Ecodrive DKC01.1/DKC11.1 Drive Controllers: Rexroth
Ecodrive DKC01.1/DKC11.1 Drive Controllers: Rexroth
Ecodrive DKC01.1/DKC11.1 Drive Controllers: Rexroth
mannesmann
Rexroth
ECODRIVE
DKC01.1/DKC11.1 Drive Controllers
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P
275270 Indramat
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
What is the purpose of this The following document describes the functions of the fimware FWA-
documentation? ECODRV-ASE-04VRS-MS.
The document serves:
• to describe all of the functional characteristics.
• for parameterization of the drive controller.
• for data security of the drive parameter
• for error diagnosis and error removal
Validity All rights are reserved with respect to the content of this documentation
and the availability of the product.
Contents
1 System Overview 1-1
1.1 ECODRIVE - the Economical Control Drive for Automation ................................................................1-1
1.2 Ecodrive - a Family of Control Drives...................................................................................................1-1
1.3 Overview of DKC01.1/DKC11.1 Functions..........................................................................................1-2
DKC01.1 - Modes of Operation .....................................................................................................1-2
DKC01.1/DKC11.1 General Characteristics..................................................................................1-6
Functional Differences between DKC01.1 and DKC11.1..............................................................1-7
Help .............................................................................................................................................3-15
3.9 Printing Parameter Data.....................................................................................................................3-16
Activation .....................................................................................................................................5-41
5.9 Positioning interface connections.......................................................................................................5-42
12 Index 12-1
Notes
1 System Overview
• Handling systems
• Packaging machinery
• Assembly systems
• Printing machines
The instructions for the DKC01.1 and the DKC11.1 are described in the
following section. The DKC02.1 and DKC03.1 have their own
documentation.
Parameter
Diagnostics
Operating data
RS 232 RS 485
Selection
Saved Fine interpolation M
position 3~
of settings
Control inputs Position control
position
settings 2° Position 1
Speed control
21 Position 2
22 . Field oriented
~
~
.
stator voltage
Control outputs 24 Position 32
regulator
High resolution
Position position interface
actual value
FS0200d1.drw
Parameter
Parameter Diagnosis
Diagnosis Operating data
Operating data
RS 232 RS 485
Control drive
processor
Position M
command 3~
value Speed
command
+W value
Kv D A
Speed control
A analog D
-X +/- 10V Field oriented
~~
Position stator voltage
interface regulator
Position
actual High resolution
value position interface
Linearmaßstab
FS0201d1.drw
Fig. 1-2: Servo drive with analog velocity interface and integrated actual
position value register
• The scaling factor of the analog velocity command value can be set in
the DKC.
• The output of the actual position value can be either incremental or
absolute.
• Regardless of the command value, the drive controller can be brought
to a standstill via a logic input and kept drift free under active control.
Interpolation Parameter
Diagnosis
Operating data
RS 232 RS 485
Speed control
Field oriented ~~
stator voltage
regulator
High resolution
Position position interface
actual value
FS0202d1.drw
− Quadrature signals
− Forward/backward signals
Parameter
Diagnosis
Operating data
RS 232 RS 485
Speed control
Field oriented ~~
stator voltage
regulator
High resolution
position interface
FS5002d1.drw
• Operating modes:
Speed synchronization
Angle/phase synchronization
• The master axis position is given in degrees (360 degrees equal to
one master axis encoder rotation).
• The master axis encoder must be connected to the step motor
interface of the DKC.
• The maximum permissible signal frequency fmax of the step motor
interface hereby represents a restriction of the number of lines ZI
which can be emulated.
Easy Installation
The installation and diagnostic program DRIVETOP helps with a user-
friendly installation via the serial RS-232 interface on a PC running
TM
Windows 3.1.
Notes
2.1 General
These instructions must be read and understood before the equipment is
used to minimize the risk of personal injury and /or property damage.
Follow these safety instructions at all times.
Do not attempt to install, use or service this equipment without first
reading all documentation provided with the product. Please read and
understand these safety instructions, and all user documentation for the
equipment, prior to working with the equipment at any time. You must
contact your local Indramat representative if you cannot locate the user
documentation for your equipment. A listing of Indramat offices is
supplied in the back of this manual. Request that your representative
send this documentation immediately to the person or persons
responsible for the safe operation of this equipment.
If the product is resold, rented and/or otherwise transferred or passed on
to others, these safety instructions must accompany it.
Touching live parts with potentials of 50 Volts and higher applied to them
can be dangerous and cause severe electrical shock. In order for
electrical equipment to be operated, certain parts must have dangerous
voltages applied to them.
High Voltage!
Danger to life, severe electrical shock and risk of injury!
⇒ Only those trained and qualified to work with or on
electrical equipment are permitted to operate,
DANGER maintain and/or repair this equipment.
⇒ Follow general construction and safety regulations
when working on electrical installations.
⇒ Before switching on power, the ground wire must be
permanently connected to all electrical units according
to the connection diagram.
⇒ At no time may electrical equipment be operated if the
ground wire is not permanently connected, even for
brief measurements or tests.
⇒ Before beginning any work, disconnect mains or the
voltage source from the equipment. Lock the
equipment against being switched on while work is
being performed.
⇒ Wait 5 minutes after switching off power to allow
capacitors to discharge before beginning work.
Measure the voltage on the capacitors before
beginning work to make sure that the equipment is
safe to touch.
⇒ Never touch the electrical connection points of a
component while power is turned on.
⇒ Before switching the equipment on covers and
guards provided with the equipment must be installed
to prevent contact with live parts. Before operating
cover and guard live parts properly so they cannot be
touched.
⇒ A leakage current protective device must not be used
for an AC drive! Indirect contact must be prevented by
other means, for example, by an overcurrent
protective device.
European countries: according to EN 50178/ 1994;
⇒ Electrical components with exposed live parts must be
installed in a control cabinet to prevent direct contact.
European countries: according to EN 50178/ 1994;
⇒ U.S.A: See National Electrical Codes (NEC), National
Electrical Manufacturers Association (NEMA), and
local building codes. The user of this equipment must
consult the above noted items at all times.
Dangerous movements!
Danger to life, electrical shock and risk of injury or
equipment damage!
⇒ In the drive component monitoring units, every effort is
DANGER made to avoid the possibility of faulty operation in
connected drives. Unintended machine motion or
other malfunction is possible if monitoring units are
disabled, by-passed or not activated.
⇒ Safe requirements of each individual drive application
must be considered on a case-by-case basis by users
and machine builders.
After a successful completion of the installation you will find the new
program group icon INDRAMAT on your PC. Within this group you will
find the DriveTop icon.
Fig. 3-1: INDRAMAT program group with the DriveTop and ECODRIVE Help
icons
Installation in Windows 95
• switch PC on and startup Windows 95
• DriveTop disk 1 must be inserted into disk drive
• select command „EXECUTE...“ in menu
• in input field „Open:“ input A:\SETUP. (if DriveTop disk is in drive A:.)
• Now, follow the instructions of the installation program.
COM-Port
Most PCs are equipped with several serial interfaces (COM ports).
Via the COM port setting it is possible to select the interface which is to be
used for communications with the drive controller. COM1 and COM2 can
be standardly set. (If COM3 or COM4 are to be used, then the pertinent
data must be entered in STOP.INI-File so that the interrupt and the I/O
addresses can be used. These two interfaces are then also available.
Mode
DriveTop can be connected to a drive controller via RS232 or it can
communicate with a drive group made up of 32 drives via an external
RS232/RS485 interface converter.
The desired mode must be set.
Baudrate
The DKC drive controller can communicate at different baud rates:
• 9600 baud
• 19200 baud
Response delay
The response delay defines the minimum length of time that must pass
after the last telegram symbol has been received via the serial interface
and before the first symbol of the reaction may be sent by the drive. This
length of time is required when operating the RS485 when changing from
transmit to receive mode or vice versa. This parameter is not needed
when operating the RS232. It should, nonetheless, be set at 1ms.
Depending on the PC used, it may be necessary to set the response
delay to 20 to 30 ms because of the higher priority interrupts in the PC
interrupt serial communications.
Addressing method
If several axes are to be connected to a shared master (PC or PLC) via
the RS485 interface, then each bus participant must have its own
individual address.
When setting the address via software, the address is fixed by inputting
an address number into input field drive address.
max. 15 m
max. 15 m
Cable: IKS 102
X1
3 1
RxD RxD
2 2 TxD
TxD
7 3
GND 0V
20
DTR
6 6
DSR
4 5
RTS
5 4
CTS
PC with 25-pin 1)
D-SUB connector DKC
MS-Dos® - PC
X1
X4 1
+24 V
= 1 x AC 230V
X5 4
50...60 Hz
X6 0V ~~
X7
IKS 374
IKL...
MKD
FP0021d1.drw
If a permanent baud rate is entered, then all drives at the serial interface
will be set to this baud rate, followed by a search for existing addresses.
AUTOBAUD = automatic baud rate search means that there is a search
for the first existing address (drive) at any available rate. All other drives
are set to the baud rate of the first drive located. If the RS-485 bus system
is used, then identical addresses should not be allowed to occur as this
could otherwise lead to bus collisions.
If one or more drive controllers are found, then the parameter settings of
the drive will be classified.
Diagnostic Window
After a successful drive controller parameter scan, the following
diagnostic window will appear on the PC screen.
Password protection
General information on password protection
With the help of a user-defined password, accessing drive parameters
can be prevented. It is now not possible to make any parameter changes
until the user unlocks the drive by inputting the password. The password
protection itself is integrated into the drive.
The functions for password protection can be called up via the menu
Options/password protection.
The password '007' is preset in the drive. It unlocks the drive, i.e.,
password protection is not active.
A user password can entail the letters A through Z / a - z (lower and upper
case letters must be differentiated!) and the numbers 0-9. There must be
a minimum of three symbols with a maximum of ten.
Change password
This dialog can be used to change the existing password, or to write '007'
back into the drive. The dialog can be called up with the menu
Options/Password protection/Change password.
Unlock drive
If a parameter is to be changed (with password protection active), or if
select menu item Options/Password protection/Unlock drive is
selected, then this dialog appears.
Procedure: Enter the current user password and complete the dialog
using the 'OK' key. The drive is unlocked.
Lock drive
If the drive is to be locked, then using menu item Options/Password
protection/lock drive must be called up in the following dialog.
Files
Load File You can choose from a list of available parameter files. The data within
these parameter files can be loaded into the drive controller.
Load base parameters The parameters are set to standards values at the factory. This overwrites
the present settings.
Parametrization mode is switched into.
Save File The actual parameters of a connected drive controller are stored in a
parameter file on the PC.
Note: "DKC11.PAR". With the help of this parameter file, you can
restore the state of the parameters of the drive controller at
any time. For your own parameter data, you should use other
file names.
Exit (Alt+F4)
Under the Menu item "End" you can leave the DriveTop program.
Parameter Mode
The drive controller recognizes parameter mode and drive mode. Under
this menu one can switch between the modes. There are a number of
parameters that can only be altered in parametrization mode (7-segment
display P2). Traversing is only possible in operating mode.
Controller / Motor type / Information about the connected motor type and the drive controller used
Selecting operating mode can be accessed via this menu point. This information is permanently
programmed into the motor feedback or drive controller. The user must
enter this data directly himself when Offline.
Additionally, the overload factor and PWM frequency with which the
drive is to be operated is entered here.
The desired operating mode can also be selected from a specific list.
By switching from parameter into drive mode, the actual parameters will
be checked for validity. All of the incorrect parameters and those that will
lead to boundary value problems are placed in an invalid parameter list
and can be corrected within the list.
Scanning As DriveTop is started, all the parameter information is read from the
connected drive controller. For reasons of speed, the specific parameter
values are only read from the contents of the parameters.
Often it is necessary to move from one drive controller to another without
restarting the DriveTop program. In order to refresh the parameter
window, it is necessary to perform a new parameter scan after plugging
the interface cable into another drive controller.
Startup Procedure
Parameter Settings The parameters regarding the set up procedure leads the user through a
series of dialogue procedures. At the end, all of the necessary installation
requirements are set.
Drive
Scan
DriveTop can be physically connected to more that one drive controller at
the same time with the use of an RS232/RS485 interface converter.
Under the menu “Scanning", DriveTop looks for connected drives.
Select If DriveTop is connected to more than one drive with the RS485
interface.Drive controller selection of which device is being
communicated to is done from this menu.
Options
Language
The language in which DriveTop functions and the language of the
parameters and diagnostics of the drive controller can be selected or
changed with this menu.
Help
Contents This menu accesses the online documentation. The online documentation
contains a large scope of information regarding the functional qualities of
the drive system, parameter descriptions, and diagnostic descriptions.
• DKC01.1-040-3
• DKC01.1-040-7
• DKC03.1-040-7
• DKC03.2-100-7
• DKC11.1-040-7
Note: The DKC11.1 limits the available functions only during online
operation.
Notes
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
5-2 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Absolute Positioning
Process block mode is set via parameter P-0-4019, process block
mode.
x=200 x=700
POS1...POS5
POSQ1...POSQ5
AH/START
INPOS
INBWG
Regulatoar release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV0001D2.drw
Input dialog
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Input dialog
Reference position Given relative positioning blocks without residual save, the current
position is added to the target position in the positioning block.
5-4 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Example Relative positioning without residual path save with target position = 700
(current position = 200).
Speed
profile
v
Standstill window
x=200 x=900
POS1...POS5
POSQ1...POSQ5
AH/START
INPOS
INBWG
Regulatoar release
< 14 ms t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV0002_d2.drw
Example Relative positioning without residual distance save with target position =
700 (current position = 200). Interrupting and restarting a relative
positioning block without residual distance save.
Speed
profile v
Standstill window
POS1...POS5
POSQ1...POSQ5
AH/START
INPOS
INBWG
Regulatoar release
t
< 14 ms
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV5002_d1.drw
Fig. 5-6: Interrupting a relative positioning block without residual distance save
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Input dialog
5-6 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Behavior When starting a relative positioning block with residual path save, the
target position in the positioning block is added to the current position.
Example Relative positioning with residual path save with taget position = 700
without interrupt (current position = 200)
Speed
profile
v
Standstill window
x=200 x=900
POS1...POS5
POSQ1...POSQ5
AH/START
INPOS
INBWG
Regulatoar release
< 14 ms t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV0002_d2.drw
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-7
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Reference position The last InPos message at x=100mm is used as current position.
Example Interrupted relative positioning block with residual path save with target
position = 600, reference position =100
Speed
profile v
Standstill window
x=100 x=700
POS1...POS5
01
POSQ1...POSQ5
~01 01 01 01
AH/START
INPOS
INBWG
Regulatoar release
t
< 14 ms
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV5003d1.drw
Fig. 5-9: Interrupting relative positioning blocks with residual path storage
5-8 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Reference position The final InPos message at x = 200 mm is used as the reference position.
Example Interrupted relative positioning block with residual path save after RF
activated with target position = 600
Speed
profile
v
Standstill window
x=200 x=800
POS1...POS5
POSQ1...POSQ5
~02 02 ~02 02
AH/START
INPOS
INBWG
Regulatoar release
Jog+
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV5006d1.drw
Fig. 5-10: Relative positioning block with residual path save after drive enable
activated
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-9
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Example Interrupted relative positoin block with residual path save after jog mode
with target position = 600 without overrunning the target position in jog
mode.
Reference position The reference position is the final InPos signal at x=100mm.
Behavior The distance covered when jogging between interrupt and restart of the
positioning block is evaluated.
Speed
profile v
Standstill window
x=100 x=700
POS1...POS5
01
POSQ1...POSQ5
01 ~01 01
AH/START
INPOS
INBWG
Regulatoar release
Jog+
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV5004d1.drw
Fig. 5-11: Relative positioning block with residual path save after jog mode
5-10 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Example Interrupted relative positioning block with residual path save after jog
mode with target position = 600 if the target position is overrun while
jogging.
Behavior The drive returns to that target position specified prior to interrupt.
Reference position The reference position is the last InPos message with x=100mm.
Speed
profile
v
Standstill window
x=100 x=900 x=700
POS1...POS5
01
POSQ1...POSQ5
~01 01 ~01 01
AH/START
INPOS
INBWG
Regulatoar release
Jog+
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV5005d1.drw
Fig. 5-12: Relative positioning block with residual path save after jog mode
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-11
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Reference position The reference position with an absolute encoder is the last InPos signal
with x=200mm.
Example Interrupted relative positioning block with residual path save after control
voltage off and on if target position = 600
Speed
profile
v
Standstill window
x=200 x=800
POS1...POS5
POSQ1...POSQ5
~02 02 ~02 02
AH/START
INPOS
INBWG
Regulatoar release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV5007d1.drw
Fig. 5-13: Relative positioning block with residual path save after control voltage
shutdown and powered up
5-12 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Behavior After an interrupted relative positioning block with residual path save,
starting a different positioning block means that the residual path of the
previously interrupted positioning block is lost.
The relative positioning block then relates to the current position. The
incremental dimension will, in this case, not be lost.
Example Speed
profile
v
Standstill window
POS1...POS5
POSQ1...POSQ5
AH/START
INPOS
INBWG
Regulatoar release
t
< 14 ms
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV5002_d1.drw
Fig. 5-14: Interrupting a relative block with residual path save and new block
select
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-13
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Input dialog
Fig. 5-15 Positioning block input for infinite travel without target position
Example Speed
profile v
Standstill window
> 10 ms
POS1...POS5
01 XX
POSQ1...POSQ5
~01 01
AH/START
INPOS
INBWG
Regulatoar release
t
< 14ms
Positioning input is valid, for example positioning block No. 01.
SV0003D2.drw
5-14 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Definition
The drive positions at target position n, which is in the current position
bock n. As soon as this target position is exceeded, the drive switches to
the next process block, i.e., n+1.
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-15
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Input dialog
Example Speed
profile v
POS1...POS5
01
POSQ1...POSQ5
~01 01 02
AH/START
INPOS
INBWG
Regulatoar release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition. SV0007D2.drw
Definition The drive runs in the direction of the target position Xn, located in the
current position block n. There is then an acceleration at accel an to the
next positioning block vn+1 so that this speed vn+1 can be reached at the
target position Xn,.
It is not possible, however, to switch to the next positioning block until the
target position has been overrun.
Input dialog
5-16 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Example Speed v
profile
Standstill window
POS1...POS5 01
POSQ1...POSQ5 ~01 01 02
AH/START
INPOS
INBWG
Regulatoar release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition. SV0008d2.drw
This means:
Definition Transition when overruning a target positon with intermediate halt
represents another operating mode.
In this case, the drive goes to speed 0 at the target position and then
accelerates to the new positioning speed.
Input dialog
Fig. 5-21: Positioning block input with following block and intermediate halt
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-17
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Example Speed v
profile
Standstill window
POS1...POS5 01
POSQ1...POSQ5 ~01 01 02
AH/START
INPOS
INBWG
Regulatoar release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition. SV5012d1.drw
Fig. 5-22: Following block indexing with target position with intermediate halt
Block indexing to the block with the next highest block number is triggered
by an external switching signal.
• Transition with switch cam (external switching signal)
The switching signal dependent block indexing makes a transition to a
following block possible with an external switching signal. The two end
switching inputs of ECODRIVE can be used.
Input dialog
Fig. 5-23: Positioning block input with following block after switching signal
5-18 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Definition The drive goes to the next processing block n+1 as soon as the input of
following block cam 1 (limit+) goes to 0->1. If the target position is not
reached, then a new positioning block will be switched into.
The drive goes to the next processing block n+2 as soon as the input of
following block cam 2 (limit) goes to 0->1. If a following block cam is
activated during the process, then the drive goes to the next positioning
block.
Reference position A following, relative positioning block relates to the position at which the
following block cam was switched into.
X = Don't Care
n = positioning block selected via the parallel inputs or the serial interface
max. 20 m
X2
Positive 13
NF
limit switch 14
0.5 mm2 NS
15
LIMIT+
HIGH 16
0.5 mm2 LIMIT -
17
Negative JOG+
18
limit switch JOG-
19
WSP
20
INREF
21
INBWG
22
INPOS
0 Vext 23
0V
24
6k3 10k
Inputs: min. max.
Input voltage HIGH: 16 V 30 V
2k 10n
LOW: -0.5 V 8V
Input resistance: approx. 8 kOhm
AP0221d2.drw
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-19
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Example
Speed v
profile
Standstill window
POS1...POS5 01
POSQ1...POSQ5 ~01 01 02 03
Limit -
Limit +
AH/START
INPOS
INBWG
Regulatoar release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV0010d2.drw
Switching signal for block The start block of a switching signal dependent following block can be
indexing not detected either an absolute or relative positioning block. This means that if the
switching signal for block indexing does not arrive before the target
position was reached, then the drive will halt. If a switching signal is then
applied, then the drive will conduct the following block.
Example Speed v
profile
Standstill window
POS1...POS5 01
POSQ1...POSQ5 ~01 01 02
Limit +
AH/START
INPOS
INBWG
t
Regulatoar release
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV0011d2.drw
Fig. 5-27: Switching signal dependent block indexing (behavior with no switching
signal)
5-20 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Reference position Current actual position value (usually identical with the target position of
the final block).
Example Speed v
profile Following block end Following block end
Standstill window
POS1...POS5 01
POSQ1...POSQ5 ~01 01 02
AH/START
INPOS
INBWG
Regulatoar release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition. SV5013d1.drw
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-21
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Reference position Reference position is the original start position of the following block
sequence (also usually the InPos message).
The incremental reference dimension is retained because only absolute
and relative positioning blocks are used with residual path save in
following block mode!
Example Speed v
profile
Standstill window
POS1...POS5 01
POSQ1...POSQ5 ~01 01 01
AH/START
INPOS
INBWG
Regulatoar release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition. SV5014d1.drw
5-22 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Speed
profile v
Standstill window
POS1...POS5
01
POSQ1...POSQ5
01 ~01 01 02
AH/START
INPOS
INBWG
Regulatoar release
Jog+
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV5015d1.drw
Fig. 5-30: Following block interrupt with jogging without target position overrun
Speed
profile v
Standstill window
x=100 x=900 x=700
POS1...POS5
01
POSQ1...POSQ5
~01 01 ~02 02
AH/START
INPOS
INBWG
Regulatoar release
Jog+
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV5016d1.drw
Fig. 5-31: Following block interrupt with jogging with target position overrun
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-23
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Example Speed v
profile
Standstill window
POS1...POS5 01 04
POSQ1...POSQ5 ~01 01 04
AH/START
INPOS
INBWG
Regulatoar release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition. SV5017d1.drw
Reference position In this case, the actual positon at the time of powering up is assumed.
5-24 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Example Interrupted relative positioning block with residual path save of a following
block after control voltage off and on with target position = 500
Speed
profile v
Standstill window
POS1...POS5
01
POSQ1...POSQ5
~02 02 ~02 01 02
AH/START
INPOS
INBWG
Regulatoar release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV5018d1.drw
Fig. 5-33 Following block interrupt with control voltage power up and down
With select a new block number If a new block is selected during an interrupt, then the interrupted
following block is not completed with a restart but rather the currently
selected block is executed.
With select the same block If a new block number is not selected with an interrupt, then the
number interrupted following block will be completed upon restart.
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-25
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
accel > =
2 ⋅ target position difference 2 ⋅ (X n+1 − X n )
with
X n = target position of block n
X n+1 = target positon of block n +1
vn = speed of block n
vn+1 = speed of block n +1
See also Fig. 5-38: Jerk limit with linear scaling and Fig. 5-39: Jerk
limit with rotary scaling.
5-26 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
If the parametrized accel values are too small, then it could mean that the
parametrized speeds will not be achieved. A so-called "triangular mode" is
then executed.
Speed v
profile
Standstill window
POS1...POS5 01
POSQ1...POSQ5 ~01 01 02
AH/START
INPOS
INBWG
Regulatoar release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition. SV5019d1.drw
Fig. 5-35: Triangular mode with accel values that are too small
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-27
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
POS1...POS5 01 02
POSQ1...POSQ5 ~01 01 02 03
AH/START
INPOS
INBWG
Regulatoar release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition. SV5020d1.drw
5-28 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Command Number
The command number indicates the address of the positioning
commands where these commands can be pulled up under the
command directory.
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-29
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Velocity
The positioning velocity, with which the desired position will be reached,
can be established here. Via feedrate override, it is possible to
dynamicaly change the velocity during positioning. The function
positioning with limited speed can also be used.
Acceleration
The positioning acceleration, with which the drive accelerates and
decelerates, can be defined for each positioning command. The jerk of
the acceleration occurs in consideratio of the following points:
If acceleration is physically not possible (too big), then expect error F228
excessive deviation.
Accel values that are too small mean tht the parametrized position speed
cannot be reached. This presents a problem in connection with following
block mode (see parameter notes for following block mode).
Jerk
(The acceleration change of a motion in terms of time is defined as a
"jerk".)
A "jerk" will represent the acceleration change of a movement in terms of
time. ECODRIVE presents the opportunity to limit the jerk of a motion.
The jerk limit will be set to avoid vibrations which acceleration or
deceleration will generate. This specific effect can be caused, in
particular, with a moveable stiff mechanical system.
5-30 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Instructions for installing a In most cases the jerk limit is not required and should be turned off
positioning jerk during the startup procedure. The jerk limit will be deactivated if set to
zero.
If unacceptable vibrations in the acceleration and deceleration phase of
the positioning procedure occur, then minimize the vibrational
inducement of the mechanical system by gradually changing the
positioning jerk.
The maximum value of the jerk should be reduced until the positioning
motion becomes acceptable.
2
mm s
Acceleration [ 2 ] ⋅ 60 [ ]
mm s min
Jerk [ 3 ] > 2 ⋅
s mm
Speed [ ]
min
rad s
(Acceleration [ 2 ] ) 2 ⋅ 60 [ ]
rad s min
Jerk [ 3 ] > 2 ⋅
s Umdr rad
Speed [ ]⋅ 2⋅π [ ]
min Umdr
Positioning Mode
Positioning mode is fixed whether we are dealing with or without relative
residual path save, absolute or positioning block without target position.
Additionally, it is possible to set, using a selection list, wether the
following positioning block is to be executed or not (following block
mode).
Data Receiving
The set positioning command data is not initially active. After the
positioning command is sent, the data is first written into the drive
controller. During setup it is helpful if the data can be tested directly, as,
in this case, all the given positioning commands can be loaded into the
drive controller through the "Data Transmission" key without the window
having to leave the screen.
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-31
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Start drive After activating AH/start signal, it is checked whether the selected
positioning block may be assumed. If it is, then the binary coded number
of the accepted positioning block appears at the acknowledgement
outputs.
Note: After activating the AH/start signals, the transfer of the new
positioning commands will be acknowledged after < 14 ms
with the command selection acknowledgement outputs.
At the same time the drive controller will set the "In Position
Output" = logic 0 if the new position is not reached.
5-32 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
> 10 ms
POS1...POS5
01 XX
POSQ1...POSQ5
~01 01
AH/START
INPOS
INBWG
Regulatoar release
t
< 14ms
Positioning input is valid, for example positioning block No. 01.
SV0003D2.drw
POS1...POS5
01 XX
POSQ1...POSQ5
~01
AH/START
INPOS
INBWG
Regulatoar release
SV0042D2.drw
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-33
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Acknowledgement of following In following block mode, the number of the process block just reached is
blocks acknowledged.
Speed v
profile
Standstill window
POS1...POS5 01 XX XX XX 05
AH/START
INPOS
INBWG
Regulatoar release
SV0005d2.drw
5-34 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Exceptions: If the drive was referenced directly prior to removal of the drive enable, or
if jog mode was implemented, then the INPOS signal of the drive enable
could be cleared with shutdown.
POS1...POS5 01 XX ~02 XX 01
AH/START
INPOS
INBWG
Regulatoar release
<10ms t
SV0006D2.drw
After activating the AH/start signal and accepting the new positioning
block, time t < 14ms and then INPOS signal=0 appears until the new
target position is reached.
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-35
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Singleturn encoder If a singleturn encoder is used, then the IN-POS message remains
undefined after a break in the power until the first target position is
approached or homing has been conducted.
Modfulo function
If the modulo function is activated, then all position data in the range [0,
With activated modulo
modulo value 1] are depicted. This means it is possible to implement
function, all position data
infinitely moving axes with position data overrun.
within the modulo range must
be depicted The modulo value can be set via parameter S-0-0103, modulo value.
Activating the modulo function is done in parameter S-0-0076, position
data scaling type.
The modulo weighting of the position data artificially limits the range so
that upon reaching the modulo value there is an overrun of the actual
position value.
5-36 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Example 1:
0°
270° 90°
180°
SB0001D1.ds4
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-37
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Example 2:
0°
270° 90°
180°
SB0001d1.drw
The marginal conditions for error-free processing of the modulo value are:
• The modulo range S-0-0103, modulo value may not exceed one-half
of the maximum traversing range, which, in turn, is dependent on the
motor encoder used.
• If rotary or translatory position weighting with load reference and no
phase synchronization is used as operating modes, then the product of
S-0-0103, modulo value, S-0-0116, resolution of rotational
feedback 1 and S-0-0121, input revolutions of load gear must be
smaller than 2^63.
• If rotary position weighting with load reference and angle
synchronization are used as operating modes, then the product of S-0-
0237, Slave Drive Rotation I and S-0-0121, input revolutions of
load gear must be smaller than 2^63.
• If angle synchronization mode is used, then do not set translatory
position weighting.
5-38 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-39
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Function
When running with limit speed = running slow, it is posible to limit all
positioning runs of the drive uniformly to one selectable maximum
speed S-0-0259, positioning velocity. Operations that are generally
slower anyway are not affected. (Note the differentiation with a
proportional reduction by feedrate override).
Applictions
The speed limit can be used
• during setup mode, test runs
• reduced speeds within a hazardous area
only together with other monitoring devices if:
WARNING
5-40 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Example
Speed
profile v
Limited velocity
POS1...POS5
01 02
POSQ1...POSQ5
~01 01 ~02 02
Bit 4
AH/START
INPOS
INBWG
t
Regulatoar release
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition.
SV0040d2.drw
The accel value remains the same. The run time becomes longer as the
speed is reduced, acceleration times and paths are shorter, axes with the
same traversing times at full speeds will reach the target positions at
different times.
Parameters
The value to which the traversing speed is restricted S-0-0259,
positioning velocity. This parameter is affected by the weighting of
rotary and translatory speeds.
Activation
In ECODRIVE, traversing at limited speed is activated by setting bit 6 of
the function parameter.
Bit 6 = 1 limited speed
Bit 6 = 0 full speed, as selected
The limit takes affect immediately. Even the speed of a linear positioning
process will be limited.
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Integrated Positioning Control 5-41
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
X2
1
POS1
2
POS2
3
dig. POS3
SPS 4
I/O POS4
5
POS5
6
POS Q1
7
POS Q2
8
POS Q3
9
POS Q4
10
POS Q5
11
0 Vext 0V
0.5 mm2 12
Inputs:
Input voltage min. max.
HIGH 16 V 30 V
LOW -0.5 V 8V
Input resistance approx. 5 kOhm
POS1 +5 V
POS2 200
POS3
5V1 4k7 10k
POS4
2k 10n
POS5
6k3 10k
2k 10n
Outputs:
Output voltage min. max.
HIGH 16 V Uext.
LOW 0V 1V
Output current Iout 80 mA
Leading time, fall time approx. 5 µs
Overload protection at Iout > 300 mA the
outputs switch to LOW
24 V
(Uext.)
10k
1n
AP0217d1.drw
5-42 DKC01.1 Drive Controller with Integrated Positioning Control DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Stepping Motor Interface 6-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
6-2 DKC01.1 Drive Controller with Stepping Motor Interface DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
• Quadrature signals
• Forward/backward signals
• Step and direction signals
The steps per revolution executed by the drive controller can be adjusted.
Note: The DKC only processes the plses set if the drive enable and
the AH/start signal have been applied and there is no drive
error. In other words, fed impulses are lost if the drive is
without drive enable signal or in "drive halt". The processed
impulses are entered by position control without prior filtering.
If the actual position value is in the positioning window, then
the "INPOS" message is active.
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Stepping Motor Interface 6-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Interface Mode
1: Quadrature signal
SM 1
SM 2
t1 Counter-clockwise Clockwise
t1
t1 ≥ 1.4 µs
2: Forward/backwards signal
SM 1
SM 2
Counter-clockwise t2 Clockwise
t2 ≥ 5.6 µs
SM 1
SM 2
Counter-clockwise tL t3 Clockwise
tL ≥ 2.8 µs t3 ≥ 5.6 µs
SV0200d4.drw
SM- -
2k 2k
4k
200R
+15 V
+5 V
Max. allowable input voltage: 30 V
Max. switching frequency: 175 kHz
AP0005d1.drw
6-4 DKC01.1 Drive Controller with Stepping Motor Interface DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
• Differential signals
• Open-collector signals
max. 20 m
Control
Channel + X2
1
SM1+
2
SM1-
3
Channel - SM2+
4
SM2-
5
Channel + 6
7
8
Channel - 9
10
0 Vext
11
0V
12
Inputs:
Input voltage min. max.
0V 30 V
Clock frequency max. 175 kHz
+5 V
+15 V
200 22p
SM+ +
50k
2k 2k
SM- -
2k 2k
4k
200
+15 V
+5 V AP0219d1.drw
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 Drive Controller with Stepping Motor Interface 6-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Uext
Control
2k4
2k4
2k4
X2
1
SM1+
2
SM1-
3
SM2+
4
SM2-
5
6
7
8
9
10
0V 11
0V
12
Inputs:
Input voltage min. max.
0V 30 V
Clock frequency max. 175 kHz
+5 V
+15 V
200 22p
50k
SM+ +
2k 2k
SM- -
2k 2k
4k
200
+15 V
+5 V
AP0218d1.ds4
6-6 DKC01.1 Drive Controller with Stepping Motor Interface DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 / DKC11.1 Drive Controller with Analog Speed Interface 7-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
7-2 DKC01.1 / DKC11.1 Drive Controller with Analog Speed Interface DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Analog Interface
max. 20 m
1) X3
0.5 mm2 1
E1
CNC 0.5 mm2 2
E2
3
0 Vext IRED 1
4
IRED 2
5
AK1
6
0V
7
AK2
8
Inputs:
Input voltage min. max.
between E1-E2 ± 10 V ± 15 V
between E1-0VM; E2-0VM ± 10 V ± 15 V
Input current: E1; E2 0.5 mA
Input resistance approx. 20 kOhm
Input drift 18 µV/°C
AD converter 12 Bit
Resolution per bit 4.8 mV
20k
20k
-
ADC 12 Bit
+
20k
20k
AP0213d1.drw
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1 / DKC11.1 Drive Controller with Analog Speed Interface 7-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Note
7-4 DKC01.1 / DKC11.1 Drive Controller with Analog Speed Interface DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
• Clamping of workpieces
• Master-slave operation for multiple axes
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1/DKC11.1 Drive Controller with Analog Torque Interface 8-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
8-2 DKC01.1/DKC11.1 Drive Controller with Analog Torque Interface DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97 DKC01.1/DKC11.1 Drive Controller with Analog Torque Interface 8-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Analog Interface
max. 20 m
1) X3
0.5 mm2 1
E1
CNC 0.5 mm2 2
E2
3
IRED 1
0 Vext 4
IRED 2
5
AK1
6
0V
7
AK2
8
Inputs:
Input voltage min. max.
between E1-E2 ± 10 V ± 15 V
between E1-0VM; E2-0VM ± 10 V ± 15 V
Input current: E1; E2 0.5 mA
Input resistance approx. 20 kOhm
Input drift 18 µV/°C
AD converter 12 Bit
Resolution per bit 4.8 mV
20k
20k
-
ADC 12 Bit
+
20k
20k
AP0213d1.drw
8-4 DKC01.1/DKC11.1 Drive Controller with Analog Torque Interface DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controller
A : E
ϕF
ϕF
AP5014D1.DRW
Note: Variables that apply to the motor are underlined and variables
that apply to the load are not underlined.
incremental encoder
signals
mas. axis enc. P-0-0053
evaluation mas. axis position
incremental X2
encoder
channel + 1
SM1 +
2 SM1-
channel -
channel + 3
SM2+
4 SM2 -
channel -
11 0V
0Vext
12
CAUTION
2000 60
nSoll,Min = ⋅
encoder resolution min
Numeric example:
Given an encoder resoluton of, for example, 500 inp. / rot. at minimum
speed results in 4 1/s or 240 1/min.
Note: Due to the very nature of the system, this brings the user to
the internal overflow limits of the velocity control with a very
low master axis resolution. In extreme cases, with the velocity
command value filter P-0-1222 off, the axis might not follow
the command value.Therefore, a command value smoothing
with a time constant of 2 ms is recommended.
60 ⋅ f max
ZI =
n max
1.0
The evaluation and smoothing of the analog signal takes place in the
same way as with "velocity control with analog velocity command value“.
v
v soll,synch + v soll,add
synchronizing
t
speed
synchronously
"synchronization mode"
P-0-0142 synchronization
acceleration
Xsynch
P-0-0108, polarity of master drive
x
x soll,synch
t
dx
dt dx soll,synch
dt
adjusting pos.
t
speed adjustment plane = positioning error
(step 1) (step 2) at end of step 1
"synchronization mode"
Start conditions:
additive position command value =0
master axis speed =0
following axis speed =0
master axis
speed
following
axis speed
AH
t
RF
Start conditions:
add. pos. com. val. = 120°
master axis speed =0
following axis speed =0
master axis
speed
following synchronization
axis speed acceleration
t
AH
t
RF
Start conditions::
additive pos. com. value = 0
master axis speed = 0
following axis speed =0
master axis
speed
synchronization
compensated angle
synchronization
offset
speed
following synchronization
axis speed acceleration
t
AH
t
RF
Synchronization direction
In parameter P-0-0151, synchronization init window for modulo
format the position difference as it relates to the following drive is entered
within which the rotation direction can deviate, during synchronization,
from that set.
If the positioning difference is greater than the synchronization window
with modulo format (P-0-0151), then the direction of synchronization is
set by parameter P-0-0013, command value mode for modulo format.
If the positioning difference is smaller than this value, then
synchronization could take place counter to the rotational direction set in
parameter P-0-0013.
Generally, both master and following axes will be brought to a defined
initial position (homing) and only then is synchronization started.
The drive sets the bit „In synchronization“ (in S-0-0182, manufacturer
class 3 Diagnostics, bit 8) in accordance with the following rule = 1, if:
| xsoll,synch + xsoll,add - actual position | < position synchronous running
window
During step 1, speed adjustment during synchronization, this bit is always
0.
With the DKC1, output „IN-POS“ is set to 1 if the codition for „in
synchronization“ has been met.
Notes
Linear Scaling
Fig. 10-2: Calculation of the feed constant with a rack and pinion mechanism
n1
Z1
n2 Dm
Z2
Optional transmission
Data References
When using linear scaling,all output variables such as position, velocity,
and acceleration are interpreted in terms of the load.
Units of Measure
When using linear scaling the unit of measure in which position, velocity
and acceleration data will be displayed is selectable to be either inch or
mm.
The feed constant should be entered in the unit per revolution that has
previously been selected.
Example:
Unit of measure: mm
Unit for feed constant: mm/revolution
ROTARY SCALING
Data References
The position, velocity, and acceleration data which is displayed can be
referenced to either the load side or the motor side in the rotary scaling
mode. The load side is normally selected.
Absolute Format
Motion in one direction will show a continually ascending or a continually
descending position value when processing in absolute format. In other
words the position data is displayed as an absolute position over many
revolutions of the motor or the load. It overflows at the end of the position
data presentation range.
Modulo Format
Position data for shafts or rotary tables which move endlessly in one
direction is normally processed in modulo format. This means that the
position data overflows at a defined location (at the modulo value).
If modulo processing selected, a "modulo value" must be entered. The
position data will then lie within this modulo range. The modulo value of a
simple rotary table is normally set at 360°. This means that after one
revolution of the round table the position counter will begin again at 0°.
Different modes of modulo processing can be selected:
• Shortest Path
The given target position is always approached via the shortest path. If
the distance in a given direction between the actual position and the
target position is larger than half of the modulo value, the drive will
arrive at the target position from the opposite direction.
• Positive Direction
The given target position is always approached in a positive direction.
• Negative Direction
The given target position is always approached in a negative direction.
6k3 10k
Inputs: min. max.
Input voltage HIGH: 16 V 30 V
2k 10n
LOW: -0.5 V 8V
Input resistance: approx. 8 kOhm
AP0221d2.drw
Traverse Range Violation as a The drive reacts to going beyond the traverse range by switching the
Warning Response velocity command value to zero without turning off the control enable and
without opening the bb-contact. The warning is automatically recalled
when command values are given which lead to the proper traversing
range.
Traversing Range Violations as The drive reacts to going beyond the traverse range by switching the
an Error Response velocity command value to zero, automatically turning off the controller
enable, and opening the bb-contact. To resume operation, clear the error,
turn on the mains power supply, and enable the controller again. As long
as the traverse range is exceeded, only command values which lead back
into the proper tradverse range will be accepted. Command values
outside of this range result in another error.
Limiting Velocity
The maximum velocity to be reached by the drive can be set via the
bipolar velocity limit value parameter. If the requested velocity is greater
than this limit, the drive will automatically contain the velocity at the limit
value.
Torque Limits
In order to protect the components of the machine, it may be necessary to
reduce the maximum torque of the drive. There are two ways to do this:
If processing blocks are started that are not possible with the physical
limits set, then anticipate the generation of error F228, Excessive
Deviation.
1
Ured
10 [V]
5
Mmax: bipolar limit value
Meffective: torque to be reducet to
Ured: voltage between IRED1 and IRED2
max. 20 m
X3
1
E1
2
+10V E2
0,5 mm² 3
IRED 1
0,5 mm² 4
IRED 2
5
0 V ext AK1
0V M 6
0V
7
AK2
8
Inputs:
Inputs voltage min. max.
between IRED1-IRED2 ± 10 V ± 15 V
between IRED1-0V; IRED2-0V ± 10 V ± 15 V
Input current: E1; E2 0,5 mA
Input resistance approx. 20 kOhm
Input drift 18 µV/°C
AD-converter 12 Bit
Resolution per bit 4,8 mV
20k
20k
-
ADC 12 Bit
+
20k
20k
AP0214d2.drw
Monitoring functions
Encoder monitor
Absolute encoder monitoring
• F276 Absolute Encoder Error
Voltage monitoring
DC-24V voltage
• F870 24 V error
• F248 low battery voltage
Power section
• F226 undervoltage error
Temperature monitor
Motor temperature
• F219 motor overtemperature shutdown
• E251 motor overtemperature warning
Amplifier temperature
• F218 heatsink overtemperature shutdown
• E250 heatsink temperature warning
Bleeder monitoring
• F220 bleeder overtemperature shutdown
• E252 bleeder overtemperature warning
Error Classes
Errors are divided into different classes:
7-Segment Display
Error Class Message Drive Response
Fatal F8 / xx Switch to torque free state
Traverse range F6 / xx Velocity command value
set to zero
Interface F4 / xx may be selected
Non-fatal F2 / xx may be selected
Fig. 10-10: Error Classes
Note: Drive error reactions can be selected with two error classes
as follows:
Drive Response
If the drive is in controlled mode and an error is detected, an error
response is automatically carried out. An alternating indicator is visible on
the H1 display (Fx / xx).
If the error allows for a variable response, either switching to a torque
free state or setting the velocity control value to zero can be selected
as the error response. After the drive has responded to the error it will
automatically switch to a torque free state and open theinternal Bb ready-
to-operate relay.
UB
Drive error
bb
t
t
b1 tbb
~
tb1 ~ 5s, if no initializing error exists
t < 10ms, if a fatal drive error occurs
bb ~
t ~ 500ms, if a non-fatal drive error occurs
bb
SV0028d1.drw
General comments
To simplify parametrization of the drive, ECODRIVE offers automatic
control loop settings. The user need only enter the conrol loop dynamics
via the so-called damping factor. To achieve these dynamics the control
parameters are automatically determined by starting command D9 in the
drive.
Note that in order to perform the automatic control loop setting it is
necessary to move the drive.
If one of these conditions is not met, then the command is brought to end
with error D905 wrong position range.
Command settings
All parameters participating in the command must be determined prior to
command start so that they can become effective with the automatic
control loop setting.
These relevant parameters are accessible in dialog "Automatic control
loop settings" in DriveTop.
• P-0-0163, damping factor for automatic control loop setting
The desired control loop dynamics is set with this parameter.
• P-0-0164, automatic control loop setting applicatins
If command error D903 wrong • S-0-0092, bipolar torque/force limit value
position range displayed, then one Maximum effective motor torque can be set during automatic control
of the following parameters has loop settings via parameter S-0-0092, bipolar torque / force limit
not been correctly parametrized. values. This limits torque which in turns limit the wear and tear of the
In other words, the speed, accel or mechanics.
the torque of the automatic control
loop setting is too small. • S-0-0108, feedrate override
The feedrate override makes it possible to influence the speed during
automatic control loop setting via the analog channel (Poti). It is also
necessary, however, to activate this function in the DriveTop dialog
"Jogging" (S-0-0108).
Start command
The command can be set with DriveTop in dialog "automatic control loop
setting" by pressing the key "Start automatic control loop setting" (See
also Fig. 10-13).
Another option is to write the operating data of parameter P-0-0162, D9
automatic control loop setting, via the serial interface (RS232/RS485)
with the binary numeric value 3 (11b).
Triggering a motion
An axis motion and thus also the performance of the automatic control
loop setting is only possible if the drive start signal has been set.
Otherwise, command D900, command automatic control loop setting
appears after start in the display and the axis does not move.
Standstill window
t
AH/START
INBWG
automatic controller setting duration
Regulatoar release
Start autom.
controller 1)
setting
Diagnostics
display H1
Ab AF D9 AH AF
t
Standstill window
t
AH/START
INBWG
automatic controller setting duration
Regulatoar release
Start autom.
controller 1)
setting
Diagnostics
display H1 Ab AH D9 AH AF
t
1) Start automatic controller setting with start button in DriveTop
or
via command D9 (P-0-0162)
SV5010D1.DRW
Standstill window
t
AH/START
INBWG
automatic controller setting duration
Regulatoar release
Start autom.
controller 1)
setting
Diagnostics
display H1 Ab AF D9 AH AF
t
1) Start automatic controller setting with start button in DriveTop
or
via command D9 (P-0-0162)
SV5009D1.DRW
1st step:
Check for any command errors at command start.
2nd step:
Autonomous positioning at the center position between the two travel
range limits (P-0-0166 and P-0-0167) in position control.
3rd step:
Determining the total and extrinsic moment of inertia by evaluating
accel and decel procedures.
The drive, in this case, moves within the previously set limits (P-0-0166
and P-0-0167).
4th step:
Calculating and using the control parameters in the drive.
Parameters P-0-0163, damping factor for automatic control loop
setting and P-0-0164, automatic control loop setting applicatins are
taken into account.
5th step:
Checking the speed control loop and, if necessary, correcting the control
parameter until the desired behavior is achieved (dependents on the
dynamics set).
6th step:
Checking the position control loop and, if necessary, correcting the control
parameter until the aperiodic behavior in the position control loop occurs.
The load moment of inertia of the drive reduced in terms of the motor
shaft is determined as a by-product, and the maximum achievable
positioning acceleration fixed.
The "optimization" of the For this reason, motor-specific control parameters are available for
control loop settings is INDRAMAT drives.
generally not needed!
In some exceptional cases, however, it may be necessary to adjust the
control loop settings to a specific application. The following section gives
a few simple, but important rules for setting the control loop loop
parameters in cases such as these.
In each situation the prescribed methods should only be viewed as
guidelines which lead to a robust control setting. Specific aspects of some
applications may require settings which deviate from these guidelines.
The parameters for the current control loop are set by INDRAMAT and
cannot be adjusted for specific applications. The predefined parameter
values are set during the basic load command (Set default values).
The parameters for the current regulator are set via the parameters
• S-0-0106, current controller, proportional gain 1
• S-0-0107, current loop integral action time
The value found using this process is called the "Critical Velocity Loop
Proportional Gain."
The following table shows many of the most frequently used application
types and the corresponding control loop settings.
Velocity Velocity
Loop Loop
Proportional Integral Action
Application Type: Gain: Time: Remarks:
Feed axison Good load rigidity and good
standard Kp = 0.5 x Kpcrit Tn = 2 x Tncrit drive characteristics
machines tools
Feed axis on High proportional gain; no I-gain
perforating machines Kp = 0.8 x Kpcrit Tn = 6500 to achieve short transient periods.
or punch machines
Feed drive on Kp = 0.5 x Kpcrit Tn = 6500 relatively undynamic control loop setting
cut off without I-gain to avoid bracing the
device materialto be separated with the separation
device.
Fig. 10-20: Application specific velocity control loop settings
This can be set by either executing the basic load function once or by
following the process which follows.
If these criteria are met over a period of more than 16 ms, then error
"F878 velocity loop error" is generated and the axis goes torque-free.
UB
Drive error
bb
t
t
b1 tbb
~
tb1 ~ 5s, if no initializing error exists
t < 10ms, if a fatal drive error occurs
bb ~
t ~ 500ms, if a non-fatal drive error occurs
bb
SV0028d1.drw
In Position (INPOS)
Positioning operation modes (position control)
The message "INPOS" applies for positioning operation and drive
controlled homing procedures.
The message "INPOS" is given by the drive if the following requirement
has been satisfied:
• The difference between the target position and the actual position is
less than the value set in the position window parameter.
Fig. 10-24:
Target position 1 Target position 2
Speed
profile
v
Position
window
POS1...POS5 01 02
POSQ1...POSQ5
~01 ~01 ~02
AH/START
INPOS
INBWG
Regulatoar release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an iverted condition. SV0039d2.drw
Synchronization modes
The INPOS message is used with angle and speed synchronization to
signal synchronous operations.
Fig. 10-26:
In Motion (INBWG)
The INBWG message is given if the drive is moving at a velocity which is
larger than the value set in the standstill window parameter.
In Reference (INREF)
INREF messages show that the internal position feedback value refers to
the machine zero point. The INREF message has the following properties:
• In applications with motors with resolver feedback, the INREF
message is only given after successful execution of the drive internally
controlled homing procedure.
• In applications with motors with resolver feedback and absolute
encoder option, the INREF message is given after the supply voltage
is switched on. This requires that the Set Absolute Measurement
command has previously been given.
Outputs:
Output voltage min. max.
HIGH 16 V Uext.
LOW 0V 1V
Output current 1 out 80 mA
Rise time, fall time approx. µ5 s
Overload protection at 1 out > 300 mA the
outputs switch to LOW
24 V
(Uext.)
10k
1n
AP0220d1drw
0.14mm2 X3
CNC 9
UA0
10
UA0
11
Incremental UA1
12
generator UA1
13
input UA2
14
UA2
15
0V
16
0 Vext
Difference outputs:
Output voltage min. max.
HIGH 2.5 V 5V
LOW 0V 0.5 V
Output current 1out max. |20| mA
Output frequency max. 504 kHz
Overload protection Outputs may not be short circuited!
Danger of damage!
AP0216d1.drw
Difference outputs:
Output voltage min. max.
HIGH 2.5 V 5V
LOW 0V 0.5 V
Output current 1out max. |20| mA
Overload protection Outputs may not be short circuited!
Danger of damage!
Difference inputs:
Input voltage min. max.
HIGH 2V 5V
LOW 0V 0.8 V
Input resistance 12 kOhm
Clock frequency (100-1000) kHz
AP0215d1.drw
Fig. 10-32: Drive controlled homing procedure for motors with resolver feedback
If the axisis located at the home switch cam at the start of the drive
controlled homing procedure, it will move away from the cam until the
home switch signal is removed, reverses direction, and head back
towards the home switch cam until the edge of the home point switching
signal is received.
Reference point
switch signal
SV0031d1.drw
Fig. 10-35: Homing with evaluation of the position transmitter homing mark
Reference point
x
Reference marks
Reference point
switch signal
SV0033d2.drw
Fig. 10-36: Homing with evaluation of the home switch and the home mark
Note: S-0-0041, referencing speed may not exceed 1000 rpm (as
this relates to the motor shaft) as otherwise the positon of the
reference point switch signal and the reference mark of the
motor encoder cannot be unequivocally allocated.
Homing Parameters
Reference Distance 1 When the internal homing procedure is finished the control drive positions
itself on the home point and enters the value of the "S-0-0052, Reference
Distance 1" parameter in the current actual position value.
Reference Offset 1 The home point can be offset in relation to the home reference of the
motor encoder via this parameter.
When the motor is attached to a specific mechanical system the home
mark of the motor encoder is in an arbitrary position with respect to the
desired home point. Zero should initially be entered in the reference offset
parameter when setting up. After the first homing attempt, calculate the
difference between the desired home point and the position where the
control drive stops at the end of the first homing procedure.
This value should be entered in the S-0-0150, Reference Offset 1
parameter, while paying attention to its sign. After another homing
procedure the control drive will be in the desired home position.
Homing velocity, These parameters determine the motion profile of the control drive while
Homing acceleration and executing the drive controlled homing procedure. These parameters must
Positioning Jerk be set for each specific application.
Positioning Window The drive must be positioned on the home point at the end of the homing
process. If the control drive moves around the home point within the
positioning window, the control drive will recognize the successful
completion of the homing procedure and will display the INREF (In
Reference) message.
Call to reset X2
0.5 mm2 13
HIGH NF
14
NS
15
Reference point switch 0.5 mm2 LIMIT+
16
HIGH LIMIT-
17
JOG+
18
JOG-
19
WSP
20
INREF
21
INBWG
22
INPOS
0 Vext 23
0V
24
Inputs:
Input voltage min. max.
HIGH 16 V 30 V
LOW -0.5 V 8V
Input resistance approx. 8 kOhm
6k3 10k
2k 10n
AP0223d1.drw
Regulator
release RF
Control drive
guided homing NF
Start
In reference INREF
t1
t1 > 2ms
SV0034d1.drw
Fig. 10-40: Drive controlled homing procedure with a motor with integrated
absolute encoderfunction
The velocity, acceleration, and jerk with which motion to the home
position should be carried out can be entered via the appropriate homing
motion parameters.
The drivedrive moves to the home position when the "NF" signal is set
and the start signal is given. This requires that the control drive has been
homed, or, in other words, that the "Set Absolute Measure" command has
been successfully executed.
Regulator
release RF
t
Control drive
guided homing NF
t
Start
t
t1 t
t1 > 2ms Reference position
SV0035d1.drw
Absolute EncoderMonitoring
To ensure the safety of the absolute encoder function, the DKC has a
monitoring system which can recognize errors in determining the absolute
actual position value. The current actual position is saved when the DKC
supply voltage is turned off. When it is turned on again the actual position
which was saved is compared to the current motor position as read from
the motor encoder. If the difference between the two position values is
greater than the value entered in the P-0-0097,
AbsoluteEncoderMonitoring Window" parameter, the error message
F276 Absolute Encoder Error is given.
10.11 Jogging
It is possible to move the axis with the jogging function in operating
modes "position control with step motor interface", "position control with
positioning interface" and "speed or angle synchronization". The relevant
parameters for the jogging function can be entered in dialog "jogging".
2k 10n
AP0222d1.drw
Standstill window
t
Jog +
Jog -
AH/START
INBWG
Diagnostics JB
AH JF AH AH
display H1
SV5011D1.DRW t
Note: The speed at which the control drive moves while jogging can
be controlled with the feedrate override function. The
positioning with limit speed also immediately affects jogging
speed.
0Volt: Velocity = 0
10Volt: Velocity = the speed entered as maximum traversing speed
V=
UE1E 2
* Positioning speed
10V
Inputs:
Inputs voltage min. max.
between IRED1-IRED2 ± 10 V ± 15 V
between IRED1-0V; IRED2-0V ± 10 V ± 15 V
Input current: E1; E2 0,5 mA
Input resistance approx. 20 kOhm
Input drift 18 µV/°C
AD-converter 12 Bit
Resolution per bit 4,8 mV
20k
20k
-
ADC 12 Bit
+
20k
20k
AP0214d2.drw
Note: Velocity and position data always refer to the motor shaft! The
scaleable output signals can reach overload if the scale is
selected such that the current signal value exceeds the +/-
10V limit. The exceeded value is emulated in the displayable
(+/-10V) range and makes it possible to examine signals with
a higher resolution.
X3
CH1 CH2 5
AK1
6
0V
7
AK2
8
Outputs:
Output voltage min. max.
AK1-0V; AK2-0V - 10 V + 10 V
DA-converter 8 Bit
Resolution per bit 78 mV
AP0212d1.drw
X6 X2
1 5 1 1
TM+ PTC
2 6 2 2
TM-
3 7 + +
4 8 - -
U
Internal 8
brake Brake
7
control
6 0V Voltage connection
5
for brake
24V
DC 24 V ± 10 %
AP0209d1.drw
1
Error
0
Velocity actual 1
value reset
0
Motor torque 1
1)
0
1) 2)
Brake activation 1
0
n<10 min -1 n>10 min -1
Time axis
0 100 200 300 400 500
3) t [ms]
1) The brake is activated when error reaction 1 is set.
2) Error reaction:
-1
The brake falls below a velocity of 10min and is activated.
The brake is activated after 400 ms, even if the motor
velocity > 10min-1.
3) After the cause of the error is eliminated, the brake will release when
the regulator is released.
SV0045D1.drw
Controller Enable
The drive is activated via the controller enable signal.
Example:
Drive enable on after error reaction "Speed command value goes to
zero":
v
standstill
window
t
<=400ms
RF
>=100ms t
brake
activ
t
SV0046D1.DRW
Example:
Drive enable signal applied after error reaction "torque to zero":
v
V
RF
>=26ms t
brake
activ
t
SV0047.D1.DRW
When the drive stop command has been given the drive can still be
moved via the jogging inputs. (X2/17...18).
If the drive stop signal is not active (24V on X4/3) then the drive will follow
the stepping signals on X2/1...4.
X4
1
Control voltage connectionfor DKC +24V
2
Regulator release RF
3
Drive stop/start AH/Start
Inputs:
Input voltage min. max.
HIGH 16 V 30 V
LOW -0.5 V 8V
Input resistance approx. 8 kOhm
6k3 10k
2k 10n
AP0211d1.drw
11 Serial Communication
RS232
PC with DriveTop
Parallel-I/O
SPS
FS0004d1.drw
Features:
• transmission rates: 9600 and 19200 baud
• max. transmission path: 15m
• 8-bit ASCII protocol
• no parity bity
• on stop bit
PC with DriveTop
Parallel-I/O
SPS
FS0005d1.drw
RS485-Bus
SPS
Profibus-DP
FS0016d1.drw
RS485-Bus
Console unit
Parallel-I/O
SPS
Fig. 11-4: Parameterization and diagnosis of the drive group through a control
unit
Communication Parameters
The data exchange over the serial interface is controlled with three
parameters:
• P-0-4022, drive address
• P-0-4021, baud - rate (RS232/485)
• P-0-4050, delay answer RS232/485
P-0-4022 Drive Address If multiple drives are connected over the RS485 interface, then the data
exchange must be organized through the allocation of drive addresses to
the individual units on thebus.
The parameter P-0-4022 establishes the address where a drive can be
contacted. There are admissible addresses from 1 to 99.
With the use of the RS232 interface, an explicit setting of the drive
address is not required because in this case only one drive at a time can
be connected to the interface.
The baud rate of the serial interface is set by parameter . The following
P-0-4021 Baud Rate settings are possible:
0 : 9600 Baud
1 : 19200 Baud
P-0-4050 Answer Delay The RS485 interface operates in half duplex mode. The direction of the
data must be switched during the data exchange. The switch of the data
direction happens in less than half of one millisecond for the DKC units. In
order for the connected terminal devices (PC or SPS) to be given enough
time for the data direction switch to occur, the answer delay/PLC time of
the drive can be set in this parameter.
The entry is in ms. The maximum setting is 200ms.
The default value for the answer delay is set at 20ms at the manufacturer.
From past experience most PC’s will operate without any problems with
this setting.
If communication problems occur , for example a "TIMEOUT” message in
DriveTop, then the value for the answering delay can gradually be set to a
larger value until there are no more problems occurring. For a safe
margin , the limit value so determined should be multiplied with 1.5 and
then entered as the answering delay value.
Note: The drive address in the DKC is set via the serial interface by
writing into communications parameter P-0-4022, drive
address. DriveTop or a PLC can be used for this purpose.
Parameter Structure
All parameters of the drive controller are stored in a stamdard parameter
structure. Each parameter consists of 7 elements. The table below
defines the individual elements and the access possibilities. The following
sections will reference the each diagrammed parameter structure.
Schritt 1
Send request Communication with drive not
e.g., "BCD:01" (CR) (adress 1) possible
-> check address
-> check setting
-> check connection
Schritt 2
Drive received sign. Drive sends prompt nein
if address agrees. ja
Timeout ?
ja
Dirve is "open"
-> ready to communicate
FD5002B1.WMF
Writing To a Parameter
Writing to a parameter is allowed generally in the following manner:
ID number of the parameter, data block element number, w,
operational datum (Carridge Return)
After a completed writing operation, the unit responds again with its
prompt.
For example, in order to write to the datum value of the parameter P-0-
4037, the following input is required:
Note The data entered must correspond to the data type set in the
attribute (HEX, BIN; DEC).
Step 2
Drive received sign no
yes
Drive repeats request (echo)
Timeout ?
Step 3
To check transmission, compare request
with receive buffer . (String-Compare)
yes
Step 4
Delete request in receive buffer.
All signs up to and including 1.
"CR"
no
Reading of a Parameter
The general form for reading a parameter is as follows:
ID number of the parameter, data block element number, r (Carridge
return)
The drive responds with the contents of the contacted data block element
again.
For example, in order to access the operating data of the parameter P-0-
004, the following input is required:
Step 2
Drive received sign no
yes
Drive repeats request (echo)
Timeout ?
yes
Step 4
Delete request in receive buffer.
All signs up to and including 1.
"CR" Data or error number
now in receive buffer
no
FD5000B1.WMF
Step 1
Communication with drive not
Send request
possible
e.g.,"P-0-4007,7,w,>"(CR)
-> check address
(">" open list)
-> check setting
-> check connection
Step 2
Drive received sign no
yes
Drive repeats request (echo)
Timeout ?
Step 3
To check transmission, compare request
with receive buffer . (String-Compare)
yes
yes
A
section 2/A (next page))
Step 4
Enter list element and conclude
with (CR).
Step 5
Drive received sign no
Drive repeats request (echo)
Timeout ?
yes
Sign sequence "?" or ":>" in
no
receive buffer?
yes
Step 7
Delete request in receive buffer.
All signs up to and including 1. B
"CR" section 2/B (next page)
FD5005B1.WMF
section 1/B
(previous page) B
no
section 1/A (previous page)
Step 8
Close list, send end id.:
"<" (CR)
no
Step 9
Sign received
Step 10
Delete request in receive buffer. All signs up
to and including 1. "CR"
no
It is important that the input is terminated with the "<“ symbol, only then
will the data be wrtten to the drive.
Timeout ?
Step 4
Delete request in receive buffer. All
signs up to and including 1. "CR".
Final (CR) replaced with "string end" List elements or error number
(e.g., "0" in C). separated by (CR) are now in input
buffer
no
yes
Timeout ?
Step 3
To check transmission, compare request with
receive buffer . (String-Compare)
yes
Step 4
Delete request in receive buffer.
All signs up to and including 1.
"CR"
Step 6
Read command status A
"P-0-0162,1,w,0"(CR)
section 2/A (next page)
Step 7
Drive received sign no
Drive repeats request (echo)
Timeout ?
FD5003B1.WMF
B A
yes
no no
yes yes
Delete command:
write "0" into ident number.
e.g., "P-0-0162,7,w,0" (CR)
FD5007B1.WMF
The command status will be transmitted in the form of a bit list. The
meaning of each bit is displayed below.
Bit 0 :
reserved reserved
0 : Command not set in the drive
1 : Command set in the drive
Bit 1 :
0 : Command execution interrupted
in the drive
1 : Command execution enabled
in the drive
Bit 2 :
0 : Command executed correctly
1 : Command not yet executed
Bit 3:
0 : No error
1 : Error: command execution not
possible
Bit 8 :
0 : Current operating data is valid
1 : Current operating data is not valid
Error Message
If illegal parameter access is attempted or for example writing access to a
read only data block element is attempted an error message is issued by
the drive.
Note: There is not a signal reflection, instead the drive transmitts the
complete input sequence back after reception of the CR.
Immediately after writing to the target positions, the new values in the
drive are active.
D (A) 8
3) 2)
RS 232 6 5 4 3 2 1 6 5 4 3 2 1
PC 24V 0V X1 X1
RS485+
RS485+
RS485-
RS485-
DKC DKC
Note: The cable connection from unit to unit may not be star-shaped
but rather wired from DKC to DKC.
The RS485 interface cable requires a terminator resistor at
both ends. The terminator resistor (180 ohm) integrated into
the converter and the pullup and pulldown resistor (470 ohm
each) must be activated. The other end of the line must also
be terminated with 180 ohm / 0.5 W resistance. The resistor is
directly connected to the DKC, connector X1, pins 4 and 5.
RS485 RS232
ON
DTE
18OR S1
BUS-END
DCE
OFF
2 3
1
RTS/CTS 4
RTS/CTS
XX5000D1.DRW
interface converter:
PSM-EG-RS232/RS485-P/2D
RS232
2 2
RxD TxD (2)
3 3
TxD RxD (2)
7 7
RTS RTS
5 5
GND GND
PC with 9 pin
1)
D-sub. conn. metal conn. metal conn.
housing housing
interface converter:
PSM-EG-RS232/RS485-P/2D
RS232
3 2
RxD TxD (2)
2 3
TxD RxD (2)
4 7
RTS RTS
7 5
GND GND
PC with 25 pin 1)
D-sub. conn. metal conn. metal conn.
housing housing
metal conn.
housing
(cable grip)
DKC
AP5016d1.drw
RS 232 Connection
max. 15 m
max. 15 m
Cable: IKS 102
X1
3 1
RxD RxD
2 2
TxD TxD
7 3
GND 0V
20
DTR
6 6
DSR
4 5
RTS
5 4
CTS
PC with 25-pin 1)
D-SUB connector DKC
Note: Only point to point connection with maximum cable length of 15mis
possible, the PC and drive controller unit must share a common
central ground.
Notes
U
unit of measure 10-2
Unlock drive 3-11
V
Velocity 5-30
Velocity loop monitoring 10-26
Velocity synchronization 9-5
vibration 5-30
vibrational inducement 5-31
vibrations 5-2, 7-3
Voltage monitoring 10-10
W
What affects speed during drive-guided
referencing 10-42
Supplement A
Parameter Description
ASE 04VRS
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Contents
1 General Information 1-1
Structure of this Document............................................................................................................1-1
Definitions......................................................................................................................................1-2
4 Index 4-1
Notes
1 General Information
Structure of this Document
All standard and product-specific parameters are listed in this chapter in
ascending numerical order.
It supplements the entries made in the Functional Description and
represents a complete description of all parameters used in the
ECODRIVE product.
1) General description
Parameter functions and definitions and aids to assist in parametrization
are summarized in this section.
2) Attribute descriptions
This includes the list of charcteristics and characteristic values used in the
classification of parameters. These are needed to complement parameter
descriptions. If only a quick summary of their importance is needed, then
these are not relevant.
Definitions
The following abbreviations are used:
Data length:
2Byte - the length of the operating data is 2 bytes
1Byte variable - this is operating data of variable length (list), the length
of a single data element is 1 Byte
2Byte variable - this is operating data of variable length (list), the length
of a single data element is 2 Bytes
4Byte variable - this is operating data of variable length (list), the length
of a single data element is 4 Bytes
Format :
BIN - operating data should have a binary display format
Note: Leading zeros of BIN Format data are not transmitted via ASCII
strings over the RS232/485 serial interface nor displayed in DriveTop.
For example, the datum value 0000, 0000, 0011, 1011 would be
transmitted and displayed as 11,1011.
HEX - the display format for the operating data should be hexadecimal
DEC_OV - the display format for the operating data should be decimal
without a sign
DEC_MV - the display format for the operating data should be decimal
with a sign
ASCII - the operating data is an ASCII string
IDN - the operating data is an ID number
Edit:
no - the operating data can not be edited
P2 - the operating data can only be edited in communication phase 2
P23 - the operating data can only be edited in communication phase 2
and 3
P234 - the operating data can be edited in any communication phase
P3 - the operating data can only be edited in communication phase 3
P4 - the operating data can only be edited in communication phase 4
Memory :
fixed - operating data is programmed in the drive
no - operating data is not buffered in the drive; the value after turning on
the drive controller is not defined.
Param.E²prom - operating data is buffered in the E²prom parameter (IC2
on the drive controller main circuit board).
Ampl.E²prom - operating data is buffered in the E²prom from the drive
controller.
Feedb.E²prom - operating data is buffered in the E²prom from the motor
feedback data memory. (only for MDD- and MKD motors)
The following parameter operating data are stored in the motor feedback:
• P-0-0018
• P-0-0508
• P-0-0509
• P-0-0510
• P-0-0511
• P-0-0512
• P-0-0513
• P-0-4014
• P-0-4005
• P-0-4037
• P-0-4038
• P-0-4039
• P-0-4042
• P-0-4047
• P-0-4048
• S-0-0109
• S-0-0111
• S-0-0113
• S-0-0116
Validity check:
no - operating data will not be checked for validity
Phase2 - operating data will be checked in the command
"Communication phase 3 transition check"
Phase3 - operating data will be checked in the command
"Communication phase 4 transition check"
Combination check:
no - the operating data will not be checked (bitwise)for valid combination
with other paramter values when written to
yes - the operating data will be checked (bitwise) for valid combination
with other parameter values when written to
Cyc. transmittable :
only in SERCOS devices
Default Value:
The default value indicates the value of the parameter loaded into fixed
memory with the current version of firmware installed on the drive
following the PL program load command and prior to user edits or loading
saved parameter files.
2 Standard parameters
S-0-0014, Interface Status
Description:
The current communication phase can be requested through the first
three bits ( 0, 1, 2 ).
Bit 3 : reserved
Bit 4 : reserved
Bit 5 : reserved
Bit 6: reserved
Bit 7: reserved
Bit 8: reserved
Bit 9 : reserved
Bit 10: reserved
Bit 11: reserved
Bit 12 : reserved
Bit 13 : reserved
Bit 14 : reserved
Bit 15 : reserved
S-0-0014 - Attributes
ID number: S-0-0014 Editability: no
Function: Parameter Memory: no
Data length: 2Byte Validity check: no
Format: BIN Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
S-0-0017 - Attributes
ID number: S-0-0017 Editability: no
Function: Parameter Memory: fixed
Data length: 2Byte variable Validity check: no
Format: IDN Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
S-0-0021 - Attributes
ID number: S-0-0021 Editability: no
Function: Parameter Memory: no
Data length: 2Byte variable Validity check: no
Format: IDN Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
S-0-0022 - Attributes
ID number: S-0-0022 Editability: no
Function: Parameter Memory: no
Data length: 2Byte variable Validity check: no
Format: IDN Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
Example:
DKC01.1-ASE-04V01
Release
Version
FirmwareType
Hardware Type
S-0-0030 - Attributes
ID number: S-0-0030 Editability: no
Function: Parameter Memory: fixed
Data length: 1Byte variable Validity check: no
Format: ASCII Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
S-0-0032 - Attributes
ID number: S-0-0032 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: BIN Extreme value check: no
Unit English: -- Combination check: yes
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: 10b
S-0-0033 - Attributes
ID number: S-0-0033 Editability: no
Function: Parameter Memory: Param. E²Prom
Data length: 2 byte Validity check: yes
Format: binary Extreme value check: no
Unit English: -- Combination check: yes
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: -- Default value:
1100000000011011 b
S-0-0036 - Attributes
ID number: S-0-0036 Editability: P234
Function: Parameter Memory: no
Data length: 4Byte Validity check: no
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0044 Combination check: no
Posit. after the dec.: S-0-0044 Cyc. transmittable: MDT
Input value min / max: S-0-0044 Default value: --
S-0-0037 - Attributes
ID number: S-0-0037 Editability: P234
Function: Parameter Memory: no
Data length: 4Byte Validity check: no
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0044 Combination check: no
Posit. after the dec.: S-0-0044 Cyc. transmittable: AT
Input value min / max: S-0-0044 Default value: --
S-0-0040 - Attributes
ID number: S-0-0040 Editability: no
Function: Parameter Memory: no
Data length: 4Byte Validity check: no
Format: DEC_MV Extreme value check: no
Unit English: S-0-0044 Combination check: no
Posit. after the dec.: S-0-0044 Cyc. transmittable: AT
Input value min / max: S-0-0044 Default value: --
S-0-0041 - Attributes
ID number: S-0-0041 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0044 Combination check: no
Posit. after the dec.: S-0-0044 Cyc. transmittable: no
Input value min / max: 0/S-0-0044 Default value: +100.0000 Rpm
S-0-0042 - Attributes
ID number: S-0-0042 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0160 Combination check: no
Posit. after the dec.: S-0-0160 Cyc. transmittable: no
Input value min / max: 0/S-0-0160 Default value: +1000.000 rad/s2
S-0-0043 - Attributes
ID number: S-0-0043 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: BIN Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/-- Default value: 0b
Note: 1) For the case of load side linear scaling, changing the
dimensional unit between meters (metric) and inches (English)
will not result in an accurate conversion of data values to the
new dimensional unit. A change in the linear dimensional unit
will only result in a decimal point shift (scaling exponent
change) to the left (change meter inches) or to the right
(inches meters). It is therefore recommended that the linear
dimensional unit be selected once and not changed. If the unit
must be changed, then all operational data values must be
corrected and scaled to reflect the new unit.
2) Preferred parameter scaling will automatically be selected if
you use the parameter/scaling & mechanical setup dialog in
DriveTop.
Preferred scaling will result in the following resolution:
-6 -5
Resolution with linear scaling: 10 m/min, 10 in/min
-4 -6
Resolution with rotary scaling: 10 rpm, 10 rev/s
S-0-0044 - Attributes
ID number: S-0-0044 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Check_P3
Format: BIN Extreme value check: no
Unit English: -- Combination check: yes
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: 1010 b
Example:
Suppose that loadside linear scaling is desired with velocity units in
meters/min. The DriveTop application parameter/scaling/mechanical
program sets the preferred velocity scaling values through the value
dialog.
S-0-0045, velocity data scaling factor 1
S-0-0046, Velocity data scaling expanent -6
S-0-0049, Velocity data scaling type 100 100 1 b
Bit 2 -0 = 001 linear scaling
Bit 3 = 1 (Preferred) Parameter
Bit 4 = 0 Dimensional unit is meters (m)
Bit 5 = 0 Time unit is minutes (min)
Bit 6 = 1 Data referenced al load
S-0-0045 - Attributes
ID number: S-0-0045 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: MDT
Input value min / max: 1/65535 Default value: 1
S-0-0046 - Attributes
ID number: S-0-0046 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: MDT
Input value min / max: 32/32 Default value: -4
S-0-0047-Attributes
ID number: S-0-0047 Editability: P234
Function: Parameter Memory: no
Data length: 4 Byte Validity check: no
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: MDT
Input value min / max: S-0-0076 Default value: --
S-0-0048 - Attributes
ID number: S-0-0048 Editability: P234
Function: Parameter Memory: no
Data length: 4 Byte Validity check: no
Format: DEC_MV Extreme value check: no
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: --
S-0-0049 - Attributes
ID number: S-0-0049 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: +10000.00 Deg
S-0-0050 - Attributes
ID number: S-0-0050 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: -10000.00 Deg
S-0-0051 - Attributes
ID number: S-0-0051 Editability: no
Function: Parameter Memory: no
Data length: 4 Byte Validity check: no
Format: DEC_MV Extreme value check: no
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: AT
Input value min / max: -- Default value: --
S-0-0052 - Attributes
ID number: S-0-0052 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: +0.00 Deg
Note: Only the bits named here are supported by the product.
If bit 0 is altered by the control system, the drive will also set
the value for bits 1 - 3 to match the value of bit 0.
S-0-0055 - Attributes
ID number: S-0-0055 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: BIN Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/31 Default value: 0b
S-0-0057 - Attributes
ID number: S-0-0057 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: 0/S-0-0076 Default value: +10.00 Deg
S-0-0059 - Attributes
ID number: S-0-0059 Editability: no
Function: Parameter Memory: no
Data length: 2 Byte Validity check: no
Format: binary Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: -- Default value: --
S-0-0060 - Attributes
ID number: S-0-0060 Editability: P2/P3/P4
Function: Parameter Memory: Param E2prom
Data length: 4 Byte Validity check: yes
Format: S-0-0076 Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: -- Default value: +0.00 Deg
Bit 5 : reserved
Note: Only the bits named here are supported by the product.
1) Same as S-0-0044 Note 1
2) Same as S-0-0044 Notes 2
3) See example”Parameter Scaling Position Data” under S-0-
0077
S-0-0076 - Attributes
ID number: S-0-0076 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: BIN Extreme value check: no
Unit English: -- Combination check: yes
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: 1010b
Example:
Suppose that loadside, linear scaling is desried with dimensional units in
meters. the parameter 1 Scaling /mechanical system dialog in DriveTop
will set the position data scaling options on the drive as follows:
Parameter
S-0-0076, Position Data Scaling Type Value 01001001
Bit 2-0: 001, linear scaling
Bit 3: 1, (Preferred)Parameter Scaling
Bit 4: 0, Dimensional unit is meters (m)
Bit 6: 1, Data Referenced at the load
Bit 7: 0, Absolute processing format
S-0-0077, Linear Position Data Scation Factor 1
S-0-0078, Linear Position Data Scaling Exponent -6
Now suppose that the decimal value of +1234567 is stored in the relavent
position data register. This datum value will be interpreted and displayed
as:
-3
+1234567X1X10 mm (Millimeters)
or
as the value would be displayed in the IDN lists, +1234.567 mm with
respect ot the laod. Note that the least significant decimal value is
-6 -3
determined by the scaling exponent, in this example, as 10 m or 10
mm.
S-0-0077 - Attributes
ID number: S-0-0077 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/65535 Default value: 1
S-0-0078 - Attributes
ID number: S-0-0078 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 32/32 Default value: -6
Example:
If you would like a resolution of 0.01 degrees for the LSB, a value of
36,000 must be parameterized.
S-0-0079 - Attributes
ID number: S-0-0079 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/4294967295 Default value: 36000
S-0-0080 - Attributes
ID number: S-0-0080 Editability: P234
Function: Parameter Memory: no
Data length: 2 Byte Validity check: no
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0086 Combination check: no
Posit. after the dec.: S-0-0086 Cyc. transmittable: MDT
Input value min / max: S-0-0086 Default value: +0.0%
S-0-0084 - Attributes
ID number: S-0-0084 Editability: no
Function: Parameter Memory: no
Data length: 2 Byte Validity check: no
Format: DEC_MV Extreme value check: no
Unit English: S-0-0086 Combination check: no
Posit. after the dec.: S-0-0086 Cyc. transmittable: AT
Input value min / max: S-0-0086 Default value: --
Note: If bit 0 is altered, the drive will also set the value of bits 1 - 2 to
match the value of bit 0.
S-0-0085 - Attributes
ID number: S-0-0085 Editability: P23
Function: Parameter Memory: Param E²Prom
Data length: 2 Byte Validity check: Phase 3
Format: BIN Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: -- Default value: 0b
S-0-0086 - Attributes
ID number: S-0-0086 Editability: 23
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: BIN Extreme value check: no
Unit English: -- Combination check: yes
Posit. after the dec.: 0 Cyc. transmittable: MDT
Input value min / max: -- Default value: 0b
The value entered generates the maximum value for all other speed
parameters.
S-0-0091 - Attributes
ID number: S-0-0091 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: S-0-0044 Combination check: no
Posit. after the dec.: S-0-0044 Cyc. transmittable: MDT
Input value min / max: 0/S-0-0113
Default value: +3000, 0000 RPM
S-0-0092 - Attributes
ID number: S-0-0092 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0086 Combination check: no
Posit. after the dec.: S-0-0086 Cyc. transmittable: MDT
Input value min / max: 0/calculated peak torque
Default value: +500.0%
S-0-0093 - Attributes
ID number: S-0-0093 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/65535 Default value: 1
S-0-0094 - Attributes
ID number: S-0-0094 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_MV Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: -1
S-0-0095 - Attributes
ID number: S-0-0095 Editability: no
Function: Parameter Memory: no
Data length: 1 byte variable, up to 40 characters
Validity check: no
Format: ASCII Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
S-0-0097 - Attributes
ID number: S-0-0097 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: BIN Extreme value check: no
Unit English: -- Combination check: yes
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: --
Default value: 1111 1111 1111 1111 b
S-0-0098 - Attributes
ID number: S-0-0098 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: BIN Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: --
Default value: 1111 1111 1111 1111 b
S-0-0099 - Attributes
ID number: S-0-0099 Editability: P234
Function: Command Memory: no
Data length: 2 Byte Validity check: no
Format: BIN Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/11 b Default value: --
S-0-0100 - Attributes
ID number: S-0-0100 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: As/rad Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: 0/312.9 Default value: .07 A/rad/s
icom
TN = Integral t
action time with:
TN : Velocity controller action time [ms]
TN = KP / KI KP : Velocity controller proportional ampl.
[A*sec/rad]
KI : Integral ampl. [A/rad]
icom : Current command value
dω : Velocity controller deviation
The value of the time axis for which the integral component is equal to the
proportional component is described as integral action time, ie t=TN when
icmd =2xdw*KP. This represents the time that a pure I-controller would
need until the controller output variable y is equal to the output variable of
a P-controller at time t = 0.
The integral gain component is disabled with the input value TN= 0sec.
S-0-0101 - Attributes
ID number: S-0-0101 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: ms Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: 2/3276.7 Default value: 15.0 ms
S-0-0103 - Attributes
ID number: S-0-0103 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: 0/S-0-0076 Default value: +360.00 Deg
S-0-0104 - Attributes
ID number: S-0-0104 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: 1000/min Combination check: no
Posit. after the dec.: 2 Cyc. transmittable: no
Input value min / max: 0,02/239 Default value: 1000/min
S-0-0106 - Attributes
ID number: S-0-0106 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: V/A Combination check: no
Posit. after the dec.: 2 Cyc. transmittable: no
Input value min / max: 0/500 Default value: 30.00 V/A
S-0-0107 - Attributes
ID number: S-0-0107 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: ms Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: 0.1/6553.5 Default value: --
In such instances, the drive calculates the velocity command value itself.
The feedrate override has a multiplying effect on the homing velocity, the
block velocity and the jog velocity.
S-0-0108 - Attributes
ID number: S-0-0108 Editability: P4
Function: Parameter Memory: no
Data length: 2 Byte Validity check: no
Format: DEC_OV Extreme value check: no
Unit English: % Combination check: no
Posit. after the dec.: 2 Cyc. transmittable: no
Input value min / max: 0/655,35 Default value: 100.00 %
S-0-0109 - Attributes
ID number: S-0-0109 Editability: no
Function: Parameter Memory: Feedb.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: A Combination check: no
Posit. after the dec.: 3 Cyc. transmittable: no
Input value min / max: 0/500 Default value: --
S-0-0110 - Attributes
ID number: S-0-0110 Editability: no
Function: Parameter Memory: Fixed -E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: A Combination check: no
Posit. after the dec.: 3 Cyc. transmittable: no
Input value min / max: 0.001/500 Default value: --
S-0-0111 - Attributes
ID number: S-0-0111 Editability: no
Function: Parameter Memory: Feedb.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: A Combination check: no
Posit. after the dec.: 3 Cyc. transmittable: no
Input value min / max: 0/500 Default value: --
S-0-0112 - Attributes
ID number: S-0-0112 Editability: no
Function: Parameter Memory: Fixed-E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: A Combination check: no
Posit. after the dec.: 3 Cyc. transmittable: no
Input value min / max: 0.001/500 Default value: --
S-0-0113 - Attributes
ID number: S-0-0113 Editability: P23
Function: Parameter Memory: Feedb. E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: S-0-0044 Combination check: no
Posit. after the dec.: S-0-0044 Cyc. transmittable: no
Input value min / max: 0/S-0-0044 Default value: --
S-0-0116 - Attributes
ID number: S-0-0116 Editability: P23
Function: Parameter Memory: Feedb.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: Cycl/Rev or inch ( depending on P-0-4014 )
Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: -- Default value: --
Example:
5 motor rotations result is 2 output gear rotations
S-0-0121 : 5
S-0-0122 : 2
S-0-0121 - Attributes
ID number: S-0-0121 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: Rev Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/4294967295 Default value: 1 Rev
Example:
5 motor rotations result is 2 output gear rotations
S-0-0121 : 5
S-0-0122 : 2
S-0-0122 - Attributes
ID number: S-0-0122 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: Rev Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/4294967295 Default value: 1 Rev
S-0-0123 - Attributes
ID number: S-0-0123 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: 5 Cyc. transmittable: no
Input value min / max: --
Default value: 10 000. 00 mm/rev
S-0-0124 - Attributes
ID number: S-0-0124 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0044 Combination check: no
Posit. after the dec.: S-0-0044 Cyc. transmittable: no
Input value min / max: 0/S-0-0044 Default value: 10.0000 Rpm
S-0-0127 - Attributes
ID number: S-0-0127 Editability: P2
Function: Command Memory: no
Data length: 2 Byte Validity check: no
Format: BIN Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/11 b Default value: --
S-0-0128 - Attributes
ID number: S-0-0128 Editability: P3
Function: Command Memory: no
Data length: 2 Byte Validity check: no
Format: BIN Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/11 b Default value: --
S-0-0134 - Attributes
Ident number: S-0-0134 Modification: No
Function: Parameter Storage: No
Data length: 2 bytes Validity check: No
Format: Bin Limit check: No
Unit: --- Combination check: No
Fractional part digits: 0 Cyclic transfer: No
Input min./max.: -- / -- Default value: --
It is structured as follows:
S-0-0135 - Attributes
ID number: S-0-0135 Editability: --
Function: Parameter Memory: --
Data length: 2 Byte Validity check: no
Format: binary Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: -- Default value: --
S-0-0138 - Attributes
ID number: S-0-0138 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0160 Combination check: no
Posit. after the dec.: S-0-0160 Cyc. transmittable: MDT
Input value min / max: 0/S-0-0160 Default value: +1000.000 rad/s2
Example:
DKC01.1-040-7
S-0-0140 - Attributes
ID number: S-0-0140 Editability: no
Function: Parameter Memory: Fixed -E²prom
Data length: 1Byte variable Validity check: Phase3
Format: ASCII Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
Example:
MKD 071B-061-KP1-BN
S-0-0141 - Attributes
ID number: S-0-0141 Editability: P23
Function: Parameter Memory: Feedb.E²prom
Data length: 1Byte variable Validity check: Phase3
Format: ASCII Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
S-0-0142 - Attributes
ID number: S-0-0142 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 1Byte variable, max. 40 characters
Validity check: Phase3
Format: ASCII Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: Default
Note: Only the bits named here are supported by the product.
S-0-0147 - Attributes
ID number: S-0-0147 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: BIN Extreme value check: no
Unit English: -- Combination check: yes
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: 100 b
S-0-0148 - Attributes
ID number: S-0-0148 Editability: P4
Function: Command Memory: no
Data length: 2 Byte Validity check: no
Format: BIN Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/11 b Default value: --
S-0-0150 - Attributes
ID number: S-0-0150 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: +0.00 Deg
S-0-0159 - Attributes
ID number: S-0-0159 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: 0/S-0-0076 Default value: +30.00 Deg.
Bit 15 - 7: reserved
Note: Only the bits named here are supported by the product.
1) Same as S-0-0044 Note 1
2) Same as S-0-0044 Notes 2
S-0-0160 - Attributes
ID number: S-0-0160 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: BIN Extreme value check: no
Unit English: -- Combination check: yes
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: 1010 b
S-0-0161 - Attributes
ID number: S-0-0161 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/65535 Default value: 1
S-0-0162 - Attributes
ID number: S-0-0162 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: AT
Input value min / max: 32/32 Default value: -3
Bit 0 : 1=active
Note: Only the bits named here are supported by the product.
S-0-0182 - Attributes
ID number: S-0-0182 Editability: no
Function: Parameter Memory: no
Data length: 2 Byte Validity check: no
Format: BIN Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: AT
Input value min / max: -- Default value: --
S-0-0183 - Attributes
ID number: S-0-0183 Modification: P234
Function: Parameter Storage: Param.E²prom
Data length: 4 bytes Validity check: Phase3
Format: DEC_MV Limit check: yes
Unit English: S-0-0044 Combination check: no
Fractional part digits: S-0-0044 Cyclic transfer: no
Input min./max.: >0/S-0-0044 Default value: 10,0000
S-0-0189 - Attributes
ID number: S-0-0189 Modification: No
Function: Parameter Storage: No
Data length: 4 bytes Validity check: No
Format: DEC_OV Limit check: No
Unit English: S-0-0076 Combination check: No
Fractional part digits: S-0-0076 Cyclic transfer: AT
Input min./max.: -- Default value: --
S-0-0192 - Attributes
ID number: S-0-0192 Editability: no
Function: Parameter Memory: fixed
Data length: 2Byte variable Validity check: no
Format: IDN Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
• Referencing
• Jogging
• control loop seting
• AH with step motor interface
S-0-0193 - Attributes
ID number: S-0-0193 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: S-0-0160 Combination check: no
Posit. after the dec.: S-0-0160 Cyc. transmittable: no
Input value min / max: 0/S-0-0160 Default value: 0
S-0-0228 - Attributes
ID number: S-0-0228 Editability: P2,P3,P4
Function: Parameter Memory: Param.E²prom
Data length: 4 bytes Validity check: Phase 3
Format: DEC_MV Extreme value check: yes
Units English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: 0/S-0-0076 Default value: --
S-0-0236 - Attributes
ID number: S-0-0236 Editability: P2,P3
Function: Parameter Memory: Param.E²prom
Data length: 4 bytes Validity check: Phase 3
Format: DEC_OV Extreme value check: yes
Units English: --/-- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/0xFFFFFFFF Default value: --
S-0-0237 - Attributes
ID number: S-0-0237 Editability: P2,P3
Function: Parameter Memory: Param.E²prom
Data length: 4 bytes Validity check: Phase 3
Format: DEC_OV Extreme value check: yes
Units English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/0xFFFFFFFF Default value: --
S-0-0258 - Attributes
ID number: S-0-0258 Editability: P234
Function: Parameter Memory: no
Data length: 4 Byte Validity check: no
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: MDT
Input value min / max: S-0-0076 Default value: --
S-0-0259 - Attributes
ID number: S-0-0259 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_M?V Extreme value check: yes
Unit English: S-0-0044 Combination check: no
Posit. after the dec.: S-0-0044 Cyc. transmittable: MDT
Input value min / max: S-0-0044 Default value: +1.0000 Rpm
The acceleration active in control loop settings is also set with this
parameter.
S-0-0260 - Attributes
ID number: S-0-0260 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_M?V Extreme value check: yes
Unit English: S-0-0160 Combination check: no
Posit. after the dec.: S-0-0160 Cyc. transmittable: MDT
Input value min / max: S-0-0160 Default value: +1000.000rad/s²
S-0-0262 - Attributes
ID number: S-0-0262 Editability: P234
Function: Command Memory: no
Data length: 2 Byte Validity check: no
Format: BIN Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/11 b Default value: --
• 0 : German
• 1 : English
• 2 : French
• 3 : Spanish
• 4 : Italian
S-0-0265 - Attributes
ID number: S-0-0265 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 bytes Validity check: Phase 3
Format: DEC_OV Extreme value check: yes
Units English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/4 Default value: 0
S-0-0267, Passwort
Description:
A customer-specific pasword can prevent access by unauthorized
persons. The password "007" is set at the factory. This password permits
write access to the parameters.
P-0-0267 - Attributes
ID number: S-0-0267 Editability: P234
Function: Parameter Memory: parallel EEProm
Data length: 0 Byte - max. Validity check: yes
Format: ASCII Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: -- Default value: 007
After the control voltage supply has been switched on, the drive will
initialize bit 0 to "0". To activate temporary storage mode bit 0 must be
forced to “1”.
S-0-0269 - Attributes
ID number: S-0-0269 Editability: P234
Function: Parameter Memory: no
Data length: 2 Byte Validity check: no
Format: DEC_0V Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/1 Default value: 0
Remark:
For absolute measurment systems with data memory, bit 6 will be set
automatically.
When MDD and MKD motors are used, bit 0, 1, and 3 will be set and write
protected by the drive.
Note: Only the bits named here are supported by the product
S-0-0277 - Attributes
ID number: S-0-0277 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: BIN Extreme value check: no
Unit English: -- Combination check: yes
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: 0b
S-0-0298 - Attributes
ID number: S-0-0298 Editability: no
Function: Parameter Memory: no
Data length: 4 bytes Validity check: no
Format: DEC_MV Extreme value check: no
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: -- Default value: --
S-0-0299 - Attributes
ID number: S-0-0299 Editability: P2,P3,P4
Function: Parameter Memory: Param.E²prom
Data length: 4 bytes Validity check: Phase 3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: --
S-0-0331 - Attributes
ID number: S-0-0331 Editability: no
Function: Parameter Memory: --
Data length: 2 Byte Validity check: --
Format: binary Extreme value check: --
Unit English: -- Combination check: --
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: -- Default value: --
Description:
The acceleration feed forward helps to reduce the following error during
the acceleration phase in non-following error operation. The actual
acceleration command value will be multiplied with the „proportional gain
acceleration feed forward" and added with the current command value of
the velocity controller.
Vsoll Asoll
Lageregler Drehzahl-
regler
Stromsoll-
∆x wert
Prop. PI
Vist
Activation:
A value larger than 0 will activate the acceleration feed forward during
editing of the parameter!
S − 0 − 0348 =
(
moment of inertia kgm 2 ) * 1000
torque constant (Nm / A )
S-0-0348 - Attributes
ID number: S-0-0348 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 bytes Validity check: Phase 3
Format: DEC_OV Extreme value check: yes
Unit English: mA(rad/s²) Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: 0 / 5006,5 Default value: 0
S-0-0390 - Attributes
ID number: S-0-0390 Editability: no
Function: Parameter Memory: no
Data length: 2 bytes Validity check: no
Format: HEX Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
S-0-0392 - Attributes
ID number: S-0-0392 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 bytes Validity check: Phase 3
Format: DEC_OV Extreme value check: yes
Unit English: us Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 250/65500 Default value: 500
S-0-0393 - Attributes
ID number: S-0-0393 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 bytes Validity check: Phase 3
Format: DEC_OV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/2 Default value: 0
S-0-0400 - Attributes
ID number: S-0-0400 Editability: no
Function: Parameter Memory: no
Data length: 2 Byte Validity check: no
Format: BIN Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
The bit status position feedback value corresponds to the output "In
reference".
Structure of the parameter:
S-0-0403 - Attributes
ID number: S-0-0403 Editability: no
Function: Parameter Memory: no
Data length: 2 Byte Validity check: no
Format: BIN Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
Example:
Diagnostic Message: „F822 Motor Feedback error:"Signals
too small " in paramater S-0-0095
Seven Segment Display: variable „F8" <=> „22"
Diagnostic message number: „F822(hex)" in paramter P-0-0001
P-0-0001 - Attributes
ID number: P-0-0001 Editability: no
Function: Parameter Memory: no
Data length: 2Byte Validity check: no
Format: HEX Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
P-0-0004 - Attributes
ID number: P-0-0004 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: µs Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 500/65535 Default value: 500 ms
P-0-0005 - Attributes
ID number: P-0-0005 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/1 Default value: --
M KB
ÜF ≈ ⋅100%
M dN
üF = P-0-00061
MKB = Short period operational torque in Nm
MdN = Stand still torque in Nm
Fig. 3-1: Overload factor
P-0-0006 Attributes
ID number: P-0-0006 Editability: P234
Function: Parameter Memory: Param.E2prom
Data length: 2Byte Validity check: Phase 3
Format: DEC_0V Extreme value check: yes
Unit English: % Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/500 Default value: 100 %
Example:
Queued error: F822, "Motor feedback error
signal amplitude error "
P-0-0009, error number 822
P-0-0009 - Attributes
ID number: P-0-0009 Editability: no
Function: Parameter Memory: no
Data length: 2Byte Validity check: no
Format: HEX Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
P-0-0010 - Attributes
ID number: P-0-0010 Editability: no
Function: Parameter Memory: no
Data length: 4 bytes Validity check: no
Format: DEC_MV Extreme value check: no
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: --
P-0-0011 - Attributes
ID number: P-0-0011 Editability: no
Function: Parameter Memory: no
Data length: 4 bytes Validity check: no
Format: DEC_MV Extreme value check: no
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: --
P-0-0012 - Attributes
ID number: P-0-0012 Editability: P4
Function: Command Memory: no
Data length: 2Byte Validity check: no
Format: BIN Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/11 b Default value: --
P-0-0013 - Attributes
ID number: P-0-0013 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/2 Default value: 0
P-0-0018 - Attributes
ID number: P-0-0018 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: DEC-OV Extreme value check: no
Unit English: Pair of poles or mm (dependent on P-0-4014, Motor type)
Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/4 Default value: --
P-0-0019 - Attributes
ID number: P-0-0019 Editability: P23
Function: Parameter Memory: no
Data length: 4Byte Validity check: no
Format: DEC_MV Extreme value check: no
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: --
P-0-0020 - Attributes
ID number: P-0-0020 Editability: no
Function: Parameter Memory: no
Data length: 4Byte Validity check: no
Format: DEC_MV Extreme value check: no
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: --
P-0-0038 - Attributes
ID number: P-0-0038 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4Byte Validity check: Phase3
Format: HEX Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: 1
P-0-0039 - Attributes
ID number: P-0-0039 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4Byte Validity check: no
Format: HEX Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: 2
P-0-0040 - Attributes
ID number: P-0-0040 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: DEC-OV Extreme value check: yes
Unit English: Rpm/10V Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/65535 Default value: 3000 Rpm/10V
P-0-0041 - Attributes
ID number: P-0-0041 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: Rpm/10V Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/65535 Default value: 3000
P-0-0042 - Attributes
ID number: P-0-0042 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: Deg/10V Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: 0,1/6553,5 Default value: 360,0
P-0-0043 - Attributes
ID number: P-0-0043 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: Deg/10V Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: 0,1/6553,5 Default value: 360.0
P-0-0051 - Attributes
ID number: P-0-0051 Editability: P3
Function: Parameter Memory: Feedb.E²prom
Data length: 2Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: Nm/A Combination check: no
Posit. after the dec.: 2 Cyc. transmittable: no
Input value min / max: 0/1000 Default value: --
P-0-0053 - Attributes
ID number: P-0-0053 Editability: P234
Function: Parameter Memory: no
Data length: 4Byte Validity check: no
Format: DEC_OV Extreme value check: no
Unit English: Degree Combination check: no
Posit. after the dec.: 4 Cyc. transmittable: no
Input value min / max: -- Default value: no
P-0-0083 - Attributes
ID number: P-0-0083 Editability: P234
Function: Parameter Memory: nein
Data length: 2Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: % Combination check: no
Posit. after the dec.: 2 Cyc. transmittable: no
Input value min / max: -327,67/327,67 Default value: --
Bit 0 : negation
0: E2/3 not inverted,
24 V => travel range
exceeded
1: E2/3 inverted,
0 V => travel range
exceeded
Bit 1 : activation
0: travel range limit switch is
not active
1: travel range limit is active
Fig. 3-6: P-0-0090, Travel Limit Parameter
P-0-0090 - Attributes
ID number: P-0-0090 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: BIN Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
P-0-0097 - Attributes
ID number: P-0-0097 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 4Byte Validity check: Phase3
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: 0/S-0-0076 Default value: 30,00 Deg
P-0-0098 - Attributes
ID number: P-0-0098 Editability: P234
Function: Parameter Memory: no
Data length: 4Byte Validity check: no
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: 0/S-0-0076 Default value: --
Parameter structure:
P-0-0108 - Attributes
ID number: P-0-0108 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/1 Default value: --
P-0-0109 - Attributes
ID number: P-0-0109 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: S-0-0086 Combination check: no
Posit. after the dec.: S-0-0086 Cyc. transmittable: no
Input value min / max: 0 / S-0-0086 Default value: 500,0
The controller enable can be closed again, at the earliest, after the
operation of the error reaction. The drive will ignor the controller enable
input until the error reaction operation of the drive is completed.
P-0-0119 - Attributes
ID number: P-0-0119 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/1 Default value: 0
P-0-0123 - Attributes
ID number: P-0-0123 Editability: no
Function: Parameter Memory: Param.E²prom
Data length: 2Byte variable Validity check: no
Format: HEX Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
S-0-0136 - Attributes
ID number: P-0-0136 Editability: 234
Function: Parameter Memory: Prog.Module
Data length: 2 bytes Validity check: no
Format: DEC_0V Extreme value check: yes
Unit in Ger./Eng.: A/10V / A/10V Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input min/max: 0.1/6553.5 Default value: ITYP
S-0-0137 - Attributes
ID number: P-0-0137 Editability: P234
Function: Parameter Memory: Prog.Module
Data length: 2 bytes Validity check: no
Format: DEC_0V Extreme value check: yes
Unit in Ger./Eng.: A/10V / A/10V Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input min/max: 0.1/6553.5 Default value: ITYP
S-0-0139 - Attributes
ID number: P-0-0139 Editability: P234
Function: Parameter Memory: no
Data length: 2 bytes Validity check: no
Format: DEC_0V Extreme value check: yes
Unit in Ger./Eng.: 0.078V/0.078V Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input min/max: -128/127 Default value: --
Only values between -128 and +127 are possible. They will be converted
to +/-10V at a ratio of 1:1.
S-0-0140 - Attributes
ID number: P-0-0140 Editability: P234
Function: Parameter Memory: no
Data length: 2 bytes Validity check: no
Format: DEC_0V Extreme value check: yes
Unit in Ger./Eng.: 0.078V/0.078V Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input min/max: -128/127 Default value: --
P-0-0142 - Attributes
ID number: P-0-0142 Editability: P2,P3,P4
Function: Parameter Memory: Param.E²prom
Data length: 4Byte Validity check: Phase3
Format: S-0-0160 Extreme value check: yes
Unit English: S-0-0160 Combination check: no
Posit. after the dec.: S-0-0160 Cyc. transmittable: no
Input value min / max: >0/S-0-0160 Default value: 1000,000
P-0-0143 - Attributes
ID number: P-0-0143 Editability: P2,P3,P4
Function: Parameter Memory: Param.E²prom
Data length: 4Byte Validity check: Phase3
Format: S-0-0044 Extreme value check: yes
Unit English: S-0-0044 Combination check: no
Posit. after the dec.: S-0-0044 Cyc. transmittable: no
Input value min / max: >0/S-0-0044 Default value: 10,0000
P-0-0151 - Attribute
ID number: P-0-0151 Editability: P2, P3, P4
Function: Parameter Memory: Param.E²prom
Data length: 4Byte Validity check: Phase3
Format: S-0-0076 Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: 10,00
P-0-0152 - Attributes
ID number: P-0-0152 Editability: P2,P3
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: % / 10V Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/327 Default value: 100
The two traverse range limits (P-0-0166 and P-0-0167), within which the
drive may move during autoatic control loop settings, must be set first.
All pre-settings affecting the command, such as P-0-0163, damping factor
for automatic control loop settings, P-0-0164, application for autom.
control loop setting, S-0-0092, bipolar torque/force limit value and S-
0-0259, positioning speed must also first be set.
P-0-0162 - Attributes
ID number: P-0-0162 Editability: P4
Function: command Memory: no
Data length: 2 Byte Validity check: no
Format: BIN Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/11 b Default value: --
Function Description
If dynamics are selected greater than that which the drive can achieve as
a result of its mechanical construction, then a weakly damped control loop
will result and the drive will begin to oscillated.
This drive itself, in a case like this, detects and influences the control
parameters automatically until a sufficiently damped control loop
setting is achieved.
P-0-0163 - Attributes
ID number: P-0-0163 Editability: P2, P3, P4
Function: Parameter Memory: no
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: 0.5/20.0 Default value: --
P-0-0164 - Attributes
ID number: P-0-0164 Editability: P2, P3, P4
Function: Parameter Memory: no
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/3 Default value: 0
P-0-0165 - Attributes
ID number: P-0-0165 Editability: P2,P3,P4
Function: Parameter Memory: no
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/100 b Default value: 0
Note:
At the start of command D9, a check is run of the traversing range
defined by both parameters (P-0-0166 and P-0-0167).
P-0-0166 - Attributes
ID number: P-0-0166 Editability: P2, P3, P4
Function: Parameter Memory: no
Data length: 4Byte Validity check: during D9
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: --
Note:
At the start of command D9, a check is run of the traversing range
defined by both parameters (P-0-0166 and P-0-0167).
P-0-0167 - Attributes
ID number: P-0-0167 Editability: P2, P3, P4
Function: Parameter Memory: no
Data length: 4Byte Validity check: during D9
Format: DEC_MV Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: 0
P-0-0168 - Attributes
ID number: P-0-0168 Editability: P2,P3,P4
Function: Parameter Memory: no
Data length: 4 bytes Validity check: no
Format: DEC_OV Extreme value check: no
Unit in English: S-0-0160 Combination check: no
Posit. after the dec.: S-0-0160 Cyc. transmittable: no
Input min/max: 0/S-0-0160 Default value: 0
P − 0 − 0501
validity of the analog velocity command value =
P − 0 − 0500
P-0-0500 - Attributes
ID number: P-0-0500 Editability: P2
Function: Parameter Memory: Param. E²Prom
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: V Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: 1/10,0 Default value: 10,0 V
P-0-0501 - Attributes
ID number: P-0-501 Editability: no
Function: Parameter Memory: parallel EEProm
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: rpm Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/30000 Default value: 3000
P-0-0-502 - Attributes
ID number: P-0-0502 Editability: no
Function: Parameter Memory: parallel EEProm
Data length: 4 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: 1/65536 Default value: 1250
P-0-0503 - Attributes
ID number: P-0-0503 Editability: no
Function: Parameter Memory: parallel EEProm
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: Degree Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: 0/359,9 Default value: 0
P-0-0504 - Attributes
ID number: P-0-0504 Editability: no
Function: Parameter Memory: Param. E²Prom
Data length: 4 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: ms Combination check: no
Posit. after the dec.: 2 Cyc. transmittable: no
Input value min / max: 0.5/1000.00 Default value: 5.00
P-0-0508 - Attributes
ID number: P-0-0508 Editability: no
Function: Parameter
Memory: Param.E²prom, Feedb. E²Prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/10000 Default value: --
P-0-0510 - Attributes
ID number: P-0-0510 Editability: no
Function: Parameter
Memory: Param.E²prom, Feedb. E²Prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: kgm² Combination check: no
Posit. after the dec.: 5 Cyc. transmittable: no
Input value min / max: 0/1,00000 Default value: --
P-0-0511 - Attributes
ID number: P-0-0511 Editability: no
Function: Parameter Memory: Param.E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: A Combination check: no
Posit. after the dec.: 3 Cyc. transmittable: no
Input value min / max: 0/500,000 Default value: 0.000A
P-0-0512 - Attributes
ID number: P-0-0512 Editability: no
Function: Parameter Memory: Feedb. E²prom
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: 1000/min Combination check: no
Posit. after the dec.: 2 Cyc. transmittable: no
Input value min / max: 0,01/327,67 Default value: 1.00 1000/min
P-0-0513 - Attributes
ID number: P-0-0513 Editability: no
Function: Parameter Memory: Feedb.-E²prom
Data length: 2 Byte Validity check: no
Format: DEC_OV Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/100 Default value: --
P-0-0514 - Attributes
ID number: P-0-0514 Editability: no
Function: Parameter Memory: Feedb.-E²prom
Data length: 4 Byte Validity check: no
Format: HEX Extreme value check: no
Unit English: Inkr. Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
P-0-0515 - Attributes
ID number: P-0-0515 Editability: P2
Function: Parameter
Memory: Parameter EEProm
Data length: 4 Byte Validity check: yes
Format: DEC_MV Extreme value check: yes
Unit English: Degree Combination check: no
Posit. after the dec.: 2 Cyc. transmittable: no
Input value min / max: 0/1474559,99 Default value: 0
P-0-0516 - Attributes
ID number: P-0-0516 Editability: --
Function: Parameter Memory: fixed
Data length: 2 Byte Validity check: yes
Format: binary Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: 0/100 Default value: 0
P-0-0518 - Attributes
ID number: P-0-0518 Editability: no
Function: Parameter Memory: Verst.-E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: A Combination check: no
Posit. after the dec.: 3 Cyc. transmittable: no
Input value min / max: 0,001/500 Default value: --
P-0-0519 - Attributes
ID number: P-0-0519 Editability: no
Function: Parameter Memory: Verst.-E²prom
Data length: 4 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: A Combination check: no
Posit. after the dec.: 3 Cyc. transmittable: no
Input value min / max: 0,001/500 Default value: --
S-0-0520 - Attributes
ID number: P-0-0520 Editability: not editable
Function: Parameter
Memory: Amplifier EEProm
Data length: 2 Byte Validity check: no
Format: decimal Extreme value check: no
Unit English: none Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: --
P-0-0522 - Attributes
ID number: P-0-0522 Editability: P2/P3
Function: Parameter Memory: parallel EEProm
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: 0/1 Default value: --
P-0-0539 - Attribute
ID number: P-0-0539 Editability: no
Function: Parameter Memory: no
Data length: 4 Byte Validity check: no
Format: DEC_MV Extreme value check: no
Unit English: Degree Combination check: no
Posit. after the dec.: 2 Cyc. transmittable: no
Input value min / max: -- Default value: --
P-0-1003 - Attributes
ID number: P-0-1003 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: µs Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 500/65535 Default value: 1500
P-0-1222 - Attributes
ID number: P-0-1222 Editability: P234
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: µs Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/65535 Default value: 500
P-0-4000 - Attributes
ID number: P-0-4000 Editability: no
Function: Parameter Memory: Verst..-E²prom
Data length: 2 Byte Validity check: no
Format: DEC_MV Extreme value check: no
Unit English: % Combination check: no
Posit. after the dec.: 2 Cyc. transmittable: no
Input value min / max: -100,00/100,00 Default value: --
P-0-4001 - Attributes
ID number: P-0-4001 Editability: no
Function: Parameter Memory: Verst..-E²prom
Data length: 2 Byte Validity check: no
Format: DEC_MV Extreme value check: no
Unit English: % Combination check: no
Posit. after the dec.: 2 Cyc. transmittable: no
Input value min / max: -100,00/100,00 Default value: --
P-0-4002 - Attributes
ID number: P-0-4002 Editability: no
Function: Parameter Memory: Verst.-E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 4 Cyc. transmittable: no
Input value min / max: 0,0001/2,0000 Default value: --
P-0-4003 - Attributes
ID number: P-0-4003 Editability: no
Function: Parameter Memory: Verst.-E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 4 Cyc. transmittable: no
Input value min / max: 0.0001/2.0000 Default value: --
P-0-4004 - Attributes
ID number: P-0-4004 Editability: P23
Function: Parameter Memory: fixed
Data length: 4 Byte Validity check: no
Format: DEC_OV Extreme value check: no
Unit English: A Combination check: no
Posit. after the dec.: 4 Cyc. transmittable: no
Input value min / max: 0/400000 Default value: 0
P-0-4006 - Attributes
ID number: P-0-4006 Editability: P2/P3/P4
Function: Parameter Memory: parallel EEProm
Data length: list with 64 elements each with 4 Byte,
256 Byte
Validity check: yes
Format: S-0-0076 Extreme value check: yes
Unit English: S-0-0076 Combination check: no
Posit. after the dec.: S-0-0076 Cyc. transmittable: no
Input value min / max: S-0-0076 Default value: --
P-0-4007 - Attributes
ID number: P-0-4007 Editability: P2/P3/P4
Function: Parameter Memory: parallel EEProm
Data length: list with 64 elements each with 4 Byte,
256 Byte
Validity check: yes
Format: S-0-0044 Extreme value check: yes
Unit English: S-0-0044 Combination check: no
Posit. after the dec.: S-0-0044 Cyc. transmittable: no
Input value min / max: S-0-0044 Default value: 100,0000
P-0-4008 - Attributes
ID number: P-0-4008 Editability: P2/P3/P4
Function: Parameter Memory: parallel EEProm
Data length: list with 64 elements each with 4 Byte,
256 Byte
Validity check: yes
Format: decimal Extreme value check: yes
Unit English: S-0-0160 Combination check: no
Posit. after the dec.: S-0-0160 Cyc. transmittable: no
Input value min / max: S-0-0160 Default value: 1000,000
P-0-4009 - Attributes
ID number: P-0-4009 Editability: P2/P3/P4
Function: Parameter Memory: yes
Data length: list with 64 elements each with 4 Byte,
256 Byte
Validity check: yes
Format: Parameter Extreme value check: no
Unit English: S-0-0160 Combination check: no
Posit. after the dec.: S-0-0160 Cyc. transmittable: no
Input value min / max: S-0-0160 Default value: 0
P-0-4010 - Attributes
ID number: P-0-4010 Editability: P234(always)
Function: Parameter Memory: Param.-E²prom
Data length: 4 Byte Validity check: Phase 3
Format: DEC_OV Extreme value check: yes
Unit English: kg m² Combination check: no
Posit. after the dec.: 5 Cyc. transmittable: no
Input value min / max: 0/21474.83647 Default value: 0
P-0-4011 - Attributes
ID number: P-0-4011 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: kHz Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 4/8 Default value: 4
• 1:Synchronous motor
P-0-4014 - Attributes
ID number: P-0-4014 Editability: no
Function: Parameter Memory: Param.E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/5 Default value: --
P-0-4015 - Attributes
ID number: P-0-4015 Editability: no
Function: Parameter Memory: Verst.-E²prom
Data length: 2 Byte Validity check: Phase3
Format: DEC_OV Extreme value check: yes
Unit English: V Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 1/1000 Default value: --
P-0-4017 - Attributes
ID number: P-0-4017 Editability: P2/P3/P4
Function: Parameter Memory: parallel EEProm
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: mV Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: -10000/+10000 Default value: 0
P-0-4018 - Attributes
ID number: P-0-4018 Editability: P2/P3/P4
Function: Parameter Memory: parallel EEProm
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: mV Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: -10000/+10000 Default value: 0
P-0-4019- Attributes
ID number: P-0-4019 Editability: P2/P3/P4
Function: Parameter Memory: parallel EEProm
Data length: list with 32 elements each with 4 Byte, 64 Byte
Validity check: yes
Format: HEX Extreme value check: no
Unit English: -- Combination check: yes
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: -- Default value: 1
P-0-4020-Attributes
ID number: P-0-4020 Editability: P2
Function: Parameter Memory: parallel EEProm
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: - Cyc. transmittable: no
Input value min / max: 0/2 Default value: 1
Setting in parameter
Baud rate [Baud] P-0-4021
9600 0
19200 1
Fig. 3-11: adjustable baud rates
Note: Do not change the baud rates in the list of all parameters in
DriveTop as this would lockout all further communications in
DriveTop version < 3.
P-0-4021 Attributes
ID number: P-0-4021 Editability: P2/P3/P4
Function: Parameter Memory: parallel EEProm
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: - Cyc. transmittable: no
Input value min / max: 0/3 Default value: 0
P-0-4022 Attributes
ID number: P-0 4022 Editability: P2
Function: Parameter Memory: parallel EEProm
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: 0/99 Default value: 1
P-0-4023-Attributes
ID number: P-0-4023 Editability: P2/P3/P4
Function: Parameter Memory: no
Data length: 2 Byte Validity check: no
Format: binary Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: 0/11 b Default value: --
P-0-4024-Attributes
ID number: P-0-4024 Editability: -
Function: Parameter Memory: Amplifier E²Prom
Data length: 2 Byte Validity check: yes
Format: HEX Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: - Cyc. transmittable: no
Input value min / max: -- Default value: no
P-0-4025, Password
Description:
Acts like S-0-0267, password
P-0-4025-Attributes
ID number: P-0-4025 Editability: P2/P3/P4
Function: Parameter Memory: parallel EEProm
Data length: 0 byte-maximum 10 symbols
Validity check: yes
Format: ASCII Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: -- Default value: --
P-0-4026-Attributes
ID number: P-0-4026 Editability: no
Function: Parameter Memory: no
Data length: 2 Byte Validity check: no
Format: decimal Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: 0/31 Default value: --
Bit 3 : free
P-0-4027-Attributes
ID number: P-0-4027 Editability: P2
Function: rameter Memory: parallel EEProm
Data length: 2 Byte Validity check: yes
Format: HEX Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: -- Default value: 0 x 0008
P-0-4028-Attributes
ID number: P-0-4028 Editability: no
Function: Parameter Memory: Feedb.-E²prom
Data length: 4 Byte Validity check: no
Format: DEC Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: 100,0000
P-0-4029-Attributes
ID number: P-0-4029 Editability: no
Function: Parameter Memory: Feedb.-E²prom
Data length: 4 Byte Validity check: no
Format: HEX Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: 100,0000
P-0-4030-Attributes
ID number: P-0-4030 Editability: P2/P3/P4
Function: Parameter Memory: parallel EEProm
Data length: 4 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: S-0-0044 Combination check: no
Posit. after the dec.: S-0-0044 Cyc. transmittable: no
Input value min / max: S-0-0044 Default value: 100,0000
P-0-4031-Attributes
ID number: P-0-4031 Editability: no
Function: Parameter Memory: parallel EEProm
Data length: 4 Byte Validity check: only with SSI
Emulation
Format: HEX Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: -- Default value: --
P-0-4032-Attributes
ID number: P-0-4032 Editability: P4
Function: Command Memory: no
Data length: 2 Byte Validity check: no
Format: binary Extreme value check: no
Unit English: -- Combination check: yes
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: 0/11 Default value: --
P-0-4033-Attributes
ID number: P-0-4033 Editability: P23
Function: Parameter Memory: parallel EEProm
Data length: 4 Byte Validity check: yes
Format: binary Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: 16/65536 Default value: 1250
P-0-4034-Attributes
ID number: P-0-4034 Editability: P2
Function: Parameter Memory: parallel EEProm
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: 1/3 Default value: 1
P-0-4035-Attributes
ID number: P-0-4035 Editability: no
Function: Parameter Memory: Verst.-EEPROM
Data length: 4 Byte Validity check: Phase 3
Format: DEC_OV Extreme value check: yes
Unit English: A Combination check: no
Posit. after the dec.: 3 Cyc. transmittable: no
Input value min / max: 0/500 Default value: --
P-0-4036-Attributes
ID number: P-0-4036 Editability: P234
Function: Parameter
Memory: Parameter-EEPROM
Data length: up to 40 symbols Validity check: Phase 3
Format: ASCII Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: -- Default value: empty
P-0-4037-Attributes
ID number: P-0-4037 Editability: no
Function: Parameter Memory: Feedback
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: As/rad Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: 0/32767 Default value: --
P-0-4038-Attributes
ID number: P-0-4038 Editability: no
Function: Parameter Memory: Feedback
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: ms Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: 0,1/6553,5 Default value: --
P-0-4039-Attributes
ID number: P-0-4039 Editability: no
Function: Parameter Memory: Feedback
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: V/A Combination check: no
Posit. after the dec.: 2 Cyc. transmittable: no
Input value min / max: 0/500 Default value: --
P-0-4040-Attributes
ID number: P-0-4040 Editability: no
Function: Parameter Memory: no
Data length: Byte Validity check: no
Format: binary Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: -- Default value: --
Bit 0 : free
Bit 1 : ready relay control
Bit 2 : brake relay control
Bit 3 : position switch point X2/19
Bit 4 : software start relay control
Bit 5 : X2/20 in reference
Bit 6: X2/21 in motion
Bit 7: X2/22 in position
Bit 8: free
Bit 9 : free
Bit 10: free
Bit 11: X2/6 select position 1 acknowledgement
Bit 12 : X2/7 select position 2 acknowledgement
Bit 13 : X2/8 select position 3 acknowledgement
Bit 14 : X2/9 select position 4 acknowledgement
Bit 15 : X2/10 select position 5 acknowledgement
P-0-4041-Attributes
ID number: P-0-4041 Editability: no
Function: Parameter Memory: no
Data length: 2 Byte Validity check: no
Format: binary Extreme value check: no
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: -- Default value: --
P-0-4042-Attributes
ID number: P-0-4042 Editability: no
Function: Parameter Memory: Feedback
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: µs Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 500/65535 Default value: --
P-0-4043-Attributes
ID number: P-0-4043 Editability: no
Function: Parameter
Memory: Amplifier EEProm
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/100 Default value: --
P-0-4044 Attributes
ID number: P-0-4044 Editability: no
Function: Parameter Memory: no
Data length: 2 Byte Validity check: no
Format: decimal Extreme value check: no
Unit English: % Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/65536 Default value: --
ID
Number Name Unit
S-0-0111 Still stand active current motor 1) A
S-0-0112 Amplifier active current 1 A
P-0-0518 Amplifier nominal current 2 A
S-0-0092 Torque limit bipolar 2) %
P-0-0006 Overload factor 3) %
Fig. 3-16: Active durration current, Dependence
1) The standstill active current of the motor is that value of which the
procentage specifications pocess: it corresponds to 100%.
2) Shrinks if less than 100%
3) The dependence on the overload factor is not linear. It is
observeable in connection with the active current 1 and the nominal
current 2.
P-0-4045-Attributes
ID number: P-0-4045 Editability: no
Function: Parameter Memory: no
Data length: 4 Byte Validity check: no
Format: DEC_OV Extreme value check: no
Unit English: A Combination check: no
Posit. after the dec.: 3 Cyc. transmittable: no
Input value min / max: -- Default value: --
ID
Number Name Unit
S-0-0109 Motor peak current A
S-0-0110 Amplifier peak current 1 A
P-0-0519 Amplifier peak current 2 A
S-0-0092 Torque limit bipolar %
P-0-0006 Overload factor 3) %
Fig. 3-17: Active peak current, dependence
P-0-4046-Attributes
ID number: P-0-4046 Editability: no
Function: Parameter Memory: no
Data length: 4 Byte Validity check: no
Format: DEC_OV Extreme value check: no
Unit English: A Combination check: no
Posit. after the dec.: 3 Cyc. transmittable: no
Input value min / max: -- Default value: --
P-0-4047-Attributes
ID number: P-0-4047 Editability: no
Function: Parameter Memory: Feedback
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: no
Unit English: mH Combination check: no
Posit. after the dec.: 2 Cyc. transmittable: no
Input value min / max: 0/65535 Default value: --
P-0-4048-Attributes
ID number: P-0-4048 Editability: no
Function: Parameter Memory: Feedback
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: no
Unit English: Ohm Combination check: no
Posit. after the dec.: 3 Cyc. transmittable: no
Input value min / max: 0/65,535 Default value: --
P-0-4049-Attributes
ID number: P-0-4049 Editability: no
Function: Parameter Memory: Feedback
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: ms Combination check: no
Posit. after the dec.: 1 Cyc. transmittable: no
Input value min / max: 0/6553,5 Default value: --
The required response delay time is dependent on the PC used and must,
therefore, be set to satisfy the PC.
P-0-4050-Attributes
ID number: P-0-4050 Editability: P2/P3/P4
Function: Parameter Memory: yes
Data length: 2 Byte Validity check: yes
Format: decimal Extreme value check: yes
Unit English: ms Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input value min / max: 0/200 Default value: 0
P-0-4051 - Attributes
ID number: P-0-4051 Editability: no
Function: Parameter Memory: no
Data length: 2 bytes Validity check: no
Format: DEC_OV Extreme value check: no
Unit in Ger./Eng.: --/-- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input min/max: --/-- Default value: --
P-0-4052 - Attributes
ID number: P-0-4052 Editability: P2
Function: Parameter Memory: Param.EEPROM
Data length: 2 bytes Validity check: P3
Format: DEC_OV Extreme value check: no
Unit in Ger./Eng.: --/-- Combination check: no
Posit. after the dec.: 0 Cyc. transmittable: no
Input min/max: --/-- Default value: --
P-0-4094-Attributes
ID number: P-0-4094 Editability: P2
Function: Command Memory: no
Data length: 2 Byte Validity check: no
Format: binary Extreme value check: yes
Unit English: -- Combination check: no
Posit. after the dec.: -- Cyc. transmittable: no
Input value min / max: 0/11 b Default value: --
Notes
E
C econdary Operation Mode 1 2-4
C1 Communication Phase 3 Transition Emulated absolute encoder position 3-
Check 2-30 30
C2 Communication Phase 4 Transition Encoder Emulation Type 3-37
Check 2-31
Error Message Number 3-3
C3 Command Set Emulation Absolute
Error Reaction - best possible braking 3-
Value 3-43
14
C4 Command
Evaluating analog gear adjustment 3-18
Switch to Parameter Mode 3-39
Excessive Position Command 3-3
C5 Reset Class 1 Diagnostic 2-22
C6 Drive Controlled Homing Procedure
2-35 F
Circle Voltage 3-36
Feed Constant 2-30
Command Basic Load 2-44
Feedback Interface 3-28
Command Filter Smoothing Time
Feedback Type 3-26
Constant 3-25
Feedrate Override 2-25
Command Parameter Default Set 3-53
J P
Jog Velocity 3-42 Parameter Buffer Mode 2-45
Password 3-40
Passwort 2-45
L
Position Command Value 2-10
Language Selection 2-44, 3-2 Position Controller KV-Factor (closed-
Last Valid Position Command Value 3-4 loop control) 2-24
Lead Drive 1 Rotation 2-42 Position Data Scaling Type 2-15
Lead drive polarity 3-13 Position Feedback 1 Type Parameter 2-
46
Lead drive position 3-11
Position Feedback Value 1 (Motor
Line Count for the Incremental Encoder
Feedback) 2-12
3-24
Position Feedback Value Status 2-51
Linear Position Data Scaling Exponent
2-16 Position Polarity Parameter 2-12
Linear Position Data Scaling Factor 2-16 Position Start Value 3-6
Load Inertia 3-35 Position Switch Flag Parameter 2-14
Lower traversing limit for automatic Position Switch Point 1 2-14
control loop setting 3-22 Position Synchronization Window 2-41
Position Window 2-13
M Positioning Acceleration 2-43
Positioning Jerk 2-41
Magnetization Current 3-32
Positioning Velocity 2-43
Manufacturer Class 3 Diagnostics 2-38
Positive position limit value 2-11
Manufacturer Version 2-3
Primary Mode of Operation 2-4
Mask Class 2 Diagnostic 2-21
Process Block Acceleration 3-34
Mask Class 3 Diagnostic 2-21
Process Block Jerk 3-34
T
Target Position 2-43
Test Status 3-40
Torque Constant 3-10
Torque/Force Command Value 2-17
Torque/Force Data Scaling Exponent 2-
20
Torque/Force Data Scaling Factor 2-20
Notes
Supplement B
Diagnostic Message Description
ASE 04VRS
DOK-ECODRV-ASE-04VRS**-FKB1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Contents
1 DIAGNOSTIC MESSAGE DESCRIPTION 1-1
1.1 Tips for Eliminating Malfunctions .........................................................................................................1-1
Reset Button S1 ............................................................................................................................1-1
Condition Display H1 .....................................................................................................................1-1
1.2 Error Diagnostic Message ....................................................................................................................1-2
UL Motor Type not Reported .........................................................................................................1-2
PL Load Parameter Default Value.................................................................................................1-2
F207 Switching to an Uninitialized Operating Mode ......................................................................1-3
F218 Heatsink Overtemperature Shutdown ..................................................................................1-3
F219 Motor Overtemperature Shutdown.......................................................................................1-4
F220 Bleeder Overtemperature Shutdown....................................................................................1-5
F226 Undervoltage Error ...............................................................................................................1-5
F228 Excessive Deviation .............................................................................................................1-6
F229 Motor Encoder Error: Quadrant Error...................................................................................1-6
F248 Low Battery Voltage .............................................................................................................1-7
F262 External Short at Status Outputs.......................................................................................... 1-7
F276 Absolute Encoder Error ........................................................................................................1-8
F629 Positive Travel Limit Value is Exceeded ..............................................................................1-9
F630 Negative Travel Limit Value is Exceeded.............................................................................1-9
F643 Positive Travel Limit Switch Detected ................................................................................1-10
F644 Negative Travel Limit Switch Detected...............................................................................1-11
F822 Motor Encoder Failure: Signal too Small............................................................................1-11
F860 Overcurrent: Short in Powerstage ......................................................................................1-12
F870 +24 V Error.........................................................................................................................1-13
F873 Power Supply Driver Stage Fault .......................................................................................1-13
F878 Velocity Loop Error.............................................................................................................1-14
F879 Velocity Limit Value Exceeded (S-0-0092).........................................................................1-14
F895 4 kHz Signal Error ..............................................................................................................1-15
1.3 Warning Diagnostic Messages...........................................................................................................1-16
E209 Parameter storage activ.....................................................................................................1-16
E248 Interpolation acceleration equals 0 ....................................................................................1-16
E249 Positioning vel. (S-0-0259) greater S-0-0091.....................................................................1-16
E250 Heatsink Overtemperature Warning ..................................................................................1-17
E251 Motor Overtemperature Warning .......................................................................................1-17
E252 Bleeder Overtemperature Warning....................................................................................1-18
E253 Target Position Out of Range ............................................................................................1-18
E254 Not Homed .........................................................................................................................1-19
E255 Feedrate-Override(S-0-0108) = 0 ......................................................................................1-19
E256 Torque Limit = 0 .................................................................................................................1-20
E257 Continuous Current Limiting Active....................................................................................1-20
E258 Selected Process Block is not Programmed......................................................................1-21
E259 Command Velocity Limit Active..........................................................................................1-21
E260 Current limitation active! ....................................................................................................1-22
2 Index 2-1
Notes
Reset Button S1
After the error has been eliminated the error message must be cleared by
pressing the clear error button S1. The drive controller has an error
memory which works on the "first-in, first-out" principle. If several errors
occur in a row, the first 4 will be saved. The error which occurred first is
displayed on H1. Each time the S1 key is pressed, the error which is
displayed will be cleared and the next error will appear in the display until
all of the saved errors have been cleared.
FAECO
Figure 1-1: Condition diagnosis H1 and clear error button S1 on the DKC01
Condition Display H1
The H1 condition display on the front side of the DKC gives information
about:
• Operating condition of the drive controller
• Drive controller or cable malfunctions
• Motor malfunctions
• Malfunctions caused by invalid parameter input
• Application errors
Cause:
Motor was exchanged.
Parameter file was loaded, but parameter “P-0-4036, motor type
connected” contained a different motor type.
Remedy:
Command ”C700 Basic Load” or press the S1 button.
F208 Attributes
SS Display : UL
Diagnostic message number : F208
Error class : Non-fatal
Error number : 208
Cause:
Product was replaced. The number of parameters in comparison to the
new products has changed.
Remedy:
Press S1 button on the drive controller and all the paramters will be
erased and restored with default values
WARNING
F209 Attributes
SS Display : PL
Diagnostic message number : PL
Error class : Non-fatal
Remedy:
Input correct operating mode
F207 attributes
SS Display : F2/07
Error number : 207
Diagnostic message number : F207
Error class : Non-fatal
Cause:
1. Ambient temperature is too high. The specified
operational data is valid up to an ambient temperature
of 45°C.
2. The DKC's heatsink is dirty.
3. Air flow is prevented by other assembly parts or a
control cabinet panel assembly.
4. Heatsink blower may be defective
Remedy:
For 1. Reduce the ambient temperature; for example, through cooling
of the control cabinet
For 2. Remove any obstruction or dirt from the heatsink.
For 3. Install the device vertically and clear a large enough area for
proper heatsink ventilation.
For 4. Exchange drive.
F218 attributes
SS Display : F2/18
Error number : 218
Diagnostic message number : F218
Error class : Non-fatal
Cause:
1. The motor was overloaded. The effective torque demanded
from the motor was above its allowable continuous torque level
for too long.
2. Break in line, ground short or short circuit in the motor
temperature monitor line
3. Instability in the velocity loop.
Remedy:
For 1. Check the installation of the motor. If the system
has been in operation for a long time, check to see if the
the operating conditions have changed. (in regards to
pollution, friction, moved components, etc.)
For 2. Check wires and cables to the motor temperature monitor for
wire breaks, earth short and short circuits.
For 3. Check velocity loop parameters.
F219 Attributes
SS Display : F2/19
Error number : 219
Diagnostic message number : F219
Error class : Non-fatal
Cause:
The reflected energy from the machine’s mechanism over the motor is
too large.
Remedy:
With too much power ---> reduce the acceleration value
With too much energy ---> reduce the velocity
Check the drive installation.
May require installation of an additional bleeder module.
F220 Attributes
SS Display : F2/20
Diagnostic message number : F220
Error class : Non-fatal
Cause:
1. The power source has been interrupted without first switching off
the drive enable (RF).
2. Disturbance in the power supply
Remedy:
For 1 Check the logic regarding the activation of the drive within
the connected control.
For 2 Check the power supply.
F226 Attributes
SS Display : F2/26
Error number : 226
Diagnostic message number : F226
Error class : Non-fatal
Cause:
1. The acceleration ability of the drive was exceeded.
2. The motor shaft was blocked.
3. Parameterization error in the drive parameters.
4. "S-0-0159, Monitoring Window" was parameterized incorrectly
Remedy:
For 1. Check the Bipolar Torque Limit, S-0-0092 parameter
and set it equal to the maximum allowable value for
the application.
For 2. Check the mechanical system and eliminate any jamming of the
motor shaft
For 3. Check the drive parameters (control loop settings)
For 4. Parameterize "S-0-0159, Monitoring Window"
F228 Attributes
SS Display : F2/28
Error number : 228
Diagnostic message number : F228
Error class : Non-fatal
Cause:
1. Defective encoder cable
2. Insulation disturbance on the encoder or the encoder cable
3. Defective drive controller
Remedy:
For 1. Check the encoder cable and change if necessary.
For 2. Use only insulated motor cable and power cables
Separate encoder cable from power cables
For 3. Exchange drive controller
F229 Attributes
SS Display : F2/29
Error number : 229
Diagnostic message number : F229
Error class : Non-fatal
If the control voltage of the installed battery is turned off, the absolute
position is lost.
The absolute position must be re-established through the process of the
command Set Absolute Measurement.
F248 Attributes
SS Display : F2/48
Error number : 248
Diagnostic message number : F248
Error class : Non-fatal
Cause:
1. Short circuited outputs (X2/6, X2/7, X2/8, X2/9, X2/10, X2/20,
X2/21, X2/22)
2. One or more outputs are overloaded.
Remedy:
For 1. Eliminate short circuit or limit switching current (< 350 mA)
For 2. Drop current, depending on output, to < 80 mA.
F262 Attributes
SS Display : F2/62
Error number : F262
Diagnostic message number : 262
Error class : Non-fatal
Cause:
1. Turning on for the first time (invalid stored position).
2. The motor was moved further than allowed by the parameter in
the absolute encoder monitoring window, P-0-0097, while it was
turned off.
3. Incorrect position initialization
Remedy:
For 1. Press S1 to reset the error and set the absolute position.
For 2. The motor was moved while turned off and sits outside of its
permissible position. Check to see if the displayed position is
correct in relation to the machine zero point. Reset subsequent
errors.
For 3. An accident may occur by accidental shaft movement.
Check absolute position informartion. A feedback defect is
present if the absolute position information is false. The motor
should be exchanged and sent to the INDRAMAT Customer
Service .
F276 Attributes
SS Display : F2/76
Error number : 276
Diagnostic message number : F276
Error class : Non-fatal
Cause:
S-0-0049, Positive position limit value is exceeded.
Remedial action:
1. Check S-0-0049, Positive position limit value
2. Check the controller software limits
3. Activate the axis after the error reaction
Procedure:
• Clear the error
• Activate power if it has been de-activated
• Move the axis to the permissible working range
Note: Only command values that lead back into the permissible
working range will be accepted. Any other command value will
stop the drive again.
F629 attributes
SS Display: F6/29
Error number: 629
Diagnosis number: F629
Error class: Travel range
Cause:
S-0-0050, Negative position limit value is exceeded.
Remedial action:
1. Check S-0-0050, Negative position limit value
2. Check the controller software limits
3. Activate the axis after the error reaction
Procedure:
• Clear the error
• Activate power if it has been de-activated
• Move the axis to the permissible working range
Note: Only command values that lead back into the permissible
working range will be accepted. Any other command value will
stop the drive again.
F630 attributes
SS Display: F6/30
Error number: 630
Diagnosis number: F630
Error class: Travel range
Cause:
The positive travel limit switch has been actuated.
Remedial action:
1. Reset the error
2. Activate the power supply
3. Move the axis into the permissible working range
Note: The drive will not accept any command values that lead further
away from the permissible range. Specifying such a command
will again generate this error.
F643 attributes
SS Display: F6/43
Error number: 643
Diagnosis number: F643
Error class: Travel range
Cause:
The negative travel limit switch has been actuated.
Remedial action:
1. Reset the error
2. Activate the power supply
3. Move the axis into the permissible working range
Note: The drive will not accept any command values that lead further
away from the permissible range. Specifying such a command
will again result in this error.
F644 attributes
SS Display: F6/44
Error number: 644
Diagnosis number: F644
Error class: Travel range
Cause:
1. Defective feedback cable.
2. Defective feedback.
Remedy:
For 1. Check the feedback cable.
Lay the power cables separate from the feedback cable.
The cable shield must be connected to the drive controller.
(See also project reference of the drive control).
For 2. Exchange motor.
12 - 18 V
F822 Attributes
SS Display: F8/22
Error number: 822
Diagnosis number: F822
Error class: Fatal
Remedy:
For 1. Check the motor cable for a short.
For 2. Exchange drive controller.
For 3. The current regulator parameters should not deviate from the
default values of the feedback.
F860 Attributes
SS Display : F8/60
Error number : 860
Diagnostic message number : F860
Error class : Fatal
Cause:
Disturbance or overload of the 24 V supply voltage. Measure control
voltages.
Remedy:
Check wiring and/or replace power supply module.
F870 Attributes
SS Display : F8/70
Error number : 870
Diagnostic message number : F870
Error class : Fatal
Cause:
Voltage supply of the driver stage is too low
Remedy:
Exchange drive controller
F873 Attributes
SS Display : F8/73
Error number : 873
Diagnostic message number : F873
Error class : Fatal
Cause:
1. Motor cable is connected incorrectly.
2. Defective controller section of the drive.
3. Defective feedback.
4. Velocity loop paramaterized incorrectly.
5. Incorrect commutation offset
Remedy:
For 1. Check motor cable connection.
For 2. Exchange drive controller.
For 3. Exchange motor.
For 4. Check velocity controller to see if it is within operational
parameters.
For 5. Exchange motor.
F870 Attributes
SS Display : F8/70
Error number : 870
Diagnostic message number : F870
Error class : Fatal
Cause:
The load torque was smaller or larger than the torque command value for
too long a time. This leads to an increase in the actual velocity up to the
maximum possible motor velocity.
Remedy:
Check the primary control loop.
F879 Attributes
SS Display : F8/79
Diagnostic message number : F879
Error class : Fatal
Cause:
1. The synchronization of the resolver controller voltage is invalid
in regards to the software.
2. The error can be produced through an electrical discharge.
Remedy:
For 1. Exchange drive controller and return for testing.
For 2. Power down and then on. If this in not successful; exchange
drive controller.
F895 Attributes
SS Display : F8/95
Error number : 895
Diagnostic message number : F895
Error class : Fatal
Note: Wait until warning E209 fades before switching power off. If
power is switched off while the warning stands, then the
parameters could be lost or some parameters could become
invalid.
E209 Attributes
SS Display : E2/09
Diagnostic message number : E209
Warning class : Non-fatal
Remedy:
Enter a sensible accel value >0.
E248 Attributes
SS Display : E2/48
Diagnostic message number : E248
Warning class : Non-fatal
Remedy:
S-0-0259, Positioning speed or S-0-4007, process block speed must
be reduced.
E249 Attributes
SS Display : E2/49
Diagnostic message number : E249
Warning class : Non-fatal
Cause:
1. Deficiency of the drive's internal blower.
2. Deficiency of the control cabinet’s climate control.
3. Incorrect control cabinet dimensioning regarding the
head ventilation.
Remedy:
For 1. If the blower fails exchange the drive controller.
For 2. Install climitization feature to the cabinet.
For 3. Check the dimensions of the control cabinet.
E250 Attributes
SS Display : E2/50
Diagnostic message number : E250
Warning class : Non-fatal
Cause:
The motor became overloaded. The effective torque required of the motor
was above the allowable standstill continuous torque for too long.
Remedy:
Check the installation of the motor. For systems which have been in use
for a long time, check to see if the drive conditions have changed (in
regards to pollution, friction, components which have been moved, etc).
E251 Attributes
SS Display : E2/51
Diagnostic message number : E251
Warning class : Non-fatal
Remedy:
Reduce acceleration value or velocity. Check the drive installation.
E252 Attributes
SS Display : E2/52
Diagnostic message number : E252
Warning class : Non-fatal
Cause:
1. Position limit value monitor was activated
2. In the "Drive Internal Interpolation" operating mode, the
S-0-0258, Target Position will be checked to determine if it’s
in the possible travel range of the drive.
3. In the "Command Controlled Operation" operating mode, the
target position of the selected process block will be checked to
see if it lies within the travel range.
The possible travel range is defined through the two parameters S-0-0049
Position Limit Positive and S-0-0050, Position Limit Nega-tive.
Remedy:
For 1. Deactivate the position limit monitor
For 2. Check the entered S-0-0258, target position and correct if
necessary.
For 3. Check the target position of the process block. Add the relative
path of travel to the actual position.
Additionally, check the position limit value.
E253 Attributes
SS Display : E2/53
Diagnostic message number : E253
Warning class : Non-fatal
Cause:
Absolute positioning command was selected without the drive being
referenced.
Remedy:
1. Reference the drive
2. Select "Relative Positioning Command"
E254 Attributes
SS Display : E2/54
Diagnostic message number : E254
Warning class : Non-fatal
E255 Feedrate-Override(S-0-0108) = 0
Description:
The transversing velocity can be changed while jogging, homing and
while in positioning operation with the "S-0-0108, Feedrate Override"
parameter. Since the drive controller cannot follow command values
which do not move, the warning will be given if the value of this parameter
is 0.
Cause:
1. Feedrate override is set at zero.
2. The "Feedrate Override Via Analog Output" field is activated
and the voltage there is 0V.
3. Positioning speed = 0
Remedy:
For 1. Set the S-0-0108 parameter to the correct value for the
application.
For 2. Deactivate the field or establish a voltage larger than 0V.
For 3. Positioning speed greater than 0 must be selected.
E255 Attributes
SS Display : E2/55
Diagnostic message number : E255
Warning class : Non-fatal
Remedy:
For 1. Set the torque limit to a value larger than 0.
For 2. Establish the analog voltage so that it is smaller than 10 V.
E256 Attributes
SS Display : E2/56
Diagnostic message number : E256
Warning class : Non-fatal
Cause:
More continuous torque was required than was available.
Remedy:
1. Check the drive installation.
2. Check the installation of the motor. For systems which have
been in use for a long time, check to see if the drive conditions
have changed (in regards to pollution, friction, components which
have been moved, etc).
E257 Attributes
SS Display : E2/57
Diagnostic message number : E257
Warning class : Non-fatal
Remedy:
Select another positioning block or enter the required data.
E258 Attributes
SS Display : E2/58
Diagnostic message number : E258
Warning class : Non-fatal
Cause:
S-0-0091, Bipolar Velocity Limit parameter was set too low.
Remedy:
In normal operation, set the S-0-0091, Bipolar Velocity Limit parameter
to a value 10% higher than the NC operation velocity.
E259 Attributes
SS Display : E2/59
Diagnostic message number : E259
Warning class : Non-fatal
Remedy:
• In position control, reduce parametrized accel value or speed value so
that the drive can follow the position command value.
• Increase torque limit value, if necessary.
E260 Attributes
SS Display : E2/60
Diagnostic message number : E260
Warning class : Non-fatal
Remedy:
1. Check the target position and correct if necessary.
2. Select the position data display channel in modulo format.
E264 Attributes
SS Display : E2/64
Diagnostic message number : E264
Warning class : Non-fatal
Remedy:
For 1. Reduce the acceleration value and check the drive controller
layout if necessary.
Install an auxiliary bleeder, if necessary.
For 2. Check the supply voltage, if necessary.
WARNING
E825 Attributes
SS Display : E8/25
Error number : 825
Diagnostic message number : E825
Error class : Non-fatal
Cause:
S-0-0049, Positive position limit value exceeded.
Remedial action:
Specify command values that lead back to the valid range.
E829 Attributes
SS Display : E8/29
Diagnostic message number : E829
Error class : fatal
Cause:
S-0-0050, Negative position limit value exceeded.
Remedial action:
Specify command values that lead back to the valid range.
E830 Attributes
SS Display : E8/30
Diagnostic message number : E830
Error class : fatal
Remedy:
1. Move the motor back within the allowable travel area with the jog
function.
2. Turn off the position limit value monitor.
E831 Attributes
SS Display : E8/31
Diagnostic message number : 831
Warning class : Fatal
Cause:
The positive travel zone limit switch has been actuated.
Remedial action:
Specify command values that lead back to the valid range.
E843 Attributes
SS Display : E8/43
Diagnostic message number : E843
Error class : fatal
Cause:
The negative travel zone limit switch has been actuated.
Remedial action:
Specify command values that lead back to the valid range.
E844 Attributes
SS Display : E8/44
Diagnostic message number : E844
Error class : fatal
C100 Attributes
SS Display : C1
Diagnostic message number : C100
Remedy:
Connect the control drive to a PC and activate DriveTop. Select the
"Parameter List of Invalid Parameters" menu and set valid parameters.
C101 Attributes
SS Display : C1/01
Diagnostic message number : C101
Remedy:
Connect the control drive to a PC and activate DriveTop. Select the
"Parameter List of Invalid Parameters" menu and set valid parameters.
C102 Attributes
SS Display : C1/02
Diagnostic message number : C102
C200 Attributes
SS Display : C2
Diagnostic message number : C200
Remedy:
Connect the control drive to a PC and activate DriveTop. Select the
"Parameter List of Invalid Parameters" menu and set valid parameters.
C201 Attributes
SS Display : C2/01
Diagnostic message number : C201
Remedy:
Connect the control drive to a PC and activate DriveTop. Select the
"Parameter List of Invalid Parameters" menu and set valid parameters.
C202 Attributes
SS Display : C2/02
Diagnostic message number : C202
Remedy:
Connect the control drive to a PC and activate DriveTop. Select the
"Parameter List of Invalid Parameters" menu and set valid parameters.
C203 Attributes
SS Display : C2/03
Diagnostic message number : C203
Remedy:
Power down and then on again. If this in not successfull, exchange drive.
C207 Attributes
SS Display : C2/07
Diagnostic message number : C207
Cause:
The SSI emulation was selected. The parameters required for emulation
are invalid.
Remedy:
Connect the control drive to a PC and activate DriveTop.
"Actual Position Output" menu with controller emulation type "Absolute
Controller Emulation (SSI)":
C208 Attributes
SS Display : C2/08
Diagnostic message number : C208
Causes:
1. Motor feedback cable not connected or it is defective
2. Defective motor feedback
3. Drive controller defective
Remedy:
For 1. Check motor feedback cable, connect at both ends
For 2. Exchange the motor
For 3. Exchange drive controller
C211 Attributes
SS Display : C2/11
Diagnostic message number : C211
Cause:
Defective hardware in the drive controller
Remedy:
Exchange drive controller.
C212 Attributes
SS Display : C2/12
Diagnostic message number : C212
Remedy:
Connect the drive with a PC and start DriveTop. In the dialog box
„Scaling/Mechanical system" select a scaling setting.
Should another scaling installation other than one from DriveTop be used,
then the following parameters must be checked.
C213 Attributes
SS Display : C2/13
Diagnostic message number : C213
Remedy:
Connect the drive with a PC and start DriveTop. In the dialog box
„Scaling/Mechanical system" select a scaling setting.
Should another scaling installation other than one from DriveTop be used,
then the following parameters must be checked.
C214 Attributes
SS Display : C2/14
Diagnostic message number : C214
Remedy:
Connect the drive with a PC and start DriveTop. In the dialog box
„Scaling/Mechanical system" select a scaling setting.
Should another scaling installation other than one from DriveTop be used,
then the following parameters must be checked.
C215 Attributes
SS Display : C2/15
Diagnostic message number : C215
Remedy:
Connect the drive with a PC and start DriveTop. Select a scaling setting in
the "Scaling/Mechanical system" dialog box.
Should a scaling installation other than one from DriveTop be used, then
the following parameters must be checked.
C216 Attributes
SS Display : C2/16
Diagnostic message number : C216
Remedy:
Check the feedback cable
Exchange the motor
C217 Attributes
SS Display : C2/17
Diagnostic message number : C217
Cause:
1. Defective motor feedback cable
2. Defective motor feedback
3. Defective measurement system interface
Remedy:
For 1. Check the motor feedback cable
For 2. Exchange the motor
For 3. Exchange the measuring system interface (module)
C220 Attributes
SS Display : C2/20
Diagnostic message number : C220
Remedy:
Select a smaller modulo value.
C227 Attributes
SS Display : C2/27
Diagnostic message number : C227
C300 Attributes
SS Display : C3
Diagnostic message number : C300
C300 Attributes
SS Display : C3
Diagnostic message number : C300
Remedy:
End the command and deactivate the control enable.
C301 Attributes
SS Display : C3/01
Diagnostic message number : C301
Cause:
1. The command was falsely activated.
2. The connected motor does not contain an absolute encoder.
(Option)
Remedy:
For 1. Stop the command process.
For 2. Equip the motor or external measurement system with an
absolute encoder function.
C302 Attributes
SS Display : C3/02
Diagnostic message number : C302
C400 Attributes
SS Display : C4
Diagnostic message number : C400
Remedy:
End the command and turn off the drive enable, then the command can
be started from the beginning.
C401 Attributes
SS Display : C4/01
Diagnostic message number : C401
C500 Attributes
SS Display : C5
Diagnostic message number : C500
C600 Attributes
SS Display : C6
Diagnostic message number : C600
Remedy:
1. Enable Drive
2. Restart the command.
C601 Attributes
SS Display : C6/01
Diagnostic message number : C601
Remedy:
The cam of the home switch must be shifted in such a manner such that
an accurate homing procedure is possible.
• Read the contents of parameter S-0-0298, reference cam shifting
• Mechanically shift the homing cam by the amount in the parameter.
• Re-perform the drive controlled homing procedure.
C602 Attributes
SS Display : C6/02
Diagnostic message number : C602
Remedy:
Clear the homing command.
Set another operating mode.
C603 Attributes
SS Display : C6/03
Diagnostic message number : C603
Remedy:
Home the absolute encoder with the command "Set Absolute
Measurement"
C604 Attributes
SS Display : C6/04
Diagnostic message number : C604
Remedial action:
Reduce the value of S-0-0041, Homing velocity.
C605 Attributes
SS Display: C6/05
Diagnosis number: C605
C700 Attributes
SS Display : C7
Diagnostic message number : C700
C800 Attributes
SS Display : C8
Diagnostic message number : C800
Note: Under some circumstances, errors can also occur while the
command is being executed. These are then signalled with
pertinent messages.
D901 start only with RF
D902 motor feedback not valid
D903 inertia detection failed
D904 gain adjustment failed
D905 wrong position range
D906 position range exceeded
D900-Attributes
SS Display : D9/00
Diagnostic message number : D900
Cause:
Drive enable not set at command start (NO-RF)
Remedy:
Set drive enable and restart command.
D901-Attributes
SS Display : D9/01
Diagnostic message number : D901
Cause:
One of the above feedback data has a value smaller than or equal to zero
(<=0). This means that the controller parameter is incorrectly calculated.
Remedy:
If known, write the correct values back into the parameter or contact
Indramat Customer Service to obtain the feedback data valid for your
motor.
In the worst case, it may be necessary to replace the motor.
D902-Attributes
SS Display : D9/02
Diagnostic message number : D902
Cause:
• drive acceleration too low
• number of measured value too small for automatic control loop setting
• motor speed too low
• load moment of inertia too big
Remedy:
• increase bipolar torque/force value S-0-0092
• increase pos. accel S-0-0260
• increase pos. speed S-0-0259
• increase feedrate override S-0-0108
D903-Attributes
SS Display : D9/03
Diagnostic message number : D903
Cause:
• oscillating mechanical systems (resonance)
• high level of interference in the encoder signal
Remedy:
Satisfactory results can sometimes be achieved by starting the command
P-0-0162, D9 automatic control loop setting with a large P-0-0163,
damping factor for automatic control loop setting, i.e., low dynamics.
This value can be reduced until the control loop behaves as needed.
If even then control loop settings remain unsuccessful, then the setting
must be manual.
D904-Attributes
SS Display : D9/04
Diagnostic message number : D904
Remedy:
• clear command error by ending the command
• a) input new limits whereby:upper > lower limits
b) redefine limits to define a larger traversing range
• restart command with sensible traversing range
D905-Attributes
SS Display : D9/05
Diagnostic message number : D905
Cause:
If only one of these limits is exceeded, then command error D906 is
generated and the drive brought to standstill speed controlled.
Possible causes:
• actual position outside of defined traversing range
• limits redefined after command start
Remedy:
• clear command error and end command
• redefine limits so that the actual position is within defined traversing
range
• retart command using sensible traversing range
D906-Attributes
SS Display : D9/06
Diagnostic message number : D906
A002 Attributes
Diagnostic message number : A002
A003 Attributes
Diagnostic message number : A003
A010 Attributes
SS Display AH
Diagnostic message number : A010
A012 Attributes
SS Display Ab
Diagnostic message number : A012
A013 Attributes
SS Display bb
Diagnostic message number : A013
A100 Attributes
SS Display : AF
Diagnostic message number : A100
A101 Attributes
SS Display : AF
Diagnostic message number : A101
A111-Attributes
SS Display : AF
Diagnostic message number : A111
A118-Attributes
SS Display : AF
Diagnostic message number : A118
A203 Attributes
SS Display : AF
Diagnostic message number : A203
A204 Attributes
SS Display : AF
Diagnostic message number : A204
A206 Attributes
SS Display : AF
Diagnostic message number : A206
A207 Attributes
SS Display : AF
Diagnostic message number : A207
Notes
E
+
Error Diagnostic Message 1-2
+24 V Error 1-13
Error in Velocity Regulator Loop 1-14
Excessive Deviation 1-6
4 External Short at Status Outputs 1-7
4 kHz Signal Error 1-15
G
A Gain Adjustment Failed 1-40
Absolute Encoder Error 1-8
Absolute Measuring System Not Installed H
1-34
Acceleration Data Scaling Error 1-31 Heatsink Overtemperature Alert 1-17
C I
Command Inertia Detection Failed 1-39
Switch To Parameter Mode 1-34
Interpolation acceleration equals 0 1-16
Command Base-parameter load 1-37
Invalid Amplifier Data (-> S-0-0022) 1-29
Command Diagnostic Message 1-26
Invalid Communication Parameters (S-0-
Command Velocity Limitation Active 1-21 0021) 1-26
Command: Set Emulation-Absolute Value Invalid Feedback Data (-> S-0-0022) 1-29
1-33
Invalid Parameter (-> S-0-0022) 1-27
Communication Phase 2 1-42
Invalid SSI Parameter (-> S-0-0022) 1-28
Communication Phase 3 1-42
Communication Phase 3 Transition
Check 1-26 J
Communication Phase 4 Transition JB Jogging in a Negative Direction 1-45
Check 1-27
JF Jogging in a Positive Direction 1-45
Condition Display H1 1-1
Jog Position Limit Value Exceeded 1-24
Continuous Current Limiting Active 1-20
Control and Power Sections Ready for
Operation 1-42 L
Crossing Velocity Limit (S-0-0092) Value
1-14 Limit Error Communication Parameter (S-
0-0021) 1-26
Current limitation active! 1-22
Limit Error Parameter (-> S-0-0022) 1-27
Load Error LCA 1-28
D Load Parameter Default Value 1-2
D9 Command Automatic Loop Control 1- Low-Battery Voltage 1-7
37
DIAGNOSTIC MESSAGE
DESCRIPTION 1-1 M
Distance Homing Switch Reference Mark Modulo Range Error 1-33
Erroneous 1-35
Motor Encoder Error: Quadrant Error 1-6
Drive Active, Switch Not Allowed 1-34
Motor Encoder Failure: Signals too Small
Drive Controlled Homing Procedure 1-11
Command 1-35
Motor Feedback Data Reading Error 1-32
Drive Halt 1-42
Motor Feedback Initializing Error 1-32
Negative Position Limit Value Exceeded Tips for Eliminating Malfunctions 1-1
1-24 Torque Limit = 0 1-20
Negative Travel Limit Switch Detected 1- Torque/Force Data Scaling Error 1-31
11
Negative Travel Limit Value is Exceeded
1-9 U
Negative Travel Zone Limit Switch Undervoltage Error 1-5
Activated 1-25
Not Homed 1-19
V
O Velocity Data Scaling Error 1-30
Velosity Synchronisation, Real Lead
Overcurrent: Short in Powerstage 1-12 Drive 1-43
Overvoltage Error 1-22
W
P
WARNING DIAGNOSTIC MESSAGES 1-
Parameter Calculation Error (-> S-0- 16
0022) 1-28 Wrong Position Range 1-40
Parameter storage activ 1-16
Phase Synchr., Lagless, Encoder 1, Real
Lead Drive 1-44
Position Data Scaling Error 1-29
Position Mode 1-44
Position Mode / Lagless Positioning 1-44
Position Mode / POSITION Encoder 1 1-
44
Position Mode/POSITION Lagless
Positioning Encoder 1 1-45
Position Range Exceeded 1-41
Positioning vel. (S-0-0259) greater S-0-
0091 1-16
Positive Position Limit Value Exceeded 1-
23
Positive Travel Limit Switch Detected 1-
10
Positive Travel Zone Limit Switch
Activated 1-25
Power Supply Driver Stage Fault 1-13
R
Ready for Power ON 1-43
Reset Button S1 1-1
Reset Class 1 Diagnostic 1-35
S
Sart Only With RF 1-38
Selected Process Block is not
Programmed 1-21
Set Absolute Measuring 1-33
Setting Absolute Measuring Not Allowed,
Drive Enable 1-33
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Rexroth - Sigma S.A. Rexroth S.p.A. Rexroth S.p.A. Divisione Hydraudyne Hydrauliek B.V.
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Argentina Argentina Australia Brazil
Mannesmann Rexroth S.A.I.C. Nakase Australian Industrial Machinery Mannesmann Rexroth Automação
Division INDRAMAT Asesoramiento Tecnico Services Pty. Ltd. Ltda.
Acassusso 48 41/7 Diaz Velez 2929 Unit ¾5 Horne ST Divisão INDRAMAT
1605 Munro (Buenos Aires) 1636 Olivos Campbellfield VIC 2061 Rua Georg Rexroth, 609
Argentina (Provincia de Buenos Aires) Australia Vila Padre Anchieta
Argentina BR-09.951-250 Diadema-SP
Telefon: +54 1/756 01 40 Telefon: +61 3/93 59 0228
Argentina Caixa Postal 377
+54 1/756 02 40 Telefax: +61 3/93 59 02886
BR-09.901-970 Diadema-SP
Telex: 262 66 rexro ar Telefon +54 1/790 52 30
Telefax: +54 1/756 01 36 Telefon: +55 11/745 90 65
+55 11/745 90 70
Telefax: +55 11/745 90 50
Basic Technologies Corporation Rexroth (China) Ltd. Rexroth (China) Ltd. Rexroth (China) Ltd.
Burlington Division Shanghai Office Shanghai Parts & Service Centre 1430 China World Trade Centre
3426 Mainway Drive Room 206 199 Wu Cao Road, Hua Cao 1, Jianguomenwai Avenue
Burlington, Ontario Shanghai Intern. Trade Centre Minhang District Beijing 100004
Canada L7M 1A8 2200 Yanan Xi Lu Shanghai 201 103 P.R. China
Shanghai 200335 P.R. China
Telefon: +1 905/335-55 11 Telefon: +86 10/50 50 380
P.R. China
Telefax: +1 905/335-41 84 Telefon: +86 21/622 00 058 Telefax: +86 10/50 50 379
Telefon: +86 21/627 55 333 Telefax: +86 21/622 00 068
Telefax: +86 21/627 55 666
Rexroth (China) Ltd. Rexroth (China) Ltd. Mannesmann Rexroth (India) Ltd. Rexroth Co., Ltd.
A-5F., 123 Lian Shan Street 19 Cheung Shun Street INDRAMAT Division INDRAMAT Division
Sha He Kou District 1st Floor, Cheung Sha Wan, Plot. 96, Phase III I.R. Building
Dalian 116 023 Kowloon, Honkong Peenya Industrial Area Nakamachidai 4-26-44
P.R. China Bangalore - 560058 Tsuzuki-ku, Yokohama 226
Telefon: +852 2741 13 51/-54 und
Japan
Telefon: +86 411/46 78 930 +852 741 14 30 Telefon: +91 80/839 21 01
Telefax: +86 411/46 78 932 Telex: 3346 17 GL REX HX +91 80/839 73 74 Telefon: +81 45/942-72 10
Telefax: +852 786 40 19 Telex: 845 5028 RexB Telefax: +81 45/942-03 41
+852 786 07 33 Telefax: +91 80/839 43 45