot be Add the upper speed limitation the EtherCAT Fault
reached for the upper speed limit. mapping of the drive. 0x2946:001

17018 0x427A Torque setpoint parameter is not mapped

Cause Remedy Error type/response

The process image (mapping) cannot be Add the torque offset to the EtherCAT mapping Fault
reached for the feedforward control of the of the drive. 0x60B2
torque.

17019 0x427B Dancer position outside the defined range

Cause Remedy Error type/response

The dancer position is outside of the defined Check the reference values for the upper and Fault
area. lower dancer positions.

17020 0x427C Dancer limits are invalid

Cause Remedy Error type/response

The dancer limit positions are invalid. Check the reference values for the upper and Fault
lower dancer positions.

17021 0x427D Invalid parameter setting for clutch

Cause Remedy Error type/response

The parameter setting of the coupling is invalid. Check coupling parameters. Fault

17022 0x427E TM was not called cyclic

Cause Remedy Error type/response

The technology module was not called Ensure that the TM is called once in each cycle Fault
cyclically. in the motion task.

620
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

17024 0x4280 Fault - Heat sink temperature sensor

Cause Remedy Error type/response

Sensor for the temperature monitoring of the Hardware error: it is necessary to contact the Fault
power unit is defective. The failure of the manufacturer, since the device must be
temperature monitoring function poses the risk replaced.
of overheating!

17025 0x4281 Heat sink fan warning

Cause Remedy Error type/response

Warning of the heatsink fan. Clean fan and ventilation slots. If required, Warning
replace fan. The fans can be unlocked via
locking hooks and can then be removed.

17026 0x4282 Thermal overload of control unit

Cause Remedy Error type/response

• Control card thermally overloaded • Provide for better cooling. Information
• Ambient temperature too high • Reduce ambient temperature.

17030 0x4286 Invalid number of cam points

Cause Remedy Error type/response

The number of points in the cam is invalid. Check specified cam. Fault

17100 0x42CC Clutching not possible (master axis is moving)

Cause Remedy Error type/response

Coupling to the master axis is not possible as Stop master axis or use another coupling mode. Fault
the master axis is moving.

17101 0x42CD Invalid parameter setting of product length

Cause Remedy Error type/response

The parameter setting of the product length is The set product length is too small. Fault
invalid.

17102 0x42CE Position of the touch probe sensor unknown

Cause Remedy Error type/response

The home position of the touch probe sensor is Execute the teach function of the mark sensor. Fault
not known.

17103 0x42CF Gap occurred in the slave axis

Cause Remedy Error type/response

A discontinuity in the slave axis has occurred. None Fault

17104 0x42D0 Gap occurred in the master axis

Cause Remedy Error type/response

A discontinuity in the master axis has occurred. None Fault

621
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

17105 0x42D1 Internal error

Cause Remedy Error type/response

Internal error from the internal calculation in None Fault
the technology module.

17106 0x42D2 Invalid parameter setting of synchronous phase

Cause Remedy Error type/response

The parameter setting of the synchronous angle Check parameterization for the number of tools Fault
is invalid. and for the cutting angle.
The sum of all synchronous phases exceeds an
angle of 360 °.

17107 0x42D3 Invalid parameter setting of the cross cutter for cutting operation

Cause Remedy Error type/response

The parameter setting of the cross cutter for the Check parameterization for the number of Fault
cutting operation is invalid. tools , the cutting angle, the circumference and
the scaling of the master.

17108 0x42D4 Invalid parameter setting of cutting length

Cause Remedy Error type/response

The parameter setting of the cutting length is Check parameterization of the cutting length. Fault
invalid.
The cutting length is not equal to the sum of the
individual product lengths.

17109 0x42D5 Slave axis outside parking position

Cause Remedy Error type/response

Clutching in to the master axis is not possible as Move slave axis to parking position. Fault
the slave axis is outside the parking position.

17110 0x42D6 Master axis changes the direction of rotation

Cause Remedy Error type/response

The master axis changes the direction of Make sure that the master axis does not Fault
rotation. reverse.

17111 0x42D7 Internal - Invalid cam selected

Cause Remedy Error type/response

Internal error from the internal calculation in None Fault
the technology module.
An invalid cam was switched.

17112 0x42D8 Selected axis is not supported

Cause Remedy Error type/response

The function is not supported by the axis used. None Fault

622
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

17113 0x42D9 Axis is not supported

Cause Remedy Error type/response

The axis is not supported. None Fault

17114 0x42DA Invalid parameter setting of profile

Cause Remedy Error type/response

The parameter setting of the profile is invalid. Check profile selection. Fault

17115 0x42DB Axis enabled is required

Cause Remedy Error type/response

The axis has not been enabled or cannot be Enable axis to be able to perform the requested Fault
enabled because STO may be active. action.

17116 0x42DC Correction window out of cycle length measuring system

Cause Remedy Error type/response

The parameters for the correction window are Adjust the parameterization of the correction Fault
outside of the cycle length of the connected window.
measuring system.

17117 0x42DD Correction value larger than correction window

Cause Remedy Error type/response

The correction value is greater than the None Fault
available correction window.

17123 0x42E3 Dancer limits not teached

Cause Remedy Error type/response

The dancer limit positions have not been Set dancer limit positions. Fault
referenced.

17125 0x42E5 Position of the slave axis is greater than the upper limit set

Cause Remedy Error type/response

The position of the slave axis is greater than the Check parameterization of the upper limit. Fault
parameterized upper limit. Reference axis.
Move the axis manually to the valid traversing
range.

17126 0x42E6 Position of the slave axis is smaller than the lower limit set

Cause Remedy Error type/response

The position of the slave axis is greater than the Check parameterization of the lower limit. Fault
parameterized lower limit. Reference axis.
Move the axis manually to the valid traversing
range.

623
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

17127 0x42E7 Target position is greater than the upper limit set

Cause Remedy Error type/response

The target position is greater than the Check parameterization of the upper limit. Fault
parameterized upper limit.

17128 0x42E8 Invalid mark position

Cause Remedy Error type/response

The reported position of the mark sensor is Check controller settings. Fault
outside the valid range. Minimize following errors.

17129 0x42E9 Invalid positioning

Cause Remedy Error type/response

An invalid positioning mode has been selected. Check setting of the positioning mode. Fault

17140 0x42F4 TM not called in cyclic motion task

Cause Remedy Error type/response

Invalid task cycle time The TM must be called in the cyclic motion Fault
tasks.

17150 0x42FE Invalid parameters of traversing profile

Cause Remedy Error type/response

Errors have occurred in the calculation of the Check all profile-relevant parameters of the TM. Fault
traversing profile.

17151 0x42FF Invalid coil parameters

Cause Remedy Error type/response

Errors have occurred in the calculation of the Check parameterization of the coil. Fault
coil geometry.

17152 0x4300 Traversing angular shift limit reached

Cause Remedy Error type/response

Errors have occurred in the calculation of the Check parameterization of the reverse offset Fault
reverse offset.

17154 0x4302 DC bus undervoltage

Cause Remedy Error type/response

The DC-bus voltage has fallen below the error Check mains voltage. Fault
threshold for undervoltage. Check DC-bus voltage.
Check mains settings.
Check fuses.

17155 0x4303 Coupling mode supports modulo axes only

Cause Remedy Error type/response

Coupling mode set incorrectly. Check parameterization of the coupling mode. Fault

624
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

17157 0x4305 X axis TM error

Cause Remedy Error type/response

Source of the error is in the technology module Check the error message of the X axis control. Fault

17158 0x4306 Y axis TM error

Cause Remedy Error type/response

Source of the error is in the technology module Check the error message of the Y axis control. Fault

17164 0x430C Diameter calculation failed

Cause Remedy Error type/response

The identification of the diameter could not be Check parameterization of the identification. Fault
carried out.
The maximum dancer position was reached
before the diameter could be calculated.

17165 0x430D Actual dancer position greater than maximum dancer position

Cause Remedy Error type/response

During identification, the dancer position is Lower dancer or adjust parameters. Fault
greater than the parameterized maximum
dancer position.

17166 0x430E Parameter lrIdentDiamMaxDancerPos is invalid

Cause Remedy Error type/response

Invalid parameterization of the Set parameter larger than Fault
lrIdentDiamMaxDancerPos. lrDancerPosCtrlLimitNeg and smaller than
lrDancerPosCtrlLimitPos.

17167 0x430F Value for stored material in dancer is invalid (=<0)

Cause Remedy Error type/response

The parameter for specifying the saved material For the identification of the diameter, the Fault
in the dancer is invalid. parameter must be > 0.

17168 0x4310 Motor overtemperature

Cause Remedy Error type/response

The motor temperature sensor connected to • Check drive dimensioning. Warning (configurable)
terminals X109/T1 and X109/T2 measures a too • Check motor temperature sensor and wiring. • The error can only be reset after a blocking
high motor temperature. time.
• Motor too hot by impermissibly high Blocking time: 5 s
currents.
Setting parameters: 0x2D49:002
• Motor too hot by frequent and too long
acceleration processes.

Related topics
4Motor temperature monitoring ^ 287

625
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

17168 0x4310 Loading the diameter during identification is not allowed

Cause Remedy Error type/response

During identification, an attempt was made to Loading the diameter during identification is Fault
load the diameter. not allowed.

17169 0x4311 Invalid master axis connected

Cause Remedy Error type/response

Access to the MasterAxisRef has failed because Check if a master axis is connected. Fault
there is no MasterAxis at the input.

17280 0x4380 Fault - Motor temperature sensor

Cause Remedy Error type/response

Motor PTC error. Connect PTC or switch off monitoring. Warning (configurable)
Setting parameters: 0x2D49:002

17281 0x4381 Error - Motor temperature monitoring (PTC)

Cause Remedy Error type/response

Motor PTC error. Connect PTC or switch off monitoring. Fault > CiA402 (configurable)
Setting parameters: 0x2D48:002

17282 0x4382 Motor overtemperature (load encoder/master encoder)

Cause Remedy Error type/response

Motor temperature via load encoder higher Connect PTC or switch off monitoring. Warning (configurable)
than variable temperature limit. Set a higher warning threshold (0x2D49:003) Setting parameters: 0x2D49:002
and/or error threshold (0x2D49:004).

17283 0x4383 Motor temperature sensor error (load encoder/master encoder)

Cause Remedy Error type/response

Motor PTC error. Connect PTC or switch off monitoring. Warning (configurable)
Setting parameters: 0x2D49:002

19000 0x4A38 Invalid delay time for PT1 filter

Cause Remedy Error type/response

A negative filter time constant has been Check filter time constant. It must not be Fault
indicated. negative.

19002 0x4A3A Invalid mode for curve function

Cause Remedy Error type/response

The selected cam mode is invalid. Check parameter setting. Fault

19003 0x4A3B Invalid compare mode

Cause Remedy Error type/response

The selected comparison mode is invalid. Check parameter setting. Fault

626
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

19005 0x4A3D Invalid mode ConvAxisV

Cause Remedy Error type/response

The selected compilation mode does not exist. Check parameter setting. Fault

19006 0x4A3E Process controller - Invalid delay time

Cause Remedy Error type/response

A negative filter time constant has been Check filter time constant. It must not be Fault
indicated. negative.

19007 0x4A3F Process controller - Invalid rate time

Cause Remedy Error type/response

A negative rate time has been entered. Check rate time. It must not be negative. Fault

19008 0x4A40 Process controller - Invalid reset time

Cause Remedy Error type/response

A negative reset time has been entered. Check reset time. It must not be negative. Fault

19024 0x4A50 Invalid mode for signal delay

Cause Remedy Error type/response

Mode is invalid for signal delay Check parameter setting. Fault

19030 0x4A56 FrictComp - Aborted by restarting identification

Cause Remedy Error type/response

Friction compensation was canceled because None Fault
friction identification has been started.

19031 0x4A57 FrictComp - Aborted by disabling follower

Cause Remedy Error type/response

Friction identification was canceled because the Check if a stop or other motion leading action Fault
speed follower is not active. has been activated.

19032 0x4A58 FrictComp - Max. velocity could not be reached

Cause Remedy Error type/response

The maximum speed for friction identification Check parameter setting. Fault
was not reached.

19033 0x4A59 FrictComp - Acceleration too high

Cause Remedy Error type/response

The acceleration for friction identification is too Reduce acceleration ramp for friction Fault
high. identification.

627
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

19034 0x4A5A Min. diameter greater than max. diameter

Cause Remedy Error type/response

The value for the minimum diameter is higher Check parameter setting. Fault
than the value for the maximum diameter.

19048 0x4A68 IdentMInertia - Max. speed or max. torque too high

Cause Remedy Error type/response

For the identification of the mass moment of Check parameter setting. Fault
inertia, entered values for the maximum
velocity or the maximum torque are too high.

19049 0x4A69 Aborted by restarting ident identification - IdentMInertia

Cause Remedy Error type/response

The identification of the mass moment of Check parameter setting. Fault
inertia was canceled due to incorrect
parameterization.

19050 0x4A6A IdentMInertia - Aborted by disabling follower

Cause Remedy Error type/response

The identification of the moment of inertia was Check if a stop or other motion leading action Fault
canceled because the torque follower is not has been activated.
active.

19051 0x4A6B IdentMInertia - Aborted by other function

Cause Remedy Error type/response

The identification of the moment of inertia was Check if a stop or other motion leading action Fault
canceled because an external source of torque has been activated.
follower started outside the identification.

19052 0x4A6C IdentMInertia - Max velocity not reached

Cause Remedy Error type/response

The maximum speed for identifying the Check parameter setting. Fault
dimensional moment of inertia was not
reached.

19053 0x4A6D IdentMInertia - Torque not reached

Cause Remedy Error type/response

The maximum torque for identifying the Check parameter setting. Fault
moment of inertia was not reached.

19503 0x4C2F Mark register - Max. number of TP exceeded

Cause Remedy Error type/response

Multiple consecutive marks were not recorded. Check mark sensor. Fault
Increase number of marks to be compensated.

628
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

19801 0x4D59 Identification mode not supported

Cause Remedy Error type/response

The selected identification mode is not Select another identification mode. Fault
supported.

19803 0x4D5B Motor rated speed =0

Cause Remedy Error type/response

Invalid rated motor speed Check the setting of the rated motor speed. This Fault
must not be 0.

19804 0x4D5C Motor moment of inertia = 0

Cause Remedy Error type/response

Invalid motor mass moment of inertia Check the setting of the motor mass moment of Fault
inertia. This must not be 0.

19806 0x4D5E Invalid start mode

Cause Remedy Error type/response

Invalid parameter source specified for the Check parameter setting. Fault
identification start parameters.

19807 0x4D5F Invalid natural frequency

Cause Remedy Error type/response

Invalid natural frequency specified. Check parameter setting. Fault

19808 0x4D60 Invalid amplitude ratio

Cause Remedy Error type/response

Invalid amplitude ratio specified. Check parameter setting. Fault

19809 0x4D61 Invalid compensation method

Cause Remedy Error type/response

The set compensation method is invalid. Check parameter setting. Fault

19810 0x4D62 Compensation method cannot be changed

Cause Remedy Error type/response

The compensation method cannot be changed Change the compensation method only at Fault
during an active cross-fading phase. standstill.

20001 0x4E21 SDO access - General error

Cause Remedy Error type/response

SDO access - general error Check communication to the lower-level drive. Fault

629
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20002 0x4E22 SDO access - Invalid index

Cause Remedy Error type/response

SDO access: Invalid index Check whether the requested index exists in the Fault
lower-level drive.

20003 0x4E23 SDO access - Invalid offset

Cause Remedy Error type/response

SDO access: Invalid offset Check whether the requested index/subindex Fault
exists in the lower-level drive.

20004 0x4E24 SDO access - Invalid length

Cause Remedy Error type/response

SDO access - invalid length value Check whether the length of the requested Fault
index matches the length of the object in the
lower-level drive.

20005 0x4E25 SDO access- Invalid data

Cause Remedy Error type/response

SDO access - invalid data Check communication to the lower-level drive. Fault

20006 0x4E26 SDO access - Not ready

Cause Remedy Error type/response

SDO access - the master is busy at the moment Check communication to the lower-level drive. Fault
and cannot process the function.

20007 0x4E27 SDO access - Master is busy

Cause Remedy Error type/response

SDO access - the master is busy at the moment Check communication to the lower-level drive. Fault
and cannot process the function.

20008 0x4E28 SDO access - No memory

Cause Remedy Error type/response

SDO access - not enough application memory Check communication to the lower-level drive. Fault
available.

20009 0x4E29 SDO access - Invalid state

Cause Remedy Error type/response

SDO access - invalid state Check communication to the lower-level drive. Fault

20010 0x4E2A SDO access - Invalid status

Cause Remedy Error type/response

SDO access - invalid state Check communication to the lower-level drive. Fault

630
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20011 0x4E2B SDO access - Time-out

Cause Remedy Error type/response

SDO access - timeout Check communication to the lower-level drive. Fault

20012 0x4E2C SDO access - Invalid mailbox commands in current slave state

Cause Remedy Error type/response

SDO access - mailbox commands not allowed in Check communication to the lower-level drive. Fault
current slave state.

20013 0x4E2D SDO access - Cable not connected to the controller

Cause Remedy Error type/response

SDO access - EtherCAT- cable is not connected Check communication to the lower-level drive. Fault
to control.

20015 0x4E2F SDO access - All channels for SDO request busy

Cause Remedy Error type/response

All channels for activating SDO are assigned. Run fewer SDO jobs in parallel. Fault
Sequence SDO jobs.

20020 0x4E34 SDO - AbortCode 0x05030000 'Toggle bit not alternated'

Cause Remedy Error type/response

The toggle bit has not been changed. Check communication to the lower-level drive. Fault

20021 0x4E35 SDO - AbortCode 0x05040000 'SDO protocol time-out'

Cause Remedy Error type/response

'SDO protocol timeout Check communication to the lower-level drive. Fault

20022 0x4E36 SDO - AbortCode 0x05040001 'Client/server command specifier not valid or unknown'

Cause Remedy Error type/response

Invalid or unknown specification symbol for the Check communication to the lower-level drive. Fault
client/server command.

20023 0x4E37 SDO - AbortCode 0x05040002 'Invalid block size (block mode only)'

Cause Remedy Error type/response

Invalid block size Check communication to the lower-level drive. Fault

20024 0x4E38 SDO - AbortCode 0x05040003 'Invalid sequence number (block mode only)'

Cause Remedy Error type/response

Invalid sequence number Check communication to the lower-level drive. Fault

631
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20025 0x4E39 SDO - AbortCode 0x05040004 'CRC error (block mode only)'

Cause Remedy Error type/response

CRC error Check communication to the lower-level drive. Fault

20026 0x4E3A SDO - AbortCode 0x05040005 'Out of memory'

Cause Remedy Error type/response

Not enough memory space available in the Check communication to the lower-level drive. Fault
main memory.

20027 0x4E3B SDO - AbortCode 0x06010000 'Unsupported access to an object'

Cause Remedy Error type/response

Access to an object denied. Check whether the requested index exists in the Fault
lower-level drive.

20028 0x4E3C SDO - AbortCode 0x06010001 'Attempt to read a write only object'

Cause Remedy Error type/response

Read access to a read protected object The object in the lower-level drive does not Fault
allow read access.

20029 0x4E3D SDO - AbortCode 0x06010002 'Attempt to write a read only object'

Cause Remedy Error type/response

Write access to a write-protected object The object in the lower-level drive does not Fault
allow write access.

20030 0x4E3E SDO - AbortCode 0x06020000 'Object does not exist in the object dictionary'

Cause Remedy Error type/response

No object was found in the object directory. Check whether the requested index exists in the Fault
lower-level drive.

20031 0x4E3F SDO - AbortCode 0x06040041 'Object cannot be mapped to the PDO'

Cause Remedy Error type/response

An object cannot be mapped into the PDO. Check whether all objects are also supported as Fault
mappable objects.

20032 0x4E40 SDO - AbortCode 0x06040042 'Number and length of objects to be mapped exceed PDO length'

Cause Remedy Error type/response

There are too many objects in the PDO Reduce mapping. Fault
mapping.

20033 0x4E41 SDO - AbortCode 0x06040043 'General parameter incompatibility'

Cause Remedy Error type/response

General message for parameter incompatibility. None Fault

632
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20034 0x4E42 SDO - AbortCode 0x06040047 'General internal incompatibility in the device'

Cause Remedy Error type/response

General message about internal incompatibility None Fault
in the device.

20035 0x4E43 SDO - AbortCode 0x06060000 'Access failed due to an hardware error'

Cause Remedy Error type/response

Failed access by hardware error None Fault

20036 0x4E44 SDO - AbortCode 0x06070010 'Data type or length of service parameters do not match'

Cause Remedy Error type/response

Data type or parameter length differ. Check whether the length of the requested Fault
index matches the length of the object in the
lower-level drive.

20037 0x4E45 SDO - AbortCode 0x06070012 'Data type does not match, service parameter too high'

Cause Remedy Error type/response

Incorrect data type, the parameter length is too Check whether the length of the requested Fault
large. index matches the length of the object in the
lower-level drive.

20038 0x4E46 SDO - AbortCode 0x06070013 'Data type does not match, service parameter too low'

Cause Remedy Error type/response

Incorrect data type, the parameter length is too Check whether the length of the requested Fault
small. index matches the length of the object in the
lower-level drive.

20039 0x4E47 SDO - AbortCode 0x06090011 'Subindex does not exist'

Cause Remedy Error type/response

Missing subindex Check whether the requested index/subindex Fault
exists in the lower-level drive.

20040 0x4E48 SDO - AbortCode 0x06090030 'Write access - Parameter value exceeds limits'

Cause Remedy Error type/response

Fault

20041 0x4E49 SDO - AbortCode 0x06090031 'Write access - Parameter value too high'

Cause Remedy Error type/response

The value range for parameters is too big. Check whether the value to be written is within Fault
the permitted value range of the object in the
lower-level drive.

633
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20042 0x4E4A SDO - AbortCode 0x06090032 'Write access - Parameter value too low'

Cause Remedy Error type/response

The value range for parameters is too small. Check whether the value to be written is within Fault
the permitted value range of the object in the
lower-level drive.

20043 0x4E4B SDO - AbortCode 0x06090036 'Maximum value less than minimum value'

Cause Remedy Error type/response

The maximum value is smaller than the Check whether the value to be written is within Fault
minimum value. the permitted value range of the object in the
lower-level drive.

20044 0x4E4C SDO - AbortCode 0x08000000 'General error'

Cause Remedy Error type/response

SDO - general error None Fault

20045 0x4E4D SDO - AbortCode 0x08000020 'Data cannot be transferred to the application/stored in the application'

Cause Remedy Error type/response

Error when saving/transmitting the data in the None Fault
application

20046 0x4E4E SDO - AbortCode 0x08000021 'Local control - 'Data cannot be transferred to the application/stored in the application'

Cause Remedy Error type/response

Error caused by manual control when saving/ Check communication to the lower-level drive. Fault
transmitting the data to the application

20047 0x4E4F SDO - AbortCode 0x08000022 Actual device state - Data cannot be transferred to the application/stored in the application'

Cause Remedy Error type/response

Error caused by current device state when Check communication to the lower-level drive. Fault
saving/transmitting the data to the application.

20048 0x4E50 SDO - AbortCode 0x08000023 'Object dictionary - Dynamic generation fails or object dictionary is missing'

Cause Remedy Error type/response

The dynamic object directory generation has Check communication to the lower-level drive. Fault
failed.
The object directory is missing.

20049 0x4E51 SDO - AbortCode 0x 'Unknown abort code'

Cause Remedy Error type/response

Unknown abort code None Fault

634
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20301 0x4F4D Invalid AxisRef

Cause Remedy Error type/response

No valid axis data structure is connected. The function is not supported for the axis used. Fault
The function is not supported by the connected
axis.

20302 0x4F4E Input "parameter" not used

Cause Remedy Error type/response

The Parameter input is not assigned Check parameter number of the parameter to Fault
be read/written.

20303 0x4F4F Requested parameter does not exist

Cause Remedy Error type/response

The requested parameter does not exist. Check parameter number of the parameter to Fault
be read/written.

20304 0x4F50 Invalid state of the axis

Cause Remedy Error type/response

The axis is not in PLCopen state. Check in which state the requested action may Fault
The action cannot be performed due to the be performed.
current state.

20305 0x4F51 Parameter number does not correspond to a Boolean parameter

Cause Remedy Error type/response

The parameter number does not correspond to Check property of the parameter to be read/ Fault
any Boolean parameter written.
Use the function block MC_ReadParameter/
MC_WriteParameter.

20306 0x4F52 Positive SW limit exceeded

Cause Remedy Error type/response

The positive software limit position has been Check software limit positions/movement Fault
exceeded. specifications.

20307 0x4F53 Negative SW limit exceeded

Cause Remedy Error type/response

The negative software limit position has been Check software limit positions/movement Fault
exceeded. specifications.

20308 0x4F54 Invalid input for source of type MC_Source

Cause Remedy Error type/response

Selection of an invalid source of MC_Source Check entry. Fault
type. Possibly the selected source is not supported by
the function block

635
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20309 0x4F55 No setpoints generated in current PLC cycle

Cause Remedy Error type/response

No setpoints were generated in this cycle, since Call the function block with the motion- Fault
the function block currently generating the controlling function cyclically in the motion
setpoints was not called in this cycle. task.

20310 0x4F56 Controller disabled during operation

Cause Remedy Error type/response

The controller enable of the axis was cancelled Check whether STO or a drive error has Fault
during operation. occurred during motion.
Check whether the controller disable has been
set by the application.

20311 0x4F57 Motion prohibited by axis state

Cause Remedy Error type/response

The requested motion cannot be executed due Establish the initial state required for the Fault
to the current state of the axis. requested motion.
For example, enable axis, acknowledge error,
cancel stop.

20312 0x4F58 Positive SW limit reached

Cause Remedy Error type/response

The drive is in the positive software limit The drive can only be moved in the negative Fault
position. direction.

20313 0x4F59 Negative SW limit reached

Cause Remedy Error type/response

The drive is in the negative software limit The drive can only be moved in the positive Fault
position. direction.

20314 0x4F5A Touch probe - No valid source

Cause Remedy Error type/response

Selection of an invalid touch probe source. Check parameter setting. Fault

20315 0x4F5B Touch probe - No valid number

Cause Remedy Error type/response

Selection of an invalid touch probe number. Check parameter setting. Fault

20316 0x4F5C Touch Probe - Channel is already in use

Cause Remedy Error type/response

No free touch probe channel Use an unused touch probe channel. Fault
The selected touch probe channel is already in
use.

636
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20317 0x4F5D Touch Probe - Selection not supported

Cause Remedy Error type/response

The selected input does not support touch Check parameter setting. Fault
probe.

20318 0x4F5E No Touch Probe active

Cause Remedy Error type/response

No touch probe preassigned. Check parameter setting. Fault

20319 0x4F5F Input for external TP configuration not connected

Cause Remedy Error type/response

No external touch probe input available. Check parameter setting. Fault

20320 0x4F60 Invalid acceleration

Cause Remedy Error type/response

Selection of an invalid acceleration. Check profile parameters for acceleration. Fault

20321 0x4F61 Invalid deceleration

Cause Remedy Error type/response

Selection of an invalid deceleration Check profile parameters for deceleration. Fault

20322 0x4F62 Invalid velocity

Cause Remedy Error type/response

Selection of an invalid velocity Check profile parameters for velocity. Fault

20323 0x4F63 Arithmetic error in profile calculation

Cause Remedy Error type/response

Error in the profile calculation. Adapt profile parameters. Fault

20324 0x4F64 Movement cannot be executed with the specified parameters

Cause Remedy Error type/response

The requested motion cannot be executed due Check direction selection. Fault
to limitations (e.g. software limit positions)

20325 0x4F65 Velocity - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected velocity exceeds the Check profile parameters for velocity. Fault
parameterized maximum value.

637
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20326 0x4F66 Acceleration - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected acceleration exceeds the Check profile parameters for acceleration. Fault
parameterized maximum value.

20327 0x4F67 Jerk - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected jerk exceeds the parameterized Check profile parameters for jerk. Fault
maximum value.

20328 0x4F68 Target position outside SW limits

Cause Remedy Error type/response

The target position is outside the software limit Check target position. Fault
positions. Check distance.

20330 0x4F6A MoveAbsolute - Invalid acceleration

Cause Remedy Error type/response

Selection of an invalid acceleration. Check profile parameters for acceleration. Fault

20331 0x4F6B MoveAbsolute - Invalid deceleration

Cause Remedy Error type/response

Selection of an invalid deceleration Check profile parameters for deceleration. Fault

20332 0x4F6C MoveAbsolute - Invalid velocity

Cause Remedy Error type/response

Selection of an invalid velocity Check profile parameters for velocity. Fault

20333 0x4F6D MoveAbsolute - Arithmetic error in profile calculation

Cause Remedy Error type/response

Error in the profile calculation. Adapt profile parameters. Fault

20334 0x4F6E MoveAbsolute - Movement cannot be executed with the specified parameters

Cause Remedy Error type/response

The requested motion cannot be executed due Check direction selection. Fault
to limitations (e.g. software limit positions)

20335 0x4F6F MoveAbsolute - Velocity - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected velocity exceeds the Check profile parameters for velocity. Fault
parameterized maximum value.

638
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20336 0x4F70 MoveAbsolute - Acceleration - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected acceleration exceeds the Check profile parameters for acceleration. Fault
parameterized maximum value.

20337 0x4F71 MoveAbsolute - Jerk - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected jerk exceeds the parameterized Check profile parameters for jerk. Fault
maximum value.

20338 0x4F72 MoveAbsolute - Target position outside SW limits

Cause Remedy Error type/response

The target position is outside the software limit Check target position. Fault
positions. Check distance.

20340 0x4F74 MoveAdditive - Invalid acceleration

Cause Remedy Error type/response

Selection of an invalid acceleration. Check profile parameters for acceleration. Fault

20341 0x4F75 MoveAdditive - Invalid deceleration

Cause Remedy Error type/response

Selection of an invalid deceleration Check profile parameters for deceleration. Fault

20342 0x4F76 MoveAdditive - Invalid velocity

Cause Remedy Error type/response

Selection of an invalid velocity Check profile parameters for velocity. Fault

20343 0x4F77 MoveAdditive - Arithmetic error in profile calculation

Cause Remedy Error type/response

Error in the profile calculation. Adapt profile parameters. Fault

20344 0x4F78 MoveAdditive - Movement cannot be executed with the specified parameters

Cause Remedy Error type/response

The requested motion cannot be executed due Check direction selection. Fault
to limitations (e.g. software limit positions)

20345 0x4F79 MoveAdditive - Velocity - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected velocity exceeds the Check profile parameters for velocity. Fault
parameterized maximum value.

639
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20346 0x4F7A MoveAdditive - Acceleration - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected acceleration exceeds the Check profile parameters for acceleration. Fault
parameterized maximum value.

20347 0x4F7B MoveAdditive - Jerk - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected jerk exceeds the parameterized Check profile parameters for jerk. Fault
maximum value.

20348 0x4F7C MoveAdditive - Target position outside the SW limit

Cause Remedy Error type/response

The target position is outside the software limit Check target position. Fault
positions. Check distance.

20350 0x4F7E MoveContinuousAbsolute -

Cause Remedy Error type/response

Selection of an invalid acceleration. Check profile parameters for acceleration. Fault

20351 0x4F7F MoveContinuousAbsolute - Invalid deceleration

Cause Remedy Error type/response

Selection of an invalid deceleration Check profile parameters for deceleration. Fault

20352 0x4F80 MoveContinuousAbsolute - Invalid velocity

Cause Remedy Error type/response

Selection of an invalid velocity Check profile parameters for velocity. Fault

20353 0x4F81 MoveContinuousAbsolute - Arithmetic error in profile calculation

Cause Remedy Error type/response

Error in the profile calculation. Adapt profile parameters. Fault

20354 0x4F82 MoveContinuousAbsolute - Movement cannot be executed with the specified parameters

Cause Remedy Error type/response

The requested motion cannot be executed due Check direction selection. Fault
to limitations (e.g. software limit positions)

20355 0x4F83 MoveContinuousAbsolute - Velocity - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected velocity exceeds the Check profile parameters for velocity. Fault
parameterized maximum value.

640
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20356 0x4F84 MoveContinuousAbsolute - Acceleration - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected acceleration exceeds the Check profile parameters for acceleration. Fault
parameterized maximum value.

20357 0x4F85 MoveContinuousAbsolute - Jerk - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected jerk exceeds the parameterized Check profile parameters for jerk. Fault
maximum value.

20358 0x4F86 MoveContinuousAbsolute - Target position outside SW limits

Cause Remedy Error type/response

The target position is outside the software limit Check target position. Fault
positions. Check distance.

20360 0x4F88 MoveContinuousRelative - Invalid acceleration

Cause Remedy Error type/response

Selection of an invalid acceleration. Check profile parameters for acceleration. Fault

20361 0x4F89 MoveContinuousRelative - Invalid deceleration

Cause Remedy Error type/response

Selection of an invalid deceleration Check profile parameters for deceleration. Fault

20362 0x4F8A MoveContinuousRelative - Invalid velocity

Cause Remedy Error type/response

Selection of an invalid velocity Check profile parameters for velocity. Fault

20363 0x4F8B MoveContinuousRelative - Arithmetic error in profile calculation

Cause Remedy Error type/response

Error in the profile calculation. Adapt profile parameters. Fault

20364 0x4F8C MoveContinuousRelative - Movement cannot be executed with the specified parameters

Cause Remedy Error type/response

The requested motion cannot be executed due Check direction selection. Fault
to limitations (e.g. software limit positions)

20365 0x4F8D MoveContinuousRelative - Velocity - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected velocity exceeds the Check profile parameters for velocity. Fault
parameterized maximum value.

641
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20366 0x4F8E MoveContinuousRelative - Acceleration - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected acceleration exceeds the Check profile parameters for acceleration. Fault
parameterized maximum value.

20367 0x4F8F MoveContinuousRelative - Jerk - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected jerk exceeds the parameterized Check profile parameters for jerk. Fault
maximum value.

20368 0x4F90 MoveContinuousRelative - Target position outside SW limits

Cause Remedy Error type/response

The target position is outside the software limit Check target position. Fault
positions. Check distance.

20370 0x4F92 MoveRelative - Invalid acceleration

Cause Remedy Error type/response

Selection of an invalid acceleration. Check profile parameters for acceleration. Fault

20371 0x4F93 MoveRelative - Invalid deceleration

Cause Remedy Error type/response

Selection of an invalid deceleration Check profile parameters for deceleration. Fault

20372 0x4F94 MoveRelative - Invalid velocity

Cause Remedy Error type/response

Selection of an invalid velocity Check profile parameters for velocity. Fault

20373 0x4F95 MoveRelative - Arithmetic error in profile calculation

Cause Remedy Error type/response

Error in the profile calculation. Adapt profile parameters. Fault

20374 0x4F96 MoveRelative - Movement cannot be executed with the specified parameters

Cause Remedy Error type/response

The requested motion cannot be executed due Check direction selection. Fault
to limitations (e.g. software limit positions)

20375 0x4F97 MoveRelative - Velocity - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected velocity exceeds the Check profile parameters for velocity. Fault
parameterized maximum value.

642
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20376 0x4F98 MoveRelative - Acceleration - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected acceleration exceeds the Check profile parameters for acceleration. Fault
parameterized maximum value.

20377 0x4F99 MoveRelative - Jerk - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected jerk exceeds the parameterized Check profile parameters for jerk. Fault
maximum value.

20378 0x4F9A MoveRelative - Target position outside SW limits

Cause Remedy Error type/response

The target position is outside the software limit Check target position. Fault
positions. Check distance.

20380 0x4F9C MoveSuperImposed - Invalid acceleration

Cause Remedy Error type/response

Selection of an invalid acceleration. Check profile parameters for acceleration. Fault

20381 0x4F9D MoveSuperImposed - Invalid deceleration

Cause Remedy Error type/response

Selection of an invalid deceleration Check profile parameters for deceleration. Fault

20382 0x4F9E MoveSuperImposed - Invalid velocity

Cause Remedy Error type/response

Selection of an invalid velocity Check profile parameters for velocity. Fault

20383 0x4F9F MoveSuperImposed - Arithmetic error in profile calculation

Cause Remedy Error type/response

Error in the profile calculation. Adapt profile parameters. Fault

20384 0x4FA0 MoveSuperImposed - Movement cannot be executed with the specified parameters

Cause Remedy Error type/response

The requested motion cannot be executed due Check direction selection. Fault
to limitations (e.g. software limit positions)

20385 0x4FA1 MoveSuperImposed - Velocity - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected velocity exceeds the Check profile parameters for velocity. Fault
parameterized maximum value.

643
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20386 0x4FA2 MoveSuperImposed - Acceleration - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected acceleration exceeds the Check profile parameters for acceleration. Fault
parameterized maximum value.

20387 0x4FA3 MoveSuperImposed - Jerk - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected jerk exceeds the parameterized Check profile parameters for jerk. Fault
maximum value.

20388 0x4FA4 MoveSuperImposed - Target position outside SW limits

Cause Remedy Error type/response

The target position is outside the software limit Check target position. Fault
positions. Check distance.

20390 0x4FA6 MoveVelocity - Invalid acceleration

Cause Remedy Error type/response

Selection of an invalid acceleration. Check profile parameters for acceleration. Fault

20391 0x4FA7 MoveVelocity - Invalid deceleration

Cause Remedy Error type/response

Selection of an invalid deceleration Check profile parameters for deceleration. Fault

20392 0x4FA8 MoveVelocity - Invalid velocity

Cause Remedy Error type/response

Selection of an invalid velocity Check profile parameters for velocity. Fault

20393 0x4FA9 MoveVelocity - Arithmetic error in profile calculation

Cause Remedy Error type/response

Error in the profile calculation. Adapt profile parameters. Fault

20394 0x4FAA MoveVelocity - Movement cannot be executed with the specified parameters

Cause Remedy Error type/response

The requested motion cannot be executed due Check direction selection. Fault
to limitations (e.g. software limit positions)

20395 0x4FAB MoveVelocity - Velocity - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected velocity exceeds the Check profile parameters for velocity. Fault
parameterized maximum value.

644
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20396 0x4FAC MoveVelocity - Acceleration - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected acceleration exceeds the Check profile parameters for acceleration. Fault
parameterized maximum value.

20397 0x4FAD MoveVelocity - Jerk - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected jerk exceeds the parameterized Check profile parameters for jerk. Fault
maximum value.

20398 0x4FAE MoveVelocity - Target position outside SW limits

Cause Remedy Error type/response

The target position is outside the software limit Check target position. Fault
positions. Check distance.

20401 0x4FB1 Halt - Invalid deceleration

Cause Remedy Error type/response

Selection of an invalid deceleration Check profile parameters for deceleration. Fault

20403 0x4FB3 Halt - Arithmetic error in profile calculation

Cause Remedy Error type/response

Error in the profile calculation. Adapt profile parameters. Fault

20406 0x4FB6 Halt - Acceleration - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected acceleration exceeds the Check profile parameters for acceleration. Fault
parameterized maximum value.

20407 0x4FB7 Halt - Jerk - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected jerk exceeds the parameterized Check profile parameters for jerk. Fault
maximum value.

20411 0x4FBB Stop - Invalid deceleration

Cause Remedy Error type/response

Selection of an invalid deceleration Check profile parameters for deceleration. Fault

20413 0x4FBD Stop - Arithmetic error in profile calculation

Cause Remedy Error type/response

Error in the profile calculation. Adapt profile parameters. Fault

645
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20416 0x4FC0 Stop - Acceleration - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected acceleration exceeds the Check profile parameters for acceleration. Fault
parameterized maximum value.

20417 0x4FC1 Stop - Jerk - Specified value exceeds parameterized maximum value

Cause Remedy Error type/response

The selected jerk exceeds the parameterized Check profile parameters for jerk. Fault
maximum value.

20430 0x4FCE Invalid direction specified

Cause Remedy Error type/response

Selection of an invalid direction of rotation. Check setting of the direction selection. Fault

20431 0x4FCF Invalid buffer mode specified

Cause Remedy Error type/response

Selection of an invalid BufferMode. Check setting of the BufferMode. Fault

20432 0x4FD0 Requested direction not enabled

Cause Remedy Error type/response

The inputs EnablePositive or EnableNegative Check direction restriction. Fault
are not set. Assign movement only in the allowed direction.

20433 0x4FD1 Function cannot be executed due to axis status

Cause Remedy Error type/response

The status of the axis prevents the execution of None Fault
the function.

20434 0x4FD2 Invalid override value

Cause Remedy Error type/response

Invalid override specifications. Check value selections for the override. The Fault
values must be between 0 and 1.

20435 0x4FD3 Concurrent MC_Power for one axis

Cause Remedy Error type/response

An attempt was made to enable the axis, Prevent the action from being performed more Fault
although it is already enabled. than once.

20436 0x4FD4 Concurrent SetQuickstop for one axis

Cause Remedy Error type/response

An attempt was made to activate the quick Prevent the action from being performed more Fault
stop, although it is already active. than once.

646
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20499 0x5013 Cyclic PDO interface of drive disabled (0x2824)

Cause Remedy Error type/response

The cyclic PDO interface of the drive has been Check setting of 0x2824 in the lower-level drive. Fault
deactivated (0x2824)
The drive cannot process setpoints from the
application.

20500 0x5014 Positive HW limit exceeded

Cause Remedy Error type/response

The positive hardware limit position has been Check movement specifications. Fault
exceeded.

20501 0x5015 Negative HW limit exceeded

Cause Remedy Error type/response

The negative hardware limit position has been Check movement specifications. Fault
exceeded.

20502 0x5016 Following error - Warning level exceeded

Cause Remedy Error type/response

The warning threshold for the following error Check controller settings, encoder Fault
has been exceeded. parameterization and mechanics.

20503 0x5017 Following error - Error level exceeded

Cause Remedy Error type/response

The error threshold for the following error has Check controller settings, encoder Fault
been exceeded. parameterization and mechanics.

20504 0x5018 Communication error to controlled drive

Cause Remedy Error type/response

Communication fault during operation. Check communication to the lower-level drive. Fault
Check EtherCAT.

20505 0x5019 Initialization error of the axis data

Cause Remedy Error type/response

The initialization of the axis data has failed. None Fault

20506 0x501A Communication time-out to controlled drive

Cause Remedy Error type/response

No communication could be established with Check communication to the lower-level drive. Fault
the lower-level drive. Check EtherCAT.
Check the encoder parameters of the lower-
level drive. Possibly the encoder could not be
initialized.

647
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20507 0x501B EtherCAT could not be restarted

Cause Remedy Error type/response

The EtherCAT master could not be reinitialized. Check EtherCAT device. Fault
Analyze error messages of the EtherCAT master
in the logbook.

20508 0x501C Not ready for re-initialization

Cause Remedy Error type/response

The axis cannot be reinitialized because it is not Disable the controller on all axes before re- Fault
in the disabled or error stop state. initialization is ordered.

20509 0x501D Error during initialization

Cause Remedy Error type/response

Error during initialization None Fault

20510 0x501E Axis could not be switched on

Cause Remedy Error type/response

The axis could not be enabled within the Check lower-level drive if an error is active. Fault
parameterized time. Check lower-level drive if STO is active.
Check the lower-level drive if the DC-bus
voltage is too low.

20511 0x501F Drive error

Cause Remedy Error type/response

The drive is in an error state. Check lower-level drive. Fault

20512 0x5020 Homing - No homing parameters defined

Cause Remedy Error type/response

There are no parameters defined for homing. Define parameters. Fault

20513 0x5021 Homing - Mode not supported by axis

Cause Remedy Error type/response

The selected mode is not supported by the axis. Select another homing mode. Fault

20514 0x5022 Homing - Mode unknown

Cause Remedy Error type/response

The selected mode is unknown. Select another homing mode. Fault

20515 0x5023 Homing - No external touch probe configuration

Cause Remedy Error type/response

No touch probe parameters are defined Define parameters. Fault

648
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20516 0x5024 Homing - Invalid touch probe configuration

Cause Remedy Error type/response

The touch probe parameters are invalid. Check parameters. Fault

20518 0x5026 Homing - Error writing parameters to the drive

Cause Remedy Error type/response

Error when writing the parameters for homing None Fault
to the drive

20519 0x5027 Homing - Error in drive during homing

Cause Remedy Error type/response

Error while homing in the drive. Check error message. Fault

20520 0x5028 Homing - Arithmetic error in profile calculation

Cause Remedy Error type/response

Error in the profile calculation. Adapt profile parameters. Fault

20521 0x5029 Homing - Torque limits not mapped

Cause Remedy Error type/response

The torque limits have not been mapped. Add the torque limits 0x60E0 and 0x60E1 to the Fault
mapping.

20522 0x502A Homing - Invalid velocity or acceleration

Cause Remedy Error type/response

Invalid velocity value or acceleration value. Check profile parameters. Fault

20525 0x502D Reset of drive error failed

Cause Remedy Error type/response

The error in the drive could not be reset. Eliminate the cause of the error in the lower- Fault
level drive.

20529 0x5031 Position drift during brake test

Cause Remedy Error type/response

Position drift at brake test. Check the parameterization of the test torque Fault
and the permissible position threshold.
Check the mechanical holding brake, as it can
no longer hold the test torque and slips.

20530 0x5032 Invalid brake mode

Cause Remedy Error type/response

The selected brake mode is invalid. Check parameter setting. Fault

649
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20531 0x5033 Torque pre-control - Time-out

Cause Remedy Error type/response

Feedforward control torque could not be set up. Check whether the drive can build up the set Fault
feedforward control torque.
Check whether a torque limitation has been
activated by the application.

20532 0x5034 Invalid brake state

Cause Remedy Error type/response

The brake state is invalid. Check the setting of the brake mode. Fault

20533 0x5035 Fast_IO_OUT - Invalid output selected

Cause Remedy Error type/response

Invalid output selected. Check the setting of the selected output. The Fault
connected I/O module does not support this
output.

20534 0x5036 Fast_IO_OUT - Wrong Axis connected

Cause Remedy Error type/response

There is an incorrect axis data structure Check axis data structure. Fault
connected.

20535 0x5037 Fast_IO_OUT - Wrong Axis parameter

Cause Remedy Error type/response

Faulty axis parameters The connected encoder axis is not initialized. Fault
Check communication.

20536 0x5038 Fast_IO_OUT - Mapping error

Cause Remedy Error type/response

Internal error The connected encoder axis is not initialized. Fault
Check communication.

20537 0x5039 Fast_IO_OUT - Internal overflow

Cause Remedy Error type/response

Internal error Too many switching jobs have been sent to the Fault
connected I/O module.
Check sources for the control of the I/O
module.

20538 0x503A Touch probe - Invalid channel selection

Cause Remedy Error type/response

The selected touch probe channel is invalid. Check whether the selected touch probe Fault
configuration is also supported by the lower-
level drive.

650
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20539 0x503B Touch probe - Invalid mode selection

Cause Remedy Error type/response

The selected touch probe mode is invalid. Check whether the selected touch probe Fault
configuration is also supported by the lower-
level drive.

20540 0x503C Touch probe - Only positive edge is supported

Cause Remedy Error type/response

The trigger for touch probe may only be the Check touch probe configuration. Fault
positive edge. If "Zero pulse" is selected, the trigger is only
possible on a positive edge.

20541 0x503D Touch probe - Invalid edge selection

Cause Remedy Error type/response

The selected edge is invalid. Check touch probe configuration. Fault

20542 0x503E Touch probe - Channel in use

Cause Remedy Error type/response

The touch probe channel is already assigned. Check whether more than one touch probe Fault
assignment has taken place on the channel at
the same time.

20543 0x503F Touch probe - PDO mapping fault

Cause Remedy Error type/response

Mapping error None Fault

20544 0x5040 Touch probe - Internal channel in use

Cause Remedy Error type/response

The internal touch probe channel is already None Fault
assigned.

20545 0x5041 Touch probe - Time-out

Cause Remedy Error type/response

Timeout None Fault

20546 0x5042 Touch probe - Communication error

Cause Remedy Error type/response

Communication error None Fault

20547 0x5043 Touch probe - Invalid signal selection

Cause Remedy Error type/response

The signal selection is invalid. Check touch probe configuration. Fault

651
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20548 0x5044 Touch probe - Wrong axis type

Cause Remedy Error type/response

Wrong axis type There is an incorrect axis data structure Fault
connected.

20550 0x5046 Touch probe - Rising edge blocked

Cause Remedy Error type/response

The positive edge is disabled. Check the parameterization of the I/O module. Fault
The touch probe edges in the I/O module are
not activated.

20551 0x5047 Touch probe - Falling edge blocked

Cause Remedy Error type/response

The negative edge is disabled. Check the parameterization of the I/O module. Fault
The touch probe edges in the I/O module are
not activated.

20552 0x5048 Touch probe - Internal error

Cause Remedy Error type/response

Internal error None Fault

20600 0x5078 Set values greater than the parameterized maximum values

Cause Remedy Error type/response

The generated setpoints exceed the Check setpoint selections Fault
parameterized maximum values.

20601 0x5079 Set values inconsistent

Cause Remedy Error type/response

The setpoints for position, velocity and None Fault
acceleration are inconsistent with each other.

20602 0x507A Position difference per task cycle greater than half the cycle length

Cause Remedy Error type/response

The current position difference per task cycle is Check cycle length. Fault
greater than half the cycle length. No clear Reduce setpoint velocity.
position assignments are possible. Increase cycle time of the motion task

20603 0x507B Invalid task cycle time

Cause Remedy Error type/response

The task cycle time is invalid. Assign motion task. Fault
No cyclic motion task has been assigned to the
axis.

652
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20608 0x5080 Internal error - AIS

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, replace Warning
the device.

20609 0x5081 Internal error - AIE

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, replace Warning
the device.

20610 0x5082 Internal error - Button S82

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, replace Warning
the device.

20619 0x508B SD-Inx/CLx - Error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, replace Warning
the device.

20620 0x508C Internal switch-off path - Error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, replace Warning
the device.

20621 0x508D Internal switch-off path - Test pulse error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, replace Warning
the device.

20650 0x50AA Initialization - SDO write access failed

Cause Remedy Error type/response

SDO write access failed. None Fault

20651 0x50AB Initialization - SDO read access failed

Cause Remedy Error type/response

SDO read access failed. None Fault

20652 0x50AC Initialization - Cycle time of the fastest task too high

Cause Remedy Error type/response

Cycle time of the fastest task too high. Reduce the cycle time of the motion task. Fault

653
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20653 0x50AD Initialization - Motor rated torque = 0

Cause Remedy Error type/response

The setting of the rated motor torque is invalid. Check the setting of the rated motor torque. Fault
This must not be 0.

20654 0x50AE Initialization - Motor rated speed = 0

Cause Remedy Error type/response

The setting of the rated motor speed is invalid. Check the setting of the rated motor speed. This Fault
must not be 0.

20655 0x50AF Initialization - Reading of firmware version failed

Cause Remedy Error type/response

The firmware version could not be read. None Fault

20656 0x50B0 Initialization - Invalid Encoder resolution

Cause Remedy Error type/response

The set encoder resolution is invalid. Check whether the setting is supported by the Fault
drive.

20657 0x50B1 Initialization - Reading of encoder revolutions failed

Cause Remedy Error type/response

The encoder revolutions could not be read. None Fault

20658 0x50B2 Initialization - Reading of encoder CRC failed

Cause Remedy Error type/response

The encoder CRC could not be read. None Fault

20659 0x50B3 Initialization - Absolute encoder position not available

Cause Remedy Error type/response

The absolute encoder position is not available. Check parameter setting. Fault

20660 0x50B4 Controller firmware incompatible

Cause Remedy Error type/response

The firmware of the controller is not Use Lenze Controller. Fault
compatible.

20661 0x50B5 Invalid mode

Cause Remedy Error type/response

The selected mode is invalid. Check parameter setting. Fault

654
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20662 0x50B6 Initialization error at the encoder backplane bus

Cause Remedy Error type/response

Initialization error at encoder backplane bus Check encoder module. Fault

20663 0x50B7 Function 'Optical device identification' not supported

Cause Remedy Error type/response

The 'Optical device detection' function is not None Fault
supported by the drive.

20664 0x50B8 Invalid gear factor

Cause Remedy Error type/response

The set gearbox factor is invalid. Check parameter setting. The value must always Fault
be > 0.

20665 0x50B9 Position outside cycle length

Cause Remedy Error type/response

The position is outside the cycle length. Adjust position selection. Fault

20666 0x50BA Invalid cycle length (AddOffsetCyclic)

Cause Remedy Error type/response

The set cycle length is invalid. Check parameter setting. Fault

20667 0x50BB Invalid input position (AddOffsetCyclic)

Cause Remedy Error type/response

The input data is invalid. Adjust position selection. Fault

20668 0x50BC Invalid cycle length (ZeroDetect)

Cause Remedy Error type/response

The set cycle length is invalid. Check parameter setting. Fault

20669 0x50BD Invalid input position (ZeroDetect)

Cause Remedy Error type/response

The input data is invalid. Adjust position selection. Fault

20670 0x50BE Invalid start position (IntegrateAxis)

Cause Remedy Error type/response

The starting position is invalid. Adjust position selection. Fault

20671 0x50BF Simultaneous direction setting for 'JogPos' and 'JogNeg'

Cause Remedy Error type/response

For manual jog, the direction selections JogPos Check the direction selection for manual jog. Fault
and JogNeg are active simultaneously.

655
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20672 0x50C0 Value outside value range

Cause Remedy Error type/response

The parameter to be written is outside the valid Check parameter setting. Fault
value range.

20673 0x50C1 State not 'Disabled'

Cause Remedy Error type/response

The parameter cannot be written as the axis is Disable controller so that the parameter can be Fault
not in the "Disabled" state written.

20674 0x50C2 Brake test - Invalid input value

Cause Remedy Error type/response

The values for the brake test are invalid. Check settings for the brake test. Fault

20675 0x50C3 Brake test - Already active

Cause Remedy Error type/response

The brake test is already being performed. Ensure that the action is not ordered more than Fault
once.

20676 0x50C4 Brake grind in - Invalid input value

Cause Remedy Error type/response

The values for grinding in the brake are invalid. Check the settings for grinding in the brake. Fault

20677 0x50C5 Brake grind in - Already active

Cause Remedy Error type/response

The grinding of the brake is already carried out. Ensure that the action is not ordered more than Fault
once.

20678 0x50C6 Selected control mode not allowed

Cause Remedy Error type/response

The selected control mode is not permissible. Check selection of the control mode. Fault

20679 0x50C7 Virtual axes not supported

Cause Remedy Error type/response

The function cannot be executed with virtual Do not execute function with a virtual axis. Fault
axes and drives in virtual mode.

20680 0x50C8 Axis not disabled

Cause Remedy Error type/response

The action cannot be executed because the axis Disable controller so that the action can be Fault
is not in the 'Disabled' state performed.

656
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20681 0x50C9 Invalid feed constant

Cause Remedy Error type/response

The selection of the feed constant is invalid. Check the selection of the feed constant. Fault

20682 0x50CA Invalid traversing range

Cause Remedy Error type/response

The selection of the travel range is invalid. Check selection of the travel range. Fault

20683 0x50CB Invalid cycle length

Cause Remedy Error type/response

The selection of the cycle length is invalid. Check the selection of the cycle length. Fault

20684 0x50CC Invalid position resolution

Cause Remedy Error type/response

The selection of the position resolution is Check the selection of the position resolution. Fault
invalid.

20685 0x50CD Torque limit too large

Cause Remedy Error type/response

The selected upper torque limit is not Check selection of the upper torque limit. Fault
supported by the drive.

20686 0x50CE Torque limit < 0

Cause Remedy Error type/response

The selected lower torque limit is not supported Check selection of the lower torque limit. Fault
by the drive.

20687 0x50CF Invalid encoder signal

Cause Remedy Error type/response

The encoder signal is invalid. Check settings. Fault

20688 0x50D0 Encoder signal greater than parameterized measuring range

Cause Remedy Error type/response

The encoder signal is greater than the Check the setting of the maximum encoder Fault
parameterized total resolution. range and adapt it to the encoder used.

20689 0x50D1 Invalid parameterized measuring range

Cause Remedy Error type/response

The parameterized total resolution of the Check the setting of the maximum encoder Fault
encoder is not plausible. range and adapt it to the encoder used.

657
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20690 0x50D2 STO active in drive

Cause Remedy Error type/response

The axis cannot be enabled because STO is Deactivate STO. Fault
active.

20691 0x50D3 Inverter disable active

Cause Remedy Error type/response

The axis cannot be enabled because the Enable axis via terminal. Fault
controller disable is active via the terminal.

20692 0x50D4 Invalid SW limits

Cause Remedy Error type/response

The specified software limit positions are invalid Check parameter setting. Fault
or reversed.

20693 0x50D5 Invalid jerk

Cause Remedy Error type/response

The set jerk is invalid. Check parameter setting. Fault

20694 0x50D6 Parameter 'vl Target Velocity' not included in mapping

Cause Remedy Error type/response

Parameter 0x60FF is not included in the Add 0x60FF in the mapping. Fault
mapping. But it is needed for the control of the
velocity mode (vl).

20695 0x50D7 Parameter 'vl Actual Velocity' not included in mapping

Cause Remedy Error type/response

Parameter 0x6044 is not included in the Add 0x6044 in the mapping. Fault
mapping. But it is needed for the control of the
velocity mode (vl).

20696 0x50D8 Axis not homed

Cause Remedy Error type/response

For the axis, no home position is known. Execute homing. Fault

20697 0x50D9 Axis not in SimpleMode

Cause Remedy Error type/response

The function is not supported because the axis Check parameter setting. Fault
is not in single mode.

20698 0x50DA Axis in SimpleMode

Cause Remedy Error type/response

The function is not supported because the axis Check parameter setting. Fault
is in single mode.

658
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20699 0x50DB Function not supported by axis

Cause Remedy Error type/response

The function is not supported by the connected None Fault
axis type.

20700 0x50DC Execution index already in use

Cause Remedy Error type/response

The specified eExecutionIndex is already in use A maximum of three setpoint manipulators can Fault
at another setpoint manipulator be hooked into an AxisRef at the same time.
The instances must each be registered on a free
ExecutionIndex.

20701 0x50DD SS1 active

Cause Remedy Error type/response

Safe stop 1 (SS1) active. The requested None Fault
movement cannot be executed.

20702 0x50DE SS2 active

Cause Remedy Error type/response

Safe stop 2 (SS2) active. The requested None Fault
movement cannot be executed.

20703 0x50DF Velocity limited by SLS1

Cause Remedy Error type/response

Profile velocity limited by SLS1 None Fault

20704 0x50E0 Velocity limited by SLS2

Cause Remedy Error type/response

Profile velocity limited by SLS2 None Fault

20705 0x50E1 Velocity limited by SLS3

Cause Remedy Error type/response

Profile velocity limited by SLS3 None Fault

20706 0x50E2 Velocity limited by SLS4

Cause Remedy Error type/response

Profile velocity limited by SLS4 None Fault

20707 0x50E3 Invalid execution index

Cause Remedy Error type/response

eExecutionIndex is assigned a value outside the None Fault
allowed value range.

659
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

20754 0x5112 24 V supply critical

Cause Remedy Error type/response

24V voltage failed or too low. • Check optional external 24V voltage supply Warning
(terminal X3/24E), if connected.
• Check mains voltage.

20756 0x5114 Reference voltage error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, replace Warning
the device.

20757 0x5115 6 V voltage error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, replace Warning
the device.

20758 0x5116 5 V voltage error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, replace Warning
the device.

20759 0x5117 3.3 V voltage error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, replace Warning
the device.

22000 0x55F0 Phasing not allowed

Cause Remedy Error type/response

Phasing cannot be executed as a phase offset to Check master/slave axis assignment. Fault
another master axis already exists.

22010 0x55FA Invalid CamRef

Cause Remedy Error type/response

The CamRef is invalid. Check the interconnection of the cam data. Fault

22011 0x55FB Invalid cam type

Cause Remedy Error type/response

The cam type is invalid. Check the interconnection of the cam data. Fault

22012 0x55FC Invalid cam data

Cause Remedy Error type/response

The cam data is invalid. Check the interconnection of the cam data. Fault

660
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

22013 0x55FD Invalid number of memory segments

Cause Remedy Error type/response

The number of memory segments is invalid. Check the number of memory segments. Fault

22014 0x55FE Insufficient memory segments defined for cam

Cause Remedy Error type/response

The specified number of memory segments is Adapt number of memory segments to the Fault
too small for the cam to be loaded. cam.

22015 0x55FF Invalid law of motion

Cause Remedy Error type/response

The law of motion is invalid. Check the definition of the cam. Fault

22016 0x5600 Invalid input data

Cause Remedy Error type/response

The input data is invalid. None Fault

22025 0x5609 Master out of cam

Cause Remedy Error type/response

The master axis is beyond the valid cam range Check the definition of the cam. Fault

22026 0x560A OffsetScaling - Invalid velocity/acceleration

Cause Remedy Error type/response

The velocity of the Offset/Scaling function is too Check selection of the acceleration. Fault
low.

22027 0x560B Invalid cam table

Cause Remedy Error type/response

The cam is invalid. Check the interconnection of the cam data. Fault

22028 0x560C Invalid start or end position of cam

Cause Remedy Error type/response

The start value and the end value of the cam Check the definition of the cam. Fault
are invalid.

22029 0x560D Invalid scaling factor

Cause Remedy Error type/response

The scaling factor is invalid. Check scaling factor. Fault

22030 0x560E Clutch in error

Cause Remedy Error type/response

Error when coupling Check coupling adjustment. Fault

661
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

22035 0x5613 Not allowed movement by master

Cause Remedy Error type/response

The master must not be moved while coupling. Stop the master. Fault
Use a different coupling mode.

22036 0x5614 Clutch needs reversing

Cause Remedy Error type/response

The coupling must be reversed. Check coupling adjustment. Fault

22037 0x5615 Invalid default jerk

Cause Remedy Error type/response

The standard jerk is invalid. Check parameter setting. Fault

22038 0x5616 Invalid open instant deceleration

Cause Remedy Error type/response

The deceleration set for instant opening is Check parameter setting. Fault
invalid.

22039 0x5617 Invalid reversing

Cause Remedy Error type/response

Reversing may occur in the coupling phase. Check coupling adjustment. Fault

22050 0x5622 File not found

Cause Remedy Error type/response

The cam file was not found. Check the file name of the cam. Fault
Check cam track.

22051 0x5623 Invalid file

Cause Remedy Error type/response

The cam file has an invalid format. Create new cam file Fault

22052 0x5624 Invalid checksum

Cause Remedy Error type/response

The curve file has an invalid checksum. Create new cam file Fault

22053 0x5625 Invalid data size

Cause Remedy Error type/response

The cam file has an invalid file size. Create new cam file Fault

22060 0x562C Invalid TappetRef

Cause Remedy Error type/response

The TappetRef is invalid. Check the definition of the cam track. Fault

662
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

22061 0x562D Invalid tappet data

Cause Remedy Error type/response

The cam data is invalid. Check the definition of the cam track. Fault

22062 0x562E Invalid tappet type

Cause Remedy Error type/response

The cam type is invalid. Check the definition of the cam track. Fault

22063 0x562F Invalid tappet switching time

Cause Remedy Error type/response

The cam switching time is invalid. Check the definition of the cam track. Fault

22064 0x5630 Invalid tappet position

Cause Remedy Error type/response

The cam position is invalid. Check the definition of the cam track. Fault

22065 0x5631 Dynamic tappet sampling error

Cause Remedy Error type/response

Cam dynamization error Adjust setting for dynamization. Fault

22082 0x5642 LinearCoupling - Invalid X cycle length

Cause Remedy Error type/response

The X-cycle length is invalid. Check cycle length setting Fault

22083 0x5643 LinearCoupling - Invalid Y cycle length

Cause Remedy Error type/response

The X-cycle length is invalid. Check cycle length setting Fault

22084 0x5644 LinearCoupling - Invalid input position

Cause Remedy Error type/response

The input data is invalid. Check input position. Fault

22085 0x5645 Invalid number of tappets

Cause Remedy Error type/response

The number of cams in invalid. Check the definition of the cam track. Fault

24592 0x6010 Internal error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

663
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

24960 0x6180 Internal error - STO activated

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, replace Warning
the device.

24965 0x6185 Communication error - Basic device

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, replace Warning
the device.

24966 0x6186 Synchronization error - Basic device

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Information
the manufacturer.

24970 0x618A Warning - Internal fan

Cause Remedy Error type/response

Warning of the internal fan. Check/replace internal fan. Warning

25360 0x6310 Incorrect parameter set download

Cause Remedy Error type/response

CRC error in the parameter set detected. Recreate parameter set. Warning
Vendor, product code or OBD revision are Repeat parameter set download.
different.
The parameter set is unknown.

25376 0x6320 Parameter error in object

Cause Remedy Error type/response

Unknown index in the parameter set. Recreate parameter set. Warning

25472 0x6380 F-parameter error

Cause Remedy Error type/response

Error in the PROFIsafe parameter setting Check PROFIsafe component. Information
The F-PLC is parameterized incorrectly. Check network cable.
Analyze the error history of the higher-level
controller.

25473 0x6381 F_Dest_Add unequal F-address

Cause Remedy Error type/response

The safety address F_Dest_Add in the higher- Adapt safety addresses. Information
level controller and the F address in the device
are different.

664
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

25474 0x6382 F_Dest_Add = 0 or FFFFhex

Cause Remedy Error type/response

The safety address F_Dest_Add in the higher- Adapt safety address. Information
level controller is invalid.

25475 0x6383 F_Source_Add = 0 or FFFFhex

Cause Remedy Error type/response

The safety address F_Source_Add in the higher- Adapt safety address. Information
level controller is invalid.

25477 0x6385 F_SIL exceeds technical SIL

Cause Remedy Error type/response

The SIL parameterized in the higher-level Adapt parameter setting in the higher-level Information
controller is greater than the technically controller.
possible SIL of the device.

25478 0x6386 F_CRC_Length error

Cause Remedy Error type/response

The data length of the F_CRC in the higher-level Check safety parameter in the higher-level Information
controller is faulty. controller.

25479 0x6387 Wrong F-parameter version

Cause Remedy Error type/response

The F parameter version is not supported by the Select supported F parameter version in the Information
device. higher-level controller.

25481 0x6389 New safety parameter set deleted

Cause Remedy Error type/response

New safety parameter set deleted For information only. No remedy necessary. Information

25482 0x638A New safety parameter set loaded

Cause Remedy Error type/response

New safety parameter set loaded For information only. No remedy necessary. Information

25483 0x638B Memory module - Access error

Cause Remedy Error type/response

Error accessing the safe parameter set on the Reset safe parameter set in the device. Warning
SD card. Reload safe parameter set.

25484 0x638C Different safety parameter sets

Cause Remedy Error type/response

The safe parameter sets on the SD card and in Load a safe parameter set from the SD card into Warning
the device are different. the device.

665
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

25485 0x638D Extended Safety - No safety parameter set

Cause Remedy Error type/response

No safe parameter set was found in the device. Load safe parameter set into the device. Warning

25486 0x638E Extended Safety - Safety parameter set defect

Cause Remedy Error type/response

The safe parameter set in the device is faulty. Load safe parameter set into the device. Warning

25488 0x6390 Safety parameter set - Plausibility error

Cause Remedy Error type/response

The set safety parameters are not plausible. Determine error number in 0x2115:005 and Warning
analyze it using the plausibility error table.
Eliminate error
Reload safe parameter set.

25489 0x6391 Safety parameter set - Communication error

Cause Remedy Error type/response

A communication error has occurred while Check communication settings. Warning
loading the safe parameter set. Check SD card.
Reload safe parameter set.

25490 0x6392 Different safety addresses detected

Cause Remedy Error type/response

The safety addresses in the device and on the Adapt safety addresses. Warning
SD card are different. Load and save the safe parameter set again.

25491 0x6393 SSM - Wrong PDO version

Cause Remedy Error type/response

Safe speed monitoring is faulty because the Only devices with firmware > V1.0 support Warning
PDO version of the data protocol is Extended Safety.
incompatible.

28801 0x7081 Fault - Analog input 1

Cause Remedy Error type/response

The monitoring function of the input signal • Check input signal at analog input 1. No response (configurable)
configured for analog input 1 in and has been • Check configuration of the monitoring Setting parameters: 0x2636:010
triggered. function.

28961 0x7121 Fault - Pole position identification

Cause Remedy Error type/response

• Too many deviations during the pole position • Check setting of the motor data. Fault
identification. • Ensure that the motor is at a standstill during
• Compared to the inverter, the rated motor the pole position identification process.
current is too high or too low. • Ensure that the motor and inverter match
each other in terms of power.

666
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

29443 0x7303 Fault - Motor feedback

Cause Remedy Error type/response

Defective encoder cable. Check encoder cable. Fault > CiA402 (configurable)
Defective encoder. Check encoder. Setting parameters: 0x2C45
Switch off monitoring if no encoder is used.

29444 0x7304 Error - Load encoder/master encoder

Cause Remedy Error type/response

Defective encoder cable. Check encoder cable. Fault > CiA402 (configurable)
Defective encoder. Check encoder. Setting parameters: 0x2C55
Switch off monitoring if no encoder is used.

29568 0x7380 Motor encoder - Communication error

Cause Remedy Error type/response

The communication to an encoder is disturbed. Check the supply voltage of the encoder. Fault > CiA402 (configurable)
(0x2C42:002) Setting parameters: 0x2C41:004
Check encoder cable.

29569 0x7381 HIPERFACE motor encoder - wrong absolute value because motor speed is too high

Cause Remedy Error type/response

The absolute encoder position cannot be Let the motor coast. Fault > CiA402 (configurable)
accepted as the motor rotates too fast. Setting parameters: 0x2C41:004

29570 0x7382 Load encoder/master encoder - Communication error

Cause Remedy Error type/response

The communication to an encoder is disturbed. Check the supply voltage of the encoder. Fault > CiA402 (configurable)
(0x2C42:002) Setting parameters: 0x2C51:004
Check encoder cable.

29571 0x7383 HIPERFACE load encoder/master encoder - wrong absolute value because motor speed is too high

Cause Remedy Error type/response

The absolute encoder position cannot be Let the motor coast. Fault > CiA402 (configurable)
accepted as the motor rotates too fast. Setting parameters: 0x2C51:004

33042 0x8112 Network - Time-out explicit message

Cause Remedy Error type/response

• Within the time-out period for explicit • Check cables and terminals. (configurable)
messages, which has been parameterised by • Plug network cables into the Ethernet port. Setting parameters:
the scanner, no "explicit message" was • Check the requested package interval (RPI) of
received. the explicit connection.
• The connection to the scanner has been • Increase time limit for explicit messages in
interrupted. the scanner.
• Failure of an explicit connection.

667
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

33044 0x8114 Network - Overall communication time-out

Cause Remedy Error type/response

• EtherNet/IP: the maximum permissible time- • Check cables and terminals. Warning (configurable)
out period for the CIP communication set in • Connect network cable. Setting parameters: 0x2859:007
0x23A1:010 has been exceeded.
• Modbus TCP/IP: the maximum permissible
time-out period for the TCP communication
set in has been exceeded.

33152 0x8180 EtherCAT DC - Synchronization required

Cause Remedy Error type/response

Warning

33153 0x8181 EtherCAT - Communication error

Cause Remedy Error type/response

Fault > CiA402 (configurable)
Setting parameters: 0x285B:001

33162 0x818A PROFIsafe passivated

Cause Remedy Error type/response

Error in the PROFIsafe communication Check PROFIsafe component. Information
PROFIsafe was passivated. Check network cable.
Analyze the error history of the higher-level
controller.

33163 0x818B PROFIsafe has left data exchange

Cause Remedy Error type/response

Error in the PROFIsafe communication Check PROFIsafe component. Information
PROFIsafe has left data exchange. Check network cable.
Analyze the error history of the higher-level
controller.

33165 0x818D PROFIsafe - CRC1 error

Cause Remedy Error type/response

The F-Parameter-CRC is faulty. Check F-Parameter-CRC (CRC1) in the higher- Information
level controller.
Check device description file (GSDML).

33168 0x8190 Network - Watchdog time-out

Cause Remedy Error type/response

Time-out during cyclic data reception, e.g. due • Check wiring of the network. Warning (configurable)
to an interrupted communication link to the • Eliminate EMC interferences. Setting parameters: 0x2859:001
master or missing cyclic data.

668
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

33169 0x8191 Network - Disruption of cyclic data exchange

Cause Remedy Error type/response

The communication partner has interrupted the • Check wiring of the network. No response (configurable)
cyclic data exchange. • The slave must receive new parameterisation Setting parameters: 0x2859:002
and configuration files by the master, in order
to be able to exchange data again.

33170 0x8192 Network - Initialization error

Cause Remedy Error type/response

The initialisation of the communication stack Check master/slave configuration and restart Warning (configurable)
has been interrupted due to an incorrect the devices. Setting parameters: 0x2859:004
address setting or communication
configuration.

33171 0x8193 Network - Invalid cyclic process data

Cause Remedy Error type/response

The cyclic process data received are invalid. Check cyclic process data sent by the master. Warning (configurable)
Setting parameters: 0x2859:005

33173 0x8195 FSoE - Unexpected command

Cause Remedy Error type/response

Unexpected FSoE command received. Check FSoE configuration. Information
Restart communication.

33174 0x8196 FSoE - Unknown command

Cause Remedy Error type/response

Unknown FSoE command received. Check FSoE configuration. Information
Restart communication.

33175 0x8197 FSoE - Invalid connection ID

Cause Remedy Error type/response

FSoE frame with invalid connection ID received. Check FSoE configuration. Information
Restart communication.

33176 0x8198 FSoE - CRC error

Cause Remedy Error type/response

The check of the CRC in the FSoE frames reports Check FSoE configuration. Information
errors. Restart communication.

33177 0x8199 FSoE - Watchdog expired

Cause Remedy Error type/response

FSoE watchdog elapsed. Check set watchdog time in FSoE master and Information
adapt if necessary.

669
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

33178 0x819A Network - Initialization with safety option failed

Cause Remedy Error type/response

Communication with the safety option could Check safe parameter set. Information
not be initialized correctly.

33179 0x819B Network - Communication time-out with safety option

Cause Remedy Error type/response

Communication with the safety option is Check status of the safety option. Information
disturbed.

33180 0x819C FSoE - Invalid communication parameter data

Cause Remedy Error type/response

Invalid communication parameter data Check setting of the communication Information
received. parameters.

33181 0x819D FSoE - Invalid application parameter length

Cause Remedy Error type/response

The length of the application parameters Check setting of the communication Information
transmitted by the FSoE master differs from the parameters.
expected length.

33182 0x819E FSoE - Invalid application parameter data

Cause Remedy Error type/response

Invalid application parameter data received. Check setting of the communication Information
parameters.

33183 0x819F FSoE - Passivated

Cause Remedy Error type/response

Due to an error, FSoE was passivated. Check FSoE configuration. Information
Reset error.

33192 0x81A8 FSoE - Invalid slave address

Cause Remedy Error type/response

The slave address transmitted by the FSoE Check slave address in the FSoE master. Information
master differs from the slave address set in the Check parameter setting in the device.
device.

33193 0x81A9 FSoE - Invalid communication parameter length

Cause Remedy Error type/response

The length of the communication parameter Check setting of the communication Information
transmitted by the FSoE master differs from the parameters.
expected length.

670
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

33194 0x81AA FSoE - Data exchange left

Cause Remedy Error type/response

Due to an error FSoE has left the data exchange. Check FSoE configuration. Information
Reset error.

33408 0x8280 EtherCAT - Wrong sync manager address

Cause Remedy Error type/response

Fault

33409 0x8281 EtherCAT - Wrong sync manager size

Cause Remedy Error type/response

Fault

33410 0x8282 EtherCAT - Wrong sync manager settings

Cause Remedy Error type/response

Fault

33411 0x8283 PDO mapping: Unknown object

Cause Remedy Error type/response

Fault

33412 0x8284 No PDO mapping object

Cause Remedy Error type/response

Fault

33413 0x8285 Too many objects mapped

Cause Remedy Error type/response

Fault

33414 0x8286 PDO mapping error

Cause Remedy Error type/response

PDO mapping is faulty. Check PDO mapping. Fault

33415 0x8287 Network - Invalid configuration

Cause Remedy Error type/response

Network configuration is faulty. Check network configuration. Warning (configurable)
Setting parameters: 0x2859:003

33416 0x8288 PDO mapping object is already used by PLC.

Cause Remedy Error type/response

The object to be mapped is already used by the Remove object from mapping. Fault
PLC.

671
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

34560 0x8700 EtherCAT - Sync error

Cause Remedy Error type/response

Fault

34561 0x8701 Sync PLL - Time-out

Cause Remedy Error type/response

Fault

36992 0x9080 Discrepancy check or function check error - SD-In1

Cause Remedy Error type/response

Signal error at safe input SD-In1. Check parameter setting. Warning
Check wiring.

36993 0x9081 Discrepancy check or function check error - SD-In2

Cause Remedy Error type/response

Signal error at safe input SD-In2. Check parameter setting. Warning
Check wiring.

36994 0x9082 Discrepancy check or function check error - SD-In3

Cause Remedy Error type/response

Signal error at safe input SD-In3. Check parameter setting. Warning
Check wiring.

36995 0x9083 Discrepancy check or function check error - SD-In4

Cause Remedy Error type/response

Signal error at safe input SD-In4. Check parameter setting. Warning
Check wiring.

36997 0x9085 Disabled SD-In2 = HIGH

Cause Remedy Error type/response

Initialization error or parameterization error. Check parameter setting. Warning
HIGH level detected at the deactivated safe Check wiring.
input.

36998 0x9086 Disabled SD-In3 = HIGH

Cause Remedy Error type/response

Initialization error or parameterization error. Check parameter setting. Warning
HIGH level detected at the deactivated safe Check wiring.
input.

672
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

36999 0x9087 Disabled SD-In4 = HIGH

Cause Remedy Error type/response

Initialization error or parameterization error. Check parameter setting. Warning
HIGH level detected at the deactivated safe Check wiring.
input.

37000 0x9088 SD-Out1 - Channel A remains stuck at HIGH

Cause Remedy Error type/response

Channel A of SD_Out1 cannot be deactivated. Check wiring for short circuit. Warning

37001 0x9089 SD-Out1 - Channel A remains stuck at LOW

Cause Remedy Error type/response

Channel A of SD_Out1 cannot be activated. Check wiring. Warning
Check supply voltage.

37002 0x908A SD-Out1 - Channel B remains stuck at HIGH

Cause Remedy Error type/response

Channel B of SD_Out1 cannot be deactivated. Check wiring for short circuit. Warning

37003 0x908B SD-Out1 - Channel B remains stuck at LOW

Cause Remedy Error type/response

Channel B of SD_Out1 cannot be activated. Check wiring. Warning
Check supply voltage.

37004 0x908C SD-In1 - Channel A remains stuck at HIGH

Cause Remedy Error type/response

Channel A of SD_In1 cannot be deactivated. Check wiring for short circuit. Warning
Check configuration of the safe input.

37005 0x908D SD-In1 - Channel B remains stuck at HIGH

Cause Remedy Error type/response

Channel B of SD_In1 cannot be deactivated. Check wiring for short circuit. Warning
Check configuration of the safe input.

37006 0x908E SD-In2 - Channel A remains stuck at HIGH

Cause Remedy Error type/response

Channel A of SD_In2 cannot be deactivated. Check wiring for short circuit. Warning
Check configuration of the safe input.

37007 0x908F SD-In2 - Channel B remains stuck at HIGH

Cause Remedy Error type/response

Channel B of SD_In2 cannot be deactivated. Check wiring for short circuit. Warning
Check configuration of the safe input.

673
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

37008 0x9090 SD-In3 - Channel A remains stuck at HIGH

Cause Remedy Error type/response

Channel A of SD_In3 cannot be deactivated. Check wiring for short circuit. Warning
Check configuration of the safe input.

37009 0x9091 SD-In3 - Channel B remains stuck at HIGH

Cause Remedy Error type/response

Channel B of SD_In3 cannot be deactivated. Check wiring for short circuit. Warning
Check configuration of the safe input.

37010 0x9092 SD-In4 - Channel A remains stuck at HIGH

Cause Remedy Error type/response

Channel A of SD_In4 cannot be deactivated. Check wiring for short circuit. Warning
Check configuration of the safe input.

37011 0x9093 SD-In4 - Channel B remains stuck at HIGH

Cause Remedy Error type/response

Channel B of SD_In4 cannot be deactivated. Check wiring for short circuit. Warning
Check configuration of the safe input.

37012 0x9094 CLA/CLB - Short circuit

Cause Remedy Error type/response

Short circuit at the CLA/CLB clock outputs. Check wiring. Warning

43605 0xAA55 The chronology of the logbook is not consistent

Cause Remedy Error type/response

The chronology of the logbook is not consistent For information only. No remedy necessary. Information

65280 0xFF00 Fatal internal error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Fault
the manufacturer.

65281 0xFF01 Fatal internal communication error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Fault
the manufacturer.

65282 0xFF02 Fault - Motor holding brake

Cause Remedy Error type/response

Brake fault due to short circuit or cable break. Check brake. (configurable)
Check wiring. Setting parameters:

674
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

65283 0xFF03 Fatal internal error - task overflow

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Fault
the manufacturer.

65284 0xFF04 PPI - Motor movement too large

Cause Remedy Error type/response

Motor moved too much during pole position Check controller settings in 0x2C62. Fault > CiA402 (configurable)
identification. Setting parameters: 0x2C60

65285 0xFF05 Safe torque off (STO) activated

Cause Remedy Error type/response

"Safe Torque Off (STO)" has been activated via Enable "Safe Torque Off (STO)" again or disable Warning
Safety. The movement is interrupted although controller.
the controller is still enabled. In the event of false tripping, check the wiring
at terminal X1.

65286 0xFF06 Motor overspeed

Cause Remedy Error type/response

The motor speed has reached the error Adapt the maximum motor speed 0x6080 and Fault > CiA402 (configurable)
threshold for overspeed set in 0x2D44:001. the warning threshold or error threshold • The error can only be reset after a blocking
0x2D44:001. time.
Blocking time: 1 s
Setting parameters: 0x2D44:002

Related topics
4Motor speed monitoring ^ 291

65287 0xFF07 Not permitted during identification or in test mode

Cause Remedy Error type/response

An attempt was made to write a parameter that Do not change parameters until identification is Warning
has an influence on a currently running complete or test mode is deactivated again.
identification or the currently activated test
mode.

65288 0xFF08 Not permitted during identification

Cause Remedy Error type/response

An attempt was made to write a parameter that Do not change parameters until identification is Warning
has an influence on a currently running complete.
identification.

675
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

65289 0xFF09 Motor phase missing

Cause Remedy Error type/response

A failure of several motor phases has been • Check wiring between inverter and motor. No response (configurable)
detected. • In case of a false tripping, adapt the settings • The error can only be reset after a blocking
for the motor phase failure detection. time.
Blocking time: 2 s
Setting parameters:
0x2D45:004
0x2D45:001

Related topics
4Motor phase failure detection ^ 290

65290 0xFF0A Motor phase failure phase U

Cause Remedy Error type/response

A failure of the motor phase U has been • Check wiring between inverter and motor. No response (configurable)
detected. • In case of a false tripping, adapt the settings • The error can only be reset after a blocking
for the motor phase failure detection. time.
• 0x2D45:002 (Current threshold) Blocking time: 2 s
• 0x2D45:003 (Voltage threshold)
Setting parameters:
0x2D45:004
0x2D45:001

Related topics
4Motor phase failure detection ^ 290

65291 0xFF0B Motor phase failure phase V

Cause Remedy Error type/response

A failure of the motor phase V has been • Check wiring between inverter and motor. No response (configurable)
detected. • In case of a false tripping, adapt the settings • The error can only be reset after a blocking
for the motor phase failure detection. time.
• 0x2D45:002 (Current threshold) Blocking time: 2 s
• 0x2D45:003 (Voltage threshold)
Setting parameters:
0x2D45:004
0x2D45:001

Related topics
4Motor phase failure detection ^ 290

65292 0xFF0C Motor phase failure phase W

Cause Remedy Error type/response

A failure of the motor phase W has been • Check wiring between inverter and motor. No response (configurable)
detected. • In case of a false tripping, adapt the settings Setting parameters:
for the motor phase failure detection. 0x2D45:004
• 0x2D45:002 (Current threshold) 0x2D45:001
• 0x2D45:003 (Voltage threshold)

65293 0xFF0D No resolver connected - command cannot be executed

Cause Remedy Error type/response

An attempt was made to identify a resolver The resolver error can only be identified if a Warning
fault. But the V/f control without feedback resolver is used as a feedback system. (0x2C00 =
system is selected as the control mode. 1 or 2)

676
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

65294 0xFF0E Speed too low - command cannot be executed

Cause Remedy Error type/response

The current speed is too low to identify the Repeat identification at higher speed. Warning
resolver error.

65295 0xFF0F No resolver as motor encoder connected - command cannot be executed

Cause Remedy Error type/response

An attempt was made to identify a resolver The resolver error can only be identified if a Warning
fault. But there is an encoder available as a resolver is used as a feedback system.
feedback system.

65296 0xFF10 Time-out during resolver identification

Cause Remedy Error type/response

The current speed is too low to identify the Repeat identification at higher speed. Warning
resolver error.

65297 0xFF11 Numeric problem during resolver identification

Cause Remedy Error type/response

The current speed is too low to identify the Repeat identification at higher speed. Warning
resolver error.

65298 0xFF12 Inverter error too large

Cause Remedy Error type/response

The results of the inverter error identification Check shielding of the motor cable. Connect the Warning
are not plausible. shield with a surface as large as possible.

65299 0xFF13 Identification aborted

Cause Remedy Error type/response

Pole position identification has been aborted. Repeat pole position identification. Fault > CiA402 (configurable)
An error has occurred during identification or Setting parameters: 0x2C60
the controller has been disabled.

65300 0xFF14 Not permitted in state 'operation enabled' or 'quick stop active'

Cause Remedy Error type/response

Reading out and accepting the HIPERFACE® data Disable controller before reading out. Warning
is only permitted when the controller is
inhibited.

65301 0xFF15 No HIPERFACE absolute value encoder as motor encoder connected - command cannot be executed

Cause Remedy Error type/response

An attempt was made to read out HIPERFACE® Connect HIPERFACE® encoder. Warning
data although no HIPERFACE® encoder is A HIPERFACE® encoder must be selected in
connected. 0x2C40.
No HIPERFACE® encoder is selected in 0x2C40.

677
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

65302 0xFF16 Connected HIPERFACE motor encoder is not supported

Cause Remedy Error type/response

The HIPERFACE® encoder has a type code that is Enter correct type code under 0x2C41:002. Fault > CiA402 (configurable)
neither stored in the firmware nor corresponds Setting parameters: 0x2C41:004
to the type code set under 0x2C41:002.

65303 0xFF17 Connected HIPERFACE motor encoder is not supported - command cannot be executed

Cause Remedy Error type/response

The HIPERFACE® encoder has a type code that is Connect an encoder with a supported type Warning
not stored in the firmware. Hence, no data can code.
be detected.

65304 0xFF18 Communication time-out in manual control mode

Cause Remedy Error type/response

The writing of the target data has failed during Increase timeout. (0x2836:005) Fault
operation for manual wiring control longer than Restart manual jog dialog.
the time-out time. (0x2836:005)

65305 0xFF19 Motor parameter identification fault

Cause Remedy Error type/response

During the automatic identification of the • Set motor data so that they comply with the Fault
motor, an error has occurred. data on the motor nameplate.
• Check wiring of the motor.

65306 0xFF1A Connected HIPERFACE load encoder/master encoder is not supported

Cause Remedy Error type/response

65307 0xFF1B Connected HIPERFACE load encoder/master encoder is not supported - command cannot be executed

Cause Remedy Error type/response

The HIPERFACE® encoder has a type code that is Connect an encoder with a supported type Warning
not stored in the firmware. Hence, no data can code.
be detected.

65308 0xFF1C No resolver as load encoder/master encoder connected - command cannot be executed

Cause Remedy Error type/response

An attempt was made to identify a resolver The resolver error can only be identified if a Warning
fault. But there is an encoder available as a resolver is used as a feedback system.
feedback system.

678
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

65309 0xFF1D No HIPERFACE absolute value encoder as load encoder/master encoder connected - command cannot be executed

Cause Remedy Error type/response

An attempt was made to read out HIPERFACE® Connect HIPERFACE® encoder. Warning
data although no HIPERFACE® encoder is A HIPERFACE® encoder must be selected in
connected. 0x2C50.
No HIPERFACE® encoder is selected in 0x2C50.

65310 0xFF1E FIQ runtime error

Cause Remedy Error type/response

The monitoring of the FIQ by the FPGA has Connect an encoder with a supported type Fault
triggered. code.

65312 0xFF20 Brand protection - check failed

Cause Remedy Error type/response

The review of brand protection has failed. Enter correct pin. Warning
Replace device with OEM device and reprogram
pin.

65313 0xFF21 Time-out holding brake feedforward control

Cause Remedy Error type/response

The specified feedforward control torque could • 0x2820:009 (Starting torque Fault
not be built up within one second. source) = [0] (Last torque saved):
• The load to be braked is too large.
• Control the stored torque. 40x2820:021
• 0x2820:009 (Starting torque
source) = [1] (Torque in 0x2820:010):
• The set torque is too high.
• Reduce torque.

Related topics
4Holding brake control ^ 241

65314 0xFF22 Velocity error

Cause Remedy Error type/response

The speed error exceeds the limit from Increase timeout in 0x2D51:002. Fault
0x2D51:001 for a time duration > 0x2D51:002. Increase limit in 0x2D51:001.
Increase gain of the speed controller.
Increase torque limit and/or current limit.

65315 0xFF23 Position error

Cause Remedy Error type/response

The following error exceeds the limit from Increase timeout in 0x2D51:005. Fault
0x2D51:004 for a time duration > 0x2D51:005. Increase limit in 0x2D51:004.
Increase gain of the position controller.

65316 0xFF24 Sync0 cycle time invalid

Cause Remedy Error type/response

Fault

679
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

65318 0xFF26 Cable check - Motor movement too large

Cause Remedy Error type/response

Phases in the motor cable reversed. Check motor cabling. Fault
The axis was moved manually. Avoid manual movement.
Motor parameters are set incorrectly. Check number of pole pairs and motor type.
For synchronous motors: The pole position is Carry out the pole position identification
set incorrectly. Do not open the brake until you have checked
For motors with holding brake: The brake was the wiring.
opened prematurely by an external source.

65319 0xFF27 Cable check - Wrong motor angle detected

Cause Remedy Error type/response

The determined angle between rotor and Check encoder cabling. Fault
resolver differs from the setting in 0x2C03: 002. Check motor cabling.
The determined angle between rotor and If appropriate, Carry out the pole position
encoder differs from the setting in 0x2C03: 004. identification

65334 0xFF36 Warning - Brake resistor overload

Cause Remedy Error type/response

The calculated thermal load of the brake • Check drive dimensioning. Warning
resistor has reached the warning threshold set • Check settings for the brake energy
in 0x2550:008. The regenerative energy is too management.
high. Note: The warning status is reset if the thermal
load falls below the warning threshold of -
20 %.

Related topics
4Use of a brake resistor ^ 445

65344 0xFF40 Error - Brake transistor

Cause Remedy Error type/response

The short-circuit monitoring of the brake Use brake resistor with a greater resistance Fault
transistor has triggered. value.
Use external brake chopper.
Use regenerative module.

65345 0xFF41 Error - Charging circuit

Cause Remedy Error type/response

The monitoring of the charge relay has Acknowledge error. If the error persists, Fault
responded. contact the manufacturer.

65346 0xFF42 Mains phase failure

Cause Remedy Error type/response

The mains phase monitoring has triggered. Check mains connection. Fault

680
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

65360 0xFF50 General error (see manual)

Cause Remedy Error type/response

An error has been triggered in the technology 1. Search logbook for the triggering error in the Fault
application, the PLC or in the network, which other component.
requires a direct error response from the drive. 2. Eliminate the triggering error.
The error message can now be acknowledged.
If this is not possible, contact the manufacturer.

65361 0xFF51 Internal communication to PLC failed

Cause Remedy Error type/response

The internal communication between the Restart device. Fault
application and the base firmware is disturbed.

65416 0xFF88 SS1/SS2 - Stop time exceeded

Cause Remedy Error type/response

The speed threshold "n = 0" was not reached Increase SS1/SS2- stopping time. Warning
within the stopping time. Reduce delay time in drive.

65417 0xFF89 SLS1 - Nlim1 exceeded

Cause Remedy Error type/response

The safely limited speed SLS1 has been Adapt the speed-dependent parameters in the Warning
exceeded. drive.
Increase safely limited speed.

65418 0xFF8A SLS2 - Nlim2 exceeded

Cause Remedy Error type/response

The safely limited speed SLS2 has been Adapt the speed-dependent parameters in the Warning
exceeded. drive.
Increase safely limited speed.

65419 0xFF8B SLS3 - Nlim3 exceeded

Cause Remedy Error type/response

The safely limited speed SLS3 has been Adapt the speed-dependent parameters in the Warning
exceeded. drive.
Increase safely limited speed.

65420 0xFF8C SLS4 - Nlim4 exceeded

Cause Remedy Error type/response

The safely limited speed SLS4 has been Adapt the speed-dependent parameters in the Warning
exceeded. drive.
Increase safely limited speed.

681
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

65421 0xFF8D SLS/SMS - Error stop not executed

Cause Remedy Error type/response

A safely limited speed (SLS1-SLS4) or the Adapt the speed-dependent parameters in the Warning
maximum speed (SMS) has been exceeded. drive.
The error was not reported within the Increase response time.
parameterized response time.

65422 0xFF8E SDIpos - Wrong direction

Cause Remedy Error type/response

The drive has moved too far in the wrong Adapt the parameterization of the higher-level Warning
direction. controller.
Increase 0x28BA:003 tolerance threshold

65423 0xFF8F SDIneg - Wrong direction

Cause Remedy Error type/response

The drive has moved too far in the wrong Adapt the parameterization of the higher-level Warning
direction. controller.
Increase 0x28BA:003 tolerance threshold

65424 0xFF90 SMS - Nmax exceeded

Cause Remedy Error type/response

The drive has exceeded the parameterized safe Adapt the maximum speed in the drive. Warning
maximum speed (SMS).

65425 0xFF91 SOS - Tolerance limit exceeded

Cause Remedy Error type/response

The position change during SOS is greater than Increase tolerance window Warning
the parameterized tolerance window Adapt response time of encoder monitoring.
0x289F:001.

65426 0xFF92 No feedback system configured

Cause Remedy Error type/response

An attempt was made to call up a speed-based Configure suitable feedback. Warning
or position-based safety function although no
feedback is configured.

65427 0xFF93 CAS - Round trip time exceeded

Cause Remedy Error type/response

The maximum allowed time between activation Set the input delay of SD-In4 0x211A:004 to ≤ Warning
of the cascading and the feedback of the nodes 10 ms.
was exceeded. Check wiring between the nodes.

682
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

65428 0xFF94 CAS - Hardware or discrepancy error

Cause Remedy Error type/response

The hardware did not turn off the cascading Check wiring between the nodes. Warning
output fast enough.
A discrepancy error has occurred at the
cascading input.

65429 0xFF95 SS1/SS2 - Speed ramp exceeded

Cause Remedy Error type/response

Ramp monitoring has responded because Adapt parameters for ramp monitoring. Warning
monitoring limits have been exceeded. (0x2894)

Deactivate ramp monitoring.

65430 0xFF96 SLI - Safely limited increment exceeded

Cause Remedy Error type/response

The maximum permissible position change Adapt parameters for SLI. Warning
(0x28CA:001, 0x28CA:003) was exceeded.

65431 0xFF97 SLP1 - Position limits exceeded

Cause Remedy Error type/response

The upper or lower position limit of SLP1 has Adapt parameters for SLP1. Warning
been exceeded. Increase the distance to the position limits in
the application.

65432 0xFF98 SLP2 - Position limits exceeded

Cause Remedy Error type/response

The upper or lower position limit of SLP2 has Adapt parameters for SLP2. Warning
been exceeded. Increase the distance to the position limits in
the application.

65433 0xFF99 SLP3 - Position limits exceeded

Cause Remedy Error type/response

The upper or lower position limit of SLP3 has Adapt parameters for SLP3. Warning
been exceeded. Increase the distance to the position limits in
the application.

65434 0xFF9A SLP4 - Position limits exceeded

Cause Remedy Error type/response

The upper or lower position limit of SLP4 has Adapt parameters for SLP4. Warning
been exceeded. Increase the distance to the position limits in
the application.

683
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

65435 0xFF9B SLP - No home position

Cause Remedy Error type/response

SLP has been commissioned, but the home Check status of the safe reference. (0x2882:006) Warning
position is unknown.

65437 0xFF9D PDSS - Velocity exceeded

Cause Remedy Error type/response

The drive has exceeded the current allowed Check parameters for PDSS. Warning
speed for PDSS. Reduce speeds in the application.
Increase distance to PDSS limit values.

65438 0xFF9E PDSS - Creep velocity SCS exceeded

Cause Remedy Error type/response

The drive has exceeded the currently permitted Check parameters for PDSS. Warning
SCS creeping speed. Reduce speeds in the application.
Increase distance to PDSS limit values.

65439 0xFF9F PDSS - No diagnostic mark detected

Cause Remedy Error type/response

No diagnostic marker for PDSS was detected. Adapt parameters for the diagnostic marker. Warning
Check the function of the diagnostic sensors.
Correct position of the diagnostic sensors.

65440 0xFFA0 PDSS - Diagnostic mark detected at invalid position

Cause Remedy Error type/response

A diagnostic marker for PDSS was detected at Adapt parameters for the diagnostic marker. Warning
an invalid position. Correct position of the diagnostic sensors.

65446 0xFFA6 SHom - Time-out

Cause Remedy Error type/response

After SHom_Start, the home position was not Adapt timeout. Warning
detected within the timeout set in 0x2882:002. Check configuration of triggers for SHom_Start
and SHom_Load.

65447 0xFFA7 SHom - Home position deleted

Cause Remedy Error type/response

The home position was deleted by Execute SHom again. Information
acknowledging a position error or manually via
0x2114:014.

65448 0xFFA8 SHom - Maximum slip value exceeded

Cause Remedy Error type/response

The maximum permissible slip has been Evaluate slip monitoring in 0x2870:2. Warning
exceeded. Check the wear-prone drive components and
replace then if necessary.

684
Diagnostics and fault elimination
Error codes, causes and remedies
Causes and remedies

65449 0xFFA9 SHom - Tolerance of start position exceeded

Cause Remedy Error type/response

The tolerance for the starting position has been Do not move drive components while the mains Warning
exceeded. voltage is switched off.
Execute SHom again.

65450 0xFFAA SHom - Tolerance of position comparison exceeded

Cause Remedy Error type/response

The tolerance for the position comparison has Check gearbox factor and mounting direction. Warning
been exceeded. Check the wear-prone drive components and
replace then if necessary.
Execute SHom again.

65451 0xFFAB SSM - Invalid safe velocity

Cause Remedy Error type/response

No safe speed could be determined. The Check encoder. Warning
encoder is not initialized or the status A certified motor/encoder combination must be
transmitted by the encoder is invalid. used.

65452 0xFFAC SSM - Encoder error

Cause Remedy Error type/response

The monitoring of the safe speed via encoder is Check encoder. Warning
faulty. Check configuration of the encoder.

65453 0xFFAD SSM - Resolver error

Cause Remedy Error type/response

The monitoring of the safe speed via resolver is Check encoder. Warning
faulty. Check configuration of the encoder.

65454 0xFFAE SSM - Error in standard device data

Cause Remedy Error type/response

Safe speed monitoring is faulty because the Check encoder. Warning
device is transmitting incorrect data. Check configuration of the encoder.

65455 0xFFAF SSM - Speed deviation too high

Cause Remedy Error type/response

The difference between the internally Check configuration of the encoder. Warning
calculated speed and the speed transmitted by Check gearbox factor.
the encoder is too large. Check tolerance for the deviation.

65456 0xFFB0 SSM - Synchronization error

Cause Remedy Error type/response

Internal error Restart the device. If the error persists, contact Warning
the manufacturer.

685
Diagnostics and fault elimination
Error codes, causes and remedies
Extended Safety - Parameter set plausibility errors

19.5.3 Extended Safety - Parameter set plausibility errors

The following table contains the detailed information about the possible plausibility errors.
The error code corresponds to the entry in 0x2115:005.

686
Diagnostics and fault elimination
Error codes, causes and remedies
Extended Safety - Parameter set plausibility errors

Error information 1 Error in the setting of the safe parameterization

0x2115:005

1 If SD-In1 is deactivated, SD-In1 must not be parameterized as a source for any function.
2 If SD-In2 is deactivated, SD-In2 must not be parameterized as a source for any function.
3 If SD-In3 is deactivated, SD-In3 must not be parameterized as a source for any function.
4 If SD-In4 is deactivated, SD-In4 must not be parameterized as a source for any function.
5 If no safety bus is parameterized, no S-Bus bit may be parameterized as source for a function.
6 If no motor encoder is parameterized, no function requiring an encoder may be parameterized.
7 If cascading is parameterized:
• SD-In4 must be parameterized as an active sensor.
• SSE must be parameterized to STO via SD-In4.
• The input delay for SD-In4 must be ≤10 ms.
• The restart after STO must be "acknowledged".
• SD-Out1 must not be controlled via S-Bus.
8 If a resolver is parameterized as motor encoder, max. 10000 rpm divided by the number of pole pairs of the resolver may be
set as speed value due to the system.
9 If SS1 is parameterized so that STO is triggered after reaching n = 0, the delay time "STO after n = 0" must be less than or
equal to the stopping time.
10 If OMS is used via the S-Bus, "OMS: Function at LOW level" must be equal to "Normal operation", because a level inversion
on the S-Bus has no effect.
11 If OMS is used via S-Bus, at least one stop function must also be parameterized via S-Bus to switch to the safe state in the
event of bus failure.
12 If no motor encoder system is parameterized, the delay time "STO after n = 0" must be zero.
13 The lower position limit for PDSS must be less than or equal to the upper position limit for PDSS.
14 The lower SCS limit for PDSS must be less than or equal to the upper SCS limit.
15 The lower position limit for SLP must be less than or equal to the upper position limit for SLP.
16 The lower position limit for SCA must be less than or equal to the upper position limit for SCA.
17 The lower diagnostic position for SHom must be less than or equal to the upper diagnostic position.
18 If the parameterized value for the maximum compensated slip is not zero, it must be less than or equal to the tolerance of
the position comparison.
19 If the input source for SHom_Start is deactivated, no function based on an absolute position may be parameterized.
23 If the input source for the SHom diagnostic positions is not deactivated, the lower diagnostic position must be less than or
equal to the upper diagnostic position.
If PDSS is also used, the lower diagnostic position must be greater than the lower position limit and lower SCS limit.
24 If the input source for the SHom diagnostic positions is not deactivated, the upper diagnostic position must be greater than
or equal to the lower diagnostic position.
If PDSS is also used, the upper diagnostic position must be smaller than the upper position limit and upper SCS limit.
25 If no motor encoder system is parameterized, no load encoder system may be parameterized either.
26 If no load encoder system is parameterized, the gearbox factors for numerator and denominator must be set to default
values (100).
The load encoder mounting direction must be parameterized with the setting "Same as motor encoder".
27 If muting (MUT) is parameterized, a password must be assigned.
Valid from safety parameter set V1.1.
29 If the S-Bus is to be hidden via muting (MUT), an S-Bus must also be parameterized.
Valid from safety parameter set V1.1.
30 If SD-In1 is to be hidden via muting (MUT), SD-In1 must also be parameterized.
Valid from safety parameter set V1.1.
31 If SD-In2 is to be hidden via muting (MUT), SD-In2 must also be parameterized.
Valid from safety parameter set V1.1.
32 If SD-In3 is to be hidden via muting (MUT), SD-In3 must also be parameterized.
Valid from safety parameter set V1.1.
33 If SD-In4 is to be hidden via muting (MUT), SD-In4 must also be parameterized.
Valid from safety parameter set V1.1.
34 If the parameter set version is smaller than V1.1, only 0 ... 4 may be set for the S-Bus configuration.
Valid from safety parameter set V1.0.
35 If SD-In1 is deactivated, SD-In1 must not be parameterized for SBC as source.
Valid from safety parameter set V1.1.
36 If SD-In2 is deactivated, SD-In2 must not be parameterized for SBC as source.
Valid from safety parameter set V1.1.
37 If SD-In3 is deactivated, SD-In3 must not be parameterized for SBC as source.

687
Diagnostics and fault elimination
Error codes, causes and remedies
Extended Safety - Parameter set plausibility errors

Error information 1 Error in the setting of the safe parameterization

0x2115:005
Valid from safety parameter set V1.1.
38 If SD-In4 is deactivated, SD-In4 must not be parameterized for SBC as source.
Valid from safety parameter set V1.1.
39 If no safety bus is parameterized, the S-Bus bit must not be parameterized as a source for SBC.
Valid from safety parameter set V1.1.
40 The tolerance window of the diagnostic positions must lie completely within the displayable position range.
41 If the parameter set version is smaller than V1.2, only 0, 4 or 11 may be set for the S-Bus configuration.
Valid from safety parameter set >V1.1.
42 If the parameter set version is smaller than V1.3, only 0, 1 or 2 may be set for the motor encoder configuration.
Valid from safety parameter set >V1.2.
43 If the parameter set version is smaller than V1.3, the gearbox factor denominator may only be set to max. 100.
Valid from safety parameter set >V1.2.
44 If the parameter set version is smaller than V1.3, the gearbox factor counter may only be set between 20 ... 50000 may be
set.
Valid from safety parameter set >V1.2.

688
Technical data

20 Technical data
The technical data for the device (dimensions, rated data, standards and
operating conditions) can be found in the associated project planning
document.

689
Appendix
Parameter attribute list

21 Appendix
21.1 Parameter attribute list
The parameter attribute list in particular contains some information required for reading and
writing parameters via network.

The following conventions are used in this documentation for specifying the
parameter address:
• The index is specified as a hexadecimal value.
• The subindex is specified as a decimal value.
• 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
Name Parameter name
Default setting Default setting of the parameter
Data type Data type of the parameter:
I8 INTEGER_8 1 byte, with sign
I16 INTEGER_16 2 bytes with sign
I32 INTEGER_32 4 bytes with sign
I64 INTEGER_64 8 bytes with sign
U8 UNSIGNED_8 1 byte without sign
U16 UNSIGNED_16 2 bytes without sign
U32 UNSIGNED_32 4 bytes without sign
U64 UNSIGNED_64 8 bytes without sign
STRING[xx] VISIBLE_STRING ASCII string (with character length xx)
OCTET[xx] OCTET_STRING 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
1000 3 decimal positions
10000 4 decimal positions
A Attributes (combinations of several attributes also possible):
C Setting can only be changed if the inverter is disabled.
E Value is displayed as IP address.
H Value is displayed in hexadecimal form.
T Value is displayed as time.
X Parameter is not displayed in the engineering tools.
M Mapping:
● Mapping permitted.
Mapping not permissible.

690
Appendix
Parameter attribute list

Parameter attribute list (short overview of all parameter indexes)

Address Name Default setting Data type Factor A M
0x1000 Device type - (Read only) U32 1 X
0x1001 Error register - (Read only) U8 1 X ●
0x1008 Manufacturer device name - (Read only) STRING[50] X
0x1009 Manufacturer hardware version - (Read only) STRING[50] X
0x100A Manufacturer software version - (Read only) STRING[50] X
0x1018:001 Identity object: Vendor ID - (Read only) U32 1 X
0x1018:002 Identity object: Product Code - (Read only) U32 X
0x1018:003 Identity object: Revision number - (Read only) U32 1 X
0x1018:004 Identity object: Serial number - (Read only) U32 1 X
0x10F1:001 Error settings: Local error reaction Device specific state [2] U32 X
0x10F1:002 Error settings: Sync error counter limit 20 U16 1 -
0x2000:001 Device data: Product code - (Read only) STRING[50] X
0x2000:002 Device data: Serial number - (Read only) STRING[50] X
0x2000:003 Device data: Production date - (Read only) STRING[50] X
0x2000:004 Device data: CU firmware version - (Read only) STRING[50] X
0x2000:006 Device data: CU bootloader version - (Read only) STRING[50] X
0x2000:008 Device data: Object directory version - (Read only) U32 1 X
0x2000:015 Device data: Communication firmware revision - (Read only) STRING[50] X
number
0x2000:019 Device data: Safety module version - (Read only) STRING[50] X
0x2001 Device name "Device" STRING[128] -
0x2002:001 Device module: Safety module - (Read only) STRING[50] X
0x2002:006 Device module: CU serial number - (Read only) STRING[50] X
0x2002:007 Device module: PU serial number - (Read only) STRING[50] X
0x2002:010 Device module: Type communication module - (Read only) STRING[50] X
0x2002:011 Device module: Serial number communication - (Read only) STRING[50] X
module
0x2002:012 Device module: Hardware version communication - (Read only) STRING[50] X
module
0x2002:013 Device module: Type encoder 1 - (Read only) STRING[50] X
0x2002:014 Device module: Serial number encoder 1 - (Read only) STRING[50] X
0x2002:015 Device module: Hardware version encoder 1 - (Read only) STRING[50] X
0x2002:016 Device module: Type encoder 2 - (Read only) STRING[50] X
0x2002:017 Device module: Serial number encoder 2 - (Read only) STRING[50] X
0x2002:018 Device module: Hardware version encoder 2 - (Read only) STRING[50] X
0x2010:001 Device event monitor: EreignisortEvent location - (Read only) U8 X
0x2010:002 Device event monitor: Event type - (Read only) U8 X
0x2010:003 Device event monitor: Event status - (Read only) U8 X
0x2010:005 Device event monitor: Number of current event - (Read only) U32 HX
0x2010:006 Device event monitor: Time stamp of current event x ns (Read only) U64 1 TX
0x2012:001 Device information: SD card status - (Read only) U8 X
0x2012:002 Device information: Application Credit available - (Read only) U16 1 X
0x2013:001 Application information: Active application - (Read only) U16 X
0x2013:002 Application information: Application Credit required - (Read only) U16 1 X
0x2020:001 EoE information: Virtual MAC address - (Read only) STRING[32] X
0x2020:002 EoE information: IP adress - (Read only) STRING[32] X
0x2020:003 EoE information: Subnet mask - (Read only) STRING[32] X
0x2020:004 EoE information: Standard gateway - (Read only) STRING[32] X
0x2020:005 EoE information: DNS server - (Read only) STRING[32] X
0x2020:006 EoE information: DNS name - (Read only) STRING[50] X
0x2020:007 EoE information: Received packages U32 1 X
0x2020:008 EoE information: Transmitted packages U32 1 X
0x2021:001 Optical tracking: Start detection Stop [0] U8 X
0x2021:002 Optical tracking: Blinking duration 5s U16 1 X
0x2022:001 Device commands: Load default settings Off / ready [0] U8 CX

691
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2022:003 Device commands: Save user data Off / ready [0] U8 X
0x2022:015 Device commands: Delete logbook Off / ready [0] U8 X
0x2022:035 Device commands: Restart Device Off / ready [0] U8 X
0x2022:036 Device commands: Export Logbook Off / ready [0] U8 X
0x2022:037 Device commands: Delete Logfiles Off / ready [0] U8 X
0x2022:038 Device commands: Activate loaded application Off / ready [0] U8 X
0x2022:039 Device commands: Load TA default settings Off / ready [0] U8 CX
0x2022:040 Device commands: Parameter-Backup Off / ready [0] U8 CX
0x2022:041 Device commands: Restart extended safety Off / ready [0] U8 X
0x2022:042 Device commands: Upload application Off / ready [0] U8 X
0x2022:043 Device commands: Restore Off / ready [0] U8 CX
0x2022:044 Device commands: Start application Off / ready [0] U8 CX
0x2022:045 Device commands: Stop application Off / ready [0] U8 CX
0x2030 CRC parameter set - (Read only) U32 1 X
0x203D PIN1 access protection 0 I16 1 -
0x203E PIN2 access protection 0 I16 1 -
0x203F PIN1/PIN2 log-in 0 I16 1 X
0x2040 Access protection status - (Read only) U16 HX
0x2100:001 Brand protection: PIN set 0 I32 1 X
0x2100:002 Brand protection: PIN input 0 I32 1 X
0x2100:003 Brand protection: Encryption 0 U8 1 X
0x2110:014 Delete home position Ready [0] U8 X
0x2110:015 Activate muting Ready [0] U8 X
0x2114:001 Parameter set: Version - (Read only) U16 -
0x2114:002 Parameter set: Project CRC 0 U32 1 -
0x2115:001 Parameter set: Status - (Read only) U8 X
0x2115:002 Parameter set: Current CRC - (Read only) U32 1 X
0x2115:003 Parameter set: Last valid CRC - (Read only) U32 1 X
0x2115:004 Parameter set: Parameter setting time stamp x s (Read only) U32 1 X
0x2115:005 Parameter set: Error information 1 - (Read only) U32 1 X
0x2115:006 Parameter set: Error information 2 - (Read only) U32 1 X
0x2115:007 Parameter set: Error information 3 - (Read only) U32 1 X
0x2115:008 Parameter set: Current CRC without safety address - (Read only) U32 1 X
0x2118:001 SD-In: SD-In1 sensor type - (Read only) U8 -
0x2118:002 SD-In: SD-In2 sensor type - (Read only) U8 -
0x2118:003 SD-In: SD-In3 sensor type - (Read only) U8 -
0x2118:004 SD-In: SD-In4 sensor type - (Read only) U8 -
0x2119:001 SD-In: SD-In1 discrepancy time x ms (Read only) U16 1 -
0x2119:002 SD-In: SD-In2 discrepancy time x ms (Read only) U16 1 -
0x2119:003 SD-In: SD-In3 discrepancy time x ms (Read only) U16 1 -
0x2119:004 SD-In: SD-In4 discrepancy time x ms (Read only) U16 1 -
0x211A:001 SD-In: SD-In1 input delay x ms (Read only) U16 1 -
0x211A:002 SD-In: SD-In2 input delay x ms (Read only) U16 1 -
0x211A:003 SD-In: SD-In3 input delay x ms (Read only) U16 1 -
0x211A:004 SD-In: SD-In4 input delay x ms (Read only) U16 1 -
0x211B Input image - (Read only) U32 HX
0x211C:001 Status bits inputs: SD-In1 - (Read only) BOOLEAN 1 X ●
0x211C:002 Status bits inputs: SD-In2 - (Read only) BOOLEAN 1 X ●
0x211C:003 Status bits inputs: SD-In3 - (Read only) BOOLEAN 1 X ●
0x211C:004 Status bits inputs: SD-In4 - (Read only) BOOLEAN 1 X ●
0x211C:005 Status bits inputs: AIS Dig-In - (Read only) BOOLEAN 1 X
0x211C:006 Status bits inputs: AIE Dig-In - (Read only) BOOLEAN 1 X
0x211C:007 Status bits inputs: IRS Dig-In - (Read only) BOOLEAN 1 X
0x211C:008 Status bits inputs: IRL Dig-In - (Read only) BOOLEAN 1 X
0x2120:001 SD-Out: SD-Out1 source S-Bus - (Read only) U8 -

692
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2121:001 SD-Out: SD-Out1 logic function - (Read only) U8 -
0x2122 Output image - (Read only) U16 HX
0x2123:001 Status bits outputs: SD-Out1 - (Read only) BOOLEAN 1 X ●
0x2124 CAS Source SD-In - (Read only) U8 -
0x2125:001 CAS: Stop delay x ms (Read only) U16 1 X
0x2128 S-Bus configuration - (Read only) U8 -
0x2129:001 S-Bus control bits: SD-Out1 - (Read only) BOOLEAN 1 X ●
0x212A:001 S-Bus: FSoE project CRC U32 1 X
0x212A:002 S-Bus: PROFIsafe status - (Read only) U8 X
0x212A:003 S-Bus: PROFIsafe status byte - (Read only) U8 HX
0x212A:004 S-Bus: PROFIsafe control byte - (Read only) U8 HX
0x212C:001 Device module: ES firmware version - (Read only) STRING[50] X
0x212D:001 Device module: ES HW version - (Read only) STRING[50] X
0x212D:002 Device module: ES product code - (Read only) STRING[50] X
0x212D:003 Device module: ES serial number - (Read only) STRING[50] X
0x212D:004 Device module: ES production date - (Read only) STRING[50] X
0x2130:001 Event history: Current error type - (Read only) U8 X
0x2130:002 Event history: Internal event 1 - (Read only) U16 HX
0x2130:003 Event history: Internal event 2 - (Read only) U16 HX
0x2130:004 Event history: Internal event 3 - (Read only) U16 HX
0x2130:005 Event history: Internal event 4 - (Read only) U16 HX
0x2130:006 Event history: Internal event 5 - (Read only) U16 HX
0x2130:007 Event history: Internal event 6 - (Read only) U16 HX
0x2130:008 Event history: Internal event 7 - (Read only) U16 HX
0x2130:009 Event history: Internal event 8 - (Read only) U16 HX
0x2130:010 Event history: Internal event 9 - (Read only) U16 HX
0x2130:011 Event history: Internal event 10 - (Read only) U16 HX
0x2130:012 Event history: Internal event 11 - (Read only) U16 HX
0x2130:013 Event history: Internal event 12 - (Read only) U16 HX
0x2130:014 Event history: Internal event 13 - (Read only) U16 HX
0x2130:015 Event history: Internal event 14 - (Read only) U16 HX
0x2130:016 Event history: Internal event 15 - (Read only) U16 HX
0x2130:017 Event history: Internal event 16 - (Read only) U16 HX
0x2131:001 Device module: ES power-on time x s (Read only) U32 1 X
0x2132 ES state - (Read only) U16 1 X
0x213A:001 MUT: Mute S-Bus - (Read only) U8 -
0x213A:002 MUT: Mute SD-In1 - (Read only) U8 -
0x213A:003 MUT: Mute SD-In2 - (Read only) U8 -
0x213A:004 MUT: Mute SD-In3 - (Read only) U8 -
0x213A:005 MUT: Mute SD-In4 - (Read only) U8 -
0x213B:001 MUT: Password - (Read only) U32 1 -
0x213B:002 MUT: Remaining time x s (Read only) U32 1 X
0x213C MUT "MUT active" - Output - (Read only) U8 -
0x2300 CANopen communication No action/no error [0] U8 X
0x2301:001 CANopen settings: Node ID 1 U8 1 -
0x2301:002 CANopen settings: Baud rate 500 kbps [5] U8 -
0x2301:003 CANopen settings: Slave/Master Slave [0] U8 -
0x2301:004 CANopen settings: Start remote delay 3000 U16 1 -
0x2301:005 CANopen settings: Activate SDO2 channel Not active [0] U8 -
0x2301:006 CANopen settings: COB-ID Configuration - PDO Base + node-ID [0] U8 -
0x2301:007 CANopen settings: COB-ID Configuration - SDO2 Freely configurable [1] U8 -
0x2302:001 Active CANopen settings: Active node ID - (Read only) U8 1 X
0x2302:002 Active CANopen settings: Active baud rate - (Read only) U8 X
0x2302:003 Active CANopen settings: COB-ID Emergency - (Read only) U32 HX
telegram (EMCY)

693
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2304:001 CANopen settings: SYNC - COB-ID 0x00000080 U32 H
0x2304:002 CANopen settings: Communication cyclic period 0 us U32 1 -
0x2304:003 CANopen settings: EMCY - Inhibit time 0.0 ms U16 10 -
0x2304:004 CANopen settings: Consumer heartbeat time 1 0x00000000 U32 H
0x2304:005 CANopen settings: Consumer heartbeat time 2 0x00000000 U32 H
0x2304:006 CANopen settings: Consumer heartbeat time 3 0x00000000 U32 H
0x2304:007 CANopen settings: Consumer heartbeat time 4 0x00000000 U32 H
0x2304:020 CANopen settings: Producer heartbeat time 0 ms U16 1 -
0x2304:021 CANopen settings: Communication error Status -> Pre-operational [0] U8 -
0x2304:031 CANopen settings: COB-ID client -> server (rx) 0x80000641 U32 H
0x2304:032 CANopen settings: COB-ID server -> client (tx) 0x800005C1 U32 H
0x2304:033 CANopen settings: SDO client - Node-ID 1 U8 1 -
0x2304:041 CANopen settings: RPDO1 - COB-ID 0x00000201 U32 H
0x2304:042 CANopen settings: RPDO1 - Transmission type 255 U8 1 -
0x2304:045 CANopen settings: RPDO1 - Event timer 100 ms U16 1 -
0x2304:051 CANopen settings: RPDO2 - COB-ID 0x80000301 U32 H
0x2304:052 CANopen settings: RPDO2 - Transmission type 255 U8 1 -
0x2304:055 CANopen settings: RPDO2 - Event timer 100 ms U16 1 -
0x2304:061 CANopen settings: RPDO3 - COB-ID 0x80000401 U32 H
0x2304:062 CANopen settings: RPDO3 - Transmission type 255 U8 1 -
0x2304:065 CANopen settings: RPDO3 - Event timer 100 ms U16 1 -
0x2304:071 CANopen settings: RPDO4 - COB-ID 0x80000501 U32 H
0x2304:072 CANopen settings: RPDO4 - Transmission type 255 U8 1 -
0x2304:075 CANopen settings: RPDO4 - Event timer 100 ms U16 1 -
0x2304:081 CANopen settings: TPDO1 - COB-ID 0x40000181 U32 H
0x2304:082 CANopen settings: TPDO1 - Transmission type 255 U8 1 -
0x2304:083 CANopen settings: TPDO1 - Inhibit time 0.0 ms U16 10 -
0x2304:085 CANopen settings: TPDO1 - Event timer 20 ms U16 1 -
0x2304:091 CANopen settings: TPDO2 - COB-ID 0xC0000281 U32 H
0x2304:092 CANopen settings: TPDO2 - Transmission type 255 U8 1 -
0x2304:093 CANopen settings: TPDO2 - Inhibit time 0.0 ms U16 10 -
0x2304:095 CANopen settings: TPDO2 - Event timer 0 ms U16 1 -
0x2304:101 CANopen settings: TPDO3 - COB-ID 0xC0000381 U32 H
0x2304:102 CANopen settings: TPDO3 - Transmission type 255 U8 1 -
0x2304:103 CANopen settings: TPDO3 - Inhibit time 0.0 ms U16 10 -
0x2304:105 CANopen settings: TPDO3 - Event timer 0 ms U16 1 -
0x2304:111 CANopen settings: TPDO4 - COB-ID 0xC0000481 U32 H
0x2304:112 CANopen settings: TPDO4 - Transmission type 255 U8 1 -
0x2304:113 CANopen settings: TPDO4 - Inhibit time 0.0 ms U16 10 -
0x2304:115 CANopen settings: TPDO4 - Event timer 0 ms U16 1 -
0x2307 CANopen time-out status - (Read only) U32 HX
0x2308 CANopen status - (Read only) U16 X
0x2309 CANopen controller status - (Read only) U16 X
0x230A:001 CANopen statistics: PDO1 received - (Read only) U16 1 X
0x230A:002 CANopen statistics: PDO2 received - (Read only) U16 1 X
0x230A:003 CANopen statistics: PDO3 received - (Read only) U16 1 X
0x230A:004 CANopen statistics: POD3 recieved - (Read only) U16 1 X
0x230A:005 CANopen statistics: PDO1 transmitted - (Read only) U16 1 X
0x230A:006 CANopen statistics: PDO2 transmitted - (Read only) U16 1 X
0x230A:007 CANopen statistics: PDO3 transmitted - (Read only) U16 1 X
0x230A:008 CANopen statistics: PDO4 transmitted - (Read only) U16 1 X
0x230A:009 CANopen statistics: SDO1 telegrams - (Read only) U16 1 X
0x230A:010 CANopen statistics: SDO2 telegrams - (Read only) U16 1 X
0x230B CANopen error counter - (Read only) U16 1 X
0x231F:001 Communication module ID: Active module ID - (Read only) U8 X

694
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x231F:002 Communication module ID: Module ID connected - (Read only) U8 X
0x2360 EtherCAT communication No action/no error [0] U8 X
0x2362:007 Active EtherCAT settings: Tx length - (Read only) U16 1 X
0x2362:008 Active EtherCAT settings: Rx length - (Read only) U16 1 X
0x2368 EtherCAT status - (Read only) U16 X ●
0x2369 EtherCAT error - (Read only) U16 HX
0x2371:009 Onboard EtherCAT: Interface mode Slave [0] U8 C
0x2372:009 Onboard EtherCAT-Informationen: Active interface - (Read only) U8 X
mode
0x2378 Network status - (Read only) U16 X ●
0x2379 Network error - (Read only) U16 1 X
0x2380 PROFINET communication No action/no error [0] U8 X
0x2381:001 PROFINET settings: IP address 0.0.0.0 U32 E
0x2381:002 PROFINET settings: Subnet 0.0.0.0 U32 E
0x2381:003 PROFINET settings: Gateway 0.0.0.0 U32 E
0x2381:004 PROFINET settings: Station name STRING[240] -
0x2381:005 PROFINET settings: I&M1 System designation STRING[32] -
0x2381:006 PROFINET settings: I&M1 Installation site STRING[22] -
0x2381:007 PROFINET settings: I&M2 Installation date STRING[16] -
0x2381:008 PROFINET settings: I&M3 additional information STRING[54] -
0x2381:009 PROFINET settings: I&M4 signature code "00000000000000000000000000000000 OCTET[54] -
000000000000000000000000000000000
000000000000000000000000000000000
0000000000"
0x2382:001 Active PROFINET settings: IP address - (Read only) U32 EX
0x2382:002 Active PROFINET settings: Subnet - (Read only) U32 EX
0x2382:003 Active PROFINET settings: Gateway - (Read only) U32 EX
0x2382:004 Active PROFINET settings: Station name - (Read only) STRING[240] X
0x2382:005 Active PROFINET settings: MAC Address - (Read only) OCTET[6] X
0x2388 PROFINET status - (Read only) U16 HX
0x2389:001 PROFINET error: Error 1 - (Read only) U16 X
0x2389:002 PROFINET error: Error 2 - (Read only) U16 HX
0x23A0 EtherNet/IP communication No action/no error [0] U8 X
0x23A1:001 EtherNet/IP settings: IP address 192.168.124.16 U32 E
0x23A1:002 EtherNet/IP settings: Subnet 255.255.255.0 U32 E
0x23A1:003 EtherNet/IP settings: Gateway 0.0.0.0 U32 E
0x23A1:004 EtherNet/IP settings: Host name STRING[64] -
0x23A1:005 EtherNet/IP settings: IP configuration DHCP [2] U8 -
0x23A1:006 EtherNet/IP settings: Multicast TTL 1 U8 1 -
0x23A1:007 EtherNet/IP settings: Multicast allocation Default allocation [0] U8 -
0x23A1:008 EtherNet/IP settings: Multicast IP address 239.64.2.224 U32 E
0x23A1:009 EtherNet/IP settings: Multicast number 1 U8 1 -
0x23A1:010 EtherNet/IP settings: Timeout 10000 U16 1 -
0x23A2:001 Active EtherNet/IP settings: IP address - (Read only) U32 EX
0x23A2:002 Active EtherNet/IP settings: Subnet - (Read only) U32 EX
0x23A2:003 Active EtherNet/IP settings: Gateway - (Read only) U32 EX
0x23A2:005 Active EtherNet/IP settings: MAC address - (Read only) OCTET[6] X
0x23A2:006 Active EtherNet/IP settings: Multicast address - (Read only) U32 EX
0x23A4:001 Port 1 Auto-Negotiation [0] U16 -
0x23A4:002 Port 2 Auto-Negotiation [0] U16 -
0x23A5:001 Active port settings: Port 1 (X266) - (Read only) U16 X
0x23A5:002 Active port settings: Port 2 (X267) - (Read only) U16 X
0x23A7 Address conflict detection Enabled [1] U8 -
0x23A8 CIP module status - (Read only) U16 X
0x23A9 EtherNet/IP status - (Read only) U16 X

695
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x243C:001 Device: Ethernet commands: Device: Start firmware Off/Ready [0] U8 CX
update
0x2450 Engineering port control No action/No error [0] U8 X
0x2451:001 Engineering port settings: IP address 0.0.0.0 U32 E
0x2451:002 Engineering port settings: Subnet 0.0.0.0 U32 E
0x2451:003 Engineering port settings: Gateway 0.0.0.0 U32 E
0x2451:004 Engineering port settings: DHCP Enabled [1] U8 -
0x2451:007 Engineering port settings: DNS server address 0.0.0.0 U32 E
0x2452:001 Active engineering port settings: IP address - (Read only) U32 EX
0x2452:002 Active engineering port settings: Subnet - (Read only) U32 EX
0x2452:003 Active engineering port settings: Gateway - (Read only) U32 EX
0x2452:004 Active engineering port settings: DHCP - (Read only) U8 X
0x2452:005 Active engineering port settings: MAC address - (Read only) OCTET[6] X
0x2452:006 Active engineering port settings: Link status - (Read only) U8 X
0x2452:007 Active engineering port settings: DNS server address - (Read only) U32 EX
0x245A:001 NTP server addresses: Activate NTP server No action/no error [0] U8 X
addresses
0x245A:002 NTP server addresses: NTP server address 1 0.0.0.0 U32 E
0x245A:003 NTP server addresses: NTP server address 2 0.0.0.0 U32 E
0x245A:004 NTP server addresses: NTP server address 3 0.0.0.0 U32 E
0x245A:005 NTP server addresses: NTP server address 4 0.0.0.0 U32 E
0x245A:006 NTP server addresses: NTP server name 1 STRING[253] -
0x245A:007 NTP server addresses: NTP server name 2 STRING[253] -
0x245A:008 NTP server addresses: NTP server name 3 STRING[253] -
0x245A:009 NTP server addresses: NTP server name 4 STRING[253] -
0x245B:001 System time: Time base NTP [0] U8 -
0x245B:002 System time: Current time ns U64 1 TX
0x24E7:001 EtherCAT input data: Input data 1 U32 1 X
0x24E7:002 EtherCAT input data: Input data 2 U32 1 X
0x24E7:003 EtherCAT input data: Input data 3 U32 1 X
0x24E7:004 EtherCAT input data: Input data 4 U32 1 X
0x24E7:005 EtherCAT input data: Input data 5 U32 1 X
0x24E7:006 EtherCAT input data: Input data 6 U32 1 X
0x24E7:007 EtherCAT input data: Input data 7 U32 1 X
0x24E7:008 EtherCAT input data: Input data 8 U32 1 X
0x24E7:009 EtherCAT input data: Input data 9 U32 1 X
0x24E7:010 EtherCAT input data: Input data 10 U32 1 X
0x24E7:011 EtherCAT input data: Input data 11 U32 1 X
0x24E7:012 EtherCAT input data: Input data 12 U32 1 X
0x24E7:013 EtherCAT input data: Input data 13 U32 1 X
0x24E7:014 EtherCAT input data: Input data 14 U32 1 X
0x24E7:015 EtherCAT input data: Input data 15 U32 1 X
0x24E7:016 EtherCAT input data: Input data 16 U32 1 X
0x24E8:001 EtherCAT output data: Output data 1 - (Read only) U32 1 X
0x24E8:002 EtherCAT output data: Output data 2 - (Read only) U32 1 X
0x24E8:003 EtherCAT output data: Output data 3 - (Read only) U32 1 X
0x24E8:004 EtherCAT output data: Output data 4 - (Read only) U32 1 X
0x24E8:005 EtherCAT output data: Output data 5 - (Read only) U32 1 X
0x24E8:006 EtherCAT output data: Output data 6 - (Read only) U32 1 X
0x24E8:007 EtherCAT output data: Output data 7 - (Read only) U32 1 X
0x24E8:008 EtherCAT output data: Output data 8 - (Read only) U32 1 X
0x24E8:009 EtherCAT output data: Output data 9 - (Read only) U32 1 X
0x24E8:010 EtherCAT output data: Output data 10 - (Read only) U32 1 X
0x24E8:011 EtherCAT output data: Output data 11 - (Read only) U32 1 X
0x24E8:012 EtherCAT output data: Output data 12 - (Read only) U32 1 X

696
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x24E8:013 EtherCAT output data: Output data 13 - (Read only) U32 1 X
0x24E8:014 EtherCAT output data: Output data 14 - (Read only) U32 1 X
0x24E8:015 EtherCAT output data: Output data 15 - (Read only) U32 1 X
0x24E8:016 EtherCAT output data: Output data 16 - (Read only) U32 1 X
0x2500 Touch probe filter time 0 us U16 1 -
0x2539:001 Hardware-Diagnose: 24 V supply actual voltage x.x V (Read only) U16 10 X
0x2539:002 Hardware-Diagnose: Control board temperature x.x °C (Read only) I16 10 X
0x2540:001 Mains settings: Rated mains voltage 400 Veff [1] U8 -
0x2540:002 Mains settings: Undervoltage warning threshold 430 V U16 1 -
0x2540:003 Mains settings: Undervoltage error threshold x V (Read only) U16 1 X
0x2540:004 Mains settings: Undervoltage reset threshold x V (Read only) U16 1 X
0x2540:005 Mains settings: Overvoltage warning threshold 795 V U16 1 -
0x2540:006 Mains settings: Overvoltage error threshold x V (Read only) U16 1 X
0x2540:007 Mains settings: Overvoltage reset threshold x V (Read only) U16 1 X
0x2540:008 Mains settings: DC link voltage critical - (Read only) U8 1 X ●
0x2541:003 Brake energy management: Reduced threshold 0V U16 1 -
0x2550:001 Brake resistor: Minimum resistance x.x Ω (Read only) U16 10 X
0x2550:002 Brake resistor: Resistance value 180.0 Ω U16 10 -
0x2550:003 Brake resistor: Rated power 5600 W U32 1 -
0x2550:004 Brake resistor: Maximum thermal load 485 kWs U32 1 -
0x2550:006 Brake resistor: Reference resistance Minimum resistance [0] U8 -
0x2550:007 Brake resistor: Thermal load x.x % (Read only) U16 10 X
0x2550:008 Brake resistor: Warning threshold 90.0 % U16 10 -
0x2550:010 Brake resistor: Response to warning Warning [2] U8 -
0x2550:011 Brake resistor: Response to error No response [0] U8 -
0x2580:001 Distributed Clocks: Real time status - (Read only) U8 X
0x2580:002 Distributed Clocks: First setting time x ns (Read only) U64 1 TX
0x2580:003 Distributed Clocks: Newest setting time x ns (Read only) U64 1 TX
0x2580:004 Distributed Clocks: Current time x ns (Read only) U64 1 TX
0x2590:003 Energy saving: State of actual energy saving mode - (Read only) U8 HX
0x261C:001 Favorites settings: Parameter 1 U32 1 -
0x261C:002 Favorites settings: Parameter 2 U32 1 -
0x261C:003 Favorites settings: Parameter 3 U32 1 -
0x261C:004 Favorites settings: Parameter 4 U32 1 -
0x261C:005 Favorites settings: Parameter 5 U32 1 -
0x261C:006 Favorites settings: Parameter 6 U32 1 -
0x261C:007 Favorites settings: Parameter 7 U32 1 -
0x261C:008 Favorites settings: Parameter 8 U32 1 -
0x261C:009 Favorites settings: Parameter 9 U32 1 -
0x261C:010 Favorites settings: Parameter 10 U32 1 -
0x261C:011 Favorites settings: Parameter 11 U32 1 -
0x261C:012 Favorites settings: Parameter 12 U32 1 -
0x261C:013 Favorites settings: Parameter 13 U32 1 -
0x261C:014 Favorites settings: Parameter 14 U32 1 -
0x261C:015 Favorites settings: Parameter 15 U32 1 -
0x261C:016 Favorites settings: Parameter 16 U32 1 -
0x261C:017 Favorites settings: Parameter 17 U32 1 -
0x261C:018 Favorites settings: Parameter 18 U32 1 -
0x261C:019 Favorites settings: Parameter 19 U32 1 -
0x261C:020 Favorites settings: Parameter 20 U32 1 -
0x261C:021 Favorites settings: Parameter 21 U32 1 -
0x261C:022 Favorites settings: Parameter 22 U32 1 -
0x261C:023 Favorites settings: Parameter 23 U32 1 -
0x261C:024 Favorites settings: Parameter 24 U32 1 -
0x261C:025 Favorites settings: Parameter 25 U32 1 -

697
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x261C:026 Favorites settings: Parameter 26 U32 1 -
0x261C:027 Favorites settings: Parameter 27 U32 1 -
0x261C:028 Favorites settings: Parameter 28 U32 1 -
0x261C:029 Favorites settings: Parameter 29 U32 1 -
0x261C:030 Favorites settings: Parameter 30 U32 1 -
0x261C:031 Favorites settings: Parameter 31 U32 1 -
0x261C:032 Favorites settings: Parameter 32 U32 1 -
0x261C:033 Favorites settings: Parameter 33 U32 1 -
0x261C:034 Favorites settings: Parameter 34 U32 1 -
0x261C:035 Favorites settings: Parameter 35 U32 1 -
0x261C:036 Favorites settings: Parameter 36 U32 1 -
0x261C:037 Favorites settings: Parameter 37 U32 1 -
0x261C:038 Favorites settings: Parameter 38 U32 1 -
0x261C:039 Favorites settings: Parameter 39 U32 1 -
0x261C:040 Favorites settings: Parameter 40 U32 1 -
0x261C:041 Favorites settings: Parameter 41 U32 1 -
0x261C:042 Favorites settings: Parameter 42 U32 1 -
0x261C:043 Favorites settings: Parameter 43 U32 1 -
0x261C:044 Favorites settings: Parameter 44 U32 1 -
0x261C:045 Favorites settings: Parameter 45 U32 1 -
0x261C:046 Favorites settings: Parameter 46 U32 1 -
0x261C:047 Favorites settings: Parameter 47 U32 1 -
0x261C:048 Favorites settings: Parameter 48 U32 1 -
0x261C:049 Favorites settings: Parameter 49 U32 1 -
0x261C:050 Favorites settings: Parameter 50 U32 1 -
0x2632:001 Inversion of digital inputs: Digital input 1 Not inverted [0] U8 -
0x2632:002 Inversion of digital inputs: Digital input 2 Not inverted [0] U8 -
0x2632:003 Inversion of digital inputs: Digital input 3 Not inverted [0] U8 -
0x2632:004 Inversion of digital inputs: Digital input 4 Not inverted [0] U8 -
0x2632:005 Inversion of digital inputs: Digital input 5 Not inverted [0] U8 -
0x2632:006 Inversion of digital inputs: Digital input 6 Not inverted [0] U8 -
0x2632:007 Inversion of digital inputs: Digital input 7 Not inverted [0] U8 -
0x2632:008 Inversion of digital inputs: Digital input 8 Not inverted [0] U8 -
0x2632:009 Inversion of digital inputs: Digital input 9 Not inverted [0] U8 -
0x2633:001 Digital input debounce time: Digital input 1 0 ms U8 1 -
0x2633:002 Digital input debounce time: Digital input 2 0 ms U8 1 -
0x2633:003 Digital input debounce time: Digital input 3 0 ms U8 1 -
0x2633:004 Digital input debounce time: Digital input 4 0 ms U8 1 -
0x2633:005 Digital input debounce time: Digital input 5 0 ms U8 1 -
0x2633:006 Digital input debounce time: Digital input 6 0 ms U8 1 -
0x2633:007 Digital input debounce time: Digital input 7 0 ms U8 1 -
0x2633:008 Digital input debounce time: Digital input 8 0 ms U8 1 -
0x2633:009 Digital input debounce time: Digital input 9 0 ms U8 1 -
0x2634:002 Digital outputs function: Digital output 1 Signal from application [10] U8 -
0x2635:002 Inversion of digital outputs: Digital output 1 Not inverted [0] U8 -
0x2635:003 Inversion of digital outputs: Digital output 2 Not inverted [0] U8 -
0x2635:004 Inversion of digital outputs: Digital output 3 Not inverted [0] U8 -
0x2635:005 Inversion of digital outputs: Digital output 4 Not inverted [0] U8 -
0x2635:006 Inversion of digital outputs: Digital output 5 Not inverted [0] U8 -
0x2635:007 Inversion of digital outputs: Digital output 6 Not inverted [0] U8 -
0x2636:001 Analog input 1: Input range 0 ... 10 VDC [0] U8 -
0x2636:006 Analog input 1: Filter time 10 ms U16 1 -
0x2636:007 Analog input 1: Dead band 0.0 % U16 10 -
0x2636:010 Analog input 1: Error response No response [0] U8 -
0x2636:013 Analog input 1: Minimum value for scaling 0.0 % I16 10 -

698
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2636:014 Analog input 1: Maximum value for scaling 100.0 % I16 10 -
0x263B:001 Digital inputs internal control: Activation Off [0] U8 X
0x263B:002 Digital inputs internal control: DI1 internal control Off [0] U8 X
0x263B:003 Digital inputs internal control: DI2 internal control Off [0] U8 X
0x263B:004 Digital inputs internal control: DI3 internal control Off [0] U8 X
0x263B:005 Digital inputs internal control: DI4 internal control Off [0] U8 X
0x263B:006 Digital inputs internal control: DI5 internal control Off [0] U8 X
0x263B:007 Digital inputs internal control: DI6 internal control Off [0] U8 X
0x263B:008 Digital inputs internal control: DI7 internal control Off [0] U8 X
0x263B:009 Digital inputs internal control: DI8 internal control Off [0] U8 X
0x263B:010 Digital inputs internal control: DI9 internal control Off [0] U8 X
0x263C:001 Digital outputs internal control: Activation Off [0] U8 X
0x263C:002 Digital outputs internal control: DO1 internal control Off [0] U8 X
0x263C:003 Digital outputs internal control: DO2 internal control Off [0] U8 X
0x263C:004 Digital outputs internal control: DO3 internal control Off [0] U8 X
0x263C:005 Digital outputs internal control: DO4 internal control Off [0] U8 X
0x263C:006 Digital outputs internal control: DO5 internal control Off [0] U8 X
0x263C:007 Digital outputs internal control: DO6 internal control Off [0] U8 X
0x263D:001 Analog inputs internal control: Activation Off [0] U8 X
0x263D:002 Analog inputs internal control: AI1 internal control 100.00 % I16 100 X
0x2820:001 Holding brake control: Brake mode Off [2] U8 - ●
0x2820:002 Holding brake control: Brake closing time 100 ms U16 1 -
0x2820:003 Holding brake control: Brake opening time 100 ms U16 1 -
0x2820:004 Holding brake control: Brake detection - (Read only) U16 X
0x2820:005 Holding brake control: Brake polarity Normal [0] U8 -
0x2820:006 Holding brake control: Brake error response Fault > CiA402 [1] U8 -
0x2820:009 Holding brake control: Starting torque source Torque in 0x2820:010 [1] U16 -
0x2820:010 Holding brake control: Starting torque 0.0 % I16 10 - ●
0x2820:011 Holding brake control: Override of the brake control No override active [0] U8 X ●
0x2820:013 Holding brake control: Holding load ramptime 0 ms U16 1 -
0x2820:015 Holding brake control: Brake status - (Read only) U8 X
0x2820:019 Holding brake control: Brake opening time test 500 ms U16 1 X
signal
0x2820:020 Holding brake control: Brake control word 0x00 U8 HX
0x2820:021 Holding brake control: Detected actual torque x.x % (Read only) I16 10 X
0x2820:022 Holding brake control: Holding brake supply voltage No reduction [100] U8 -
0x2820:023 Holding brake control: Output signal configuration Internal brake control [0] U8 -
0x2822:001 Axis commands: Enable inverter Inverter enabled [1] U8 X
0x2822:003 Axis commands: Reset error Off/Ready [0] U8 X
0x2822:021 Axis commands: Load default Lh saturation Off/Ready [0] U8 X
characteristic
0x2822:022 Axis commands: Load default inverter characteristic Off/Ready [0] U8 X
0x2822:023 Axis commands: Estimate optimum magnetizing Off/Ready [0] U8 X
current
0x2822:024 Axis commands: Estimate basic motor parameters Off/Ready [0] U8 X
based on rated data
0x2822:025 Axis commands: Get motor encoder characteristic Off/Ready [0] U8 X
(resolver)
0x2822:026 Axis commands: Get motor encoder information Off/Ready [0] U8 X
(Hiperface)
0x2822:029 Axis commands: Get load encoder/master encoder Off/Ready [0] U8 X
characteristic (resolver)
0x2822:030 Axis commands: Get load encoder/master encoder Off/Ready [0] U8 X
information (Hiperface)
0x2822:037 Axis commands: Estimate all motor parameters Off/Ready [0] U8 X
based on rated data

699
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2822:038 Axis commands: HIPERFACE (A): Set position with Off/Ready [0] U8 X
synchronization
0x2822:039 Axis commands: HIPERFACE (A): Set position with Off/Ready [0] U8 X
synchronization
0x2823 Status of axis commands - (Read only) U8 1 X
0x2824 Control via PDO/Application On [1] U8 CX
0x2825 Drive mode selection CiA402 operating modes [0] U8 CX
0x2826 Time-out for error response 4s U32 1 -
0x282A:001 Status words: Cause of disable - (Read only) U32 HX ●
0x282A:004 Status words: Extended status word - (Read only) U16 HX ●
0x282C:001 I/O diagnostic: Application level of the digital inputs - (Read only) U32 HX ●
0x282C:002 I/O diagnostic: Digital output levels - (Read only) U32 HX ●
0x2830 Inverter control word 0x0000 U16 HX ●
0x2831 Inverter-Statuswort - (Read only) U16 HX ●
0x2832 Identification status - (Read only) U16 HX
0x2833 Inverter status word 2 - (Read only) U16 HX ●
0x2835:001 Manual test mode: Current setpoint 0% I16 1 X ●
0x2835:002 Manual test mode: Frequency 0.0 Hz I16 10 X ●
0x2835:003 Manual test mode: Starting angle 0.0 ° I16 10 X
0x2836:001 Manual control mode: Current setpoint 30 % U16 1 X ●
0x2836:002 Manual control mode: Frequency 0.0 Hz I16 10 X ●
0x2836:003 Manual control mode: Ramp time (current) 0 ms U16 1 -
0x2836:004 Manual control mode: Ramp time (frequency) 500 ms U16 1 -
0x2836:005 Manual control mode: Time monitoring (frequency) 2500 ms U32 1 -
0x2836:006 Manual control mode: Current controller gain 20.00 V/A U32 100 -
0x2836:007 Manual control mode: Current controller reset time 20.00 ms U32 100 -
0x2840 Error reset time x ms (Read only) I32 1 X
0x2841 Reset error 0 U8 1 X
0x284F Current error - (Read only) OCTET[64] X
0x2857:001 CANopen monitoring: RPDO1-Timeout Warning [2] U8 -
0x2857:002 CANopen monitoring: RPDO2-Timeout Warning [2] U8 -
0x2857:003 CANopen monitoring: RPDO3-Timeout Warning [2] U8 -
0x2857:004 CANopen monitoring: Timeout Rx PDO4 Warning [2] U8 -
0x2857:005 CANopen monitoring: Heartbeat-Timeout Consumer Warning [2] U8 -
1
0x2857:006 CANopen monitoring: Heartbeat-Timeout Consumer Warning [2] U8 -
2
0x2857:007 CANopen monitoring: Heartbeat-Timeout Consumer Warning [2] U8 -
3
0x2857:008 CANopen monitoring: Heartbeat-Timeout Consumer Warning [2] U8 -
4
0x2857:010 CANopen monitoring: "Bus-off" state change Warning [2] U8 -
0x2857:011 CANopen monitoring: Warning Warning [2] U8 -
0x2859:001 Fieldbus network monitoring: Watchdog elapsed Warning [2] U8 -
0x2859:002 Fieldbus network monitoring: Data exchange exited No response [0] U8 -
0x2859:003 Fieldbus network monitoring: Invalid configuration Warning [2] U8 -
0x2859:004 Fieldbus network monitoring: Initialisation error Warning [2] U8 -
0x2859:005 Fieldbus network monitoring: Invalid process data Warning [2] U8 -
0x2859:006 Fieldbus network monitoring: Time-out explicit Warning [2] U8 -
message
0x2859:007 Fieldbus network monitoring: Timeout Warning [2] U8 -
communication
0x285A:001 Diagnostic configuration: Alarm supression 0x0000 U16 H
0x285B:001 Onboard EtherCAT monitoring: Watchdog Fault > CiA402 [1] U8 -
abgelaufen
0x285B:002 Onboard EtherCAT monitoring: EtherCAT role check Warning [2] U8 -

700
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2870:001 SafetyInterface: Control - (Read only) U32 HX ●
0x2870:002 SafetyInterface: State - (Read only) U32 HX ●
0x2870:003 SafetyInterface: IO State - (Read only) U32 HX ●
0x2871:001 SafetyInterface bits: STO active - (Read only) BOOLEAN 1 X ●
0x2871:002 SafetyInterface bits: SS1 active - (Read only) BOOLEAN 1 X ●
0x2871:003 SafetyInterface bits: SS2 active - (Read only) BOOLEAN 1 X ●
0x2871:004 SafetyInterface bits: SOS active - (Read only) BOOLEAN 1 X ●
0x2871:005 SafetyInterface bits: SLS1 active - (Read only) BOOLEAN 1 X ●
0x2871:006 SafetyInterface bits: SLS2 active - (Read only) BOOLEAN 1 X ●
0x2871:007 SafetyInterface bits: SLS3 active - (Read only) BOOLEAN 1 X ●
0x2871:008 SafetyInterface bits: SLS4 active - (Read only) BOOLEAN 1 X ●
0x2871:009 SafetyInterface bits: SDIpos active - (Read only) BOOLEAN 1 X ●
0x2871:010 SafetyInterface bits: SDIneg active - (Read only) BOOLEAN 1 X ●
0x2871:011 SafetyInterface bits: SLI active - (Read only) BOOLEAN 1 X ●
0x2871:012 SafetyInterface bits: SSE active - (Read only) BOOLEAN 1 X ●
0x2871:013 SafetyInterface bits: ES active - (Read only) BOOLEAN 1 X ●
0x2871:014 SafetyInterface bits: OMS active - (Read only) BOOLEAN 1 X ●
0x2871:015 SafetyInterface bits: RMS active - (Read only) BOOLEAN 1 X ●
0x2871:016 SafetyInterface bits: SBC active - (Read only) BOOLEAN 1 X ●
0x2871:017 SafetyInterface bits: MUT active - (Read only) BOOLEAN 1 X ●
0x2871:033 SafetyInterface bits: SLS1 observed - (Read only) BOOLEAN 1 X ●
0x2871:034 SafetyInterface bits: SLS2 observed - (Read only) BOOLEAN 1 X ●
0x2871:035 SafetyInterface bits: SLS3 observed - (Read only) BOOLEAN 1 X ●
0x2871:036 SafetyInterface bits: SLS4 observed - (Read only) BOOLEAN 1 X ●
0x2871:037 SafetyInterface bits: SMS observed - (Read only) BOOLEAN 1 X ●
0x2871:038 SafetyInterface bits: SSM within limits - (Read only) BOOLEAN 1 X ●
0x2871:039 SafetyInterface bits: SDIpos observed - (Read only) BOOLEAN 1 X ●
0x2871:040 SafetyInterface bits: SDIneg observed - (Read only) BOOLEAN 1 X ●
0x2871:041 SafetyInterface bits: SLP1 observed - (Read only) BOOLEAN 1 X ●
0x2871:042 SafetyInterface bits: SLP2 observed - (Read only) BOOLEAN 1 X ●
0x2871:043 SafetyInterface bits: SLP3 observed - (Read only) BOOLEAN 1 X ●
0x2871:044 SafetyInterface bits: SLP4 observed - (Read only) BOOLEAN 1 X ●
0x2871:045 SafetyInterface bits: SCA1 within limits - (Read only) BOOLEAN 1 X ●
0x2871:046 SafetyInterface bits: SCA2 within limits - (Read only) BOOLEAN 1 X ●
0x2871:047 SafetyInterface bits: SCA3 within limits - (Read only) BOOLEAN 1 X ●
0x2871:048 SafetyInterface bits: SCA4 within limits - (Read only) BOOLEAN 1 X ●
0x2871:049 SafetyInterface bits: PDSSpos observed - (Read only) BOOLEAN 1 X ●
0x2871:050 SafetyInterface bits: PDSSneg observed - (Read only) BOOLEAN 1 X ●
0x2871:051 SafetyInterface bits: SOS observed - (Read only) BOOLEAN 1 X ●
0x2871:052 SafetyInterface bits: SBC activated - (Read only) BOOLEAN 1 X ●
0x2871:053 SafetyInterface bits: SHom active - (Read only) BOOLEAN 1 X ●
0x2871:054 SafetyInterface bits: SHom available - (Read only) BOOLEAN 1 X ●
0x2871:055 SafetyInterface bits: Safe speed OK - (Read only) BOOLEAN 1 X ●
0x2871:056 SafetyInterface bits: n=0 - (Read only) BOOLEAN 1 X ●
0x2871:057 SafetyInterface bits: Positive direction - (Read only) BOOLEAN 1 X ●
0x2871:058 SafetyInterface bits: Slip > 25% - (Read only) BOOLEAN 1 X
0x2871:059 SafetyInterface bits: Slip > 50% - (Read only) BOOLEAN 1 X
0x2871:060 SafetyInterface bits: Slip > 75% - (Read only) BOOLEAN 1 X
0x2871:064 SafetyInterface bits: Error active - (Read only) BOOLEAN 1 X ●
0x2871:073 SafetyInterface bits: AIS S-Bus - (Read only) BOOLEAN 1 X
0x2871:074 SafetyInterface bits: AIE S-Bus - (Read only) BOOLEAN 1 X
0x2871:075 SafetyInterface bits: SHom_Start S-Bus - (Read only) BOOLEAN 1 X
0x2871:076 SafetyInterface bits: SHom_Load S-Bus - (Read only) BOOLEAN 1 X
0x2874 S-Bus control data - (Read only) U32 HX
0x2875:001 S-Bus control bits: STO - (Read only) BOOLEAN 1 X ●

701
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2875:002 S-Bus control bits: SS1 - (Read only) BOOLEAN 1 X ●
0x2875:003 S-Bus control bits: SS2 - (Read only) BOOLEAN 1 X ●
0x2875:004 S-Bus control bits: SLS1 - (Read only) BOOLEAN 1 X ●
0x2875:005 S-Bus control bits: SLS2 - (Read only) BOOLEAN 1 X ●
0x2875:006 S-Bus control bits: SLS3 - (Read only) BOOLEAN 1 X ●
0x2875:007 S-Bus control bits: SLS4 - (Read only) BOOLEAN 1 X ●
0x2875:008 S-Bus control bits: SDIpos - (Read only) BOOLEAN 1 X ●
0x2875:009 S-Bus control bits: SDIneg - (Read only) BOOLEAN 1 X ●
0x2875:010 S-Bus control bits: ES - (Read only) BOOLEAN 1 X ●
0x2875:011 S-Bus control bits: SLI - (Read only) BOOLEAN 1 X ●
0x2875:012 S-Bus control bits: OMS - (Read only) BOOLEAN 1 X ●
0x2875:013 S-Bus control bits: SLP1 - (Read only) BOOLEAN 1 X ●
0x2875:014 S-Bus control bits: SLP2 - (Read only) BOOLEAN 1 X ●
0x2875:015 S-Bus control bits: SLP3 - (Read only) BOOLEAN 1 X ●
0x2875:016 S-Bus control bits: SLP4 - (Read only) BOOLEAN 1 X ●
0x2875:017 S-Bus control bits: AIS - (Read only) BOOLEAN 1 X ●
0x2875:018 S-Bus control bits: AIE - (Read only) BOOLEAN 1 X ●
0x2875:019 S-Bus control bits: SOS - (Read only) BOOLEAN 1 X ●
0x2875:020 S-Bus control bits: RMS - (Read only) BOOLEAN 1 X ●
0x2875:021 S-Bus control bits: SHom_Start - (Read only) BOOLEAN 1 X ●
0x2875:022 S-Bus control bits: SHom_Load - (Read only) BOOLEAN 1 X ●
0x2875:023 S-Bus control bits: PDSS - (Read only) BOOLEAN 1 X ●
0x2875:024 S-Bus control bits: SSE - (Read only) BOOLEAN 1 X ●
0x2875:026 S-Bus control bits: SBC - (Read only) BOOLEAN 1 X ●
0x2878:001 Motor encoder (ES): System - (Read only) U8 -
0x2878:002 Motor encoder (ES): SinCos encoder PPR - (Read only) U16 1 -
0x2878:003 Motor encoder (ES): Number of resolver pole pairs - (Read only) U8 1 -
0x2878:004 Motor encoder (ES): Response time encoder ms (Read only) U8 -
monitoring
0x2878:050 Motor encoder (ES): HDSL driver state - (Read only) U16 HX
0x2878:051 Motor encoder (ES): HDSL online status 1 - (Read only) U16 HX
0x2878:052 Motor encoder (ES): HDSL online status 2 - (Read only) U16 HX
0x2878:053 Motor encoder (ES): HDSL Safe summary - (Read only) U8 HX
0x2878:054 Motor encoder (ES): HDSL Safe Channel 2 status - (Read only) U8 HX
0x2878:055 Motor encoder (ES): HDSL encoder status ENC_ST0 - (Read only) U8 HX
(ES)
0x2878:056 Motor encoder (ES): HDSL encoder status ENC_ST1 - (Read only) U8 HX
(ES)
0x2878:057 Motor encoder (ES): HDSL encoder status ENC_ST2 - (Read only) U8 HX
(ES)
0x2878:058 Motor encoder (ES): HDSL encoder status ENC_ST3 - (Read only) U8 HX
(ES)
0x2878:059 Motor encoder (ES): HDSL encoder status ENC_ST4 - (Read only) U8 HX
(ES)
0x2878:060 Motor encoder (ES): HDSL encoder status ENC_ST5 - (Read only) U8 HX
(ES)
0x2878:061 Motor encoder (ES): HDSL encoder status ENC_ST6 - (Read only) U8 HX
(ES)
0x2878:062 Motor encoder (ES): HDSL encoder status ENC_ST7 - (Read only) U8 HX
(ES)
0x2879:001 Mechanical data: Motor mounting direction - (Read only) U8 -
0x287A:001 Load encoder (ES): System - (Read only) U8 -
0x287A:003 Load encoder (ES): Gear numerator - (Read only) U16 1 -
0x287A:004 Load encoder (ES): Gear denominator - (Read only) U16 1 -
0x287A:005 Load encoder (ES): Mounting direction - (Read only) U8 -
0x287A:006 Load encoder (ES): Position 0 incr. I32 1 X ●

702
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x287A:007 Load encoder (ES): Position status Invalid [0] U8 X ●
0x287A:008 Load encoder (ES): Additional gear numerator - (Read only) U32 1 -
0x287A:009 Load encoder (ES): Additional gear denominator - (Read only) U32 1 -
0x287B:001 Speed: Tolerance window (n=0) x rpm (Read only) U16 1 -
0x287B:002 Speed: Tolerance speed comparison x rpm (Read only) U16 1 -
0x287B:003 Speed: Current speed n_safe x rpm (Read only) I16 1 X ●
0x287B:004 Speed: Internal current speed nSD x rpm (Read only) I16 1 X
0x287B:005 Speed: Internal current speed nBD x rpm (Read only) I16 1 X
0x287B:006 Speed: Current speed difference nSD-nBD x rpm (Read only) I16 1 X
0x287C:001 Position: Tolerance position comparison x incr. (Read only) I32 1 -
0x287C:002 Position: Current position p_safe x incr. (Read only) I32 1 X ●
0x287C:003 Position: Internal current position pSD x incr. (Read only) I32 1 X
0x287C:004 Position: Internal current position pBD x incr. (Read only) I32 1 X
0x287C:005 Position: Current position difference pSD-pBD x incr. (Read only) I32 1 X
0x2880:001 SHom_Start: Source - (Read only) U8 -
0x2880:002 SHom_Start: IRS edge trigger - (Read only) U8 -
0x2881:001 SHom_Load: Source - (Read only) U8 -
0x2881:002 SHom_Load: IRL edge trigger - (Read only) U8 -
0x2882:001 SHom: Home position x incr. (Read only) I32 1 -
0x2882:002 SHom: Timeout x ms (Read only) U16 1 -
0x2882:003 SHom: SLS for homing - (Read only) U8 -
0x2882:004 SHom: Restart condition - (Read only) U8 -
0x2882:005 SHom: Starting position tolerance x incr. (Read only) I32 1 -
0x2882:006 SHom: Status - (Read only) U8 X
0x2882:007 SHom: Saved position x incr. (Read only) I32 1 X
0x2883 SHom Source diagnostic positions - (Read only) U8 -
0x2884:001 SHom: Level diagnostic positions - (Read only) U8 -
0x2884:002 SHom: Lower diagnostic position x incr. (Read only) I32 1 -
0x2884:003 SHom: Upper diagnostic position x incr. (Read only) I32 1 -
0x2884:004 SHom: Tolerance diagnostic positions x incr. (Read only) I32 1 -
0x2884:005 SHom: Error response diagnostic positions - (Read only) U8 -
0x2884:006 SHom: Current difference diagnostic position x incr. (Read only) I32 1 X
0x2885:001 SHom: Maximum compensated slip x incr. (Read only) I32 1 -
0x2885:002 SHom: End area slip compensation - (Read only) U8 -
0x2886 SHom "SHom active" - Output - (Read only) U8 -
0x2887 SHom "SHom available" - Output - (Read only) U8 -
0x2890 STO Source SD-In - (Read only) U8 -
0x2891 STO Source S-Bus - (Read only) U8 -
0x2892:001 STO: Restart - (Read only) U8 -
0x2893 STO "STO active" - Output - (Read only) U8 -
0x2894:001 SS1, SS2: Stopping time x ms (Read only) U16 1 -
0x2894:002 SS1, SS2: Ramp monitoring - (Read only) U8 -
0x2894:003 SS1, SS2: Ramp - Smoothing time x % (Read only) U8 1 -
0x2894:004 SS1, SS2: Ramp - Offset mode - (Read only) U8 -
0x2894:005 SS1, SS2: Ramp - Start-offset relative x % (Read only) U8 1 -
0x2894:006 SS1, SS2: Ramp - Start-offset absolute x rpm (Read only) U16 1 -
0x2894:007 SS1, SS2: Ramp - Currently monitored speed x rpm (Read only) U16 1 X
0x2894:008 SS1, SS2: Ramp - Minimum difference x rpm (Read only) I16 1 X
0x2895 SS1 Source SD-In - (Read only) U8 -
0x2896 SS1 Source S-Bus - (Read only) U8 -
0x2897:001 SS1: Mode - (Read only) U8 -
0x2897:002 SS1: Delay STO after n=0 x ms (Read only) U16 1 -
0x2898 SS1 "SS1 active" - Output - (Read only) U8 -
0x2899 SS2 Source SD-In - (Read only) U8 -
0x289A SS2 Source S-Bus - (Read only) U8 -

703
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x289B:001 SS2: Mode - (Read only) U8 -
0x289C SS2 "SS2 active" - Output - (Read only) U8 -
0x289D SOS Source SD-In - (Read only) U8 -
0x289E SOS Source S-Bus - (Read only) U8 -
0x289F:001 SOS: Tolerance window (Delta p=0) x incr. (Read only) I32 1 -
0x289F:002 SOS: Restart - (Read only) U8 -
0x289F:003 SOS: Maximum change of position x incr. (Read only) I32 1 X
0x28A0 SOS "SOS observed" - Output - (Read only) U8 -
0x28A1 SSE Source SD-In - (Read only) U8 -
0x28A2 SSE Source S-Bus - (Read only) U8 -
0x28A3:001 SSE: Emergency stop function - (Read only) U8 -
0x28A4 SSE "SSE active" - Output - (Read only) U8 -
0x28A8 OMS Source - (Read only) U8 -
0x28A9:001 OMS: Stop function - (Read only) U8 -
0x28A9:002 OMS: Motion function - (Read only) U8 -
0x28A9:003 OMS: Function at low level - (Read only) U8 -
0x28AA OMS "OMS active" - Output - (Read only) U8 -
0x28AB RMS Source - (Read only) U8 -
0x28AC:001 RMS: Stop function - (Read only) U8 -
0x28AD RMS "RMS active" - Output - (Read only) U8 -
0x28AE ES Source - (Read only) U8 -
0x28AF ES "ES active" - Output - (Read only) U8 -
0x28B0:001 SMS: Maximum speed Nmax x rpm (Read only) U16 1 -
0x28B0:002 SMS: Reaction (n>Nmax) - (Read only) U8 -
0x28B1 SMS "SMS observed" - Output - (Read only) U8 -
0x28B2:001 SSM: Monitored speed x rpm (Read only) U16 1 -
0x28B3 SSM "SSM within limits" - Output - (Read only) U8 -
0x28B8:001 SDI: SDIpos - Source SD-In - (Read only) U8 -
0x28B8:002 SDI: SDIneg - Source SD-In - (Read only) U8 -
0x28B9:001 SDI: SDIpos - Source S-Bus - (Read only) U8 -
0x28B9:002 SDI: SDIneg - Source S-Bus - (Read only) U8 -
0x28BA:001 SDI: Monitoring standard operation - (Read only) U8 -
0x28BA:002 SDI: Delay time x ms (Read only) U16 1 -
0x28BA:003 SDI: Tolerance threshold x incr. (Read only) I32 1 -
0x28BA:004 SDI: Error reaction - (Read only) U8 -
0x28BA:005 SDI: Maximum change of position x incr. (Read only) I32 1 X
0x28BB:001 SDI: "SDIpos observed" - Output - (Read only) U8 -
0x28BB:002 SDI: "SDIneg observed" - Output - (Read only) U8 -
0x28BF:001 SLS: SLS1 - Internal source - (Read only) U32 -
0x28BF:002 SLS: SLS1 - Internal source inversion - (Read only) U8 -
0x28BF:003 SLS: SLS2 - Internal source - (Read only) U32 -
0x28BF:004 SLS: SLS2 - Internal source inversion - (Read only) U8 -
0x28BF:005 SLS: SLS3 - Internal source - (Read only) U32 -
0x28BF:006 SLS: SLS3 - Internal source inversion - (Read only) U8 -
0x28BF:007 SLS: SLS4 - Internal source - (Read only) U32 -
0x28BF:008 SLS: SLS4 - Internal source inversion - (Read only) U8 -
0x28C0:001 SLS: SLS1 - Source SD-In - (Read only) U8 -
0x28C0:002 SLS: SLS2 - Source SD-In - (Read only) U8 -
0x28C0:003 SLS: SLS3 - Source SD-In - (Read only) U8 -
0x28C0:004 SLS: SLS4 - Source SD-In - (Read only) U8 -
0x28C1:001 SLS: SLS1 - Source S-Bus - (Read only) U8 -
0x28C1:002 SLS: SLS2 - Source S-Bus - (Read only) U8 -
0x28C1:003 SLS: SLS3 - Source S-Bus - (Read only) U8 -
0x28C1:004 SLS: SLS4 - Source S-Bus - (Read only) U8 -
0x28C2:001 SLS: SLS1 - Limited speed Nlim1 x rpm (Read only) U16 1 -

704
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x28C2:002 SLS: SLS2 - Limited speed Nlim2 x rpm (Read only) U16 1 -
0x28C2:003 SLS: SLS3 - Limited speed Nlim3 x rpm (Read only) U16 1 -
0x28C2:004 SLS: SLS4 - Limited speed Nlim4 x rpm (Read only) U16 1 -
0x28C3:001 SLS: SLS1 - Braking time Nlim1 x ms (Read only) U16 1 -
0x28C3:002 SLS: SLS2 - Braking time Nlim2 x ms (Read only) U16 1 -
0x28C3:003 SLS: SLS3 - Braking time Nlim3 x ms (Read only) U16 1 -
0x28C3:004 SLS: SLS4 - Braking time Nlim4 x ms (Read only) U16 1 -
0x28C4:001 SLS: SLS1 - Permitted direction - (Read only) U8 -
0x28C4:002 SLS: SLS2 - Permitted direction - (Read only) U8 -
0x28C4:003 SLS: SLS3 - Permitted direction - (Read only) U8 -
0x28C4:004 SLS: SLS4 - Permitted direction - (Read only) U8 -
0x28C5:001 SLS: SLS1 - Reaction (n>Nlim1) - (Read only) U8 -
0x28C5:002 SLS: SLS2 - Reaction (n>Nlim2) - (Read only) U8 -
0x28C5:003 SLS: SLS3 - Reaction (n>Nlim3) - (Read only) U8 -
0x28C5:004 SLS: SLS4 - Reaction (n>Nlim4) - (Read only) U8 -
0x28C6:001 SLS: "SLS1 active" - Output - (Read only) U8 -
0x28C6:002 SLS: "SLS2 active" - Output - (Read only) U8 -
0x28C6:003 SLS: "SLS3 active" - Output - (Read only) U8 -
0x28C6:004 SLS: "SLS4 active" - Output - (Read only) U8 -
0x28C7:001 SLS: "SLS1 observed" - Output - (Read only) U8 -
0x28C7:002 SLS: "SLS2 observed" - Output - (Read only) U8 -
0x28C7:003 SLS: "SLS3 observed" - Output - (Read only) U8 -
0x28C7:004 SLS: "SLS4 observed" - Output - (Read only) U8 -
0x28C8 SLI Source SD-In - (Read only) U8 -
0x28C9 SLI Source S-Bus - (Read only) U8 -
0x28CA:001 SLI: Increment size standard operation x incr. (Read only) I32 1 -
0x28CA:002 SLI: Error response standard operation - (Read only) U8 -
0x28CA:003 SLI: Increment size special operation x incr. (Read only) I32 1 -
0x28CA:004 SLI: Maximum change of position x incr. (Read only) I32 1 X
0x28CB SLI "SLI active" - Output - (Read only) U8 -
0x28D0:001 SLP: SLP1 - Source SD-In - (Read only) U8 -
0x28D0:002 SLP: SLP2 - Source SD-In - (Read only) U8 -
0x28D0:003 SLP: SLP3 - Source SD-In - (Read only) U8 -
0x28D0:004 SLP: SLP4 - Source SD-In - (Read only) U8 -
0x28D1:001 SLP: SLP1 - Source S-Bus - (Read only) U8 -
0x28D1:002 SLP: SLP2 - Source S-Bus - (Read only) U8 -
0x28D1:003 SLP: SLP3 - Source S-Bus - (Read only) U8 -
0x28D1:004 SLP: SLP4 - Source S-Bus - (Read only) U8 -
0x28D2:001 SLP: SLP1 - Lower position limit x incr. (Read only) I32 1 -
0x28D2:002 SLP: SLP2 - Lower position limit x incr. (Read only) I32 1 -
0x28D2:003 SLP: SLP3 - Lower position limit x incr. (Read only) I32 1 -
0x28D2:004 SLP: SLP4 - Lower position limit x incr. (Read only) I32 1 -
0x28D3:001 SLP: SLP1 - Upper position limit x incr. (Read only) I32 1 -
0x28D3:002 SLP: SLP2 - Upper position limit x incr. (Read only) I32 1 -
0x28D3:003 SLP: SLP3 - Upper position limit x incr. (Read only) I32 1 -
0x28D3:004 SLP: SLP4 - Upper position limit x incr. (Read only) I32 1 -
0x28D4:001 SLP: SLP1 - Error response - (Read only) U8 -
0x28D4:002 SLP: SLP2 - Error response - (Read only) U8 -
0x28D4:003 SLP: SLP3 - Error response - (Read only) U8 -
0x28D4:004 SLP: SLP4 - Error response - (Read only) U8 -
0x28D5:001 SLP: "SLP1 observed" - Output - (Read only) U8 -
0x28D5:002 SLP: "SLP2 observed" - Output - (Read only) U8 -
0x28D5:003 SLP: "SLP3 observed" - Output - (Read only) U8 -
0x28D5:004 SLP: "SLP4 observed" - Output - (Read only) U8 -
0x28D8:001 SCA: SCA1 - Lower position limit x incr. (Read only) I32 1 -

705
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x28D8:002 SCA: SCA2 - Lower position limit x incr. (Read only) I32 1 -
0x28D8:003 SCA: SCA3 - Lower position limit x incr. (Read only) I32 1 -
0x28D8:004 SCA: SCA4 - Lower position limit x incr. (Read only) I32 1 -
0x28D9:001 SCA: SCA1 - Upper position limit x incr. (Read only) I32 1 -
0x28D9:002 SCA: SCA2 - Upper position limit x incr. (Read only) I32 1 -
0x28D9:003 SCA: SCA3 - Upper position limit x incr. (Read only) I32 1 -
0x28D9:004 SCA: SCA4 - Upper position limit x incr. (Read only) I32 1 -
0x28DA:001 SCA: "SCA1 within limits" - Output - (Read only) U8 -
0x28DA:002 SCA: "SCA2 within limits" - Output - (Read only) U8 -
0x28DA:003 SCA: "SCA3 within limits" - Output - (Read only) U8 -
0x28DA:004 SCA: "SCA4 within limits" - Output - (Read only) U8 -
0x28DC PDSS Source SD-In - (Read only) U8 -
0x28DD PDSS Source S-Bus - (Read only) U8 -
0x28DE:001 PDSS: Permanent activation - (Read only) U8 -
0x28DE:002 PDSS: Lower position limit x incr. (Read only) I32 1 -
0x28DE:003 PDSS: Upper position limit x incr. (Read only) I32 1 -
0x28DE:004 PDSS: Lower SCS limit x incr. (Read only) I32 1 -
0x28DE:005 PDSS: Upper SCS limit x incr. (Read only) I32 1 -
0x28DE:006 PDSS: SCS from lower limit x rpm (Read only) U16 1 -
0x28DE:007 PDSS: SCS from upper limit x rpm (Read only) U16 1 -
0x28DE:008 PDSS: Maximum speed x rpm (Read only) U16 1 -
0x28DE:009 PDSS: Maximum deceleration lower limit - (Read only) U16 1 -
0x28DE:010 PDSS: Maximum deceleration upper limit - (Read only) U16 1 -
0x28DE:011 PDSS: Error response - (Read only) U8 -
0x28DE:012 PDSS: Currently monitored speed x rpm (Read only) U16 1 X
0x28DE:013 PDSS: Minimum difference monitored speed x rpm (Read only) I16 1 X
0x28DF PDSS "PDSSpos observed" - Output - (Read only) U8 -
0x28E0 PDSS "PDSSneg observed" - Output - (Read only) U8 -
0x28E4 SBC Source SD-In - (Read only) U8 -
0x28E5 SBC Source S-Bus - (Read only) U8 -
0x28E6:001 SBC: Brake mode - (Read only) U8 -
0x28E6:002 SBC: Delay SBC x ms (Read only) U16 1 -
0x28E6:003 SBC: Delay STO x ms (Read only) U16 1 -
0x28E6:004 SBC: Brake open delay x ms (Read only) U16 1 -
0x28E7:001 SBC: "SBC active" - Output - (Read only) U8 -
0x28E7:002 SBC: "SBC activated" - Output - (Read only) U8 -
0x28E8:001 Diagnostic: Configuration diagnostic value 1 PDSS - Current monitored speed [1] U16 X
0x28E8:002 Diagnostic: Configuration diagnostic value 2 SS1, SS2 - Current speed ramp [2] U16 X
0x28E9:001 Diagnostic: Diagnostic value 1 - (Read only) I16 1 X ●
0x28E9:002 Diagnostic: Diagnostic value 2 - (Read only) I16 1 X ●
0x2900:001 Speed controller settings: Gain 0.00033 Nm/rpm U32 100000 -
0x2900:002 Speed controller settings: Reset time 17.6 ms U16 10 -
0x2900:003 Speed controller settings: Rate time 0.00 ms U16 100 -
0x2901 Speed controller gain adaption 100.00 % U16 100 - ●
0x2902 I component load value 0.0 % I16 10 - ●
0x2903 Speed setpoint filter time 0.0 ms U16 10 -
0x2904 Actual speed filter time 0.3 ms U16 10 -
0x2907:001 Additional speed limitation 0 rpm U32 1 X ●
0x2910:001 Inertia settings: Motor moment of inertia 0.14 kg cm² U32 100 -
0x2910:002 Inertia settings: Scaled load inertia 0.00 kg cm² U32 100 -
0x2910:003 Inertia settings: Coupling Stiff [0] U8 -
0x2910:004 Inertia settings: Mechanical natural frequency 0.0 Hz U16 10 -
0x2910:005 Inertia settings: Load moment of inertia (elastic 0.00 kg cm² U32 100 -
coupled)

706
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2922:001 Following error diagnostics: Following error 1000 ms U16 1 X
(interval) - Time
0x2922:002 Following error diagnostics: Following error x.xx ° (Read only) U32 100 X
(interval) - Mean value
0x2922:003 Following error diagnostics: Following error x.xx ° (Read only) U32 100 X
(interval) - Maximum value
0x2922:004 Following error diagnostics: Following error Stop [0] U8 X
(manual) - Start/Stop
0x2922:005 Following error diagnostics: Following error x.xx ° (Read only) U32 100 X
(manual) - Mean value
0x2922:006 Following error diagnostics: Following error x.xx ° (Read only) U32 100 X
(manual) - Maximum value
0x2922:007 Following error diagnostics: Following error x.xx ° (Read only) U32 100 X
(standstill-standstill) - Mean value
0x2922:008 Following error diagnostics: Following error x.xx ° (Read only) U32 100 X
(standstill-standstill) - Maximum value
0x2939 Switching frequency 4 kHz variable / drive-optimised [1] U8 -
0x2941 Current controller feedforward control Disable [0] U8 -
0x2942:001 Current controller parameters: Gain 148.21 V/A U32 100 -
0x2942:002 Current controller parameters: Reset time 3.77 ms U32 100 -
0x2943 Current setpoint filter time 0.00 ms U16 100 -
0x2944:001 Torque setpoint notch filter: Frequency notch filter 1 200.0 Hz U16 10 -
0x2944:002 Torque setpoint notch filter: Bandwidth notch filter 20.0 Hz U16 10 -
1
0x2944:003 Torque setpoint notch filter: Damping notch filter 1 0 dB U8 1 -
0x2944:004 Torque setpoint notch filter: Frequency notch filter 2 400.0 Hz U16 10 -
0x2944:005 Torque setpoint notch filter: Bandwidth notch filter 40.0 Hz U16 10 -
2
0x2944:006 Torque setpoint notch filter: Damping notch filter 2 0 dB U8 1 -
0x2945 Torque setpoint jerk limitation 400.0 % U16 10 -
0x2946:001 Speed limitation: Upper speed limit 0 rpm I32 480000 - ●
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0x2946:002 Speed limitation: Lower speed limit 0 rpm I32 480000 - ●
/
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0x2947:001 Inverter characteristic: Value y1 0.00 V U16 100 -
0x2947:002 Inverter characteristic: Value y2 0.00 V U16 100 -
0x2947:003 Inverter characteristic: Value y3 0.00 V U16 100 -
0x2947:004 Inverter characteristic: Value y4 0.00 V U16 100 -
0x2947:005 Inverter characteristic: Value y5 0.00 V U16 100 -
0x2947:006 Inverter characteristic: Value y6 0.00 V U16 100 -
0x2947:007 Inverter characteristic: Value y7 0.00 V U16 100 -
0x2947:008 Inverter characteristic: Value y8 0.00 V U16 100 -
0x2947:009 Inverter characteristic: Value y9 0.00 V U16 100 -
0x2947:010 Inverter characteristic: Value y10 0.00 V U16 100 -
0x2947:011 Inverter characteristic: Value y11 0.00 V U16 100 -
0x2947:012 Inverter characteristic: Value y12 0.00 V U16 100 -
0x2947:013 Inverter characteristic: Value y13 0.00 V U16 100 -
0x2947:014 Inverter characteristic: Value y14 0.00 V U16 100 -
0x2947:015 Inverter characteristic: Value y15 0.00 V U16 100 -
0x2947:016 Inverter characteristic: Value y16 0.00 V U16 100 -
0x2947:017 Inverter characteristic: Value y17 0.00 V U16 100 -
0x294A:001 Torque limits offset: Torque offset 0.0 % I16 10 -
0x294A:002 Torque limits offset: Resulting positive torque limit x.x % (Read only) I16 10 X
0x294A:003 Torque limits offset: Resulting negative torque limit x.x % (Read only) I16 10 X

707
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2980 Position controller gain 28.40 Hz U32 100 -
0x2981 Position controller gain adaption 100.00 % U16 100 - ●
0x2982 Position controller output signal limitation 480000.00 rpm U32 480000 - ●
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0x2983 Actual position start value 0 pos. unit I32 1 - ●
0x2984 Mode for setting the actual position Absolute [0] U8 -
0x2986 Resulting gain adaption x.xx % (Read only) U32 100 X
0x29C0:001 Field controller settings: Gain 165.84 A/Vs U32 100 -
0x29C0:002 Field controller settings: Reset time 15.1 ms U16 10 -
0x29E0:001 Field weakening controller settings: Gain (ASM) 0.000 Vs/V U32 1000 -
0x29E0:002 Field weakening controller settings: Reset time 2000.0 ms U32 10 -
(ASM)
0x29E1 Field weakening controller Field limitation 100.00 % U16 100 - ●
0x29E2 DC-bus filter time 25.0 ms U16 10 -
0x29E3 Motor voltage filter time 25.0 ms U16 10 -
0x29E4 Voltage reserve range 5% U8 1 -
0x2B00 V/f characteristic shape Linear [0] U8 C
0x2B01:001 V/f shape data: Base voltage 225 V U16 1 -
0x2B01:002 V/f shape data: Base frequency 270 Hz U16 1 -
0x2B02:001 Frequency grid points (x) user V/f characteristic: x1 = -50 Hz I16 1 -
f01
0x2B02:002 Frequency grid points (x) user V/f characteristic: x2 = -40 Hz I16 1 -
f02
0x2B02:003 Frequency grid points (x) user V/f characteristic: x3 = -30 Hz I16 1 -
f03
0x2B02:004 Frequency grid points (x) user V/f characteristic: x4 = -20 Hz I16 1 -
f04
0x2B02:005 Frequency grid points (x) user V/f characteristic: x5 = -10 Hz I16 1 -
f05
0x2B02:006 Frequency grid points (x) user V/f characteristic: x6 = 0 Hz I16 1 -
f06
0x2B02:007 Frequency grid points (x) user V/f characteristic: x7 = 10 Hz I16 1 -
f07
0x2B02:008 Frequency grid points (x) user V/f characteristic: x8 = 20 Hz I16 1 -
f08
0x2B02:009 Frequency grid points (x) user V/f characteristic: x9 = 30 Hz I16 1 -
f09
0x2B02:010 Frequency grid points (x) user V/f characteristic: x10 40 Hz I16 1 -
= f10
0x2B02:011 Frequency grid points (x) user V/f characteristic: x11 50 Hz I16 1 -
= f11
0x2B03:001 Voltage grid points (y) user V/f characteristic: y1 = 400.00 V U32 100 -
U01 (x = f01)
0x2B03:002 Voltage grid points (y) user V/f characteristic: y2 = 320.00 V U32 100 -
U02 (x = f02)
0x2B03:003 Voltage grid points (y) user V/f characteristic: y3 = 240.00 V U32 100 -
U03 (x = f03)
0x2B03:004 Voltage grid points (y) user V/f characteristic: y4 = 160.00 V U32 100 -
U04 (x = f04)
0x2B03:005 Voltage grid points (y) user V/f characteristic: y5 = 80.00 V U32 100 -
U05 (x = f05)
0x2B03:006 Voltage grid points (y) user V/f characteristic: y6 = 0.00 V U32 100 -
U06 (x = f06)
0x2B03:007 Voltage grid points (y) user V/f characteristic: y7 = 80.00 V U32 100 -
U07 (x = f07)
0x2B03:008 Voltage grid points (y) user V/f characteristic: y8 = 160.00 V U32 100 -
U08 (x = f08)

708
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2B03:009 Voltage grid points (y) user V/f characteristic: y9 = 240.00 V U32 100 -
U09 (x = f09)
0x2B03:010 Voltage grid points (y) user V/f characteristic: y10 = 320.00 V U32 100 -
U10 (x = f10)
0x2B03:011 Voltage grid points (y) user V/f characteristic: y11 = 400.00 V U32 100 -
U11 (x = f11)
0x2B04 V/f boost controller - current setpoint 0.00 A U32 100 -
0x2B05:001 V/f boost controller settings: Gain 148.21 V/A U32 100 -
0x2B05:002 V/f boost controller settings: Reset time 3.77 ms U32 100 -
0x2B05:003 V/f boost controller settings: Dynamic current 0.00 A U32 100 -
setpoint
0x2B06 Voltage boost 0.0 V U16 10 -
0x2B07:001 Load adaption: Direction of rotation Passive load [0] U8 C
0x2B07:002 Load adaption: Load adaption value 20.00 % U32 100 -
0x2B08:001 V/f Imax controller: Gain 0.001 Hz/A U32 1000 -
0x2B08:002 V/f Imax controller: Reset time 100.0 ms U32 10 -
0x2B09:001 Slip compensation: Gain 0.00 % I16 100 -
0x2B09:002 Slip compensation: Filter time 2000 ms U16 1 -
0x2B0A:001 Oscillation damping: Gain 20 % I16 1 -
0x2B0A:002 Oscillation damping: Filter time 5 ms U16 1 -
0x2B0A:003 Oscillation damping: Limitation 0.2 Hz U16 10 -
0x2B0A:004 Oscillation damping: Final ramp frequency 0% U8 1 -
0x2B0B Frequency setpoint x.x Hz (Read only) I16 10 X ●
0x2B0C Override field weakening 0.0 Hz I16 10 -
0x2B80 Current for DC-injection braking 0.00 A U16 100 -
0x2BA0 Activate flying restart Off [0] U8 -
0x2BA1 Flying restart circuit 15 % U16 1 -
0x2BA2 Start frequency 20.0 Hz I16 10 -
0x2BA3 Integration time 600 ms U16 1 -
0x2BA4 Minimum deviation 5.00 ° U16 100 -
0x2BA5 Delay time 0 ms U16 1 -
0x2BA6:001 Result: Determined speed [rpm] x rpm (Read only) I16 1 X ●
0x2BA6:002 Result: Determined speed [n unit] rpm (Read only) I32 480000 X ●
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0x2C00 Motor control mode Servoregelung (SC-PSM) [1] U8 C
0x2C01:001 Motor parameters: Number of pole pairs - (Read only) U8 1 X
0x2C01:002 Motor parameters: Stator resistance 13.5000 Ω U32 10000 -
0x2C01:003 Motor parameters: Stator leakage inductance 51.000 mH U32 1000 -
0x2C01:004 Motor parameters: Rated speed 4050 rpm U16 1 -
0x2C01:005 Motor parameters: Rated frequency 270.0 Hz U16 10 -
0x2C01:006 Motor parameters: Rated power 0.25 kW U16 100 -
0x2C01:007 Motor parameters: Rated voltage 225 V U16 1 -
0x2C01:008 Motor parameters: Cosine phi 0.80 U16 100 -
0x2C01:009 Motor parameters: Insulation class F (cut-off temperature = 155 °C) [4] U8 -
0x2C01:010 Motor parameters: Motor name "MCS06C41" STRING[50] -
0x2C02:001 Motor parameter (ASM): Rotor resistance 0.0000 Ω U32 10000 -
0x2C02:002 Motor parameter (ASM): Mutual inductance 0.0 mH U32 10 -
0x2C02:003 Motor parameter (ASM): Magnetising current 0.00 A U16 100 -
0x2C03:001 Motor parameter (PSM): Back EMF constant 41.8 V/1000rpm U32 10 -
0x2C03:002 Motor parameter (PSM): Resolver pole position -90.0 ° I16 10 -
0x2C03:003 Motor parameter (PSM): Magnets temperature -0.110 %/°C I16 1000 -
coefficient (kTN)
0x2C03:004 Motor parameter (PSM): Encoder pole position 0.0 ° I16 10 -

709
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2C04:001 Inductance grid points (y) Lss saturation 165 % U16 1 -
characteristic: y1 = L01 (x = 0.00 %)
0x2C04:002 Inductance grid points (y) Lss saturation 200 % U16 1 -
characteristic: y2 = L02 (x = 6.25 %)
0x2C04:003 Inductance grid points (y) Lss saturation 146 % U16 1 -
characteristic: y3 = L03 (x = 12.50 %)
0x2C04:004 Inductance grid points (y) Lss saturation 117 % U16 1 -
characteristic: y4 = L04 (x = 18.75 %)
0x2C04:005 Inductance grid points (y) Lss saturation 97 % U16 1 -
characteristic: y5 = L05 (x = 25.00 %)
0x2C04:006 Inductance grid points (y) Lss saturation 82 % U16 1 -
characteristic: y6 = L06 (x = 31.25 %)
0x2C04:007 Inductance grid points (y) Lss saturation 71 % U16 1 -
characteristic: y7 = L07 (x = 37.50 %)
0x2C04:008 Inductance grid points (y) Lss saturation 62 % U16 1 -
characteristic: y8 = L08 (x = 42.75 %)
0x2C04:009 Inductance grid points (y) Lss saturation 55 % U16 1 -
characteristic: y9 = L09 (x = 50.00 %)
0x2C04:010 Inductance grid points (y) Lss saturation 50 % U16 1 -
characteristic: y10 = L10 (x = 56.25 %)
0x2C04:011 Inductance grid points (y) Lss saturation 46 % U16 1 -
characteristic: y11 = L11 (x = 62.50 %)
0x2C04:012 Inductance grid points (y) Lss saturation 43 % U16 1 -
characteristic: y12 = L12 (x = 68.75 %)
0x2C04:013 Inductance grid points (y) Lss saturation 42 % U16 1 -
characteristic: y13 = L13 (x = 75.00 %)
0x2C04:014 Inductance grid points (y) Lss saturation 41 % U16 1 -
characteristic: y14 = L14 (x = 81.25 %)
0x2C04:015 Inductance grid points (y) Lss saturation 41 % U16 1 -
characteristic: y15 = L15 (x = 87.50 %)
0x2C04:016 Inductance grid points (y) Lss saturation 41 % U16 1 -
characteristic: y16 = L16 (x = 93.25 %)
0x2C04:017 Inductance grid points (y) Lss saturation 41 % U16 1 -
characteristic: y17 = L17 (x = 100.00 %)
0x2C04:018 Inductance grid points (y) Lss saturation Adjustment on [1] U16 -
characteristic: Activation Lss saturation
characteristic
0x2C05 Reference for current grid points (x) Lss saturation 5.4 A U16 10 -
characteristic
0x2C06:001 Grid points for magnet characteristic (current): x1 = 0% U16 1 -
i01/iN
0x2C06:002 Grid points for magnet characteristic (current): y1 = 100 % U16 1 -
kT01/kTN
0x2C06:003 Grid points for magnet characteristic (current): x2 = 100 % U16 1 -
i02/iN
0x2C06:004 Grid points for magnet characteristic (current): y2 = 100 % U16 1 -
kT02/kTN
0x2C06:005 Grid points for magnet characteristic (current): x3 = 200 % U16 1 -
i03/iN
0x2C06:006 Grid points for magnet characteristic (current): y3 = 100 % U16 1 -
kT03/kTN
0x2C06:007 Grid points for magnet characteristic (current): x4 = 415 % U16 1 -
i04/iN
0x2C06:008 Grid points for magnet characteristic (current): y4 = 72 % U16 1 -
kT04/kTN
0x2C07:001 Inductance grid points (y) Lh saturation 118 % U16 1 -
characteristic: y1 = L01 (x = 0.00 %)
0x2C07:002 Inductance grid points (y) Lh saturation 118 % U16 1 -
characteristic: y2 = L02 (x = 6.25 %)

710
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2C07:003 Inductance grid points (y) Lh saturation 118 % U16 1 -
characteristic: y3 = L03 (x = 12.50 %)
0x2C07:004 Inductance grid points (y) Lh saturation 117 % U16 1 -
characteristic: y4 = L04 (x = 18.75 %)
0x2C07:005 Inductance grid points (y) Lh saturation 116 % U16 1 -
characteristic: y5 = L05 (x = 25.00 %)
0x2C07:006 Inductance grid points (y) Lh saturation 114 % U16 1 -
characteristic: y6 = L06 (x = 31.25 %)
0x2C07:007 Inductance grid points (y) Lh saturation 111 % U16 1 -
characteristic: y7 = L07 (x = 37.50 %)
0x2C07:008 Inductance grid points (y) Lh saturation 107 % U16 1 -
characteristic: y8 = L08 (x = 43.75 %)
0x2C07:009 Inductance grid points (y) Lh saturation 100 % U16 1 -
characteristic: y9 = L09 (x = 50.00 %)
0x2C07:010 Inductance grid points (y) Lh saturation 93 % U16 1 -
characteristic: y10 = L10 (x = 56.25 %)
0x2C07:011 Inductance grid points (y) Lh saturation 86 % U16 1 -
characteristic: y11 = L11 (x = 62.50 %)
0x2C07:012 Inductance grid points (y) Lh saturation 78 % U16 1 -
characteristic: y12 = L12 (x = 68.75 %)
0x2C07:013 Inductance grid points (y) Lh saturation 71 % U16 1 -
characteristic: y13 = L13 (x = 75.00 %)
0x2C07:014 Inductance grid points (y) Lh saturation 64 % U16 1 -
characteristic: y14 = L14 (x = 81.25 %)
0x2C07:015 Inductance grid points (y) Lh saturation 57 % U16 1 -
characteristic: y15 = L15 (x = 87.50 %)
0x2C07:016 Inductance grid points (y) Lh saturation 50 % U16 1 -
characteristic: y16 = L16 (x = 93.75 %)
0x2C07:017 Inductance grid points (y) Lh saturation 42 % U16 1 -
characteristic: y17 = L17 (x = 100.00 %)
0x2C08 Method for setting motor parameters Select from catalogue (Lenze motors) [1] U8 -
0x2C40 Motor encoder type SinCos encoder [1] U8 C
0x2C41:001 Motor encoder settings (Hiperface): Type code - (Read only) U8 1 X
detected
0x2C41:002 Motor encoder settings (Hiperface): Type code 0 U8 1 C
manual input
0x2C41:003 Motor encoder settings (Hiperface): Manual input - 1 U16 1 C
Number of detectable motor encoder revolutions
0x2C41:004 Motor encoder settings (Hiperface): Error response Fault > CiA402 [1] U8 -
0x2C41:005 Motor encoder settings (Hiperface): Serial number - (Read only) STRING[50] X
0x2C41:006 Motor encoder settings (Hiperface): Actual position - (Read only) U32 1 X ●
(raw data)
0x2C41:007 Motor encoder settings (Hiperface): No. of periods - (Read only) U16 1 X ●
detected
0x2C41:008 Motor encoder settings (Hiperface): Type code - (Read only) U8 X ●
verification
0x2C41:009 Motor encoder settings (Hiperface): Encoder type - (Read only) U8 X ●
0x2C41:010 Motor encoder settings (Hiperface): No. of periods x nm (Read only) U32 1 X ●
linear encoder
0x2C42:001 Encoder settings: Increments/revolution 1024 U32 1 C
0x2C42:002 Encoder settings: Supply voltage 5.0 V U8 10 C
0x2C42:003 Encoder settings: Angle drift x.x ° (Read only) I16 10 X ●
0x2C42:004 Encoder settings: Actual amplitude signal quality x % (Read only) U8 1 X
0x2C43 Motor encoder resolver number of pole pairs 1 U8 1 C
0x2C44:001 Motor encoder identification (Resolver): Angle 0 I16 1 -
0x2C44:002 Motor encoder identification (Resolver): Cosine 100 % U16 1 -
track gain
0x2C44:003 Motor encoder identification (Resolver): Sine track 100 % U16 1 -
gain

711
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2C44:006 Motor encoder identification (Resolver): - (Read only) U16 HX
Identification status
0x2C44:008 Motor encoder identification (Resolver): Cosine 0.000 % I32 1000 -
track offset
0x2C44:009 Motor encoder identification (Resolver): Sine track 0.000 % I32 1000 -
offset
0x2C44:011 Motor encoder identification (Resolver): Cyclic [1] U8 -
online compensation
0x2C44:012 Motor encoder identification (Resolver): Harmonic 22 U16 1 -
for cyclic online compensation
0x2C45 Motor feedback error response Fault > CiA402 [1] U8 -
0x2C46 Number of the absolute ascertainable revolutions of - (Read only) U16 1 X
motor encoder
0x2C47 Open circuit detection sensitivity of motor encoder 100 % U8 1 -
0x2C4A:001 Motor encoder (SSI) protocol parameters: Bit rate 300 kbps U16 1 C
0x2C4A:002 Motor encoder (SSI) protocol parameters: Telegram 25 U8 1 C
length
0x2C4A:003 Motor encoder (SSI) protocol parameters: Bits/ 13 U8 1 C
revolution
0x2C4A:004 Motor encoder (SSI) protocol parameters: Position 0 U8 1 C
data start bit
0x2C4A:005 Motor encoder (SSI) protocol parameters: Data 0 U8 1 C
package 1 start bit
0x2C4A:006 Motor encoder (SSI) protocol parameters: Data 0 U8 1 C
package 2 start bit
0x2C4A:007 Motor encoder (SSI) protocol parameters: Data 0 U8 1 C
package 3 start bit
0x2C4A:008 Motor encoder (SSI) protocol parameters: Position 0 U8 1 C
data length
0x2C4A:009 Motor encoder (SSI) protocol parameters: Data 0 U8 1 C
package 1 length
0x2C4A:010 Motor encoder (SSI) protocol parameters: Data 0 U8 1 C
package 2 length
0x2C4A:011 Motor encoder (SSI) protocol parameters: Data 0 U8 1 C
package 3 length
0x2C4A:012 Motor encoder (SSI) protocol parameters: Position Binary [0] U8 C
data coding
0x2C4A:013 Motor encoder (SSI) protocol parameters: Data Binary [0] U8 C
package 1 coding
0x2C4A:014 Motor encoder (SSI) protocol parameters: Data Binary [0] U8 C
package 2 coding
0x2C4A:015 Motor encoder (SSI) protocol parameters: Data Binary [0] U8 C
package 3 coding
0x2C4A:016 Motor encoder (SSI) protocol parameters: Position - (Read only) U32 1 X ●
raw data
0x2C4A:017 Motor encoder (SSI) protocol parameters: Data - (Read only) U32 1 X ●
package 1 raw data
0x2C4A:018 Motor encoder (SSI) protocol parameters: Data - (Read only) U32 1 X ●
package 2 raw data
0x2C4A:019 Motor encoder (SSI) protocol parameters: Data - (Read only) U32 1 X ●
package 3 raw data
0x2C4A:020 Motor encoder (SSI) protocol parameters: Encoder Rotative encoder [0] U8 C
type
0x2C4A:021 Motor encoder (SSI) protocol parameters: Position x pos. unit (Read only) I32 1 X ●
raw data scaled by 0x608F
0x2C4A:022 Motor encoder (SSI) protocol parameters: Monoflop 0 us U16 1 C
time
0x2C4A:023 Motor encoder (SSI) protocol parameters: Resulting x.x us (Read only) U16 10 X
SSI-telegram cycle time
0x2C4B:001 Motor encoder (HDSL): Release version - (Read only) U8 1 X

712
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2C4B:002 Motor encoder (HDSL): Release Date - (Read only) U32 1 X
0x2C4B:003 Motor encoder (HDSL): Encoder ID - (Read only) U32 1 X
0x2C4B:004 Motor encoder (HDSL): Type of encoder - (Read only) U16 1 X
0x2C4B:005 Motor encoder (HDSL): Resolution - (Read only) U32 1 X
0x2C4B:006 Motor encoder (HDSL): Measurement range - (Read only) U32 1 X
0x2C4B:007 Motor encoder (HDSL): Type name - (Read only) STRING[50] X
0x2C4B:008 Motor encoder (HDSL): Serial number - (Read only) STRING[50] X
0x2C4B:009 Motor encoder (HDSL): Device version - (Read only) STRING[50] X
0x2C4B:010 Motor encoder (HDSL): Firmware date - (Read only) STRING[50] X
0x2C4B:011 Motor encoder (HDSL): EEPROM size - (Read only) U16 1 X
0x2C4B:012 Motor encoder (HDSL): Safe Channel 2 Resolution - (Read only) U32 1 X
0x2C4B:020 Motor encoder (HDSL): Delay / RSSI - (Read only) U8 HX
0x2C4B:021 Motor encoder (HDSL): Quality monitoring - (Read only) U8 HX
0x2C4B:022 Motor encoder (HDSL): Slave RSSI - (Read only) U8 HX
0x2C4B:023 Motor encoder (HDSL): Supply voltage x.xxx V (Read only) U16 1000 X
0x2C4B:024 Motor encoder (HDSL): Rotation speed range x rpm (Read only) U16 1 X
0x2C4B:025 Motor encoder (HDSL): Auswahl No value [0] U16 -
0x2C4B:026 Motor encoder (HDSL): Value - (Read only) I64 1 X
0x2C4B:040 Motor encoder (HDSL): Events - (Read only) U16 HX
0x2C4B:041 Motor encoder (HDSL): Status summaries - (Read only) U8 HX
0x2C4B:042 Motor encoder (HDSL): Encoder status, byte 0 - (Read only) U8 HX
0x2C4B:043 Motor encoder (HDSL): Encoder status, byte 1 - (Read only) U8 HX
0x2C4B:044 Motor encoder (HDSL): Encoder status, byte 2 - (Read only) U8 HX
0x2C4B:045 Motor encoder (HDSL): Encoder status, byte 3 - (Read only) U8 HX
0x2C4B:046 Motor encoder (HDSL): Encoder status, byte 4 - (Read only) U8 HX
0x2C4B:047 Motor encoder (HDSL): Encoder status, byte 5 - (Read only) U8 HX
0x2C4B:048 Motor encoder (HDSL): Encoder status, byte 6 - (Read only) U8 HX
0x2C4B:049 Motor encoder (HDSL): Encoder status, byte 7 - (Read only) U8 HX
0x2C4B:050 Motor encoder (HDSL): Fast position - (Read only) I64 1 X
0x2C4F Parameter CRC of motor encoder - (Read only) U32 1 X
0x2C50 Load encoder/master encoder type SinCos encoder [1] U8 C
0x2C51:001 Hiperface load encoder/master encoder settings: - (Read only) U8 1 X
Type code detected
0x2C51:002 Hiperface load encoder/master encoder settings: 0 U8 1 C
Type code manual input
0x2C51:003 Hiperface load encoder/master encoder settings: 1 U16 1 C
Manual input - Number of detectable load/master
encoder revolutions
0x2C51:004 Hiperface load encoder/master encoder settings: Fault > CiA402 [1] U8 -
Error response
0x2C51:005 Hiperface load encoder/master encoder settings: - (Read only) STRING[50] X
Serial number
0x2C51:006 Hiperface load encoder/master encoder settings: - (Read only) U32 1 X ●
Actual position (raw data)
0x2C51:007 Hiperface load encoder/master encoder settings: - (Read only) U16 1 X ●
No. of periods detected
0x2C51:008 Hiperface load encoder/master encoder settings: - (Read only) U8 X ●
Type code verification
0x2C51:009 Hiperface load encoder/master encoder settings: - (Read only) U8 X ●
Encoder type
0x2C51:010 Hiperface load encoder/master encoder settings: x nm (Read only) U32 1 X ●
No. of periods linear encoder
0x2C52:001 Load encoder/master encoder settings (encoder): 1024 U32 1 C
Increments/revolution
0x2C52:002 Load encoder/master encoder settings (encoder): 5.0 V U8 10 C
Supply voltage

713
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2C52:003 Load encoder/master encoder settings (encoder): x.x ° (Read only) I16 10 X ●
Angle drift
0x2C52:004 Load encoder/master encoder settings (encoder): x % (Read only) U8 1 X
Actual amplitude signal quality
0x2C53 Load encoder/master encoder resolver number of 1 U8 1 C
pole pairs
0x2C54:001 Load encoder/master encoder identification 0 I16 1 -
(Resolver): Angle
0x2C54:002 Load encoder/master encoder identification 100 % U16 1 -
(Resolver): Cosine track gain
0x2C54:003 Load encoder/master encoder identification 100 % U16 1 -
(Resolver): Sine track gain
0x2C54:006 Load encoder/master encoder identification - (Read only) U16 HX
(Resolver): Identification status
0x2C54:008 Load encoder/master encoder identification 0.000 % I32 1000 -
(Resolver): Cosine track offset
0x2C54:009 Load encoder/master encoder identification 0.000 % I32 1000 -
(Resolver): Sine track offset
0x2C55 Load encoder/master encoder error response Fault > CiA402 [1] U8 -
0x2C56 Number of the absolute ascertainable revolutions of - (Read only) U16 1 X
load encoder/master encoder
0x2C57 Open circuit detection sensitivity of load encoder/ 100 % U8 1 -
master encoder
0x2C5A:001 Load encoder/master encoder (SSI) protocol 300 kbps U16 1 C
parameters: Bit rate
0x2C5A:002 Load encoder/master encoder (SSI) protocol 25 U8 1 C
parameters: Telegram length
0x2C5A:003 Load encoder/master encoder (SSI) protocol 13 U8 1 C
parameters: Bits/revolution
0x2C5A:004 Load encoder/master encoder (SSI) protocol 0 U8 1 C
parameters: Position data start bit
0x2C5A:005 Load encoder/master encoder (SSI) protocol 0 U8 1 C
parameters: Data package 1 start bit
0x2C5A:006 Load encoder/master encoder (SSI) protocol 0 U8 1 C
parameters: Data package 2 start bit
0x2C5A:007 Load encoder/master encoder (SSI) protocol 0 U8 1 C
parameters: Data package 3 start bit
0x2C5A:008 Load encoder/master encoder (SSI) protocol 25 U8 1 C
parameters: Position data length
0x2C5A:009 Load encoder/master encoder (SSI) protocol 0 U8 1 C
parameters: Data package 1 length
0x2C5A:010 Load encoder/master encoder (SSI) protocol 0 U8 1 C
parameters: Data package 2 length
0x2C5A:011 Load encoder/master encoder (SSI) protocol 0 U8 1 C
parameters: Data package 3 length
0x2C5A:012 Load encoder/master encoder (SSI) protocol Binary [0] U8 C
parameters: Position data coding
0x2C5A:013 Load encoder/master encoder (SSI) protocol Binary [0] U8 C
parameters: Data package 1 coding
0x2C5A:014 Load encoder/master encoder (SSI) protocol Binary [0] U8 C
parameters: Data package 2 coding
0x2C5A:015 Load encoder/master encoder (SSI) protocol Binary [0] U8 C
parameters: Data package 3 coding
0x2C5A:016 Load encoder/master encoder (SSI) protocol - (Read only) U32 1 X ●
parameters: Position raw data
0x2C5A:017 Load encoder/master encoder (SSI) protocol - (Read only) U32 1 X ●
parameters: Data package 1 raw data
0x2C5A:018 Load encoder/master encoder (SSI) protocol - (Read only) U32 1 X ●
parameters: Data package 2 raw data

714
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2C5A:019 Load encoder/master encoder (SSI) protocol - (Read only) U32 1 X ●
parameters: Data package 3 raw data
0x2C5A:020 Load encoder/master encoder (SSI) protocol Rotative encoder [0] U8 C
parameters: Encoder type
0x2C5A:021 Load encoder/master encoder (SSI) protocol x pos. unit (Read only) I32 1 X ●
parameters: Position raw data scaled by 0x608F
0x2C5A:022 Load encoder/master encoder (SSI) protocol 0 us U16 1 C
parameters: Monoflop time
0x2C5A:023 Load encoder/master encoder (SSI) protocol x.x us (Read only) U16 10 X
parameters: Resulting SSI-telegram cycle time
0x2C5F Parameter CRC of load encoder/master encoder - (Read only) U32 1 X
0x2C60 PPI monitoring: Reaction Fault > CiA402 [1] U8 -
0x2C61:001 Pole position identification (360°) settings: Current 71 % U16 1 C
amplitude
0x2C61:002 Pole position identification (360°) settings: Ramp 40 s U16 1 C
time
0x2C61:003 Pole position identification (360°) settings: Direction CW [0] U8 C
of rotation
0x2C61:004 Pole position identification (360°) settings: Error 20 ° U8 1 -
tolerance
0x2C61:005 Pole position identification (360°) settings: Absolute x.xx A (Read only) U32 100 X
current amplitude
0x2C62:001 Pole position identification (min. movement) 25 % U16 1 C
settings: Current amplitude
0x2C62:002 Pole position identification (min. movement) 10 s U16 1 C
settings: Ramp time
0x2C62:003 Pole position identification (min. movement) 0% U16 1 -
settings: Gain
0x2C62:004 Pole position identification (min. movement) 62.5 ms U16 10 -
settings: Reset time
0x2C62:005 Pole position identification (min. movement) 20 ° U8 1 -
settings: Max. move permitted
0x2C62:006 Pole position identification (min. movement) x.xx A (Read only) U32 100 X
settings: Absolute current amplitude
0x2C63:001 PPI without movement: Execution Disabled [0] U8 C
0x2C63:002 PPI without movement: Current adjust factor 100 % U16 1 C
0x2C64:001 Cable Check: Behavior after switch on No action [0] U8 C
0x2C64:002 Cable Check: Status word - (Read only) U16 HX
0x2C65:001 PPI validation: Activation Off [0] U8 C
0x2C65:002 PPI validation: Settings No action [0] U8 X
0x2C65:003 PPI validation: Status - (Read only) U16 HX ●
0x2C65:004 PPI validation: Pole position set value 0.0 ° I16 10 -
0x2C66:001 PPI mode for 0x6060: Selection PPI 360° [1] U8 C
0x2C67:001 MOL settings for 0x6060: Current setpoint 1 71 % U16 1 -
0x2C67:002 MOL settings for 0x6060: Frequency 1 1.0 Hz I16 10 -
0x2C67:003 MOL settings for 0x6060: Current 1 - ramp time 10 ms U16 1 -
0x2C67:004 MOL settings for 0x6060: Frequency 1 - ramp time 200 ms U16 1 -
0x2C67:005 MOL settings for 0x6060: Starting angle 1 0.0 ° I16 10 -
0x2C67:006 MOL settings for 0x6060: Stopping time 1 10000.0 s U32 10 C
0x2C67:011 MOL settings for 0x6060: Current setpoint 2 71 % U16 1 -
0x2C67:012 MOL settings for 0x6060: Frequency 2 5.0 Hz I16 10 -
0x2C67:013 MOL settings for 0x6060: Current 2 - ramp time 10 ms U16 1 -
0x2C67:014 MOL settings for 0x6060: Frequency 2 - ramp time 1000 ms U16 1 -
0x2C67:015 MOL settings for 0x6060: Starting angle 2 0.0 ° I16 10 -
0x2C67:016 MOL settings for 0x6060: Stopping time 2 10000.0 s U32 10 C
0x2D00:001 Touch probe (TP) delay time: Touch probe 1 delay 0.000 ms U16 1000 -
time

715
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2D00:002 Touch probe (TP) delay time: Touch probe 2 delay 0.000 ms U16 1000 -
time
0x2D00:003 Touch probe (TP) delay time: Touch probe 3 delay 0.000 ms U16 1000 -
time
0x2D00:004 Touch probe (TP) delay time: Touch probe 4 delay 0.000 ms U16 1000 -
time
0x2D01:001 Touch probe (TP) time stamp: Touch probe 1-rising x ns (Read only) U32 1 X ●
edge time stamp
0x2D01:002 Touch probe (TP) time stamp: Touch probe 1-falling x ns (Read only) U32 1 X ●
edge time stamp
0x2D01:003 Touch probe (TP) time stamp: Touch probe 2-rising x ns (Read only) U32 1 X ●
edge time stamp
0x2D01:004 Touch probe (TP) time stamp: Touch probe 2-falling x ns (Read only) U32 1 X ●
edge time stamp
0x2D01:005 Touch probe (TP) time stamp: Touch probe 3-rising x ns (Read only) U32 1 X ●
edge time stamp
0x2D01:006 Touch probe (TP) time stamp: Touch probe 3-falling x ns (Read only) U32 1 X ●
edge time stamp
0x2D01:007 Touch probe (TP) time stamp: Touch probe 4-rising x ns (Read only) U32 1 X ●
edge time stamp
0x2D01:008 Touch probe (TP) time stamp: Touch probe 4-falling x ns (Read only) U32 1 X ●
edge time stamp
0x2D02:001 Touch probe diagnostics: Touch probe 3/4 function 0x0000 U16 H ●
0x2D02:002 Touch probe diagnostics: Touch-Probe 3/4 status - (Read only) U16 HX ●
0x2D03:001 Touch probe position: Touch probe 3 position rising x pos. unit (Read only) I32 1 X ●
edge
0x2D03:002 Touch probe position: Touch probe 3 position falling x pos. unit (Read only) I32 1 X ●
edge
0x2D03:003 Touch probe position: Touch probe 4 position rising x pos. unit (Read only) I32 1 X ●
edge
0x2D03:004 Touch probe position: Touch probe 4 position falling x pos. unit (Read only) I32 1 X ●
edge
0x2D40:001 Device utilisation ixt: Power unit actual utilisation x % (Read only) U16 1 X ●
0x2D40:002 Device utilisation ixt: Power unit warning threshold 95 % U16 1 -
0x2D40:003 Device utilisation ixt: Power unit error threshold x % (Read only) U16 1 X
0x2D40:004 Device utilisation ixt: Device actual utilisation x % (Read only) U16 1 X ●
0x2D40:005 Device utilisation ixt: Device warning threshold 95 % U16 1 -
0x2D40:006 Device utilisation ixt: Device error threshold x % (Read only) U16 1 X
0x2D40:007 Device utilisation ixt: Actual total utilisation x % (Read only) U16 1 X ●
0x2D40:008 Device utilisation ixt: Total utilisation warning 95 % U16 1 -
threshold
0x2D40:009 Device utilisation ixt: Total utilisation error threshold x % (Read only) U16 1 X
0x2D44:001 Overspeed monitoring: Threshold 8000 rpm U16 1 -
0x2D44:002 Overspeed monitoring: Response Fault > CiA402 [1] U8 -
0x2D45:001 Motor phase failure detection: Response - Motor No response [0] U8 -
phase 1
0x2D45:002 Motor phase failure detection: Current threshold 5.0 % U8 10 -
0x2D45:003 Motor phase failure detection: Voltage threshold 10.0 V U16 10 -
0x2D45:004 Motor phase failure detection: Response - Motor No response [0] U8 -
phase 2
0x2D46:001 Overcurrent monitoring: Threshold 5.4 A U16 10 -
0x2D46:002 Overcurrent monitoring: Response Fault > CiA402 [1] U8 -
0x2D48:002 PTC temperature sensor monitoring: Error response Fault > CiA402 [1] U8 -
0x2D49:001 Motor temperature monitoring: Temperature sensor PT1000 [5] U8 -
type
0x2D49:002 Motor temperature monitoring: Response Warning [1] U8 -
0x2D49:003 Motor temperature monitoring: Warning threshold 145.0 °C I16 10 -
0x2D49:004 Motor temperature monitoring: Error threshold 155.0 °C I16 10 -

716
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2D49:005 Motor temperature monitoring: Actual motor x.x °C (Read only) I16 10 X ●
temperature
0x2D49:006 Motor temperature monitoring: Spec. characteristic 25.0 °C I16 10 -
temperature grid point 1
0x2D49:007 Motor temperature monitoring: Spec. characteristic 150.0 °C I16 10 -
temperature grid point 2
0x2D49:008 Motor temperature monitoring: Spec. characteristic 1000 Ω I16 1 -
resistance grid point 1
0x2D49:009 Motor temperature monitoring: Spec. characteristic 2225 Ω I16 1 -
resistance grid point 2
0x2D49:010 Motor temperature monitoring: Temperature sensor Motor encoder [0] U8 -
feedback type
0x2D49:011 Motor temperature monitoring: Motor temperature x.x °C (Read only) I16 10 X ●
(Motor encoder)
0x2D49:012 Motor temperature monitoring: Motor temperature x.x °C (Read only) I16 10 X ●
(load encoder)
0x2D4C:001 Thermal model motor utilization (i²xt): Motor 60 s U16 1 -
utilisation (i²xt)
0x2D4C:002 Thermal model motor utilization (i²xt): Thermal time 852 s U16 1 -
constant - laminations
0x2D4C:003 Thermal model motor utilization (i²xt): Winding 27 % U8 1 -
influence
0x2D4C:004 Thermal model motor utilization (i²xt): Starting 0% U16 1 -
value
0x2D4D:001 Motor utilisation (i²xt) - specific characteristic: x1 = 0% U16 1 -
n01/nN (n01 ~ 0)
0x2D4D:002 Motor utilisation (i²xt) - specific characteristic: y1 = 100 % U16 1 -
i01/iN (x1)
0x2D4D:003 Motor utilisation (i²xt) - specific characteristic: x2 = 0% U16 1 -
n02/nN (n02 = limit reduced cooling)
0x2D4D:004 Motor utilisation (i²xt) - specific characteristic: y2 = 100 % U16 1 -
i02/iN (x2)
0x2D4D:005 Motor utilisation (i²xt) - specific characteristic: x3 = 100 % U16 1 -
n03/nN (n03 = rated speed)
0x2D4D:006 Motor utilisation (i²xt) - specific characteristic: y3 = 100 % U16 1 -
i03/iN (x3)
0x2D4D:007 Motor utilisation (i²xt) - specific characteristic: x4 = 100 % U16 1 -
n04/nN (n04 = limit field weakening)
0x2D4D:008 Motor utilisation (i²xt) - specific characteristic: y4 = 100 % U16 1 -
i04/iN (x4)
0x2D4E Motor utilisation (i²xt) - warning threshold 100 % U16 1 -
0x2D4F Motor utilisation (i²xt) x % (Read only) U16 1 X ●
0x2D50:001 Motor utilisation (i²xt) - monitoring: Error response Fehler > CiA402 [1] U8 -
0x2D50:002 Motor utilisation (i²xt) - monitoring: Error threshold 105 % U16 1 -
0x2D51:001 Position error/speed error - monitoring: Speed error 50 rpm U32 1 -
- error threshold
0x2D51:002 Position error/speed error - monitoring: Speed error 0 ms U16 1 -
- min. time for error
0x2D51:003 Position error/speed error - monitoring: Speed error No response [0] U8 -
- error response
0x2D51:004 Position error/speed error - monitoring: Position 360 ° U32 1 -
error - error threshold
0x2D51:005 Position error/speed error - monitoring: Position 0 ms U16 1 -
error - min. time for error
0x2D51:006 Position error/speed error - monitoring: Position No response [0] U8 -
error - error response
0x2D66:001 Mains failure control: Enable function Disabled [0] U8 -
0x2D66:002 Mains failure control: DC-bus activation level 75 % U8 1 -
0x2D66:011 Mains failure control: Filter time 0.00 s U16 100 -
0x2D66:012 Mains failure control: Ramp max. torque 30.0 % U16 10 -

717
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2D66:013 Mains failure control: Ramp time 1.00 s U16 100 -
0x2D66:014 Mains failure control: Actual DC bus voltage x.xxx V (Read only) U32 1000 X
(filtered)
0x2D81:001 Life-diagnosis: Operating time x s (Read only) U32 1 X
0x2D81:002 Life-diagnosis: Power-on time x s (Read only) U32 1 X
0x2D81:004 Life-diagnosis: Main switching cycles - (Read only) U32 1 X
0x2D81:006 Life-diagnosis: Short-circuit counter - (Read only) U32 1 X
0x2D81:007 Life-diagnosis: Earth fault counter - (Read only) U32 1 X
0x2D81:009 Life-diagnosis: Fan operating time x s (Read only) U32 1 X
0x2D82 Motor actual voltage (Veff) x.x V (Read only) U32 10 X ●
0x2D83:001 Motor-Phasenströme: Zero system current x.xx A (Read only) I32 100 X ●
0x2D83:002 Motor-Phasenströme: Phase U current x.xx A (Read only) I32 100 X ●
0x2D83:003 Motor-Phasenströme: Phase V current x.xx A (Read only) I32 100 X ●
0x2D83:004 Motor-Phasenströme: Phase W current x.xx A (Read only) I32 100 X ●
0x2D84:001, Heatsink temperature: Heatsink temperature x.x °C (Read only) I16 10 X
004, 006
0x2D84:002 Heatsink temperature: Warning threshold 90.0 °C I16 10 -
0x2D8A Actual speed error x rpm (Read only) I32 1 X ●
0x2DA2:001 Output power: Effective power x.xxx kW (Read only) I32 1000 X ●
0x2DA3:003 Output energy: Overall energy 0.00 kWh I32 100 X
0x2DA4:001 Diagnostics of analog input 1: Value in percent x.x % (Read only) I16 10 X
0x2DA4:005 Diagnostics of analog input 1: Scaled percent value x.xx % (Read only) I16 100 X ●
0x2DA4:016 Diagnostics of analog input 1: Status - (Read only) U16 HX ●
0x2DD0:001 Field values: Actual value x % (Read only) U16 1 X ●
0x2DD0:002 Field values: Setpoint value x % (Read only) U16 1 X ●
0x2DD1:001 Motor currents: Actual D-current (id) x.xx A (Read only) I32 100 X ●
0x2DD1:002 Motor currents: Actual Q-current (iq) x.xx A (Read only) I32 100 X ●
0x2DD1:003 Motor currents: Setpoint D-current (id) x.xx A (Read only) I32 100 X ●
0x2DD1:004 Motor currents: Setpoint Q-current (iq) x.xx A (Read only) I32 100 X ●
0x2DD1:005 Motor currents: Motor current (Ieff) x.xx A (Read only) I32 100 X ●
0x2DD2 Target position interpolated x pos. unit (Read only) I32 1 X ●
0x2DD3:001 Speed setpoints: Speed setpoint x rpm (Read only) I32 1 X ●
0x2DD3:002 Speed setpoints: Speed setpoint 2 x rpm (Read only) I32 1 X ●
0x2DD3:003 Speed setpoints: Speed setpoint limited x rpm (Read only) I32 1 X ●
0x2DD4:001 Speed controller output signals: Output signal 1 x.x % (Read only) I16 10 X ●
0x2DD4:002 Speed controller output signals: Output signal 2 x.x % (Read only) I16 10 X ●
0x2DD5 Torque setpoint x.xx Nm (Read only) I32 100 X ●
0x2DD6:001 Torque filter cascade: Starting value x.x % (Read only) I16 10 X ●
0x2DD6:002 Torque filter cascade: Notch filter 1 input value x.x % (Read only) I16 10 X ●
0x2DD6:003 Torque filter cascade: Notch filter 2 input value x.x % (Read only) I16 10 X ●
0x2DD6:004 Torque filter cascade: Torque setpoint filtered x.x % (Read only) I16 10 X ●
0x2DD7:001 Voltage values: Actual voltage (motor voltage limit) x.x V (Read only) I16 10 X ●
0x2DD7:002 Voltage values: Output signal D current controller x.x V (Read only) I16 10 X ●
0x2DD7:003 Voltage values: Output signal Q current controller x.x V (Read only) I16 10 X ●
0x2DD7:004 Voltage values: D voltage (magnetisation) x.x V (Read only) I16 10 X ●
0x2DD7:005 Voltage values: Q voltage (torque) x.x V (Read only) I16 10 X ●
0x2DD7:006 Voltage values: Phases U-V x.x V (Read only) I16 10 X ●
0x2DD7:007 Voltage values: Phases V-W x.x V (Read only) I16 10 X ●
0x2DD7:008 Voltage values: Phases W-U x.x V (Read only) I16 10 X ●
0x2DD7:009 Voltage values: Phase U x.x V (Read only) I16 10 X ●
0x2DD7:010 Voltage values: Phase V x.x V (Read only) I16 10 X ●
0x2DD7:011 Voltage values: Phase W x.x V (Read only) I16 10 X ●
0x2DDC Actual slip value x.x Hz (Read only) I16 10 X ●
0x2DDD Output frequency x.x Hz (Read only) I16 10 X ●
0x2DDE Actual rotor angle position - (Read only) I16 1 X ●

718
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x2DDF:001 Axis information: Rated current x.xx A (Read only) U16 100 X ●
0x2DDF:002 Axis information: Maximum current x.xx A (Read only) U16 100 X ●
0x2DDF:005 Axis information: Detected module in slot A - (Read only) U8 X ●
0x2DDF:006 Axis information: Detected module in slot B - (Read only) U8 X ●
0x2DDF:007 Axis information: Function of X109 - (Read only) U8 X ●
0x2DE0:001 Current controller identification settings Automatic [0] U8 X
0x2DE0:003 Resolver - position detection dynamics 100 % U16 1 -
0x2DE0:004 Resolver - 8 kHz safety signal Automatisch durch Gerätetyp [0] U8 X
0x2DE0:006 OEM service Data - SN - (Read only) U32 1 X
0x2DE0:007 Use measured voltage On [1] U8 -
0x2DE0:009 Motor identification settings - (Read only) U32 1 X
0x2DE0:014 Overwrite bit 4 of CiA control word No overwrite [0] U8 -
0x2DE1:001 Axis settings: Function of X109 PTC [20] U8 -
0x4000 Application selection "Table Positioning" technology U16 C
application [20]
0x4001 Interface selection Fieldbus network [0] I16 -
0x4016:005 Digital output 1: Terminal state - (Read only) U8 X
0x500A:004 PLCopen status - (Read only) U16 X
0x500A:005 Status word - (Read only) U32 HX
0x500A:008 Control word 0x0000 U16 HX
0x500A:010 Actual position - (Read only) I32 10000 X
0x500A:011 Actual velocity - (Read only) I32 10000 X
0x500A:012 Actual acceleration - (Read only) I32 100 X
0x500A:013 Actual torque x.xx Nm (Read only) I32 100 X
0x500A:014 Set position - (Read only) I32 10000 X
0x500A:015 Velocity setpoint - (Read only) I32 10000 X
0x500A:016 Acceleration setpoint - (Read only) I32 100 X
0x500A:017 Torque setpoint x.xx Nm (Read only) I32 100 X
0x500A:025 Additional gearbox factor - numerator 1 U32 1 C
0x500A:026 Additional gearbox factor - denominator 1 U32 1 C
0x500A:029 Virtual mode 0 BOOLEAN C
0x500A:030 Travel range Limited [1] U16 C
0x500A:031 Cycle length 360.0000 I32 10000 C
0x500A:032 Feed constant 360.0000 I32 10000 C
0x500A:033 Gearbox factor - nominator 1 U32 1 C
0x500A:034 Gearbox factor - denominator 1 U32 1 C
0x500A:035 Motor mounting direction 0 BOOLEAN C
0x500A:037 Load moment of inertia 0.00 kg cm² I32 100 -
0x500A:045 Max. velocity 0.0000 I32 10000 -
0x500A:046 Max. acceleration 0.00 I32 100 -
0x500A:047 Max. jerk 0.00 I32 100 -
0x500A:048 Application quick stop - deceleration 3600.00 I32 100 -
0x500A:049 Application quick stop - jerk 0.00 I32 100 -
0x500A:050 Enable software limit switches 0 BOOLEAN -
0x500A:051 Software limit switch positive 0.0000 I32 10000 -
0x500A:052 Software limit switch negative 0.0000 I32 10000 -
0x500A:053 Action after "software limit switch reached" Stop at software limit switch [1] U16 -
0x500A:054 Following error monitoring 1 BOOLEAN -
0x500A:055 Following error: Warning threshold 180.0000 I32 10000 -
0x500A:056 Following error: Error threshold 360.0000 I32 10000 -
0x500A:057 Actual following error - (Read only) I32 10000 X
0x500A:058 Max. following error - (Read only) I32 10000 X
0x500A:059 Response to following error Fault > Application quick stop > Quick U8 -
stop [20]
0x500A:067 M-S compensation: Mode Off [0] U16 C

719
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x500A:068 M-S compensation: Time offset 0.000 ms I32 1000 -
0x500A:070 Homing mode SetPositionDirect [0] I16 -
0x500A:071 Action after "Home position detected" Stop positioning [0] I16 -
0x500A:072 Homing: Target position 0.0000 I32 10000 -
0x500A:073 Homing: Velocity 1 360.0000 I32 10000 -
0x500A:074 Homing: Velocity 2 0.0000 I32 10000 -
0x500A:075 Homing: Acceleration 1 720.00 I32 100 -
0x500A:076 Homing: Acceleration 2 360.00 I32 100 -
0x500A:077 Homing: Jerk 7200.00 I32 100 -
0x500A:078 Homing: Torque limit 0.10 Nm I32 100 -
0x500A:079 Homing: Blocking time 1.000 s I32 1000 -
0x500A:080 Homing: Touch probe configuration TP1 - positive edge [1] U32 -
0x500A:081 Home position after mains switching 0 BOOLEAN -
0x500A:082 Max. angle of rotation after mains switching 0.0000000000 ° I32 1 -
0x500A:084 Home position 0.0000 I32 10000 -
0x500A:086 Homing: Offset position 0.0000 I32 10000 -
0x500A:087 Homing: Absolute positioning direction Current direction [0] I16 -
0x500A:090 Default control mode Position control via motor encoder [0] U16 C
0x500A:091 Actual control mode - (Read only) U16 X
0x500A:092 Load encoder selection [-] STRING[80] C
0x500A:093 Position controller gain 20.0000 1/s I32 10000 -
0x500A:094 Load encoder output limit 100000.0000 I32 10000 -
0x500A:095 Position controller output - (Read only) I32 10000 X
0x500A:104 Response to hardware limit switch error Fault > Application quick stop > Quick U8 -
stop [19]
0x500A:105 Response to software limit switch error Fault > Application quick stop > Quick U8 -
stop [19]
0x500A:106 Response to error "max. values exceeded" Warning [2] U8 -
0x500A:107 Response to inverter disable during operation No response [0] U8 -
0x500A:121 Perform brake test Off / ready [0] U8 X
0x500A:128 Positive torque limit 200.0 % I16 10 -
0x500A:129 Negative torque limit 200.0 % I16 10 -
0x500A:130 Position window size 0.0000 I32 10000 -
0x500A:131 Position window dwell time 0.000 s I32 1000 -
0x500A:132 Standstill window size (motor encoder) 0.0000 I32 10000 -
0x500A:135 Modulo positioning tolerance window 0.0000 I32 10000 -
0x500A:136 Tolerance window actual position=set position 0.0000 I32 10000 -
upper limit
0x500A:137 Tolerance window actual position=set position 0.0000 I32 10000 -
lower limit
0x500A:150 SLS1 0.0000 I32 10000 -
0x500A:151 SLS1 - deceleration time 0.000 s I32 1000 -
0x500A:152 SLS2 0.0000 I32 10000 -
0x500A:153 SLS2 - deceleration time 0.000 s I32 1000 -
0x500A:154 SLS3 0.0000 I32 10000 -
0x500A:155 SLS3 - deceleration time 0.000 s I32 1000 -
0x500A:156 SLS4 0.0000 I32 10000 -
0x500A:157 SLS4 - deceleration time 0.000 s I32 1000 -
0x500A:159 Compensation velocity of SLS 0.0000 I32 10000 -
0x500A:160 Follower - Response to SLS 0 BOOLEAN -
0x500A:161 Speed controller limitation (SLS) 0 BOOLEAN -
0x500A:162 Deactivate safety interface 0x00000000 U32 H
0x500A:163 Limiter status - (Read only) U32 HX
0x500A:181 Manual jog velocity 360.0000 I32 10000 -
0x500A:182 Manual jog acceleration 720.00 I32 100 -

720
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x500A:183 Manual jog deceleration 1440.00 I32 100 -
0x500A:184 Manual jog jerk 0.00 I32 100 -
0x500A:186 Deceleration of Halt 1800.00 I32 100 -
0x500A:187 Jerk of Halt 0.00 I32 100 -
0x500B:005 Status word - (Read only) U32 HX
0x500B:010 Actual position - (Read only) I32 10000 X
0x500B:011 Actual velocity - (Read only) I32 10000 X
0x500B:012 Actual acceleration - (Read only) I32 100 X
0x500B:030 Travel range Limited [1] U16 C
0x500B:031 Cycle length 360.0000 I32 10000 C
0x500B:032 Feed constant 360.0000 I32 10000 C
0x500B:033 Gearbox factor - nominator 1 U32 1 C
0x500B:034 Gearbox factor - denominator 1 U32 1 C
0x500B:035 Load encoder mounting direction 0 BOOLEAN C
0x500B:045 Max. velocity 0.0000 I32 10000 -
0x500B:065 Filter cycles of actual velocity 1 U16 1 -
0x500B:066 Filter cycles of actual position 1 U16 1 -
0x500B:067 M-S compensation: Mode Off [0] U16 C
0x500B:068 M-S compensation: Time offset 0.000 ms I32 1000 -
0x500B:069 Update cycle for SSI encoder 0.000 ms U32 1000 C
0x500B:081 Home position after mains switching 0 BOOLEAN -
0x500B:082 Max. angle of rotation after mains switching 0.0000000000 ° I32 1 -
0x500B:100 Setpoint monitoring 0 BOOLEAN -
0x500B:132 Standstill window size (load encoder) 0.0000 I32 10000 -
0x5020:004 Source of positive hardware limit switch Digital input 4 [5] I16 -
0x5020:005 Source of negative hardware limit switch Digital input 3 [4] I16 -
0x5020:006 Source of homing switch Digital input 1 [2] I16 -
0x5020:007 Application quick stop source FALSE [0] I16 -
0x5020:008 Source of fault reset FALSE [0] I16 -
0x5020:010 RANLI_TXXXX_S010_000_N10038000 FALSE [0] I16 -
0x5020:011 TP1 source Digital input 2, positive edge [11] I16 -
0x5020:030 Source of digital output 1 Ready to switch on [0] I16 -
0x5021:150 System bus diagnostics: Cycle length (input value) - (Read only) I32 10000 X
0x5021:151 System bus diagnostics: Position (input value) - (Read only) I32 10000 X
0x5021:152 System bus diagnostics: Velocity (input value) - (Read only) I32 10000 X
0x5021:153 System bus diagnostics: Acceleration (input value) - (Read only) I32 100 X
0x5021:154 System bus diagnostics: Torque (input value) x.xxxx Nm (Read only) I32 10000 X
0x5021:155 System bus diagnostics: Time stamp (input value) x ns (Read only) U32 1 X
0x5021:156 System bus diagnostics: Input data word 6 - (Read only) U32 1 X
0x5021:157 System bus diagnostics: Input data word 7 - (Read only) U32 1 X
0x5021:160 System bus diagnostics: Cycle length (output value) - (Read only) I32 10000 X
0x5021:161 System bus diagnostics: Position (output value) - (Read only) I32 10000 X
0x5021:162 System bus diagnostics: Velocity (output value) - (Read only) I32 10000 X
0x5021:163 System bus diagnostics: Acceleration (output value) - (Read only) I32 100 X
0x5021:164 System bus diagnostics: Torque (output value) x.xxxx Nm (Read only) I32 10000 X
0x5021:165 System bus diagnostics: Time stamp (output value) x ns (Read only) U32 1 X
0x5021:166 System bus diagnostics: Output data word 6 - (Read only) U32 1 X
0x5021:167 System bus diagnostics: Output data word 7 - (Read only) U32 1 X
0x5025:001 Simulation of control signals 0x00 U8 HX
0x5025:010 Control signals 0x00000000 U32 HX
0x5025:101 Simulation of status signals 0x00 U8 HX
0x5025:110 Status signals 0x00000000 U32 HX
0x5026:001 Direct drive type [0] I16 C
0x5026:002 Linear motor rated force x.xx N (Read only) I32 100 X
0x5026:003 Linear motor rated force constant 0.00 I32 100 C

721
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x5026:004 Linear motor actual force x.xx N (Read only) I32 100 X
0x5026:005 Linear motor rated velocity - (Read only) I32 10000 X
0x5026:010 Short circuit braking test [0] I16 -
0x5026:011 Short circuit braking activation threshold 20.00 % I32 100 -
0x5030:001 Simulation of control signals 0x00 U8 HX
0x5030:003 Effect of external torque limit Positive and negative direction [0] I16 -
0x5030:006 Display value 1 None [0] U16 -
0x5030:007 Display value 2 None [0] U16 -
0x5030:008 Activate flying homing FALSE [0] I16 -
0x5030:009 Activate "Positive stop positioning" FALSE [0] I16 -
0x5030:010 Control signals 0x00000000 U32 HX
0x5030:011 External velocity override 0.00 % I32 100 X
0x5030:012 External velocity 0.0000 I32 10000 X
0x5030:014 External acceleration 0.00 I32 100 X
0x5030:015 External deceleration 0.00 I32 100 X
0x5030:016 External jerk 0.00 I32 100 X
0x5030:017 External torque limit 0.00 % I32 100 X
0x5030:023 External position setpoint 0.0000 I32 10000 X
0x5030:101 Simulation of status signals 0x00 U8 HX
0x5030:110 Status signals 0x00000000 U32 HX
0x5030:111 Status signals limiter 0x00000000 U32 HX
0x5030:112 Actual velocity 0.0000 I32 10000 X
0x5030:113 Status word 3 (reserved) 0.0000 I32 10000 X
0x5030:114 Error code 0 U32 1 X
0x5030:115 Actual torque 0.0000 Nm I32 10000 X
0x5030:116 Display value 1 0 U32 1 X
0x5030:117 Display value 2 0 U32 1 X
0x5030:123 Actual position 0.0000 I32 10000 X
0x5030:150 Read external profile data in edge-controlled FALSE [0] I16 -
manner
0x5031:021, Positioning mode absolute [0] I16 -
032, 043, 054,
065, 076, 087,
098, 109, 120,
131, 142, 153,
164, 175
0x5031:022, Profile position 360.0000 I32 10000 -
033, 044, 055,
066, 077, 088,
099, 110, 121,
132, 143, 154,
165, 176
0x5031:023, Profile velocity 360.0000 I32 10000 -
034, 045, 056,
067, 078, 089,
100, 111, 122,
133, 144, 155,
166, 177
0x5031:024, Profile acceleration 720.00 I32 100 -
035, 046, 057,
068, 079, 090,
101, 112, 123,
134, 145, 156,
167, 178
0x5031:025, Profile deceleration 720.00 I32 100 -
036, 047, 058,
069, 080, 091,
102, 113, 124,
135, 146, 157,
168, 179

722
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x5031:026, Profile jerk 7200.00 I32 100 -
037, 048, 059,
070, 081, 092,
103, 114, 125,
136, 147, 158,
169, 180
0x5031:027, Final velocity 0.0000 I32 10000 -
038, 049, 060,
071, 082, 093,
104, 115, 126,
137, 148, 159,
170, 181
0x5031:028, Profile TP window - lower limit 0.0000 I32 10000 -
039, 050, 061,
072, 083, 094,
105, 116, 127,
138, 149, 160,
171, 182
0x5031:029, Profile TP window - upper limit 0.0000 I32 10000 -
040, 051, 062,
073, 084, 095,
106, 117, 128,
139, 150, 161,
172, 183
0x5031:030, Sequence profile after TP 0 U16 1 -
041, 052, 063,
074, 085, 096,
107, 118, 129,
140, 151, 162,
173, 184
0x5031:031, Sequence profile 0 U16 1 -
042, 053, 064,
075, 086, 097,
108, 119, 130,
141, 152, 163,
174, 185
0x5032:011 Active Profile - (Read only) U16 1 X
0x5032:012 Active profile: acceleration setpoint - (Read only) I32 100 X
0x5032:013 Active profile: deceleration setpoint - (Read only) I32 100 X
0x5032:014 Active profile: jerk setpoint - (Read only) I32 100 X
0x5032:015 Active profile: Velocity setpoint - (Read only) I32 10000 X
0x5032:020 Active profile: position setpoint - (Read only) I32 10000 X
0x5032:025 Selected profile - (Read only) U16 1 X
0x5032:027 Velocity override setpoint - (Read only) I32 100 X
0x5810:001 Application diagnostics: Application state - (Read only) U8 X
0x5850:001 Commands for EtherCAT system bus master: No action/no error [0] U16 X
Kommunikation neu starten
0x5851:001 EtherCAT master diagnosis: EtherCAT master state - (Read only) U16 X
0x5851:002 EtherCAT master diagnosis: EtherCAT master state - (Read only) U32 HX
summary
0x5851:003 EtherCAT master diagnosis: EtherCAT error - (Read only) U16 1 X
0x5851:004 EtherCAT master diagnosis: Bus scan match - (Read only) U8 1 X
0x5851:005 EtherCAT master diagnosis: Configured cycle time x us (Read only) U32 1 X
0x5851:006 EtherCAT master diagnosis: Connected slaves - (Read only) U16 1 X
0x5851:007 EtherCAT master diagnosis: Configured slaves - (Read only) U16 1 X
0x5860:001 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 1
0x5860:002 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 2
0x5860:003 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 3

723
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x5860:004 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 4
0x5860:005 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 5
0x5860:006 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 6
0x5860:007 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 7
0x5860:008 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 8
0x5860:009 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 9
0x5860:010 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 10
0x5860:011 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 11
0x5860:012 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 12
0x5860:013 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 13
0x5860:014 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 14
0x5860:015 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 15
0x5860:016 EtherCAT slaves station addresses: Station address - (Read only) I16 1 X
slave 16
0x5861:001 EtherCAT slaves device names: Device name slave 1 - (Read only) STRING[128] X
0x5861:002 EtherCAT slaves device names: Device name slave 2 - (Read only) STRING[128] X
0x5861:003 EtherCAT slaves device names: Device name slave 3 - (Read only) STRING[128] X
0x5861:004 EtherCAT slaves device names: Device name slave 4 - (Read only) STRING[128] X
0x5861:005 EtherCAT slaves device names: Device name slave 5 - (Read only) STRING[128] X
0x5861:006 EtherCAT slaves device names: Device name slave 6 - (Read only) STRING[128] X
0x5861:007 EtherCAT slaves device names: Device name slave 7 - (Read only) STRING[128] X
0x5861:008 EtherCAT slaves device names: Device name slave 8 - (Read only) STRING[128] X
0x5861:009 EtherCAT slaves device names: Device name slave 9 - (Read only) STRING[128] X
0x5861:010 EtherCAT slaves device names: Device name slave - (Read only) STRING[128] X
10
0x5861:011 EtherCAT slaves device names: Device name slave - (Read only) STRING[128] X
11
0x5861:012 EtherCAT slaves device names: Device name slave - (Read only) STRING[128] X
12
0x5861:013 EtherCAT slaves device names: Device name slave - (Read only) STRING[128] X
13
0x5861:014 EtherCAT slaves device names: Device name slave - (Read only) STRING[128] X
14
0x5861:015 EtherCAT slaves device names: Device name slave - (Read only) STRING[128] X
15
0x5861:016 EtherCAT slaves device names: Device name slave - (Read only) STRING[128] X
16
0x5862:001 EtherCAT slaves device types: Device type slave 1 - (Read only) STRING[50] X
0x5862:002 EtherCAT slaves device types: Device type slave 2 - (Read only) STRING[50] X
0x5862:003 EtherCAT slaves device types: Device type slave 3 - (Read only) STRING[50] X
0x5862:004 EtherCAT slaves device types: Device type slave 4 - (Read only) STRING[50] X
0x5862:005 EtherCAT slaves device types: Device type slave 5 - (Read only) STRING[50] X
0x5862:006 EtherCAT slaves device types: Device type slave 6 - (Read only) STRING[50] X
0x5862:007 EtherCAT slaves device types: Device type slave 7 - (Read only) STRING[50] X
0x5862:008 EtherCAT slaves device types: Device type slave 8 - (Read only) STRING[50] X
0x5862:009 EtherCAT slaves device types: Device type slave 9 - (Read only) STRING[50] X

724
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x5862:010 EtherCAT slaves device types: Device type slave 10 - (Read only) STRING[50] X
0x5862:011 EtherCAT slaves device types: Device type slave 11 - (Read only) STRING[50] X
0x5862:012 EtherCAT slaves device types: Device type slave 12 - (Read only) STRING[50] X
0x5862:013 EtherCAT slaves device types: Device type slave 13 - (Read only) STRING[50] X
0x5862:014 EtherCAT slaves device types: Device type slave 14 - (Read only) STRING[50] X
0x5862:015 EtherCAT slaves device types: Device type slave 15 - (Read only) STRING[50] X
0x5862:016 EtherCAT slaves device types: Device type slave 16 - (Read only) STRING[50] X
0x5863:001 Mandatory EtherCAT slaves: Slave 1 is mandatory - (Read only) U8 X
0x5863:002 Mandatory EtherCAT slaves: Slave 2 is mandatory - (Read only) U8 X
0x5863:003 Mandatory EtherCAT slaves: Slave 3 is mandatory - (Read only) U8 X
0x5863:004 Mandatory EtherCAT slaves: Slave 4 is mandatory - (Read only) U8 X
0x5863:005 Mandatory EtherCAT slaves: Slave 5 is mandatory - (Read only) U8 X
0x5863:006 Mandatory EtherCAT slaves: Slave 6 is mandatory - (Read only) U8 X
0x5863:007 Mandatory EtherCAT slaves: Slave 7 is mandatory - (Read only) U8 X
0x5863:008 Mandatory EtherCAT slaves: Slave 8 is mandatory - (Read only) U8 X
0x5863:009 Mandatory EtherCAT slaves: Slave 9 is mandatory - (Read only) U8 X
0x5863:010 Mandatory EtherCAT slaves: Slave 10 is mandatory - (Read only) U8 X
0x5863:011 Mandatory EtherCAT slaves: Slave 11 is mandatory - (Read only) U8 X
0x5863:012 Mandatory EtherCAT slaves: Slave 12 is mandatory - (Read only) U8 X
0x5863:013 Mandatory EtherCAT slaves: Slave 13 is mandatory - (Read only) U8 X
0x5863:014 Mandatory EtherCAT slaves: Slave 14 is mandatory - (Read only) U8 X
0x5863:015 Mandatory EtherCAT slaves: Slave 15 is mandatory - (Read only) U8 X
0x5863:016 Mandatory EtherCAT slaves: Slave 16 is mandatory - (Read only) U8 X
0x5864:001 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 1
0x5864:002 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 2
0x5864:003 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 3
0x5864:004 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 4
0x5864:005 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 5
0x5864:006 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 6
0x5864:007 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 7
0x5864:008 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 8
0x5864:009 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 9
0x5864:010 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 10
0x5864:011 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 11
0x5864:012 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 12
0x5864:013 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 13
0x5864:014 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 14
0x5864:015 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 15
0x5864:016 EtherCAT slaves initialisation status: Initalisation - (Read only) U16 X
status slave 16
0x5865:001 EtherCAT slaves device status: Device status slave 1 - (Read only) U16 X
0x5865:002 EtherCAT slaves device status: Device status slave 2 - (Read only) U16 X
0x5865:003 EtherCAT slaves device status: Device status slave 3 - (Read only) U16 X

725
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x5865:004 EtherCAT slaves device status: Device status slave 4 - (Read only) U16 X
0x5865:005 EtherCAT slaves device status: Device status slave 5 - (Read only) U16 X
0x5865:006 EtherCAT slaves device status: Device status slave 6 - (Read only) U16 X
0x5865:007 EtherCAT slaves device status: Device status slave 7 - (Read only) U16 X
0x5865:008 EtherCAT slaves device status: Device status slave 8 - (Read only) U16 X
0x5865:009 EtherCAT slaves device status: Device status slave 9 - (Read only) U16 X
0x5865:010 EtherCAT slaves device status: Device status slave 10 - (Read only) U16 X
0x5865:011 EtherCAT slaves device status: Device status slave 11 - (Read only) U16 X
0x5865:012 EtherCAT slaves device status: Device status slave 12 - (Read only) U16 X
0x5865:013 EtherCAT slaves device status: Device status slave 13 - (Read only) U16 X
0x5865:014 EtherCAT slaves device status: Device status slave 14 - (Read only) U16 X
0x5865:015 EtherCAT slaves device status: Device status slave 15 - (Read only) U16 X
0x5865:016 EtherCAT slaves device status: Device status slave 16 - (Read only) U16 X
0x603F Error code - (Read only) U16 HX ●
0x6040 CiA control word 0x0000 U16 HX ●
0x6041 CiA status word - (Read only) U16 HX ●
0x6042 Set speed 0 rpm I16 1 X ●
0x6043 Internal set speed x rpm (Read only) I16 1 X ●
0x6044 Actual speed x rpm (Read only) I16 1 X ●
0x6046:001 Speed limits: Min. speed 0 rpm U32 1 X ●
0x6046:002 Speed limits: Max. speed 2147483647 rpm U32 1 X ●
0x6048:001 Acceleration ramp: CiA acceleration: Delta speed 0 rpm U32 1 - ●
0x6048:002 Acceleration ramp: CiA acceleration: Delta time 10 s U16 1 - ●
0x6049:001 Deceleration ramp: CiA deceleration: Delta speed 0 rpm U32 1 - ●
0x6049:002 Deceleration ramp: CiA deceleration: Delta time 10 s U16 1 - ●
0x604B:001 vl set-point factor: vl set-point factor numerator 1 I16 1 - ●
0x604B:002 vl set-point factor: vl set-point factor denominator 1 I16 1 - ●
0x604C:001 vl dimension factor: vl dimension factor numerator 1 I32 1 - ●
0x604C:002 vl dimension factor: vl dimension factor 1 I32 1 - ●
denominator
0x605A CiA: Quick stop mode Ramp > quick stop active [6] I16 -
0x605B Shutdown option code Disable drive function [0] I16 -
0x605E CiA: Fault reaction Advanced quick stop [-2] I16 -
0x6060 CiA: Operation mode No selection [0] I8 - ●
0x6061 CiA: Active operation mode - (Read only) I8 X ●
0x6062 Internal set position x pos. unit (Read only) I32 1 X
0x6063 Actual position x incr. (Read only) I32 1 X ●
0x6064 Actual position x pos. unit (Read only) I32 1 X ●
0x6065 Following error window 1000 pos. unit U32 1 - ●
0x6066 Following error delay 0 ms U16 1 - ●
0x6067 Position reached window 1000 pos. unit U32 1 -
0x6068 Position reached delay 0 ms U16 1 -
0x606C Actual speed rpm (Read only) I32 480000 X ●
/
214748
3647
0x6071 Set torque 0.0 % I16 10 X ●
0x6072 Max. torque 250.0 % U16 10 - ●
0x6073 Max. current 150.0 % U16 10 -
0x6074 Internal set torque x.x % (Read only) I16 10 X
0x6075 Rated motor current 1.300 A U32 1000 C
0x6076 Rated motor torque 0.600 Nm U32 1000 C
0x6077 Actual torque x.x % (Read only) I16 10 X ●
0x6078 Actual current x.x % (Read only) I16 10 X ●
0x6079 DC-bus voltage x.xxx V (Read only) U32 1000 X ●

726
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0x607A Set position 0 pos. unit I32 1 X ●
0x607E Polarity 0 U8 1 C
0x6080 Max. motor speed 6075 rpm U32 1 - ●
0x6085 Quick stop deceleration 2147483647 U32 1 -
0x608F:001 Position encoder resolution: Encoder increments 16 bit [65536] U32 C
0x608F:002 Position encoder resolution: Motor revolutions 1 U32 1 C
0x6090:001 Velocity encoder resolution: Encoder increments/s 33554432 U32 1 C
0x6090:002 Velocity encoder resolution: Motor revolutions/s 125 U32 1 C
0x60B1 Offset speed 0.00 rpm I32 480000 - ●
/
214748
3647
0x60B2 Offset torque 0.0 % I16 10 - ●
0x60B8 Touch probe settings 0x0000 U16 H ●
0x60B9 Touch probe status - (Read only) U16 HX ●
0x60BA Touch probe 1: Position at pos. edge x pos. unit (Read only) I32 1 X ●
0x60BB Touch probe 1: Position at neg. edge x pos. unit (Read only) I32 1 X ●
0x60BC Touch probe 2: Position at pos. edge x pos. unit (Read only) I32 1 X ●
0x60BD Touch probe 2: Position at neg. edge x pos. unit (Read only) I32 1 X ●
0x60C0 Interpolation mode Quadratic [-1] I16 - ●
0x60C2:001 Interpolation time: Interpolation time mantissa 1 U8 1 -
0x60C2:002 Interpolation time: Interpolation time exponent -3 I8 1 -
0x60E0 Positive torque limit 100.0 % U16 10 - ●
0x60E1 Negative torque limit 100.0 % U16 10 - ●
0x60E4:001 Additional position actual value: Load encoder/ x pos. unit (Read only) I32 1 X ●
master encoder - actual position
0x60E5:001 Additional velocity actual value: Load encoder/ rpm (Read only) I32 480000 X ●
master encoder - actual speed /
214748
3647
0x60E6:001 Additional position encoder resolution - encoder 16 Bit [65536] U32 C
increments: Load encoder/master encoder -
number of increments
0x60EB:001 Additional position encoder resolution - motor 1 U32 1 C
revolutions: Load encoder/master encoder -
resolution of motor revolutions
0x60F4 Following error actual value x pos. unit (Read only) I32 1 X ●
0x60FA Control effort rpm (Read only) I32 480000 X ●
/
214748
3647
0x60FC Position demand internal value x incr. (Read only) I32 1 X
0x60FD Digital input status - (Read only) U32 HX ●
0x60FE:001 Digital outputs: Digtal output status 0x00000000 U32 HX ●
0x60FF Set speed 0.00 rpm I32 480000 X ●
/
214748
3647
0x6404 Motor manufacturer "Lenze" STRING[50] -
0x6502 Supported drive modes - (Read only) U32 HX
0x67FF Device profile number - (Read only) U32 1 X
0xA200:001 Systembus output data: Systembus data output 1 - (Read only) U32 1 X ●
0xA200:002 Systembus output data: Systembus data output 2 - (Read only) U32 1 X ●
0xA200:003 Systembus output data: Systembus data output 3 - (Read only) U32 1 X ●
0xA200:004 Systembus output data: Systembus data output 4 - (Read only) U32 1 X ●
0xA200:005 Systembus output data: Systembus data output 5 - (Read only) U32 1 X ●
0xA200:006 Systembus output data: Systembus data output 6 - (Read only) U32 1 X ●
0xA200:007 Systembus output data: Systembus data output 7 - (Read only) U32 1 X ●

727
Appendix
Parameter attribute list

Address Name Default setting Data type Factor A M

0xA200:008 Systembus output data: Systembus data output 8 - (Read only) U32 1 X ●
0xA200:009 Systembus output data: Systembus data output 9 - (Read only) U32 1 X ●
0xA200:010 Systembus output data: Systembus data output 10 - (Read only) U32 1 X ●
0xA200:011 Systembus output data: Systembus data output 11 - (Read only) U32 1 X ●
0xA200:012 Systembus output data: Systembus data output 12 - (Read only) U32 1 X ●
0xA200:013 Systembus output data: Systembus data output 13 - (Read only) U32 1 X ●
0xA200:014 Systembus output data: Systembus data output 14 - (Read only) U32 1 X ●
0xA200:015 Systembus output data: Systembus data output 15 - (Read only) U32 1 X ●
0xA200:016 Systembus output data: Systembus data output 16 - (Read only) U32 1 X ●
0xA680:001 Systembus input data: Systembus data input 1 0 U32 1 X ●
0xA680:002 Systembus input data: Systembus data input 2 0 U32 1 X ●
0xA680:003 Systembus input data: Systembus data input 3 0 U32 1 X ●
0xA680:004 Systembus input data: Systembus data input 4 0 U32 1 X ●
0xA680:005 Systembus input data: Systembus data input 5 0 U32 1 X ●
0xA680:006 Systembus input data: Systembus data input 6 0 U32 1 X ●
0xA680:007 Systembus input data: Systembus data input 7 0 U32 1 X ●
0xA680:008 Systembus input data: Systembus data input 8 0 U32 1 X ●
0xA680:009 Systembus input data: Systembus data input 9 0 U32 1 X ●
0xA680:010 Systembus input data: Systembus data input 10 0 U32 1 X ●
0xA680:011 Systembus input data: Systembus data input 11 0 U32 1 X ●
0xA680:012 Systembus input data: Systembus data input 12 0 U32 1 X ●
0xA680:013 Systembus input data: Systembus data input 13 0 U32 1 X ●
0xA680:014 Systembus input data: Systembus data input 14 0 U32 1 X ●
0xA680:015 Systembus input data: Systembus data input 15 0 U32 1 X ●
0xA680:016 Systembus input data: Systembus data input 16 0 U32 1 X ●
0xE600:001 FSoE Slave Frame Elements: Command - (Read only) U8 1 X ●
0xE600:002 FSoE Slave Frame Elements: Connection ID - (Read only) U16 1 X ●
0xE600:003 FSoE Slave Frame Elements: CRC_0 - (Read only) U16 1 X ●
0xE600:004 FSoE Slave Frame Elements: CRC_1 - (Read only) U16 1 X ●
0xE600:005 FSoE Slave Frame Elements: CRC_2 - (Read only) U16 1 X ●
0xE600:006 FSoE Slave Frame Elements: CRC_3 - (Read only) U16 1 X ●
0xE600:007 FSoE Slave Frame Elements: CRC_4 - (Read only) U16 1 X ●
0xE600:008 FSoE Slave Frame Elements: CRC_5 - (Read only) U16 1 X ●
0xE600:009 FSoE Slave Frame Elements: CRC_6 - (Read only) U16 1 X ●
0xE700:001 FSoE Master Frame Elements: Command - (Read only) U8 1 X ●
0xE700:002 FSoE Master Frame Elements: Connection ID - (Read only) U16 1 X ●
0xE700:003 FSoE Master Frame Elements: CRC_0 - (Read only) U16 1 X ●
0xE700:004 FSoE Master Frame Elements: CRC_1 - (Read only) U16 1 X ●
0xE901:001 FSoE Connection Communication Parameter: - (Read only) STRING[2] X
Version
0xE901:002 FSoE Connection Communication Parameter: Safety - (Read only) U16 1 X
address
0xE901:003 FSoE Connection Communication Parameter: - (Read only) U16 1 X
Connection ID
0xE901:004 FSoE Connection Communication Parameter: - (Read only) U16 1 X
Watchdog Time
0xE901:006 FSoE Connection Communication Parameter: - (Read only) U16 X
Connection Type
0xE901:007 FSoE Connection Communication Parameter: - (Read only) U16 1 X
Communication Parameter Length
0xE901:008 FSoE Connection Communication Parameter: - (Read only) U16 1 X
Application Parameter Length
0xEA00:001 FSoE Connection Diagnosis: Connection State - (Read only) U16 X
0xF980:001 Safety addresses: FSoE address - (Read only) U16 1 X
0xF980:002 Safety addresses: Safety address - (Read only) U16 1 -

728
Appendix
Glossary

21.2 Glossary
Abbreviation Meaning
AIE Acknowledge In Error, error acknowledgement
AIS Acknowledge In Stop, restart acknowledgement
OFF state Triggered signal status of the sensors
CCF Common Cause Error (also β-value)
EC_FS Error Class Fail Safe
EC_SS1 Error Class Safe Stop 1
EC_SS2 Error Class Safe Stop 2
EC_STO Error Class Safe Torque Off Stop 0
ON state Signal status of the safety sensors in normal operation
FIT Failure In Time, 1 FIT = 10-9 Error/h
FMEA Failure Mode and Effect Analysis
FSoE FailSafe over EtherCAT
GSDML Device description file with PROFINET-specific data to integrate the configuring software of a
PROFINET controller.
HFT Hardware Failure Tolerance
Cat. Category according to EN ISO 13849‑1
OSSD Output Signal Switching Device, tested signal output
PELV Protective Extra Low Voltage
PL Performance Level according to EN ISO 13849‑1
PM Plus−Minus − switched signal paths
PP Plus−Plus − switched signal paths
PS PROFIsafe
PWM Pulse Width Modulation
SCS Safe Creeping Speed
SD−In Safe Digital Input
SD−Out Safe Digital Output
SELV Safety Extra Low Voltage
SFF Safe Failure Fraction
SIL Safety Integrity Level according to EN IEC 61508

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I950 TA Table Positioning v7-04 en

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I950 TA Table Positioning v7-04 en

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Commissioning | EN

6 Technology application (TA) basic settings 53

7 Configuring the "Table Positioning" TA 104

9 Configure speed control 148

11 Configuring the feedback system 171

12 Configuring the motor control 224

12.6 Fine adjustment of the motor model 265

15 Configuring the network 309

15.6 EtherNet/IP 380

15.8 Monitoring 429

18 Safety functions 461

19 Diagnostics and fault elimination 545

1 About this document

1.1 Document description

1.2 Further documents

1.3 Notations and conventions

Layout of the safety instructions

2.1 Basic safety instructions

2.2 Application as directed

2.3 Residual hazards

Electrostatic sensitive devices:

High leakage current:

Degree of protection - protection of persons and device protection

Switch contactors in the motor cable only if the controller is inhibited.

X106 Motor holding brake

X109 PTC input

Power range 5.5 kW ... 15 kW

Shielding of control connections X5 24-V-supply

Extended Safety Status LEDs X1 Basic Safety STO

X105 Motor connection

PE connection X109 PTC input

B Load encoder or master encoder X16 Engineering port

X105 Motor connection

X106 Motor holding brake

Shielding of X107 24-V-supply

X109 PTC input

Power range 30 kW ... 45 kW

SD card Extended Safety Status LEDs

B Load encoder or master encoder

X16 Engineering port

X105 Motor connection

X109 PTC input

Power range 55 kW ... 75 kW

SD card Extended Safety Status LEDs

X105 Motor connection

X109 PTC input

Power range 90 kW ... 110 kW

X1 Basic Safety STO X237 onboard EtherCAT OUT

SD card Extended Safety Status LEDs

X105 Motor connection X106 Motor holding brake

3.2 Identification of the products

3.2.1 Product codes

Product type Inverters I

3.3 License information

The PROFINET firmware is optional.

Display licence information

4.1 Important notes

4.2 Operating interfaces

4.2.1 Engineering tool »EASY Starter«

4.2.1.1 Generate a connection between inverter and »EASY Starter«

4.3 General information on parameter setting

4.3.1 Addressing of the parameters

4.3.2 Structure of the parameter descriptions

Example: parameters with a selection list

Example with bit coded display

4.3.3 Parameter overview lists

4.3.4.1 Configuring the "Favorites"

Address Name / setting range / [default setting] Information

Address Name / setting range / [default setting] Information

4.4 Commissioning steps

4.4.1 Setting and transferring safety parameters

Safety-relevant parameters only have to be set for devices that feature

Parameter setting using the Easy Starter

Acknowledge parameter set or safety address

How to acknowledge the parameter set or the safety address:

The action is recorded in the inverter logbook.