CMMT-ST-SW

Servo drive

Description | Software,
Function, Fieldbus,
Device profile

8117802
8117802
2019-08b
[8117804]
Translation of the original instructions

BISS®, CANopen®, CODESYS®, CiA®, EtherCAT®, EtherNet/IP®, PI PROFIBUS PROFINET®, PROFIdrive®,

SIEMENS®, STEP 7®, TIA Portal® are registered trademarks of the respective trademark owners in cer-
tain countries.

2 Festo — CMMT-ST-SW — 2019-08b

Table of contents
1 About this Document................................................................................................... 17
1.1 Applicable documents.................................................................................................. 17
1.2 Product Version............................................................................................................ 17
1.3 Safety Instructions....................................................................................................... 18
1.4 Conventions................................................................................................................. 18
2 CMMT-ST Plug-in........................................................................................................ 18
2.1 CMMT-ST Getting to know the plug-in.......................................................................... 18
2.1.1 Overview.................................................................................................................18
2.1.2 Interface................................................................................................................. 20
2.1.2.1 Overview.................................................................................................................20
2.1.2.2 Contexts..................................................................................................................20
2.1.2.3 Toolbar................................................................................................................... 21
2.1.2.4 Navigator................................................................................................................ 24
2.1.2.5 Working Area in the Title Bar.................................................................................. 24
2.1.2.6 Display of errors and warnings................................................................................24
2.1.2.7 Display of Real-Time Values....................................................................................25
2.1.2.8 Adorner...................................................................................................................25
2.1.2.9 Pop-up for automatic values changes..................................................................... 27
2.1.3 Key combinations................................................................................................... 28
2.1.4 Basic and user units................................................................................................29
2.1.5 Automatic data synchronisation............................................................................. 29
2.2 Working with CMMT-ST the plug-in............................................................................... 29
2.2.1 Open plug-in........................................................................................................... 29
2.2.2 Connecting the plug-in to the device.......................................................................30
2.2.2.1 Connection Control................................................................................................. 30
2.2.2.2 Establishing and Disconnecting a Connection.........................................................32
2.2.2.3 Synchronising device data...................................................................................... 36
2.2.2.4 Synchronising the Configuration and Parameters................................................... 37
2.2.2.5 Device control (master control)...............................................................................39
2.2.3 Initial Commissioning Assistant.............................................................................. 40
2.2.3.1 Overview.................................................................................................................40
2.2.3.2 Drive Configuration.................................................................................................41
2.2.3.3 Setting Application Data......................................................................................... 46
2.2.3.4 Activating the Hardware Switch.............................................................................. 48
2.2.3.5 Setting the Homing................................................................................................. 48
2.2.3.6 Setting the Software End Positions.........................................................................49
2.2.4 Parameter Correction Assistant...............................................................................51
2.3 Parameterisation.......................................................................................................... 53
2.3.1 Surface................................................................................................................... 53
2.3.2 Entering parameters............................................................................................... 55

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2.3.3 Drive configuration................................................................................................ 57
2.3.4 Device settings...................................................................................................... 63
2.3.5 Fieldbus................................................................................................................. 63
2.3.5.1 Device and Connection Parameters........................................................................ 63
2.3.5.2 Extended Process Data (Additional Telegram) for EtherNet/IP, PROFINET.............. 66
2.3.6 Digital I/O.............................................................................................................. 67
2.3.7 Encoder interface................................................................................................... 68
2.3.8 Axis 1..................................................................................................................... 69
2.3.8.1 Motor..................................................................................................................... 69
2.3.8.2 Gearbox................................................................................................................. 70
2.3.8.3 Axis.........................................................................................................................70
2.3.8.4 Record list.............................................................................................................. 74
2.3.8.5 Monitoring functions.............................................................................................. 77
2.3.8.6 Open loop.............................................................................................................. 78
2.3.8.7 Closed loop............................................................................................................ 78
2.3.8.8 Auto tuning............................................................................................................ 82
2.3.8.9 Assistant for Auto-Tuning...................................................................................... 83
2.3.8.10 Vibration compensation......................................................................................... 86
2.3.8.11 Feed forward control.............................................................................................. 86
2.3.8.12 Cam Controller (Position Trigger)........................................................................... 87
2.3.8.13 Position Detection (Touch Probe).......................................................................... 90
2.3.8.14 Jog mode................................................................................................................ 94
2.3.9 Parameter list........................................................................................................ 94
2.4 Control...........................................................................................................................95
2.4.1 Surface.................................................................................................................. 95
2.4.2 Manual movement................................................................................................. 95
2.4.3 Record list.............................................................................................................. 98
2.5 Diagnosis.......................................................................................................................98
2.5.1 Surface.................................................................................................................. 98
2.5.2 Device state........................................................................................................... 99
2.5.3 I/O state................................................................................................................ 101
2.5.4 Error log................................................................................................................. 102
2.5.5 Error classification................................................................................................. 102
2.5.6 Trace configuration................................................................................................ 104
2.5.7 Trace display.......................................................................................................... 107
2.5.8 Auto tuning (evaluation)........................................................................................ 116
2.6 Integrating a Device in a Festo Controller...................................................................... 117
3 Product Configuration.................................................................................................. 121
3.1 Controller...................................................................................................................... 121
3.1.1 Communication interfaces..................................................................................... 121

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3.1.2 Firmware.................................................................................................................121
3.1.2.1 CiA 402................................................................................................................... 123
3.1.2.2 PROFIdrive.............................................................................................................. 124
3.1.3 Parameter set......................................................................................................... 124
3.1.4 Master control........................................................................................................ 125
3.1.5 Device services....................................................................................................... 126
3.1.5.1 Reset device........................................................................................................... 127
3.1.5.2 Controller parameter set switchover....................................................................... 127
3.1.5.3 Saving zero point offset.......................................................................................... 128
3.1.5.4 Request ReInit........................................................................................................ 128
3.1.5.5 Delete parameter set.............................................................................................. 129
3.1.5.6 Save parameter set.................................................................................................129
3.1.5.7 Cam controller 0......................................................................................................130
3.1.5.8 Cam controller 1......................................................................................................131
3.1.5.9 Position capture (touch probe) 0............................................................................ 131
3.1.5.10 Position capture (touch probe) 1............................................................................ 132
3.2 Fundamentals of Parameterisation............................................................................... 132
3.2.1 Depiction of the parameters................................................................................... 132
3.2.2 Data types...............................................................................................................133
3.2.3 Depiction of the Objects Specific to the Device Profile............................................134
3.2.4 Measuring units...................................................................................................... 136
3.2.4.1 Defined measuring units.........................................................................................136
3.2.4.2 Configurable measuring units ("user unit")............................................................136
3.2.4.3 Scaling of internal units for the fieldbus ("factor group")....................................... 139
3.2.5 Dimension Reference System................................................................................. 144
3.2.5.1 Function..................................................................................................................144
3.2.5.2 CiA 402................................................................................................................... 149
3.2.5.3 PROFIdrive.............................................................................................................. 150
3.3 Drive Configuration....................................................................................................... 150
3.3.1 Motor configuration................................................................................................ 150
3.3.1.1 Function..................................................................................................................150
3.3.1.2 Parameter and diagnostic messages for motor data from the user configuration... 151
3.3.1.3 CiA 402................................................................................................................... 157
3.3.1.4 PROFIdrive.............................................................................................................. 158
3.3.1.5 Parameter and diagnostic messages for motor data from the EEPROM memory.....158
3.3.1.6 CiA 402................................................................................................................... 164
3.3.1.7 PROFIdrive.............................................................................................................. 165
3.3.1.8 Active motor data parameters.................................................................................166
3.3.1.9 CiA 402................................................................................................................... 171
3.3.1.10 PROFIdrive.............................................................................................................. 172

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3.3.2 Brake Control......................................................................................................... 173
3.3.2.1 Function................................................................................................................. 173
3.3.2.2 Parameters and Diagnostic Messages................................................................... 177
3.3.2.3 CiA 402.................................................................................................................. 179
3.3.2.4 PROFIdrive............................................................................................................. 180
3.3.3 Encoder Configuration........................................................................................... 181
3.3.3.1 Function................................................................................................................. 181
3.3.3.2 Encoder Parameters and Diagnostic Messages...................................................... 181
3.3.3.3 CiA 402.................................................................................................................. 189
3.3.3.4 PROFIdrive............................................................................................................. 190
3.3.3.5 Parameters of Digital Incremental Encoders (A, B and N Signals)........................... 191
3.3.3.6 CiA 402.................................................................................................................. 193
3.3.3.7 PROFIdrive............................................................................................................. 194
3.3.3.8 Parameters of Encoders with the BiSS C Protocol.................................................. 194
3.3.3.9 CiA 402.................................................................................................................. 196
3.3.3.10 PROFIdrive............................................................................................................. 196
3.3.3.11 Parameters of the Actual Value Management........................................................ 197
3.3.3.12 CiA 402.................................................................................................................. 198
3.3.3.13 PROFIdrive............................................................................................................. 198
3.3.3.14 Parameters of the Direction of Rotation Manager.................................................. 198
3.3.3.15 CiA 402.................................................................................................................. 200
3.3.3.16 PROFIdrive............................................................................................................. 200
3.3.3.17 Parameters of the Commutation-Angle Detection.................................................. 200
3.3.3.18 CiA 402.................................................................................................................. 203
3.3.3.19 PROFIdrive............................................................................................................. 203
3.3.3.20 Replacement of Motors without an Electronic Data Sheet.......................................204
3.3.4 Gear unit................................................................................................................ 204
3.3.4.1 Function................................................................................................................. 204
3.3.4.2 CiA 402.................................................................................................................. 209
3.3.4.3 PROFIdrive............................................................................................................. 210
3.3.5 Digital Inputs and Outputs..................................................................................... 212
3.3.5.1 Function................................................................................................................. 212
3.3.5.2 CiA 402.................................................................................................................. 218
3.3.5.3 PROFIdrive............................................................................................................. 219
3.4 Protective functions.......................................................................................................219
3.4.1 I²t monitoring of the power output stage............................................................... 219
3.4.1.1 CiA 402.................................................................................................................. 222
3.4.1.2 PROFIdrive............................................................................................................. 223
3.4.2 I²t monitoring of motor.......................................................................................... 224
3.4.2.1 CiA 402.................................................................................................................. 226

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3.4.2.2 PROFIdrive.............................................................................................................. 226
3.4.3 Temperature monitoring of the servo drive.............................................................226
3.4.3.1 CiA 402................................................................................................................... 228
3.4.3.2 PROFIdrive.............................................................................................................. 229
3.4.4 System monitoring..................................................................................................230
3.4.5 Mains and DC link monitoring................................................................................. 230
3.4.5.1 Mains voltage monitoring....................................................................................... 230
3.4.5.2 Monitoring of the DC link voltage............................................................................232
3.4.5.3 Return energy feed................................................................................................. 235
4 Motion Control............................................................................................................. 239
4.1 Operating Modes.......................................................................................................... 239
4.1.1 Finite State Machine............................................................................................... 239
4.1.2 Operating modes for performing motion commands...............................................242
4.1.2.1 Dynamic operating mode switch............................................................................. 243
4.1.2.2 CiA402.................................................................................................................... 244
4.1.3 Positioning Mode (PP)............................................................................................ 245
4.1.3.1 Function..................................................................................................................245
4.1.3.2 CiA 402................................................................................................................... 248
4.1.3.3 PROFIdrive.............................................................................................................. 252
4.1.4 Velocity Mode (PV)..................................................................................................261
4.1.4.1 Function..................................................................................................................261
4.1.4.2 CiA 402................................................................................................................... 264
4.1.4.3 PROFIdrive.............................................................................................................. 267
4.1.5 Force/torque mode (PT) with or without holding brake.......................................... 268
4.1.5.1 Function..................................................................................................................268
4.1.5.2 CiA 402................................................................................................................... 270
4.1.5.3 PROFIdrive.............................................................................................................. 273
4.1.6 Cyclic Synchronised Positioning Mode (CSP).......................................................... 274
4.1.6.1 Function..................................................................................................................274
4.1.6.2 CiA 402................................................................................................................... 278
4.1.6.3 PROFIdrive.............................................................................................................. 282
4.1.7 Cyclic Synchronised Velocity Mode (CSV)............................................................... 283
4.1.7.1 Function..................................................................................................................283
4.1.7.2 CiA 402................................................................................................................... 286
4.1.7.3 PROFIdrive.............................................................................................................. 289
4.1.8 Cyclic synchronised force/torque mode (CST)........................................................ 290
4.1.8.1 Function..................................................................................................................290
4.1.8.2 CiA 402................................................................................................................... 292
4.1.8.3 PROFIdrive.............................................................................................................. 294
4.1.9 Switch-on/off Behaviour and Closed-loop Controller Enable.................................. 295

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4.1.9.1 Function................................................................................................................. 295
4.1.9.2 CiA 402.................................................................................................................. 302
4.1.9.3 PROFIdrive............................................................................................................. 302
4.2 Stop...............................................................................................................................303
4.2.1 Function................................................................................................................. 303
4.2.2 CiA 402.................................................................................................................. 305
4.2.3 PROFIdrive............................................................................................................. 306
4.3 Hold...............................................................................................................................307
4.3.1 Function................................................................................................................. 307
4.3.2 CiA 402.................................................................................................................. 308
4.3.3 PROFIdrive............................................................................................................. 309
4.4 Homing..........................................................................................................................309
4.4.1 Function................................................................................................................. 309
4.4.2 Timing.................................................................................................................... 316
4.4.3 Homing methods................................................................................................... 318
4.4.3.1 Method 37: Current position.................................................................................. 319
4.4.3.2 Method 33/34: current position with zero pulse in negative/positive direction......320
4.4.3.3 Method 17/18 negative/positive limit switch........................................................ 320
4.4.3.4 Method 1/2: negative/positive limit switch with zero pulse................................... 321
4.4.3.5 Method 23/27: positive/negative reference switch............................................... 322
4.4.3.6 Method 7/11: positive/negative reference switch with zero pulse......................... 323
4.4.3.7 Method -23/-27: positive/negative stop/limit switch with run to reference .. 324
switch
4.4.3.8 Method -17/-18 negative/positive stop................................................................. 325
4.4.3.9 Method -1/-2 negative/positive stop with zero pulse............................................. 326
4.4.3.10 Travel to axis zero-point......................................................................................... 327
4.4.4 CiA 402.................................................................................................................. 328
4.4.5 PROFIdrive............................................................................................................. 331
4.5 Command for record selection.......................................................................................332
4.5.1 Record selection.................................................................................................... 332
4.5.1.1 Function................................................................................................................. 332
4.5.2 Record sequencing................................................................................................ 341
4.5.2.1 Function................................................................................................................. 341
4.5.3 Monitoring of events.............................................................................................. 346
4.5.3.1 Function................................................................................................................. 346
4.5.4 CiA 402.................................................................................................................. 348
4.5.5 PROFIdrive............................................................................................................. 350
4.6 Jog Mode....................................................................................................................... 351
4.6.1 Function................................................................................................................. 351
4.6.2 CiA 402.................................................................................................................. 357

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4.6.3 PROFIdrive.............................................................................................................. 359
5 Motion monitoring....................................................................................................... 361
5.1 Motion monitoring functions........................................................................................ 361
5.2 Target Window Reached............................................................................................... 367
5.2.1 CiA 402................................................................................................................... 370
5.2.2 PROFIdrive.............................................................................................................. 370
5.3 Following error............................................................................................................. 370
5.3.1 CiA 402................................................................................................................... 373
5.3.2 PROFIdrive.............................................................................................................. 374
5.4 Target area monitoring................................................................................................. 374
5.4.1 CiA 402................................................................................................................... 377
5.4.2 PROFIdrive.............................................................................................................. 377
5.5 Hardware limit switch reached..................................................................................... 377
5.5.1 CiA 402................................................................................................................... 380
5.5.2 PROFIdrive.............................................................................................................. 380
5.6 Software limit position reached.................................................................................... 380
5.6.1 CiA 402................................................................................................................... 384
5.6.2 PROFIdrive.............................................................................................................. 384
5.7 Standstill monitoring.................................................................................................... 385
5.7.1 CiA 402................................................................................................................... 387
5.7.2 PROFIdrive.............................................................................................................. 388
5.8 Stop reached................................................................................................................ 388
5.8.1 CiA 402................................................................................................................... 390
5.8.2 PROFIdrive.............................................................................................................. 390
5.9 Stroke limit reached..................................................................................................... 391
5.9.1 CiA 402................................................................................................................... 393
5.9.2 PROFIdrive.............................................................................................................. 393
5.10 Speed monitoring (spinning protection)....................................................................... 393
5.10.1 CiA 402................................................................................................................... 394
5.10.2 PROFIdrive.............................................................................................................. 394
5.11 Pushback monitoring.................................................................................................... 394
5.11.1 CiA 402................................................................................................................... 396
5.11.2 PROFIdrive.............................................................................................................. 396
5.12 Remaining distance monitoring.................................................................................... 396
5.12.1 CiA 402................................................................................................................... 397
5.12.2 PROFIdrive.............................................................................................................. 397
5.13 Trajectory completed.................................................................................................... 397
5.14 Reference switch activated........................................................................................... 398
5.14.1 Function..................................................................................................................398
5.14.2 CiA 402................................................................................................................... 399

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5.14.3 PROFIdrive............................................................................................................. 399
5.15 Directional lock..............................................................................................................400
5.15.1 Function................................................................................................................. 400
5.15.2 CiA 402.................................................................................................................. 401
5.15.3 PROFIdrive............................................................................................................. 401
6 Control..........................................................................................................................401
6.1 Cascade Controller........................................................................................................ 401
6.1.1 Function................................................................................................................. 401
6.1.2 Position Controller................................................................................................. 403
6.1.2.1 CiA 402.................................................................................................................. 406
6.1.2.2 PROFIdrive............................................................................................................. 407
6.1.3 Velocity Controller................................................................................................. 407
6.1.3.1 CiA 402.................................................................................................................. 411
6.1.3.2 PROFIdrive............................................................................................................. 411
6.1.4 Current Regulator.................................................................................................. 412
6.1.4.1 CiA 402.................................................................................................................. 417
6.1.4.2 PROFIdrive............................................................................................................. 419
6.1.5 Control parameter sets.......................................................................................... 419
6.1.5.1 CiA 402.................................................................................................................. 421
6.1.5.2 PROFIdrive............................................................................................................. 423
6.2 Limitations.....................................................................................................................423
6.2.1 Limitation of Application........................................................................................ 423
6.2.1.1 CiA 402.................................................................................................................. 426
6.2.1.2 PROFIdrive............................................................................................................. 427
6.2.2 Control limitation................................................................................................... 427
6.2.2.1 CiA 402.................................................................................................................. 432
6.2.2.2 PROFIdrive............................................................................................................. 434
6.2.3 Torque limitation................................................................................................... 435
6.2.3.1 CiA 402.................................................................................................................. 439
6.2.3.2 PROFIdrive............................................................................................................. 439
6.3 Pilot control (Setpoint value control)............................................................................. 440
6.3.1 Setpoint value connection..................................................................................... 440
6.3.2 Inertia and friction compensation.......................................................................... 445
6.3.3 CiA 402.................................................................................................................. 448
6.3.4 PROFIdrive............................................................................................................. 449
6.4 Notch Filter.................................................................................................................... 450
6.4.1 Function................................................................................................................. 450
6.4.2 CiA 402.................................................................................................................. 452
6.4.3 PROFIdrive............................................................................................................. 452
6.5 Auto-tuning................................................................................................................... 452

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6.5.1 Function..................................................................................................................452
6.5.1.1 CiA 402................................................................................................................... 458
6.5.1.2 PROFIdrive.............................................................................................................. 459
6.5.2 Test run...................................................................................................................460
6.5.2.1 CiA 402................................................................................................................... 463
6.5.2.2 PROFIdrive.............................................................................................................. 463
7 Technology functions.................................................................................................. 464
7.1 Cam controller (position trigger)................................................................................... 464
7.1.1 Function..................................................................................................................464
7.1.2 CiA 402................................................................................................................... 476
7.1.3 PROFIdrive.............................................................................................................. 477
7.2 Position detection (touch probe).................................................................................. 479
7.2.1 Function..................................................................................................................479
7.2.2 CiA 402................................................................................................................... 491
7.2.3 PROFIdrive.............................................................................................................. 495
7.3 Open-loop operation.................................................................................................... 497
7.3.1 CiA 402................................................................................................................... 501
7.3.2 PROFIdrive.............................................................................................................. 501
7.4 Field weakening............................................................................................................ 502
7.4.1 CiA 402................................................................................................................... 503
7.4.2 PROFIdrive.............................................................................................................. 503
8 Safety signals.............................................................................................................. 503
8.1 Function....................................................................................................................... 503
8.2 CiA402...........................................................................................................................505
9 Diagnostics and Fault Clearance................................................................................. 505
9.1 Diagnostics options...................................................................................................... 505
9.2 Classification of Diagnostic Events............................................................................... 506
9.3 Diagnostic status.......................................................................................................... 509
9.3.1 CiA 402................................................................................................................... 510
9.3.2 PROFIdrive.............................................................................................................. 510
9.4 Servo Drive Messages.................................................................................................. 510
9.4.1 Status of messages.................................................................................................510
9.4.2 Structure of Messages............................................................................................ 511
9.4.3 Message Directory.................................................................................................. 513
9.4.4 Error memory.......................................................................................................... 513
9.4.5 Acknowledging messages and errors......................................................................513
9.4.6 Diagnostic messages with information for fault clearance...................................... 515
9.5 Recording measuring data (trace)................................................................................. 577
9.5.1 CiA 402................................................................................................................... 587
9.5.2 PROFIdrive.............................................................................................................. 588

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9.6 Condition monitoring.....................................................................................................590
9.6.1 Mileage counter..................................................................................................... 590
9.6.1.1 CiA 402.................................................................................................................. 592
9.6.1.2 PROFIdrive............................................................................................................. 592
9.6.2 Load change counter............................................................................................. 592
9.6.2.1 CiA402................................................................................................................... 594
9.6.2.2 PROFIdrive............................................................................................................. 594
9.6.3 Operating hour counter.......................................................................................... 594
9.6.3.1 CiA402................................................................................................................... 595
9.6.3.2 PROFIdrive............................................................................................................. 595
10 Web server....................................................................................................................595
10.1 Function........................................................................................................................ 595
10.2 CiA 402.......................................................................................................................... 597
10.3 PROFIdrive.....................................................................................................................598
11 EtherCAT.......................................................................................................................598
11.1 General..........................................................................................................................598
11.2 ETG standards............................................................................................................... 598
11.3 EtherCAT communication...............................................................................................599
11.3.1 Overview of EtherCAT communication and synchronisation....................................599
11.3.2 EtherCAT bus......................................................................................................... 601
11.3.3 EtherCAT Slave Controller ESC............................................................................... 601
11.3.4 Protocol................................................................................................................. 602
11.4 EtherCAT final state machine......................................................................................... 603
11.5 Sync Manager................................................................................................................606
11.5.1 Sync Manager communication............................................................................... 606
11.5.1.1 CiA 402.................................................................................................................. 608
11.5.2 Synchronisation..................................................................................................... 608
11.5.2.1 CiA 402.................................................................................................................. 612
11.6 Distributed clocks DC (Distributed Clocks).................................................................... 613
11.7 CiA 402 Finite State Machine......................................................................................... 614
11.8 Process data communication.........................................................................................617
11.8.1 PDO Mapping......................................................................................................... 618
11.8.1.1 Function: RxPDO1 mapping................................................................................... 618
11.8.1.2 Function: TxPDO1 mapping, axis 1......................................................................... 618
11.8.1.3 Function: TxPDO2 mapping, EtherCAT, diagnostic history...................................... 619
11.8.1.4 Function: TxPDO3 mapping, EtherCAT, DC time stamp............................................620
11.8.1.5 Parameters and diagnostic messages.................................................................... 621
11.8.1.6 CiA 402.................................................................................................................. 622
11.9 Mailbox Communication................................................................................................ 622
11.9.1 SDO Communication.............................................................................................. 623

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11.9.1.1 SDO Write Command (SDO Download/Download SDO)..........................................623
11.9.1.2 SDO Read Command (SDO Upload/Upload SDO)................................................... 624
11.9.1.3 SDO Error Message (Abort SDO transfer request)................................................... 624
11.9.2 Emergency Communication.....................................................................................626
11.9.2.1 CiA 402................................................................................................................... 626
11.9.2.2 Error Finite State Machine.......................................................................................627
11.9.3 Ethernet over EtherCAT Communication (EoE)........................................................ 633
11.9.4 File Access over EtherCAT (FoE).............................................................................. 634
11.10 Objects Reference List.................................................................................................. 635
12 PROFINET.................................................................................................................... 703
12.1 General..........................................................................................................................703
12.2 Standards..................................................................................................................... 704
12.3 PROFINET Communication............................................................................................ 704
12.3.1 Device Description File............................................................................................704
12.3.2 Crossover Detection................................................................................................704
12.3.3 Identification & Maintenance..................................................................................704
12.3.4 Connection Parameters...........................................................................................704
12.3.5 Connection Characteristics..................................................................................... 706
12.3.6 Diagnostics via PROFINET....................................................................................... 707
12.4 PROFIdrive.................................................................................................................... 709
12.4.1 General................................................................................................................... 709
12.4.1.1 Data types...............................................................................................................709
12.4.1.2 Base model............................................................................................................. 710
12.4.1.3 Drive model............................................................................................................ 711
12.4.1.4 Application model...................................................................................................712
12.4.1.5 Finite state machines.............................................................................................. 712
12.4.2 Application Classes.................................................................................................712
12.4.2.1 Basic Values and Reference Values in the Application Classes............................... 712
12.4.2.2 Application Class 1 – Standard Drive (Velocity Mode).............................................713
12.4.2.3 Application Class 3 – Positioning Mode (PtP).......................................................... 714
12.4.2.4 Application Class 4 - Central Motion Control (Motion).............................................717
12.4.3 Finite State Machines..............................................................................................721
12.4.3.1 Basic finite state machine....................................................................................... 721
12.4.3.2 Finite State Machine Velocity Mode in Application Class 1......................................725
12.4.3.3 Finite State Machine Positioning Mode in Application Class 3................................ 729
12.4.3.4 Finite State Machine Homing Application Class 3................................................... 735
12.4.3.5 Finite state machine application class 4..................................................................736
12.4.4 Process Data...........................................................................................................737
12.4.4.1 Process Data Signals.............................................................................................. 737
12.4.4.2 Process Data Configuration.....................................................................................739

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12.4.5 Telegrams.............................................................................................................. 739
12.4.6 Additional Telegram............................................................................................... 751
12.4.7 Process Data Signals in Detail................................................................................ 758
12.4.7.1 Control Word 1 (STW1).......................................................................................... 758
12.4.7.2 Status Word 1 (ZSW1)............................................................................................ 768
12.4.7.3 Control Word 2 (STW2).......................................................................................... 779
12.4.7.4 Status Word 2 (ZSW2)............................................................................................ 781
12.4.7.5 Rotational Speed Setpoint Value A, B (NSOLL_A, NSOLL_B)...................................782
12.4.7.6 Rotational Speed Value A, B (NIST_A, NIST_B)...................................................... 782
12.4.7.7 Encoder n Actual Position Value 1 (Gn_XIST1)....................................................... 783
12.4.7.8 Encoder n Actual Position Value 2 (Gn_XIST2)....................................................... 784
12.4.7.9 Encoder n Control Word (Gn_STW)......................................................................... 786
12.4.7.10 Encoder n Status Word (Gn_ZSW).......................................................................... 787
12.4.7.11 Status Diagram "Position Feedback Interface"...................................................... 789
12.4.7.12 Actual Position Value A (XIST_A)............................................................................ 790
12.4.7.13 Position Error (XERR)............................................................................................. 791
12.4.7.14 Position Controller Amplification Factor (KPC)....................................................... 791
12.4.7.15 Record Selection (SATZANW)................................................................................. 791
12.4.7.16 Active Record (AKTSATZ)........................................................................................ 793
12.4.7.17 MDI Target Position (MDI_TARPOS)....................................................................... 796
12.4.7.18 MDI Velocity (MDI_VELOCITY)................................................................................ 796
12.4.7.19 MDI Acceleration (MDI_ACC).................................................................................. 797
12.4.7.20 MDI Deceleration (MDI_DEC)................................................................................. 797
12.4.7.21 Manual Data Input Mode (MDI_MOD).................................................................... 798
12.4.7.22 Status Word Messages (MELDW)........................................................................... 798
12.4.7.23 Velocity Override (OVERRIDE)................................................................................ 804
12.4.7.24 Torque Reduction (MOMRED)................................................................................ 805
12.4.7.25 Positioner Control Word 1 (POS_STW1)................................................................. 806
12.4.7.26 Positioner Status Word 1 (POS_ZSW1).................................................................. 808
12.4.7.27 Positioner Control Word 2 (POS_STW2)................................................................. 811
12.4.7.28 Positioner Status Word 2 (POS_ZSW2).................................................................. 813
12.4.7.29 Active Error (FAULT_CODE).................................................................................... 819
12.4.7.30 Active Warning (WARN_CODE)............................................................................... 819
12.4.8 Diagnostics............................................................................................................ 820
12.4.8.1 PROFIdrive Malfunction / Fault Buffer Mechanism................................................. 820
12.4.8.2 Error Response...................................................................................................... 821
12.4.8.3 PROFIdrive Warnings / Warning Mechanism.......................................................... 822
12.5 PNUs Reference List...................................................................................................... 822
13 EtherNet/IP.................................................................................................................. 885
13.1 General..........................................................................................................................885

14 Festo — CMMT-ST-SW — 2019-08b

13.2 Standards..................................................................................................................... 885
13.3 EtherNet/IP Communication......................................................................................... 886
13.3.1 EtherNet/IP Interface.............................................................................................. 886
13.3.2 Configuration EtherNet/IP Stations.........................................................................886
13.3.3 Connection Parameters...........................................................................................887
13.3.4 Connection Characteristics..................................................................................... 887
13.3.5 Configuring the EtherNet/IP Master........................................................................ 888
13.3.6 Basic Functions.......................................................................................................888
13.3.7 EtherNet/IP Objects................................................................................................ 888
13.4 Drive Profile.................................................................................................................. 893
13.4.1 Application Classes.................................................................................................893
13.4.1.1 Basic Values and Reference Values in the Application Classes............................... 893
13.4.1.2 Application Class 1 – Standard Drive (Velocity Mode).............................................894
13.4.1.3 Application Class 3 – Positioning Mode (PtP).......................................................... 895
13.4.2 Finite State Machines..............................................................................................899
13.4.2.1 Basic finite state machine....................................................................................... 899
13.4.2.2 Finite State Machine Velocity Mode in Application Class 1......................................903
13.4.2.3 Finite State Machine Positioning Mode in Application Class 3................................ 907
13.4.2.4 Finite State Machine Homing Application Class 3................................................... 913
13.4.3 Process Data...........................................................................................................914
13.4.3.1 Process Data Signals.............................................................................................. 914
13.4.3.2 Process Data Configuration.....................................................................................915
13.4.4 Telegrams............................................................................................................... 915
13.4.5 Additional Telegram................................................................................................916
13.4.6 Process Data Signals in Detail.................................................................................922
13.4.6.1 Control Word 1 (STW1)........................................................................................... 922
13.4.6.2 Status Word 1 (ZSW1).............................................................................................931
13.4.6.3 Control Word 2 (STW2)........................................................................................... 942
13.4.6.4 Status Word 2 (ZSW2).............................................................................................943
13.4.6.5 Rotational Speed Setpoint Value A, B (NSOLL_A, NSOLL_B)...................................944
13.4.6.6 Rotational Speed Value A, B (NIST_A, NIST_B)....................................................... 944
13.4.6.7 Encoder n Actual Position Value 1 (Gn_XIST1)........................................................ 945
13.4.6.8 Encoder n Actual Position Value 2 (Gn_XIST2)........................................................ 946
13.4.6.9 Encoder n Control Word (Gn_STW)..........................................................................948
13.4.6.10 Status Diagram "Position Feedback Interface".......................................................949
13.4.6.11 Actual Position Value A (XIST_A).............................................................................950
13.4.6.12 MDI Target Position (MDI_TARPOS)........................................................................ 951
13.4.6.13 MDI Velocity (MDI_VELOCITY)................................................................................. 951
13.4.6.14 MDI Acceleration (MDI_ACC)...................................................................................951
13.4.6.15 MDI Deceleration (MDI_DEC).................................................................................. 952

Festo — CMMT-ST-SW — 2019-08b 15

13.4.6.16 Status Word Messages (MELDW)........................................................................... 952
13.4.6.17 Velocity Override (OVERRIDE)................................................................................ 958
13.4.6.18 Torque Reduction (MOMRED)................................................................................ 958
13.4.6.19 Positioner Control Word 1 (POS_STW1)................................................................. 959
13.4.6.20 Positioner Status Word 1 (POS_ZSW1).................................................................. 961
13.4.6.21 Positioner Control Word 2 (POS_STW2)................................................................. 965
13.4.6.22 Positioner Status Word 2 (POS_ZSW2).................................................................. 967

16 Festo — CMMT-ST-SW — 2019-08b

About this Document

1 About this Document

Notes Regarding this Documentation
This documentation is intended for safe working with the servo drive and describes the following com-
ponents:
– Device-specific plug-in for the Festo Automation Suite
– Firmware of the servo drive
– Bus protocol EtherCAT and device profile CiA402
– Bus protocol PROFINET and device profile PROFIdrive
– Bus EtherNet/IPprotocol and drive profile
Target Group
This documentation is intended exclusively for technicians trained in control and automation techno-
logy who have experience in installation, commissioning, programming and diagnostics of electrical
drive systems.

1.1 Applicable documents

All available documents for the product è www.festo.com/pk.

The user documentation for the product also includes the following documents:

Designation Contents

Product instruction manual Installation, safety sub-function

Product descriptions Detailed description of assembly, installation
Detailed description of safety sub-function
Description/online help plug-in Plug-in:
– Functions and operation of the software
– Initial commissioning assistant
Firmware functions:
– Configuration and parameterisation
– Operating modes and operational functions
– Diagnostics and optimisation
Bus protocol/control:
– Device profile
– Controller and parameterisation
Festo Automation Suite online – Function of the Festo Automation Suite
help – Management and integration of device-specific plug-ins
Tab. 1 User documentation for the product

1.2 Product Version

This documentation refers to the following version:

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CMMT-ST Plug-in

– Servo drive (revision è product labelling)

– CMMT-ST-C8-1C-EC as of revision 1
– CMMT-ST-C8-1C-PN Revision 1 and higher
– CMMT-ST-C8-1C-EP revision 1 and higher
– Firmware package version V016 and higher
– CMMT-ST Plug-in version 1.2.1 and higher for the Festo Automation Suite
For newer versions, check whether there is a correspondingly newer version of the
documentation. è www.festo.com/sp

1.3 Safety Instructions

Incorrect parameterisation may cause the drive system to perform unwanted or unexpected move-
ments.
– Prior to commissioning, ensure that the resulting movements of the connected actuator techno-
logy cannot endanger anyone.
– During commissioning, systematically check all control functions and the communication and sig-
nal interfaces between the controller and servo drive.

Further general safety instructions for the servo drive controller can be found in the product instruc-
tion manual (Installation, Safety sub-function) è 1.1 Applicable documents.

1.4 Conventions
The following conventions are used in this document:
– Hexadecimal values are marked by a prefixed “0x”.
– Parameters and diagnostic messages are identified by prefixed letters:
– Parameter (P … )è 3.2.1 Depiction of the parameters
– Diagnostic messages (D … )è 9.4.2 Structure of Messages
– Objects assigned to the parameters are displayed according to the device profile used; e. g.,
objects according to CiA 402 are shown as hexadecimal values with index and subindex
è 3.2.3 Depiction of the Objects Specific to the Device Profile

2 CMMT-ST Plug-in
2.1 CMMT-ST Getting to know the plug-in
2.1.1 Overview
Function
The CMMT-ST plug-in is integrated in the Festo Automation Suite, enabling parameterisation, commis-
sioning, diagnostics and manual control of servo drives from the range. CMMT-STThe plug-in can be
loaded and used in a Festo Automation Suite project.
When inserting Festo components, the component-specific parameters are copied from a device dir-
ectory (database) and do not have to be entered. The application-specific parameters are entered by
the user. This applies to all components within the drive configuration. The plug-in keeps the data

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CMMT-ST Plug-in

automatically synchronised. Entries added to the plug-in are immediately transferred to the device if
there is an existing device connection è 2.1.5 Automatic data synchronisation
Functions of the Festo Automation Suite
The installation, update, deinstallation and language switchover of the plug-in is managed in Festo
Automation Suite. If a text in the plug-in is not available in the selected language, it switches back to
the standard language – English. Projects that contain the devices are also managed via the Festo
Automation Suite. è Online help for Festo Automation Suite.
Device parameter record
The device parameter record (user parameter record) is part of the project and is managed with the
project in Festo Automation Suite.
Unsaved changes are marked with “*” behind the project name in the title line. The "Save" or "Save
as" function of Festo Automation Suite saves the parameter sets with the project. The default project
file in the program options is recommended as the default storage location. The default path is
"%USERPROFILE%\Documents\Festo Automation Suite Projects".
A project can be stored anywhere in the file system:
– by entering a different directory in the program options or when saving the file
– by subsequent, manual moving within the file system

Recommendation: Archive completed projects so that the parameter record is available if the device is
replaced. Standard mechanisms can be used, such as the creation of a ZIP archive. After unpacking,
the archived project can be opened again in the suite.

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CMMT-ST Plug-in

2.1.2 Interface

2.1.2.1 Overview

1 Selection of context-dependent areas 5 Title bar of working area

è 2.1.2.2 Contexts è 2.1.2.5 Working Area in the Title Bar
2 Backstage area of the Festo Automation 6 Toolbar è 2.1.2.3 Toolbar
Suite 7 Display of real-time values
3 Program areas of the Festo Automation Suite è 2.1.2.7 Display of Real-Time Values
4 Tabs of device entities that are currently 8 Working area
open è 2.1.2.5 Working Area in the Title Bar
9 Navigator è 2.1.2.4 Navigator
Fig. 1 Interface of the plug-in

2.1.2.2 Contexts
Functions and commands contained in the plug-in are divided into contexts. Contexts support the
phases in which the user uses the plug-in to commission and optimise the servo drive. The corres-
ponding function is displayed in the working area by clicking on a context. The content of the toolbar
and sidebar are adjusted to the relevant context that is selected.

Context Description

"Parameterisation" Parameterise drive by reading and writing device parameters

è 2.3.

"Control" Manually control the device è 2.4.

"Diagnosis" Performing diagnostics on the device status è 2.5.
Tab. 2 Description of the Contexts

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CMMT-ST Plug-in

2.1.2.3 Toolbar
Overview
The toolbar contains frequently used commands:
– Context-independent standard commands and sections, e.g. for connection control, error acknow-
ledgement or re-initialisation
– Context-dependent commands for the contexts:
– è Toolbar"Parameterisation"
– è Toolbar"Control"
– è Toolbar"Diagnosis"

Compatibility with Firmware

In the case of unknown or missing device methods, the plug-in does not execute the commands, but
rather displays a message. This means that the plug-in remains functional with newer or older firm-
ware versions.

Fig. 2 Toolbar area

No. Section/command Description

1 Functions:
– Connect the plug-in to a device.
Connection Control – Display the current connection and device status.
– Manage the plug-in communication settings.
Additional information
è 2.2.2.1 Connection Control.

2 Function:
– Assign the master control to the plug-in or higher-
"Control" level controller.
Note:
– The scroll bar shows the current setting.
Requirements:
– The plug-in is connected to a device.
– No other plug-in has the master control.

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CMMT-ST Plug-in

No. Section/command Description

2 If another plug-in has the master control, an information

symbol is displayed over the deactivated command
"Control".
Note:
The tool tip for the command "Control" contains the IP
address and the port number of the device.
3 Function:
– Enable the output stage of the servo drive.
"Powerstage" Information:
– The scroll bar shows the current setting.
– During activation of controller enable, a check
determines whether a reinitialisation is required. If
the command is executed, a selection dialogue
shows the following options:
– "Ok": The reinitialisation is executed and con-
troller enable is activated.
– "Cancel": The reinitialisation is not executed
and controller enable remains deactivated.
Requirements:
– The plug-in is connected to a device.
– The plug-in has the master control.
– The device is not in error status.
If another plug-in has the master control, an information
symbol is displayed over the deactivated command
"Powerstage".
The tool tip for the command "Powerstage" contains the
IP address and the port number of the device.
4 Function:
– Send the stop command to the servo drive (category
2 stop).
"Stop"
Requirement:
– The plug-in is connected to a device.
– The plug-in has the master control.
– Controller enable is activated.
5 Function:
– Acknowledge all cancelled current diagnostic mes-
sages for the servo drive.
"Acknowledge all" Additional information è 2.5.2.

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CMMT-ST Plug-in

No. Section/command Description

5 Requirements:
– The plug-in is connected to a device.
– The plug-in has the master control.
"Acknowledge all"
6 Function:
– Permanently save the current parameterisation on
the device.
"Store on device"
Requirement:
– The plug-in is connected to a device.
7 Function:
– Re-initialising the device
Information:
"Reinitialize" – If the function for accepting changed device para-
meters must be executed, the button is highlighted
optically
– The reinitialisation will update the device paramet-
ers, but not save them.
Requirements:
– The plug-in is connected to a device.
– The device parameters that required a reinitialisa-
tion have been changed.
– Controller enable is deactivated.
8 Function:
– Reinitialisation and restart of the device
Information:
"Restart device" – If the function for accepting changed device para-
meters must be executed, the button is highlighted
optically.
– If the command is executed, a selection dialogue
offers the following options:
– "Store and restart":è The data is saved on the
device before the restart.
– "Restart device only"è The device is restarted
without saving the data.
Requirement:
– The plug-in is connected to a device.
Tab. 3 Context-Independent Sections and Toolbar Commands

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CMMT-ST Plug-in

2.1.2.4 Navigator
For selection in the navigator, all content screens of the selected context are displayed in a navigation
tree. Selected content screens are displayed in the working area. è Working Area in the Title Bar.

2.1.2.5 Working Area in the Title Bar

The working area displays the current content screen of the selected context. The title bar of the work-
ing area shows the commands for the current content screen. The following command is available on
all of the content pages:

Symbol Description

Current content page is opened in own window.

Tab. 4 Description of the Symbols in the Title Bar of the Working Area
Depending on the content screen selected, further commands are visible in the title bar, e.g.:

– Parameter screens for the Parameterisation context è 2.3

– Diagnostics screen "Error log"for Diagnostics contextè 2.5.4
– Control screen "Manual movement"for the Control contextè 2.4.2

2.1.2.6 Display of errors and warnings

Plug-in errors and warnings
The plug-in checks parameter values and other entries for consistency, violation of the allowed value
range and other incorrect entries.

Only the display of errors and warnings of the plug-in is described here.
Messages from the device are displayed here:
• Toolbar è 2.1.2.3 Toolbar
• Diagnostics context è 2.5.2.

Display of errors and warnings on the parameter, diagnostic and control screens
Errors and warnings are indicated by the corresponding colour coding of the adorner and the frame.

Status Colour Description

Warning Orange Warnings indicate unfavourable or inconsistent values.

The plug-in determines useful default values and critical
limits for the parameters, for example , so that individual
drive components are not overloaded by the parameterisa-
tion.
Parameters with warnings can be written to the device.
Error Red Errors indicate invalid values; function is not guaranteed.
Parameters with errors cannot be written to the device.
Tab. 5 Colour coding

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CMMT-ST Plug-in

Display of errors and warnings in the context and navigator

Fig. 3 Displaying errors in the navigator

If parameters on a screen contain errors or warnings, the number is displayed in the navigator. The
display of errors has priority.
The total number of errors is also displayed in the context. If the same error occurs on several para-
meter screens, it is only counted once in the total number.

2.1.2.7 Display of Real-Time Values

The sidebar displays real-time values that are cyclically read and updated by the device when the
device connection is active.
On the "Drive configuration" screen, the sidebar can be opened with the buttons and can be
switched between the display of real-time values and the additional device information.
Selecting Real-Rime Values to be Displayed
The real-time values that are displayed in the sidebar can be selected.
Proceed as follows to select real-time values:
1. Press the "Select..." button.
2. Select checkboxes for real-time values that should be displayed.
3. Actuate "Apply" button.
Ä The selected real-time values are displayed in the sidebar.

2.1.2.8 Adorner
Overview
Adorners provide additional information for parameters. If the cursor is moved over the adorner, a
pop-up window with the additional information opens.

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CMMT-ST Plug-in

Surface

1 Adorner 5 Description of the display or control element

2 Status symbol 6 Status message
3 Title 7 Command area
4 Close pop-up
Fig. 4 Design of an adorner and the pop-up
With internal parameters (I...), the plug-in displays, for example, settings on several device paramet-
ers (P...) or device-independent information. The description of the display and operating components
contains, for example, the following information for device parameters or internal parameters:
– Hexadecimal value of parameter
– Data type of parameter
– ID of device parameter or the internal parameter è 3.2.1 Depiction of the parameters
– Description of the parameter
Command Area
Depending on the device parameter, corresponding buttons for further actions are available in the
command area of the pop-up:
– Change the value of the device parameter
– Reset values of other parameters
– Jump to another screen
– Accept the value for other parameters, e.g. software end positions

Button Description

"Minimum" Resets the device parameter to the minimum value shown.

"Maximum" Resets the device parameter to the maximum value shown.
"Default" Resets the device parameter to the standard value shown.
"Recomm. minimum" Resets the device parameter to the recommended minimum value shown.
"Recomm. maximum" Resets the device parameter to the recommended maximum value shown.

26 Festo — CMMT-ST-SW — 2019-08b

CMMT-ST Plug-in

Button Description

"Last saved" Resets the device parameter to the most recently saved value in the
project.
Tab. 6 Buttons for Value Change

Displaying Information, Warnings or Errors

The current state of the device parameters is displayed as information, warning or error as follows:
– A coloured marking of the adorner
– The respective status symbol in the pop-up

If the adorner has an input field, its border has the same colour as the adorner.

If the values of corresponding parameters are not consistent, the corresponding parameter screens
can be called up using a button in the adorner.

Status Colour of the Status symbol Description

adorner

Information Grey The pop-up shows an information symbol, the

title and description of the applicable parameter.
The parameter is in the normal status.
Warning Orange The pop-up shows a warning symbol, the title
and description of the warning.
The parameter can be written to the device.
Error Red The pop-up shows an error symbol, the title and
description of the error.
The parameter cannot be written to the device.
Tab. 7 Description of Possible Statuses

2.1.2.9 Pop-up for automatic values changes

If the plug-in must automatically correct user inputs directly during input, a pop-up is displayed to the
left of the input field for two to three seconds.
The plug-in corrects user inputs in the following cases:

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CMMT-ST Plug-in

Case Description

Transmission error – A transmission error occurs during automatic value synchronisation.

– An error symbol is displayed in the pop-up.
– The value in the input field is automatically reset to the value specified
by the device.
Changing or rounding a – An entered value is automatically changed, rounded up/down by the
value plug-in.
– An information symbol is displayed in the pop-up.
Tab. 8 Correction of user inputs

2.1.3 Key combinations

The plug-in can be operated via the keyboard using the following key combinations:

Key combination Function

General
F1 Open online help for plug-in.
Tab Access next input field, next checkbox or next button.
Ctrl + Tab Access previous input field, previous checkbox or previous button.
Space bar Activate or deactivate activated checkboxes.
Actuate activated buttons.
Parameter panels
Ctrl + F6 Switch between graphical and tabular display.
Additional information è Title Bar of the Working Area.
Parameter panels (tabular display)
Ctrl + L Show/hide all of the filters è Title Bar of the Working Area.
Ctrl + F Switch to search field in title bar of the working area
è Title Bar of the Working Area.

Enter Switch from the search back to the parameter panel.

Tab Access next column header.
If the last column header has been accessed, it switches to the currently
selected list element. It switches from the currently selected list element to
the first column header.
Shift + tab Access previous column header.
If the first column header has been accessed, it switches to the currently
selected list element. It switches from the currently selected list element to
the last column header.
Arrow keys Navigate within the table.

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CMMT-ST Plug-in

Key combination Function

Pop-up (to edit components and events)

Tab Access next input field, next list, next checkbox or next button.
Arrow keys Navigate within an accessed list.
Enter If available, press key to complete processing.
Esc Close pop-up.
Tab. 9 Description of the key combinations for the plug-in

2.1.4 Basic and user units

The plug-in provides the option to select specific user units. The following units are supported and
applied to the corresponding values:
– Internal increments [Inci, Inci/s, …]
– Increments [Inc, Inc/s, …]
– Rev [rev, rps, …]
– Rev [rev, rpm, …]
– Rad [rad, rad/s, …]
– Degree [°, °/s, …]
– Metric [m, m/s, …]
– Imperial [in, in/s, …]
Defining user units
The user units are specified on one of the following pages during axis configuration:
– è 2.2.3 Initial Commissioning Assistant
– è 3.3 Drive Configuration
If there is a change to the user unit with the plug-in, a query appears asking whether the values of the
affected parameters should be reset to the standard values.
If the answer is "no", the values of the affected parameters are recalculated in the new unit taking
into account the feed constant. If the answer is "yes", the values of the affected parameters are reset
to the standard values stored in the firmware.

2.1.5 Automatic data synchronisation

If the plug-in is connected to a device, the plug-in automatically ensures that the data remains syn-
chronised.
Entries by the user are immediately transferred to the device when exiting the input field or when the
[Enter] button is actuated.
A synchronisation is therefore required when a connection to the device is established
è Synchronising the Configuration and Parameters.

2.2 Working with CMMT-ST the plug-in

2.2.1 Open plug-in
An overlay dialogue is automatically displayed the first time a plug-in is opened. The following options
are available:

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CMMT-ST Plug-in

– "Start first setup..." to open the initial commissioning assistant, which guides the user through
the most important steps in parameterisation.
– "Manual setup..." for customised input of parameters, starting with the parameter panel for drive
configuration.
If an option is selected, an overlay dialogue is not displayed next time the plug-in is opened.

2.2.2 Connecting the plug-in to the device

2.2.2.1 Connection Control

The connection control elements are the same in every context and every plug-in.

1 Device name 4 Connection address

2 Name of device range 5 Connection status
3 "Connect" or "Disconnect" 6 Device status
Fig. 5 Connection control

No. Identifier Function

1 Device name Display and define device name.

2 Name of device range Display device range (type of equipment).
3 "Connect" or "Disconnect" Establish and disconnect a connection to the device
è 2.2.2.2 Establishing and Disconnecting a
Connection.
4 Connection address Display and define connection address of the device
è 2.2.2.2 Establishing and Disconnecting a
Connection.
5 Connection Status Display connection status è Connection Status.
6 Device Status Connected device: Display device status (device warn-
ing or error) è Device Status.
Tab. 10 Legend

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CMMT-ST Plug-in

Connection Status
The connection status between plug-in and device is indicated by the following symbols:

Symbol Connection Status Description

Disconnected (offline) The plug-in is not connected to a device. Control

sides for movement of the drive are deactivated.
Depending on Connected (online) The plug-in is connected with the device from the
device status configured address. Control sides for movement
è Tab. 12 of the drive are activated.
Device Status
Symbols
Tab. 11 Connection Status Symbols
Device Status
If the plug-in is connected to a device, the device status is indicated by the following symbols:

Symbol Device Status Description

No error No diagnostic message is active for the device.

Information At least one diagnostic message of the category

"Information" is active for the device.
Warning At least one diagnostic message in the "Warn-
ing" category is active for the device.
Error At least one diagnostic message of the "Error"
category is active for the device.
Tab. 12 Device Status Symbols
Viewing the Details of the Device Status
If a diagnostic message about the device status is active, a pop-up displays further information:
• Place the mouse pointer over the symbol of the device status
Ä The pop-up is displayed.
The pop-up contains a description of the current device status, the error number and further details.

During an active device connection, the "Device state" diagnostic panel displays the current status of
the servo drive and axis and the message directory. The button "Show details" in the pop-up displays
the diagnostic panel "Device state" in the working area.

Message symbol Category of diagnostic message

Information

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CMMT-ST Plug-in

Message symbol Category of diagnostic message

Warning

Error

Tab. 13 Symbols in the Diagnostic Message Pop-up

Specifying the Device Name
The device name can be edited regardless of the connection status of the plug-in.
1. Click on the device name.
2. Enter the new device name.

Observe the following rule when entering the device name:

• The device name must not exceed 126 characters.
• Umlauts (ä, ö, ü) and special characters (ß, @ … ) are counted as two characters.

2.2.2.2 Establishing and Disconnecting a Connection

Device Communication
Before establishing a connection, the device must be addressed with its IP address in the plug-in:
1. Click on the IP address in the toolbar to open the dialog for device communication.
Ä The dialog is displayed and the network is automatically scanned for available devices.
2. Select device:
– è Selecting a Device in the Network
– è Entering the IP Address of a Device

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Fig. 6 Device communication dialogue

In addition, the dialog supports:
– the identification of a device from the device list in the networkè Identifying the Device
– the individual definition of a device nameè Specifying the Device Name
– the network settings of a deviceè Defining Network Settings

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Selecting a Device in the Network

Requirements:
– The device communication dialogue is open.
– Devices were found in the network.
1. To sort the device list, click on the column name in the column header.
Ä The list is sorted in ascending or descending order according to the selected column
2. Select the desired device.
3. Press the "Use IP Address for Device Communication" button.
Ä The IP address of the selected device is transferred and the device communication dialogue
closes.
Entering the IP Address of a Device
Requirements:
– The device communication dialogue is open.
– Devices were found in the network.
1. Enter the IP address of the device in the input field.
2. Press the "Use IP Address for Device Communication" button.
Ä The dialog for device communication is closed.
Identifying the Device
A signal can be sent to the required device to be able to identify devices in a control cabinet,
for example.
Requirements:
– The device communication dialogue is open.
– Devices were found in the network.
1. Search for suitable device in the device list
2. Move the slider in the column "Identify"to the right. Optional: Click on the appropriate device with
the right mouse button and select "_Identify Device".
Ä A device-specific signal is activated on the device, for example a flashing LED on the device.
3. To switch off the signal: Move the slider to the left.
Specifying the Device Name
NOTICE!

Unpredictable behaviour of the machine when the device is restarted.

Depending on the device, a restart (reboot) may be required to complete the following functions. A
safety note is displayed before the restart.
• Only acknowledge the safety note once you have ensured that any unpredictable or unexpected
behaviour of the connected machine cannot cause any damage.

Requirements:
– The device communication dialogue is open.
– Devices were found in the network.
1. Click on the required device with the right mouse button.
2. Select "Change _Device Name".

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3. Enter the device name.

Observe the following rule for the device name:

• The device name must not exceed 126 characters.
• Umlauts (ä, ö, ü) and special characters (e.g. ß, @) are counted as two characters.

4. Press the "Apply" button.

5. If the device needs to be restarted, a message appears:
– Exclude any hazards caused by the behaviour of the machine when restarting.
– Then confirm the displayed message with "Ok".
Ä The device name is changed.
Defining Network Settings

The network settings of different devices can vary depending on the specific device.

Requirements:
– The device communication dialogue is open.
– Devices were found in the network.
1. Click on the required device with the right mouse button.
2. Select "Change _Network Settings".
Ä The current network settings are displayed.
3. Change the network settings.
– "DHCP" activated: The dynamic assignment of the IP address is activated. This is only per-
missible if a DHCP server is available in the network. If DHCP is activated, the following set-
tings (subnet mask, gateway and DNS) are greyed out.
– "DHCP" deactivated: The network settings implemented in the following lines are applied.
4. Press the "Apply" button.
5. If the device needs to be restarted, a message appears:
– Exclude any hazards caused by the behaviour of the machine when restarting.
– Then confirm the displayed message with "Ok".
Ä The network settings are changed.
6. NOTICE!

Unpredictable behaviour of the machine when the device is restarted.

Depending on the device, a restart (reboot) may be required to complete the following functions.
A safety note is displayed before the restart.
• Only acknowledge the safety note once you have ensured that any unpredictable or unexpec-
ted behaviour of the connected machine cannot cause any damage.

Ensure that any unpredictable behaviour by the device cannot cause any damage. Confirm mes-
sage with "Ok".
Ä The network settings are changed.

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Establishing the Connection to the Device

When the connection is established, the data of the plug-in and the device are compared. The config-
uration and parameterisation of the project and device are checked
è 2.2.2.4 Synchronising the Configuration and Parameters.

If other devices are already connected to the device, the plug-in shows the following information when
the connection is established:
• IP address and TCP port of the other devices
• Connection ID for identification of the master control
The connection can then be optionally established or cancelled.

If the device is a CODESYS controller, a connection is also automatically established with CODESYS.

Before the plug-in establishes a connection, a check is completed to determine whether the firmware
is compatible with the current version of the plug-in. If the firmware is not compatible, no connection
to the servo drive is established.

• Press the "Connect" button.

Ä

The current connection process is cancelled by pressing the button again.

The connection status is updated. As long as the connection is established, the data is automatically
synchronised.
Disconnecting the Device

If the connection is disconnected, parameter changes are lost after a power failure or restart.

The "Disconnect" button is visible in the toolbar when the plug-in is connected to a device.
To disconnect the connection:
1. Press the "Disconnect" button
2. Before the plug-in disconnects, it checks whether parameter changes need to be saved.
Select the appropriate option:
– Cancel the disconnection process to save parameter changes on the device, or
– Continue the disconnection process without saving the changes.

2.2.2.3 Synchronising device data

While the connection is being established, a check is run to ensure that the defined device data of the
plug-in are compatible with the connected device, e. g. when establishing the connection with the IP
address of a device. If non-conforming data are found, the non-conformity is displayed. The connec-
tion is not established until the non-conformity is corrected.

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Fig. 7 Message for synchronising the device data

2.2.2.4 Synchronising the Configuration and Parameters

Before the connection is established, a check is run to determine whether parameterisation and con-
figuration in the project match that of the device. If there are deviations between the project and the
device, invalid parameters are shown so that they can be corrected.

Configuration in the project Configuration in the device Additional information

None present None present è No Configuration Available in

the Project or on the Device
None present Present è No Configuration Available in
the Project, Configuration
Available on the Device
Present None present è Configuration Available in
the Project, No Configuration
Available on the Device
Present Present è Configuration Available in
the Project and on the Device
Tab. 14 Synchronising the Configuration in the Project and in the Device
No Configuration Available in the Project or on the Device
In this case, the plug-in uses a standard parameter record. Data transfer does not take place initially. A
query offers the following actions:

Action Description

"Start first setup... "(standard) – Connection to the device is established.

– Servo drive and motor data are imported.
– Connection is terminated.
– Initial commissioning assistant is launched.
"Connect" – Connection to the device is established.

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Action Description

"Stay offline" – No connection with the device

Tab. 15 Actions

If device parameter values are changed during the existing connection, these are transferred to the
device è 2.1.5 Automatic data synchronisation.

Configuration Available in the Project, No Configuration Available on the Device

Data cannot be transferred from the device to the project. Prior to data transfer from the project to the
device, the parameter settings are checked in the project:
– If parameters are invalid, a corresponding message is displayed stating that no connection is
established.
– If all parameters are valid, a query offers the following actions:

Action Description

"Write to device" – Connection to the device is established.

– Configuration is transferred from the project to the device.
"Stay offline" – Query is terminated without any further action.
– No connection is established.
Tab. 16 Actions
No Configuration Available in the Project, Configuration Available on the Device
Data transfer from the project to the device is not possible. For data transfer from the device to the
project, a query offers the following actions:

Action Description

"Read from device" – Connection to the device is established.

– Configuration is transferred from the device to the project.
"Stay offline" – Query is terminated without any further action.
– No connection is established.
Tab. 17 Actions
Configuration Available in the Project and on the Device
Prior to data transfer, the parameter settings in the project are checked:
– If parameters in the project are invalid, data migration from the project is not possible. The config-
uration can only be read from the device.
– If all parameters in the project are valid and the data match the device, the values are transmitted
from the device
to the project without any query.

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– If all parameters are valid in the project and the data does not match that of the device, deviating
parameters between the device and project are displayed. The configuration can optionally be
read from the device or written to the device
When writing the configuration from the project to the device, all writeable parameters are trans-
ferred from the project to the device. The units used in the project and on the device are checked.
If the units differ, a synchronisation and re-initialisation are carried out:
– The units saved in the project are written to the device.
– The parameter set is saved.
– The device runs a re-initialisation.
If the data deviates between the project and the device, a query in the plug-in offers the following
actions for synchronisation:

Action if all the project para- Description

meters are valid

"Write to device" (Standard) – Connection to the device is established.

– Configuration is transferred from the project to the device.
"Read from device" – Connection to the device is established.
– Configuration is transferred from the device to the project.
"Stay offline" – Query is terminated without any further action.
– No connection is established.
Tab. 18 Actions

Action if project parameters are Description

invalid

"Read from device" – Connection to the device is established.

– Configuration is transferred from the device to the project.
"Stay offline" – Query is terminated without any further action.
– No connection is established.
Tab. 19

2.2.2.5 Device control (master control)

Device Control is an exclusive access right and it ensures that the drive is only ever controlled via 1
connection. Simultaneous control by multiple connections would result in uncontrolled behaviour of
the drive.
The plug-in can remove master control from the higher-level controller in the following conditions:
– The plug-in is connected to the device.
– No other device (other plug-in) already has the master control.
If the connection is interrupted, the plug-in returns master control to the PLC.
Master control is set in the plug-in via a slide switch in the toolbar. If a plug-in has the master control,
dependent functions of the toolbar (master control, controller enable) are deactivated for other
devices connected with the device.
This status is marked in the plug-in as follows:

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– Information symbol over the deactivated command

– Tool tip of the deactivated command with the IP address and port of the device with the master
control.

2.2.3 Initial Commissioning Assistant

2.2.3.1 Overview
The drive components are selected and configured in the initial commissioning assistant. The settings
for the application data, hardware switches, homing and software end positions are also implemented
here.
The initial commissioning assistant can be operated if the following prerequisite is met:
– The plug-in is not connected to a device.
The initial commissioning assistant is started via the "Start first setup..." button in the toolbar.

1 Header with selection of the commissioning 3 Finishes initial commissioning and closes
steps the assistant
2 Drive configuration start panel in the initial 4 Continue with the next commissioning step
commissioning assistant 5 Back to the previous commissioning step
Fig. 8 Initial commissioning assistant start panel
The Configuring drive panel is displayed first. The following steps can only be edited when the drive
configuration is complete. If the "Configuring drive" configuration panel has been completed, all of
the panels can be processed in any order.

Page Use

"Configuring drive" Selection of the hardware components of the

drive è Drive Configuration

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Page Use

"Application data" Setting specific application data and the reversal

of the direction of rotation
è Setting Application Data

"Hardware switches" Configuration of limit switches and reference

switches
è 2.2.3.4 Activating the Hardware Switch

"Homing method" Selected settings for the homing run, e.g., meth-
od è Setting the Homing

"Software limits" Selected settings of software end switches and

the offset to the axis zero point
è Setting the Software End Positions

Tab. 20 Panels of the Initial Commissioning Assistant

Navigation to the individual screens takes place using the following buttons:
– Buttons in the header
– "Next" and "Back" buttons in the footer
The initial commissioning assistant is closed with the "Exit" button in the footer.

At the end of the initial commissioning assistant, changes are applied directly to the project and dis-
played in the "Parameterisation" context on the applicable screens

2.2.3.2 Drive Configuration

Using the Parameter Panel

Operation of the "Drive configuration" parameter screen of the initial commissioning assistant and
the "Parameterisation" context is identical. Changes in the parameterisation are automatically
applied in both panels.

The "Drive configuration" parameter panel can only be operated if the following prerequisite is met:
– The plug-in is not connected to a device.
The drive components in use are selected and configured in the drive configuration. A drive is fully
configured with the following drive components:
– Servo drive
– Motor
– Axis
– Mounting kit
One or more gear units can be optionally selected.

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1 Edit drive components 4 Status of the drive components

2 Deleting drive components 5 Selecting new drive components
3 Overview of drive components
Fig. 9 Interface of the "Configuring drive"parameter panel

Selecting New Drive Components

The drive is configured in several steps in a pop-up. The user can scroll horizontally through the fol-
lowing pop-up components:
– Step 1: Selection of drive components in the search field and/or results list
– Step 2: Check of properties and setting of the selected components.

Fig. 10 Plus symbol to select a drive component

1. Move the mouse over the placeholder symbol for the drive component.
Ä A plus symbol is displayed.
2. Click on plus symbol to open the pop-up.
Ä Step 1: The pop-up displays the selection of the drive components

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3. Select required drive component. Optional methods:

– Input order code or part number in the search field.
– Click the order code of the drive components in the results list.
Dependent drive components that are automatically added (motor, mounting kit, gear unit)
are displayed by symbols beside the list entry.
Ä Step 2: The pop-up scrolls automatically to check the properties or setting of the component.
Optional: If necessary scroll back to the selection with the "Search results" button and select
drive component again
4. With user-specific components: set all parameters
5. Actuate settings with the "Apply" button.
Ä The pop-up is closed. The drive component is applied to the drive configuration and is dis-
played in the overview.
Editing Drive Components
Previously configured drive components can be edited as follows:
1. Button Actuate .
Ä The pop-up shows step 2 to check the properties or setting of the component.
Optional: If necessary scroll back to the selection with the "Search results" button and select
drive component again
2. With user-specific components: change parameterisation or set all parameters with newly selec-
ted components.
3. Actuate settings with the "Apply" button.
Ä The pop-up is closed. The drive component is applied to the drive configuration and is dis-
played in the overview.
Removing Drive Components
Remove existing removable drive components as follows:
• Button button beside the drive component.
Ä The drive component is deleted after confirmation of the check dialogue.

Drive components that cannot be removed are marked with a tool tip, e.g.:
• Servo drive
• automatically added drive components
Automatically added drive components cannot be individually removed but only in combination with
the associated axis or axis-motor combination.

Automatic Integration of Drive Components

The program can automatically add more drive components when one component is selected.
The Festo axis-motor combinations (e.g. type EPCO, ERMO) are easy to configure with the automatic
addition of drive components. It is not necessary to select motor or mounting kit separately. The integ-
rated motor and the integrated mounting kit are automatically configured and displayed when the Axis
drive component is selected.
Examples of automatic integration of drive components:
– Mounting kit after selection of an axis for which there is only one recommended mounting kit.
– Mounting kit after selection of an axis with an integrated mounting kit.

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– Gear unit after selection of an axis-motor combination with integrated gear unit
– Motor and mounting kit after selection of a Festo axis-motor combination
Automatically added components are shown in the selection dialogue and are marked with a tool tip.
Previously selected single components are overwritten at the same time. Integrated components are
shown by symbols in the drive configuration overview.
Automatically added drive components cannot be edited. The output components cannot be individu-
ally removed but only in combination with the associated axis or axis-motor combination.
Status of Drive Components
The plug-in automatically checks whether the selected drive components are compatible and that the
configuration is complete. Incompatible drive components are marked with a warning symbol:

Symbol Description

No symbol is displayed. Drive component was selected and is supported.

Warning – The selected drive component is not supported by the
drive configuration.
The drive component is missing.

Tab. 21 Drive Component Status

Compatibility of the components Test criteria Negative test

Servo drive Motor – The load voltage of the servo drive

matches that of the motor.
– The motor measuring system is Servo drive
supported by the servo drive Motor
(encoder interfaces).
Motor Gear unit The gear unit is mechanically compat-
ible with the motor.
Motor
Gear unit
Mounting kit Motor The mounting kit is mechanically com-
Gear unit patible with the motor or the gear unit
Axis and the axis. Mounting kit
Gear Gear unit The total transmission ratio matches
the adjusted gear unit (gear unit 1 *
gear unit 2 * gear unit 3). Gear unit
Tab. 22 Check of the Drive Configuration

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Notes on Parameterisation

After selection of the drive components, additional application-specific parameters for the configured
drive components can be set or displayed in the plug-in. Additional information on drive configuration
and the application-specific parameterisation è 3.3 Drive Configuration

Component Parameterisation

Servo drive Configuration not required

Motor When configuring Festo motors using the plug-in, the motor data is auto-
matically imported from the database after selection of the motor. During
the configuration of third-party motors, the data must be entered manu-
ally.
The following parameters for the motor cable are set on the "Application
data" panel of the initial commissioning assistant or on the axis x panel,
"Closed loop":
– Length motor cable (P1.1206.0.0)
– Cable cross section (P1.1208.0.0)
The following parameters depend on the encoder and are automatically set
upon selection of the motor:
– Encoder type = multi-turn
P0.3237.0.0 Encoder permanently homed = true
Px.4001.0.0 Activation of open loop operation = false
– Encoder type = no encoder
P0.3237.0.0 Encoder permanently homed = true
Px.4001.0.0 Activation of open loop operation = true
– other encoder types
P0.3237.0.0 Encoder permanently homed = false
Px.4001 Activation of open loop operation = false
Axis Specification of the user units è 2.1.4 Basic and user units.
The following units are available for linear axes:
– Internal increments [Inci, Inci/s, …]
– Increments [Inc, Inc/s, …]
– Rev [rev, rps, …]
– Rev [rev, rpm, …]
– Rad [rad, rad/s, …]
– Degree [°, °/s, …]
– Metric [m, m/s, …]
– Imperial [in, in/s, …]
The following units are available for rotative axes:
– Internal increments [Inci, Inci/s, …]
– Increments [Inc, Inc/s, …]

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Component Parameterisation

– Rev [rev, rps, …]

– Rev [rev, rpm, …]
– Rad [rad, rad/s, …]
– Degree [°, °/s, …]
Other parameters may also need to be entered, depending on the axis type
(e. g. length, feed constant).
Mounting kit No parameterisation required
Gear – Parameterisation is not required for Festo gear units.
– The transmission ratio with numerator (input variable) and denominat-
or (output variable) must be specified when selecting user-defined
gear units.
Example: with a transmission ratio of 3:1, there are 3 revolutions on
the gear unit input è and 1 revolution on the gear unit output.
Tab. 23 Notes on Parameterisation of Components

Parameter Comments

EMF constant Electromotive voltage constant (Phase-Phase)

Encoder type Type of the motor encoder
Tab. 24 Information on Internal Parameters

2.2.3.3 Setting Application Data

The panel is opened with the "Application data" button.
"Application data"
In this parameter group, the load mass / load inertia (Px.1193) is set and the mass moments of inertia
of the axis and the total mass are displayed.
"Rotation polarity"
In this parameter group, the direction of movement of the load is matched and displayed with the dir-
ection of rotation of the motor:
– Automatic assignment of the direction of movement to the positive direction of rotation of the
motor, depending on the mounting position of the motor on the axis
– Individual assignment of the direction of motion/direction of rotation by reversing the direction of
rotation.
The parameterisable mounting position depends on the selected axis type and the mounting kit.

Drive variant Number of mounting positions of the motor

Toothed belt axis 4

Spindle axis without parallel kit 2
Spindle axis with parallel kit 2

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Drive variant Number of mounting positions of the motor

Rotative axis —

Tab. 25 Mounting Positions of the Motor

The mounting position of the motor is set using the interactive display of the axis. The currently set
position is marked in blue.
To change the mounting position:
1. Move the mouse pointer over the selected mounting position until the position is activated with a
blue frame ("Mouse-over").
2. Select the mounting position by clicking.
Ä The direction of movement of the load is indicated by a direction arrow and a plus/minus sym-
bol.

Drive variant Direction of motion (default)

Toothed belt axis

Spindle axis without parallel kit

Spindle axis with parallel kit

Rotative axis

Tab. 26 Mounting Positions of the Motor and Direction of Load Movement (Without Reversing the Dir-
ection of Rotation)
The direction of movement of load is, for example, dependent on the installation position of the
motor, the spindle type of the axis (clockwise/anti-clockwise) and the gear unit used. Reversing the
direction of rotation can be advantageous when angular or toothed belt gear units are used.
The reversal of the direction of rotation is activated:
– by clicking the arrow
– using the checkbox below the interactive graphic

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During commissioning:
• Check the direction of rotation/direction of travel of the drive, e.g., by jogging.
• Optional: Activate/deactivate reversal of direction of rotation.
• After changing the reversal of the direction of rotation: Carry out the homing again.

Motor Cable
The following parameters for the motor cable are set in this parameter group:
– Length of motor cable (Px.1206)
– Cable cross-section (Px.1208)
The setting is also possible on the side "X-axis", "Closed loop" as an option.

2.2.3.4 Activating the Hardware Switch

The panel is opened with the "Hardware switches" button.
"Hardware switches"
The hardware limit switches and the reference switch are configured in this parameter group. For each
of the switches, the use and switch type (normally closed contact/normally open contact) can be
selected. Used switches are automatically assigned to the following digital inputs:

Switch Digital input

Reference switch X1C.2

Positive/negative hardware limit switch X1C.6, X1C.7
Tab. 27 Switch Digital Inputs

Parameter Comments

Reference switch Defines the function of the reference switch. The setting affects
parameter Px.101200.
Limit switches Determines the switching function of both limit switches. The set-
ting of the switching function affects the two parameters
Px.101100 and Px.101101. The configuration of the inputs affects
the parameters Px.11201 and Px.11202.
Tab. 28 Information on the Parameters
Additional information about digital inputs and outputs è 2.3.6.

2.2.3.5 Setting the Homing

The panel is opened with the "Homing method" button. The following settings for homing are defined
in the Homing method parameter group:

Setting Description

Referencing method (Px.8417.0.0) Selection of the method for homing the drive.

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Setting Description

Move to axis zero point after homing (Px.841.0.0) Specifies whether the drive is to move to the axis
zero-point after homing.
Nominal current limit value scaling factor Specifies the limit value for stop detection. The
(Px.8414.0.0) scaling factor refers to the nominal value of the
motor current.
Tab. 29 Setting the Homing
If a homing method is selected that is not consistent with other settings, such as the configuration of
the corresponding switch, the parameter is marked with a warning. The reason for the warning is dis-
played in the adorner, and a jump to the relevant parameter screen is also possible using a button.

2.2.3.6 Setting the Software End Positions

The panel is opened with the "Software limits" button.
Defining Parameters
The following parameters can be specified via the interactive graphic or via the "Software limits"para-
meter group:
– Axis zero point offset
– Negative software end position
– Positive software end position
The software end positions can be activated with the "Software limits enabled" checkbox.

If the software end positions are activated, the positive and negative software limit positions can be
specified via the interactive graphic or in the "Software limits"parameter group.
If the software end positions are not activated, the interactive graphic does not contain the software
limit positions and the corresponding input fields in the "Software limits"parameter group are
blocked.

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Interactive Graphic

1 Working stroke 5 Axis zero point

2 Effective stroke 6 Measurement arrow for distance measure-
3 Slides ment
4 Positive software limit position 7 Homing point
8 Negative software limit position
Fig. 11 Interactive graphic for gantry axes

Identifier Description

Working stroke Theoretically available working stroke of the axis.

Working stroke Actual available stroke of the axis based on the current con-
figuration.
Reference point Reference point for the system of measurement units.
The position of the reference point is dependent on the
selected referencing method.
Slide (for linear axis) Axis reference point; moveable part of the axis.
Piston rod (for electric cylinders)
Drive shaft (for rotative axes)
Axis zero point Axis zero point of the system of measurement units.
Negative software end position Software end position in negative direction of movement.
Positive software end position Software end position in positive direction of movement.
Measurement arrow for distance meas- Distance between two points, e.g. offset between reference
urement point and axis zero point.
Tab. 30 Description of the Interactive Graphic Elements

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Defining the Axis Zero Point

If the axis zero point is selected in the interactive graphic, it is displayed in blue and can be moved.
The distance between the axis zero point and the reference point is set in the "Software limits"para-
meter group.
When moving the axis zero point, the scale is moved at the same time.
The values of the software end positions remain the same. The displayed positions of the software
end positions are moved.
The reference point value is modified. The displayed position of the reference point remains the same.
The axis zero point value can also be specified in the "Software limits"parameter group and is then
adjusted in the interactive graphic.
Defining Software End Positions
If the software end positions are selected in the interactive graphic, they are displayed in blue and can
be moved. The values of the software end positions are adjusted in the "Software limits"parameter
group.
When the software end positions are moved, the useful stroke is calculated and the corresponding
text field in the graphic is updated. The values of the software end positions can also be defined in the
"Software limits" parameter group and are then updated in the interactive graphic.
Defining the Reference Point
The standard value of the reference point is 0.0 if a referencing method with a negative direction is
selected.
If a referencing method with a positive direction is selected, the reference point is at the point of the
set working stroke. The scale is depicted in a negative way.
If the reference point is selected in the interactive graphic, it is displayed in blue and can be shifted.
When the reference point is shifted, the scale is shifted by the same dimension.
The values of the software end positions and axis zero point remain the same. The displayed positions
of the software end positions and axis zero point are moved.

2.2.4 Parameter Correction Assistant

The CMMT plug-in checks whether the entered parameter values are within calculated limits. The
CMMT plug-in behaves tolerantly and allows limit value violations within certain limits, depending on
the parameter.
Festo recommends checking all existing limit value violations and complying with the calculated limit
values.
The assistant for parameter correction is started using the "Correct parameters" button in the toolbar.
If the plug-in is connected to the device or there is no limit value violation, the button is deactivated.
All existing limit value violations, together with the calculated limit values, are displayed in tabular
form centrally in the working area of the assistant and marked as errors or warnings.

Colour of Meaning Description

the adorner

Orange Warning Limit value violation is tolerated and can be loaded into the device.
Warnings should be corrected.

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Colour of Meaning Description

the adorner

Red Error Limit value violations are not tolerated and cannot be loaded into the
device.
Errors must be corrected.
Tab. 31 Marking of Limit Value Violations
The parameter correction assistant offers the possibility of correcting the affected parameters to the
calculated limit values. Limit value violations that are to be corrected automatically to the calculated
limit value can be selected or deselected using the checkbox in the first column.
The checkbox in the column header of the first column can also be used for selection. This allows you
to select or deselect all parameters regardless of their previous selection status.

Column head- Description

er

Displays the selection status.

Parameters are partially selected (checkboxes in column 1).

All parameters are selected (checkboxes in column 1).

No parameters are selected (checkboxes in column 1).

ID Shows the parameter ID of the respective parameter.

Name Shows the name of the parameter.
Actual value Shows the currently set value of the parameter. This value is outside the recom-
mended limit value range.
(none) Shows the adorner for each parameter. When the mouse pointer hovers over an
adorner, a pop-up with additional information opens.
Recommended Displays the calculated limit value.
value
Unit Shows the unit of the respective parameter.
Tab. 32 Table Columns in the Parameter Correction Assistant
Accepting Parameter Corrections
The "Apply" button can be used to correct all selected parameters to the limit values calculated by the
plug-in.

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2.3 Parameterisation
2.3.1 Surface
Toolbar
In addition to the standard commands, the toolbar for the "Parameterisation" context also contains
the following commands:

Identifier Function

Load factory parameter record for the device.

The command can be executed if the following prerequisites are met:
– The plug-in is connected to a device.
"Load factory settings"
Open initial commissioning assistant for the device.
The command can be executed if the following prerequisites are met:
– The plug-in is not connected to a device.
"Start first setup..." – The drive configuration is not open for editing.
Open the parameter correction assistant.
The command can be executed if the following prerequisites are met:
– The plug-in is not connected to a device.
Correct parameters
– At least one limit value violation has occurred (error or warning).
Tab. 33 Additional Commands of the Context "Parameterisation"
Title Bar of the Working Area
The title bar of the working area for the "Parameterisation" context contains additional commands.
You can switch between the graphical and tabular display via the title bar of the working area or by
using the [Ctrl] and [F6] è 2.1.3 Key combinations key combination.

Symbol Description

Switch to graphical display.

Switch to tabular display.

Tab. 34 Description of the Symbols for Switching the Page View

Graphical Display
The graphical display shows all of the parameters for the parameter group that are normally required.
Tabular Display
The tabular display shows all of the available parameters for the parameter group.
If the tabular display is selected, the title bar of the working area contains the following additional
commands for the current parameter panel:

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Symbol Description

All of the groupings are opened.

All of the groupings are closed.

All filters applicable to the tabular view of the parameters

are shown or hidden in the working area and can be con-
figured. The set filter remains set until a reset is performed.
Alternative call of the function with the [Ctrl] [L] shortcut
è 2.1.3 Key combinations.

Update filtered list.

A search of the device parameters is completed.

The [Ctrl] and [F] key combination can be used to switch to
the search field è 2.1.3 Key combinations.
When completing a search, no distinction is made between
upper and lower case letters.
The following placeholders can be used:
– "*" replaces any number of characters.
– "?" replaces an individual character.
Tab. 35 Description of the Symbols in the Parameterisation Title Bar
The table is split into the following columns:

Column name Description

"ID" Display ID of device parameter in data model of the device.

"Name" Display name of the device parameter.
"Value" Display value of the device parameter.
"Unit" Display physical unit of the device parameter.
– (Adorner) Display adorner of the device parameter including the status.
Tab. 36 Description of the Parameter List Columns
By clicking on in the column header, filters can be assigned to the individual columns.
By clicking on the column name in the column header, the device parameters are sorted in ascending
or descending order based on the selected column.

• The parameter panel can only be sorted by one column.

• The sorting of the parameter panel does not have any influence on the grouping of the device
parameters. The sorting is only implemented within the groups.

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Display of the Values on a Parameter Panel

The display of the device parameter values varies according to data type. The following options are
available:

Type Display in a parameter list

Numerical values or text Input field

Boolean expression (activated or deac- Checkbox

tivated)
Values lists of parameters Combo box

Read-only parameters Simple entry,

black
For the current setting of non-relevant Simple entry, grey
parameters
Tab. 37 Display of the Values on a Parameter Panel
Changing Values
The modified value is applied as follows:
– After leaving the input field.
– After the [Enter] key on the keyboard has been pressed.
If device parameter values are changed during the existing connection, these are transferred to the
device è 2.1.5 Automatic data synchronisation.

The modified value is only applied if the entered value is valid.

2.3.2 Entering parameters

Operability of the parameter panels
Parameter panels can only be edited if the drive configuration is complete. This does not apply to the
drive configuration itself and the parameter list.
The parameter panels are then displayed in read mode. Control elements are deactivated.
Handling unknown and missing device objects
If the plug-in connects to the device, it receives the device description from the device. It may be the
case that the device description in the plug-in is different to the one in the device.
The following cases can occur:
– Unknown device object
– Missing device object
– Inconsistent device object
The following displays are possible depending on the view:

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– Display in graphical view.

The parameter panel cannot be used if a parameter, that is absolutely necessary for the graphical
display, is not included in the device description transferred from the device or is defined incon-
sistently.
A corresponding message is displayed.
– Display in tabular view.
The cases in the tabular display are depicted in colour as follows:

Case Colour display1)

Unknown device object Different shades of light blue

Missing device object Different shades of yellow

Inconsistent device object Different shades of light red

1) The different colours serve to provide a better overview in the tabular display and have no further significance.
Tab. 38 Colour display of possible cases
Permissible characters
The following characters are permitted for input values:
– Texts: Unicode, UTF-8.
– Whole number: numbers 0 … 9 and the minus sign.
– Decimal numbers: numbers 0 … 9, the minus sign, comma or dot.

Number formats, e. g. decimal and thousand separators are dependent on the settings of the operat-
ing system.

Invalid values
Invalid values occur in the following cases:
– The input field is empty.
– The permissible value range of numerical values has not been observed.
– Invalid characters have been entered for numerical values.
– The minimum or maximum number of characters within a text has not been observed.
Check of entries
The plug-in checks inputs and displays corresponding errors and warnings
è 2.1.2.6 Display of errors and warnings.

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Identification of parameters
Some parameters contains identification marks that are displayed to the left of the input and display
panel. Parameters can contain the following identification marks:

Symbol Explanation

Any changes to this parameter only become effective following reinitialisation of the
device.
The reinitialisation cannot be completed if a parameter, that requires a reinitialisa-
tion, is modified and controller enable is activated.
If controller enable is not activated and a reinitialisation is required, controller enable
cannot be activated.
Any changes to this parameter only become effective once they have been saved and
the device has subsequently been restarted.
Restarting the device includes a reinitialisation.
Modified parameters only remain effective following a restart if they have been saved
beforehand.
Tab. 39 Description of parameter identification marks

2.3.3 Drive configuration

Selection Dialogue for Drive Configuration
After inserting a device from the device catalogue into a project, the data model is created when the
plug-in is opened for the first time and the "Drive configuration" screen with the following dialogue for
selecting the commissioning method is displayed:

Button Description

"Start first setup..." Closes the dialogue and starts the initial commis-
sioning assistant, which guides you through the
most important parameterisation steps.
"Manual commissioning..." Closes the dialogue and starts the manual setting
of the drive parameters.
Tab. 40 Selection for Drive Configuration
When the plug-in is opened again, manual commissioning is started automatically. The selection dia-
logue is no longer displayed. If required, the initial commissioning assistant can be started with the
"Start first setup..." button in the toolbar.
Structure of the Parameter Screen
In the working area of the parameter screen, the drive components for configuring the drive are dis-
played in an overview.
Click on a configured drive component to show additional information in the right sidebar:
– Device details, e.g. for the servo drive (device name, firmware version, product key, etc.)
– Support documents and files (user manual, application notes, device description, etc.)

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If there is no connection to the device yet, initial values are displayed as device details. If there is
already a connection to the device, the device details are saved together with the project and dis-
played when the connection is established and when it is not established.

1 Overview of drive components 3 Selection of device-specific documentation

2 Device details
Fig. 12 Interface of the Drive configuration parameter panel

Using the Parameter Panel

Operation of the "Drive configuration" parameter screen of the initial commissioning assistant and
the "Parameterisation" context is identical. Changes in the parameterisation are automatically
applied in both panels.

The "Drive configuration" parameter panel can only be operated if the following prerequisite is met:
– The plug-in is not connected to a device.
The drive components in use are selected and configured in the drive configuration. A drive is fully
configured with the following drive components:
– Servo drive
– Motor
– Axis
– Mounting kit
One or more gear units can be optionally selected.

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1 Edit drive components 4 Status of the drive components

2 Deleting drive components 5 Selecting new drive components
3 Overview of drive components
Fig. 13 Interface of the "Configuring drive"parameter panel

Selecting New Drive Components

The drive is configured in several steps in a pop-up. The user can scroll horizontally through the fol-
lowing pop-up components:
– Step 1: Selection of drive components in the search field and/or results list
– Step 2: Check of properties and setting of the selected components.

Fig. 14 Plus symbol to select a drive component

1. Move the mouse over the placeholder symbol for the drive component.
Ä A plus symbol is displayed.
2. Click on plus symbol to open the pop-up.
Ä Step 1: The pop-up displays the selection of the drive components

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3. Select required drive component. Optional methods:

– Input order code or part number in the search field.
– Click the order code of the drive components in the results list.
Dependent drive components that are automatically added (motor, mounting kit, gear unit)
are displayed by symbols beside the list entry.
Ä Step 2: The pop-up scrolls automatically to check the properties or setting of the component.
Optional: If necessary scroll back to the selection with the "Search results" button and select
drive component again
4. With user-specific components: set all parameters
5. Actuate settings with the "Apply" button.
Ä The pop-up is closed. The drive component is applied to the drive configuration and is dis-
played in the overview.
Editing Drive Components
Previously configured drive components can be edited as follows:
1. Button Actuate .
Ä The pop-up shows step 2 to check the properties or setting of the component.
Optional: If necessary scroll back to the selection with the "Search results" button and select
drive component again
2. With user-specific components: change parameterisation or set all parameters with newly selec-
ted components.
3. Actuate settings with the "Apply" button.
Ä The pop-up is closed. The drive component is applied to the drive configuration and is dis-
played in the overview.
Removing Drive Components
Remove existing removable drive components as follows:
• Button button beside the drive component.
Ä The drive component is deleted after confirmation of the check dialogue.

Drive components that cannot be removed are marked with a tool tip, e.g.:
• Servo drive
• automatically added drive components
Automatically added drive components cannot be individually removed but only in combination with
the associated axis or axis-motor combination.

Status of Drive Components

The plug-in automatically checks whether the selected drive components are compatible and that the
configuration is complete. Incompatible drive components are marked with a warning symbol:

Symbol Description

No symbol is displayed. Drive component was selected and is supported.

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Symbol Description

Warning – The selected drive component is not supported by the

drive configuration.
The drive component is missing.

Tab. 41 Drive Component Status

Compatibility of the components Test criteria Negative test

Servo drive Motor – The load voltage of the servo drive

matches that of the motor.
– The motor measuring system is Servo drive
supported by the servo drive Motor
(encoder interfaces).
Motor Gear unit The gear unit is mechanically compat-
ible with the motor.
Motor
Gear unit
Mounting kit Motor The mounting kit is mechanically com-
Gear unit patible with the motor or the gear unit
Axis and the axis. Mounting kit
Gear Gear unit The total transmission ratio matches
the adjusted gear unit (gear unit 1 *
gear unit 2 * gear unit 3). Gear unit
Tab. 42 Check of the Drive Configuration
Automatic Integration of Drive Components
The program can automatically add more drive components when one component is selected.
The Festo axis-motor combinations (e.g. type EPCO, ERMO) are easy to configure with the automatic
addition of drive components. It is not necessary to select motor or mounting kit separately. The integ-
rated motor and the integrated mounting kit are automatically configured and displayed when the Axis
drive component is selected.
Examples of automatic integration of drive components:
– Mounting kit after selection of an axis for which there is only one recommended mounting kit.
– Mounting kit after selection of an axis with an integrated mounting kit.
– Gear unit after selection of an axis-motor combination with integrated gear unit
– Motor and mounting kit after selection of a Festo axis-motor combination
Automatically added components are shown in the selection dialogue and are marked with a tool tip.
Previously selected single components are overwritten at the same time. Integrated components are
shown by symbols in the drive configuration overview.
Automatically added drive components cannot be edited. The output components cannot be individu-
ally removed but only in combination with the associated axis or axis-motor combination.

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Notes on Parameterisation

After selection of the drive components, additional application-specific parameters for the configured
drive components can be set or displayed in the plug-in. Additional information on drive configuration
and the application-specific parameterisation è 3.3 Drive Configuration

Component Parameterisation

Servo drive Configuration not required

Motor When configuring Festo motors using the plug-in, the motor data is auto-
matically imported from the database after selection of the motor. During
the configuration of third-party motors, the data must be entered manu-
ally.
The following parameters for the motor cable are set on the "Application
data" panel of the initial commissioning assistant or on the axis x panel,
"Closed loop":
– Length motor cable (P1.1206.0.0)
– Cable cross section (P1.1208.0.0)
The following parameters depend on the encoder and are automatically set
upon selection of the motor:
– Encoder type = multi-turn
P0.3237.0.0 Encoder permanently homed = true
Px.4001.0.0 Activation of open loop operation = false
– Encoder type = no encoder
P0.3237.0.0 Encoder permanently homed = true
Px.4001.0.0 Activation of open loop operation = true
– other encoder types
P0.3237.0.0 Encoder permanently homed = false
Px.4001 Activation of open loop operation = false
Axis Specification of the user units è 2.1.4 Basic and user units.
The following units are available for linear axes:
– Internal increments [Inci, Inci/s, …]
– Increments [Inc, Inc/s, …]
– Rev [rev, rps, …]
– Rev [rev, rpm, …]
– Rad [rad, rad/s, …]
– Degree [°, °/s, …]
– Metric [m, m/s, …]
– Imperial [in, in/s, …]
The following units are available for rotative axes:
– Internal increments [Inci, Inci/s, …]
– Increments [Inc, Inc/s, …]

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Component Parameterisation

– Rev [rev, rps, …]

– Rev [rev, rpm, …]
– Rad [rad, rad/s, …]
– Degree [°, °/s, …]
Other parameters may also need to be entered, depending on the axis type
(e. g. length, feed constant).
Mounting kit No parameterisation required
Gear – Parameterisation is not required for Festo gear units.
– The transmission ratio with numerator (input variable) and denominat-
or (output variable) must be specified when selecting user-defined
gear units.
Example: with a transmission ratio of 3:1, there are 3 revolutions on
the gear unit input è and 1 revolution on the gear unit output.
Tab. 43 Notes on Parameterisation of Components

Parameter Comments

EMF constant Electromotive voltage constant (Phase-Phase)

Encoder type Type of the motor encoder
Tab. 44 Information on Internal Parameters

2.3.4 Device settings

The working area contains parameter groups to specify the device settings.
The following device settings can be implemented:
– "Enable servo drive"
"Enable servo drive"
The required signals for controller enable are specified in this parameter group.
Additional information on controller enable
è 4.1.9 Switch-on/off Behaviour and Closed-loop Controller Enable.

2.3.5 Fieldbus

2.3.5.1 Device and Connection Parameters

The parameter page contains parameter groups for communication between the servo drive and the
higher-level controller via the fieldbus. The device parameters depend on the servo drive of the drive.
Prerequisite for displaying current parameter values:
– Establish device connection.
"Factor group"
The parameters of the factor group define the resolution at which user units are scaled for transmis-
sion via the fieldbus.
For each of the physical quantities, the resolution is indicated by a scaling factor, for example for the
following physical quantities:

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– Position
– Velocity
The scaling factor is given as a ten exponent. The servo drive calculates the corresponding parameter
values of the physical variables from the specified unit of measurement and the scaling factor.

Ten exponent Resolution

Minimum -9 0.000 000 001 m/s

Standard -3 0.001 m/s (= 1mm/s)
Maximum 9 100 000 000 m/s
Tab. 45 Example of Scaling Factor of Velocity, User Unit m/s

The setting ranges of the scaling factor of the physical quantities may differ from the example given
here. Note the information in the adorners of the factor group.
Additional information on the user units è Configurable measuring units ("user unit").
Additional information on the group of factors
è Scaling of internal units for the fieldbus ("factor group").

"Reference values" for EtherNet/IP, PROFINET

In this parameter group, the base values of the application classes for motion commands are defined,
for example:
– Basic value for the application class of velocity in user unit
– Basic value of the velocity for transfer to the configuration tool
To determine the internal setpoint value, the normalised value in the process data is multiplied by this
basic value.
Additional information on the basic values for PROFINET
è 12.4.2.1 Basic Values and Reference Values in the Application Classes
Additional information on the basic values for Ethernet/IP
è 13.4.1.1 Basic Values and Reference Values in the Application Classes
"Dynamic values" for EtherNet/IP, PROFINET
In this parameter group, the dynamic values for motion commands are specified, for example:
– Acceleration for the application class velocity
Additional information on the basic values for PROFIdrive
è 12.4.2.1 Basic Values and Reference Values in the Application Classes
Additional information on the basic values for Ethernet/IP
è 13.4.1.1 Basic Values and Reference Values in the Application Classes
"EtherNet/IP interface" for EtherNet/IP, PROFINET
This parameter group shows the connection parameters to the EtherNet/IP interface e. g.:
– IP address
– Subnet mask
– Gateway address
– Mac address

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If the device connection is active, the current connection parameters PROFINETare displayed.
The connection parameters in the subgroup "Configuration"can be changed for EtherNet/IP. If the
device connection is active, the subgroup "Active"displays the current connection parameters.
Additional information on the connection parameters for PROFINETè 12.3.4 Connection Parameters.
Additional information on the connection parameters for Ethernet/IP è 13.3.3 Connection Parameters
"Connection properties" for EtherNet/IP, PROFINET
Connection properties are defined or displayed in this parameter group, e. g.:
– PZD telegram selection for setting the receive and send telegram
– With active device connection: display of the current application class
Additional information on the connection properties for
PROFINETè 12.3.5 Connection Characteristics.
Additional information on the connection properties for Ethernet/IP
è 13.3.4 Connection Characteristics
Application Class "AC4" for PROFINET
This parameter group contains parameters for application class AC4 of PROFIdrive.
Certain parameter values must be set the same for the controller and servo drive, e. g:
– Basic value and maximum velocity (maximum)
– Number of revolutions
– Maximum torque
– Resolution per revolution for the sensor interfaces Gn_XIST (Px.231545)
è 12.4.7.7 Encoder n Actual Position Value 1 (Gn_XIST1)
To synchronise the settings:
– Note the information in the adorners of the parameters.
– Synchronise values with the configuration software of the master and, if necessary, transfer para-
meter values to the configuration software of the master (e. g. TIA Portal).

The parameterised bus cycle time of this parameter group is used for the internal, model-based con-
troller design of the KPC position controller (runtime compensation). The bus cycle time can be taken
from the configuration software of the master.

Further information on application class 4

è 12.4.2.4 Application Class 4 - Central Motion Control (Motion).
"CODESYS device driver"
This parameter group is only displayed under the following conditions:
– In the Festo Automation Suite System Designer, there is a connection to another plug-in
è 2.6 Integrating a Device in a Festo Controller. Additional information in the è online help for
the Festo Automation Suite.
– The other plug-in connector is active.
The "Version" field is populated as follows as a function of the "Mode" field:

"Mode" Contents of "Version"

"Point to point" Devices for point-to-point operation (ID ends with "_PTP")

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"Mode" Contents of "Version"

"SoftMotion" Devices for interpolated operation (ID ends with "_SM")

Tab. 46 Content of the Field "Version"

Every time the currently set operating mode and version are modified, the corresponding data is trans-
mitted to the connected control components.

2.3.5.2 Extended Process Data (Additional Telegram) for EtherNet/IP, PROFINET

Process data e. g. setpoints / actual values, control / status data are transmitted cyclically via tele-
grams. An additional telegram can be configured to transmit user-defined process data. The additional
telegram has a fixed length of 32 bytes for each transmission direction in which up to 8 parameters
can be transmitted. Additional informationè 12.4.6 Additional Telegram
The parameter page "Extended process" data enables the assignment of up to 8 parameters to the
input and output data of the additional telegram.
Prerequisite for displaying current parameter values:
– Establish device connection.
"Status"
In this parameter group, you can set whether the extended process data should be transferred (only
for EtherNet/IP). For PROFINET, this is done via the configuration software of the master.
In addition, a parameter indicates whether the extended process data are active or inactive.
Add process channel
1. With the button "Add process channel", open the selection dialogue.
The number of occupied bytes of the transmit data Tx or receive data Rx is displayed below the
button.
2. Select parameters by category, ID, name or description.
3. With the button "Accept process channel", accept the selection and close the dialogue.
Ä The process channel is added at the end of the table view of the send data or the receive data.

Editing or Removing the Process Channel

Edit the process channel:
1. Select the process channel in the table view of the send or receive data.
2. With the button "Edit process channel", open the selection dialogue.
3. Select parameters by category, ID, name or description.
4. With the button "Change process channel", accept the selection and close the dialogue.
Remove process channel:
1. With the button "Remove process channel", open the selection dialogue.
2. Confirm remove.
Ä The process channel is deleted from the table view.

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Symbol Description

Edit process channel

Remove process channel

Tab. 47 Functions for Editing the Table View"Extended process data"

Removing All Process Channels
With the menu functions of the parameter page, all entries of the table view of the send or receive
data can be completely deleted
1. With the button "Remove process channel", open the selection dialogue.
2. Confirm remove.
Ä All process channels of the table view of the send or receive data are deleted.

Symbol Description

Remove all send data

Remove all receive data

Tab. 48 Specific Menu Functions of the Parameter Page ""

2.3.6 Digital I/O

The working area contains parameter groups to configure the digital inputs and outputs.
Depending on the application, different signals can be assigned to some of the digital inputs and out-
puts.
Additional information about digital inputs and outputs è 3.3.5 Digital Inputs and Outputs.
General settings
The characteristics of the inputs and outputs can be parameterised.
Additional information on the parameterisation of the PNP input and output characteristics
è 3.3.5 Digital Inputs and Outputs
"X1A" and "X1C"
The configurable inputs and outputs are grouped according to the relevant X1A and X1C connectors.
Interrelated parameterisations are partly shown on several device parameters (Px...) by the plug-in
with internal parameters (I...). This can be, for example, the assignment and switching function of the
switch at the input.

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Parameter Comments

X1C.02 (Input) Defines the function of the digital input signal at connection
X1C.02. The setting affects parameter Px.101200.
X1A.07 (Input) Defines the function of the digital input signal at terminal X1A.07.
The setting affects parameter Px.11201.
Tab. 49 Information on Internal Parameters
If a conflict results from assignments, this is displayed as a warning and can be resolved with com-
mand buttons in the pop-up of the corresponding adorner.
Additional information on the parameterisation of digital I/Os è 3.3.5 Digital Inputs and Outputs.

2.3.7 Encoder interface

The working area contains parameter groups to display, configure and parameterise the encoder. The
configuration and parameterisation options are dependent on the properties of the applicable
encoder.
The configuration data can be automatically applied or read out in the following cases:
– In offline configuration mode, the configuration data is automatically transferred to the project
upon selection of the motor.
– The configuration data of motors and encoders with electronic rating plates are read out during
online configuration.

Parameters of the "Configuration of encoder 1 (incremental)" and "Configuration of encoder 1 (BiSS-

C)" groups can only be edited if a user-defined motor has been configured.

Additional information on the encoder configuration è 3.3.3 Encoder Configuration.

"Feed constant"
The parameter group is only visible if a linear axis is configured. The feed constant (encoder interface
1) is preset for Festo axes.

The feed constant for encoder interface 1 can be adjusted for user-defined linear axes as follows:
• in the initial commissioning assistant
• on the parameter screen Drive configuration (axis)

The feed constant corresponds to the numerator/denominator ratio of the following parameters:
– Feed constant (encoder interface 1) = Px.1194/Px.1195
A corresponding message is displayed if the calculated value has to be rounded off.

Parameter Comments

Encoder interface 1 Defines the feed constant determined by the user for encoder
interface 1. The feed constant is converted into a numerator
(Px.1194) and denominator (Px.1195) representation.
Tab. 50 Information on Internal Parameters

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"Encoder 1"
The motor encoder at encoder interface 1 is displayed and configured in this parameter group. When
using Festo motors, encoder interface 1 does not need to be configured.
Additional information about encoder parameters è Encoder Parameters and Diagnostic Messages.
"Configuration of encoder 1 (BiSS-C) or Configuration of encoder 2 (incremental)"
In this parameter group, the encoder used is configured at encoder interface 1.
The displayed parameters depend on the encoder used:
– Encoder with BISS interface (Continuous Mode protocol)
– Incremental encoder

2.3.8 Axis 1
The working area contains sections with links to subordinate pages.
These are split into the following groups:
– "Drive settings"
Motor: è 2.3.8.1
Gearbox: è 2.3.8.2
Axis: è 2.3.8.3
– "Servo drive functions"
Record list: è 2.3.8.4
Monitoring functions: è 2.3.8.5
Open loop: è 2.3.8.6
Closed loop: è 2.3.8.7
Auto tuning: è 2.3.8.8
Vibration compensation: è 2.3.8.10
Feed forward control: è 2.3.8.11
Cam controller: è 2.3.8.12 Cam Controller (Position Trigger)
Touch probe: è 2.3.8.13 Position Detection (Touch Probe)
Jog mode: è 2.3.8.14

2.3.8.1 Motor
The working area contains parameter groups to display and specify the stepper motor characteristics.
"Motor (user defined configuration)" or "Motor (active configuration)"
The motor parameters are displayed and, if necessary, modified in this parameter group. For Festo
motors, the motor parameters are automatically transferred from the database upon selection of the
motor. For motors from other manufacturers, the motor parameters must be defined manually.

If the plug-in isnot connected to a device, the "Motor (user defined configuration)" parameter group is
displayed.
If the plug-in is connected to a device, the "Motor (active configuration)" parameter group is dis-
played.

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Parameter Comments

Maximal peak motor torque Displays the maximum torque calculated from the maximum cur-
rent Px.7120 and the torque constant Px.7135 of the configured
motor.
Nominal motor torque Displays the nominal torque calculated from the rated current
Px.7117 and the torque constant Px.7135 of the configured motor.
EMF constant Electromotive voltage constant (Phase-Phase)
Tab. 51 Information on Internal Parameters
Additional information on the motor configuration è 3.3.1 Motor configuration.
"Holding brake 1 (motor, user configuration)"
The properties of the holding brake on the motor (holding brake 1) are specified in this parameter
group. This is necessary to take mechanical properties (inertia, time delay) into consideration.
Additional information on the brake control è 3.3.2 Brake Control.
"Holding current reduction brake one"
The holding current reduction of the holding brake is activated in this parameter group.
Further information on holding current reduction è Holding Current Reduction
"Field weakening"
The field weakening is activated in this parameter group.
Additional information on the field weakening è 7.4 Field weakening.

2.3.8.2 Gearbox
The working area contains parameter groups to display and specify the gear ratios.
"Gear 1", "Gear 2" and "Gear 3"
The transmission factors of gear units 1, 2 and 3 are displayed in these parameter groups.
"Gear ratio (total)"
The transmission factor is specified in this parameter group.
Additional information on the transmission ratio è 3.3.4 Gear unit.

2.3.8.3 Axis
The working area contains parameter groups to display and specify axis-specific parameters, e. g. for
homing, axis configurations, stop delay times and limit values.
Interactive Graphic
Depending on the homing mode, axis zero point and software end positions, the reference system of
the axis is displayed in an interactive graphic based on the selected axis type.
The interactive graphic is displayed if the following prerequisite is met:
– An axis with a finite working stroke has been configured.

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1 Working stroke 5 Axis zero point

2 Effective stroke 6 Measurement arrow for distance measure-
3 Slides ment
4 Positive software limit position 7 Homing point
8 Negative software limit position
Fig. 15 Interactive graphic for gantry axes

1 Piston rod 5 Negative software limit position

2 Working stroke 6 Measurement arrow for distance measure-
3 Effective stroke ment
4 Positive software limit position 7 Axis zero point
8 Reference point
Fig. 16 Interactive graphic for cantilever axes

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1 Drive shaft 4 Axis zero point

2 Reference point 5 Measurement arrow for distance measure-
3 Negative software limit position ment
6 Positive software limit position
Fig. 17 Interactive graphic for rotative axes

Identifier Description

Working stroke Theoretically available working stroke of the axis

Working stroke Actual available stroke of the axis based on the current con-
figuration
Reference point Reference point of the measuring system
The position of the reference point is dependent on the
selected referencing method.
Slide (for linear axis) Axis reference point; moveable part of the axis
Piston rod (for electric cylinders)
Drive shaft (for rotative axes)
Axis zero point Axis zero point of the measuring system
Negative software end position Software end position in negative direction of movement
Positive software end position Software end position in positive direction of movement

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Identifier Description

Measurement arrow for distance meas- Distance between two points, e. g. offset between refer-
urement ence point and axis zero point
Tab. 52 Description of the Interactive Graphic Elements
The interactive graphic is always displayed with the following units regardless of the unit settings:
– Millimetres for linear axes
– Revolutions for rotative axes
Positioning the Reference Point
If the reference point is selected, it is displayed in blue and can be moved.
When moving the reference point, the scale is moved at the same time.
The values of the software end positions and axis zero point remain the same. The displayed positions
of the software end positions and axis zero point are moved.
Positioning the Axis Zero Point
If the axis zero point is selected, it is displayed in blue and can be moved.
When moving the axis zero point, the scale is moved at the same time.
The values of the software end positions remain the same. The displayed positions of the software
end positions are moved.
The reference point value is modified. The displayed position of the reference point remains the same.

The axis zero point value also changes in the "Axis configuration" parameter group.
If the axis zero point value is specified via the "Axis configuration" parameter group, the value also
changes in the interactive graphic.

Positioning the Axis Reference Point

The axis reference point is either positioned at the reference point or at the axis zero point.
If the "Go to axis zero point after homing" status is set in the "Homing method" parameter group, the
slide is positioned at the axis zero point.
Positioning the Software End Positions
If the software end positions are selected, they are displayed in blue and can be moved.
When the software end positions are moved, the effective stroke is calculated, and the corresponding
text field is updated in the graphic.
The software end positions are checked by the plug-in for plausibility upon input. If the set software
end positions are not plausible, the frames around the two input fields for the "software limit posi-
tions" and, for linear axes, the frame around the text field "Working stroke" are displayed in orange,
e.g. if the negative software limit position is larger than the positive software limit position.

The values of the software end positions also change in the "Axis configuration" parameter group.
If the values of the software end positions are specified via the "Axis configuration" parameter group,
the values also change in the interactive graphic.

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"Homing method"
The homing method is selected in this parameter group and it is specified whether the axis zero point
should be approached following referencing.
Additional information on homing è 4.4 Homing.
If a homing method is selected that is not consistent with other settings, such as the configuration of
the corresponding switch, the parameter is marked with a warning. The reason for the warning is dis-
played in the adorner, and a jump to the relevant parameter screen is also possible using a button.
"Homing parameters"
The values for the velocity, acceleration and jerk limitation for the homing are specified in this para-
meter group.
Additional information on homing è 4.4 Homing.
"Axis configuration"
The values for the axis zero point and software end positions are specified in this parameter group.
The values can also be determined via the interactive graphic.
Additional information on the system of measurement units
è 3.2.5 Dimension Reference System and axis zero point è 4.4 Homing.
Additional information on monitoring the software end positions
è 5.6 Software limit position reached.
"Stop deceleration"
The stop ramp is parameterised in this parameter group.
Additional information on stopping è 4.2 Stop.
"User defined limits"
General limit values for the control limiter are specified in this parameter group.
Additional information on limit values è 6.2.2 Control limitation.

2.3.8.4 Record list

In the working area, you are able to create new records, edit existing records and create record links.
If records or record links have been created, the following symbols are displayed to the right:

Symbol Description

Create new record link.

Edit record or record link.

Delete record or record link.

Execute record set

Stop record set

Tab. 53 Description of the Symbols in the Parameter Panel "Record list"

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Parameter Comments

Record name Name of the record.

Record sequence Name Name of the record sequence
Tab. 54 Information on Internal Parameters
Additional information on records and record links è 4.5 Command for record selection.
Creating a New Record
Up to 128 records can be created depending on the product variant and the firmware. Proceed as fol-
lows to create a new record:
1. Press the "Add new record set" button.
Ä The pop-up to create a new record is opened.
2. Define record number and name.

Record numbers must not be duplicated.

The symbol next to the record number in the record list indicates an invalid number.
The records are listed in ascending order based on the assigned numbers.

3. Define record type.

4. Define record group.
5. Define record parameters for selected record group.

Standard values are entered for the following records:

• Position
• Velocity
• Force/torque
• Stop

6. Press the "Apply record set" button.

Ä The record is added to the record list.
Creating and Editing a Record Link
Up to three links to other records can be created for every record. Up to 128 record sequences can be
created depending on the product variant and the firmware.
1. Button ("Add transition").

If three record links have already been created for a record, the button ("Add transition") is
deactivated.
If a type of record link that has not been described is specified, this is indicated by a symbol next
to the record number in the record list. The button ("Add transition") is deactivated.

Ä The pop-up to create a new record link is opened.

2. Define name of the record link.
3. Select record link condition.

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4. Define parameters for selected condition.

This step is skipped if a record link condition does not have any parameters.

Fig. 18 Identification of a non-existent consecutive record

5. Define consecutive record for record link.

Records that have already been created and non-existent records can be specified as the consec-
utive record.
If a non-existent record is specified as the consecutive record, this is indicated by a symbol next to
the number of the consecutive record in the record list.

6. Press the "Apply transition" button.

Ä The record link is displayed underneath the record for which it was created.

1 Overview of a record link 3 Tool tip that displays the record links that
2 Indication that this record is part of a record refer to this record
link
Fig. 19 Elements of a record link

Deleting and Editing Records and Record Links

Records and record links can be edited or deleted via the corresponding and buttons next to the
record or record link (è Tab. 53 Description of the Symbols in the Parameter Panel "Record list").

If a record type that has not been described is specified, this is indicated by a symbol next to the
record number in the record list. The button ("Edit record set") is deactivated.

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Executing or Stopping a Record

The commands are called using the symbols "Execute record set" and "Stop record set"
è Tab. 53 Description of the Symbols in the Parameter Panel "Record list".
Records can be executed or stopped if the following prerequisites are met:
– The plug-in is connected to a device.
– The plug-in has the master control.
– Controller enable is activated.

2.3.8.5 Monitoring functions

The working area contains parameter groups to parameterise the monitoring functions.
Monitoring and protective functions monitor the quality of the control system and adherence to limit
values. The functions also protect the device from overloading.
Additional information on monitoring functions è 5 Motion monitoring and
è 3.4 Protective functions.
"Following error of position" and "Following error of velocity"
The position and velocity following an error are parameterised in these parameter groups.
Following error monitoring is active as long as the target has not been reached.
Additional information on the following error è 5.3 Following error.
"Target reached"
The target window monitoring is parameterised in this parameter group.
The target reached monitor indicates whether a target figure has been reached.
Additional information on target window monitoring è 5.2 Target Window Reached.
"Target range left"
The target monitoring parameters are defined in this parameter group.
Additional information on target monitoring è 5.4 Target area monitoring.
"Standstill"
The standstill monitoring is parameterised in this parameter group.
The standstill monitoring indicates that the drive is not moving or is moving below the parameterised
threshold value. The position monitor indicates any drifting.
Additional information on standstill monitoring è 5.7 Standstill monitoring.
"Limit block"
The stop detection is parameterised in this parameter group.
The stop detection monitors the actual current and velocity values to check if they have reached a spe-
cified limit.
Additional information on the stop detection è 5.8 Stop reached.
"Limit velocity"
The maximum velocity parameters are defined in this parameter group.
Additional information on velocity monitoring è 5.10 Speed monitoring (spinning protection).
"Pushback"
Recoil monitoring is parameterised in this parameter group.
Recoil monitoring checks the movement of the drive as a function of the effective direction of the
torque.

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Additional information on recoil monitoring è 5.11 Pushback monitoring.

"Remaining distance"
The remaining distance is parameterised in this parameter group.
The remaining distance indicates that the remaining path determined during ongoing positioning is
below the specified limit value.
Additional information on remaining distance monitoring è 5.12 Remaining distance monitoring.
"Relative Motor-Temperature"
The I²T monitoring of the motor is parameterised in this parameter group.
Additional information on I²T monitoring of the motor è 3.4.2 I²t monitoring of motor.
"I²T monitoring"
The parameters for monitoring I²T are defined in this parameter group.
I²T monitoring protects the power output stage and the motor from thermal destruction caused by the
excessive supply of electrical energy.
Additional information on I²t monitoring for the output stage
è 3.4.1 I²t monitoring of the power output stage and I²t monitoring for the motor
è 3.4.2 I²t monitoring of motor.

2.3.8.6 Open loop

"Mode"
The mode and the switching threshold for open-loop or closed-loop operation is specified in this para-
meter group. If a motor without encoder is configured in the drive configuration, the parameter group
is deactivated. Otherwise the parameter group is activated.
Additional information è 7.3 Open-loop operation
"Current for open loop"
The current values for open-loop operation are specified in this parameter group. The following para-
meters are active only if the Current reduction activation is activated:
– Current reduction delay time
– Current reduction scaling factor,
However, the P1.270.0.0 parameter is always active.
Additional information è 7.3 Open-loop operation

2.3.8.7 Closed loop

The working area contains parameter groups to calculate and manually optimise the closed-loop set-
tings for the velocity and position controller. The displayed parameter settings can be copied to data
sets and reactivated if necessary. All available data sets are displayed in the lower working area and
can also be edited there.
Additional information on closed-loop control è 6 Control.
"Application data"
In this parameter group, the load inertia ("Application moment of inertia") is parameterised according
to the application. If the load inertia is changed, the controller data is recalculated. The total inertia
determined indicates the moment of inertia of the drive train (axis, gear unit, motor, load) in relation
to the gear unit output.

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Parameter Comments

Inertia ratio Inertia ratio of the system.

Tab. 55 Information on Internal Parameters

"Velocity control"
The velocity controller is parameterised in this parameter group.
Additional information on the velocity controller è 6.1.3 Velocity Controller.
"Position control"
The position controller is parameterised in this parameter group.
Additional information on the position controller è 6.1.2 Position Controller.
"Closed loop calculation"
In this group, the current status of the controller data is displayed and the controller calculation is car-
ried out again if necessary. The status provides information on the determination and validity of the
controller data.

Status Description

Default values The closed-loop settings originate from the device description file
in the plug-in.
Calculated values The controller data were determined optionally:
– by actuating the "Calculate" button
– by the drive configuration on the basis of the selected motor,
the Festo axis and the set controller dynamics
The inertia ratio of the Festo drive was taken into consideration
when calculating the closed-loop settings.
Online optimized values The displayed controller data was read from the last connected
device.
Open shaft The controller data displayed correspond to the controller data of
the configured motor with open shaft.
Unsupported values The controller data were determined optionally:
– by actuating the "Calculate" button
– by the drive configuration based on the selected motor, the
axis and the set controller dynamics
The database does not contain any valid data for the configured
motor-axis combination. The closed-loop controller data must be
adapted manually to avoid overloading the components.
Invalid values No useful data could be calculated for the velocity controller. The
data must be adapted manually.
Tab. 56 Status of Controller Data

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The addition of "Changed manually" is attached to the relevant status as soon as at least one closed-
loop parameter has been changed manually.

Calculation
The dynamic of the closed-loop controller is set using the slider in the working area to calculate the
controller data. The "Hard" setting generally improves the positioning behaviour, but can also lead to
a rough control behaviour and a high-frequency humming motor.
Countermeasures:
– Move slider in the "Soft" direction.
– Increase the filter time constant of the velocity filter (parameter "Velocity control"group ).
The "Calculate" button starts the calculation of the controller data for the current drive configuration.
The button is only active if the following prerequisites are met:
– A drive configuration has been completed.
– The plug-in is not connected to a device.

After changing the following parameters, calculate the controller data again:
• Weight
• Moment of inertia
• Properties of the motor cable

Calculate with open shaft

The calculation of suitable closed-loop settings without load is started with the "Calculate with open
shaft" button based on the current drive configuration. The calculated closed-loop settings are only
useful for operation of a motor that is not connected to the load (axis). A test run with an open shaft is
often sensible during initial commissioning.

Start auto tuning...

Via the button "Start auto tuning...", the assistant for configuration and execution of the auto-tuning
is displayed.
The button is only active if the following prerequisites are met:
– The plug-in is connected to the device.
– The plug-in has the master control.
Additional information on the assistant for auto-tuning è Running Auto-Tuning
Reset to default values
The closed-loop parameters can be reset to the values in the device description file with the "Reset to
default values" button.
The button is only active if the following prerequisites are met:
– A complete drive configuration has been created.
– The plug-in is not connected to a device.

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Transferring Data to Closed-Loop Settings Record

Active closed-loop settings can be transferred to a closed-loop settings record via the ("Apply act-
ive parameter to closed-loop settings record") button.
The button is only active if the following prerequisites are met:
– A complete drive configuration has been created.
– The plug-in is not connected to a device.
Proceed as follows to transfer the active closed-loop settings to a closed-loop settings record:
1. Button ("Apply active parameter to closed-loop settings record") button at the top edge of the
parameter screen.
Ä A pop-up to select the closed-loop settings record opens.
2. Click checkbox for required closed-loop settings record.
3. Press the "Apply" button.
Ä The active closed-loop settings are transferred to the selected closed-loop settings record.
Overview of the Closed-Loop Settings Records
An overview of the existing closed-loop settings records is displayed at the bottom of the parameter
panel.

Symbol Description

Edit closed-loop settings record.

Apply closed-loop settings record to active parameter.

Tab. 57 Description of the Symbols in the Overview

The buttons are only active if the following prerequisites are met:
– A complete drive configuration has been created.
– The plug-in is not connected to a device.
Editing the Closed-Loop Settings Record
Proceed as follows to edit the closed-loop settings record:
1. Button ("Edit closed-loop settings record") button.
Ä A pop-up to define the parameters opens.
2. Edit parameters of the closed-loop settings record.
3. Actuate the "Save changes" button.

The parameters are only transferred to the active parameter, once the ("Apply closed-loop settings
record to active parameter") button has been actuated.

Transferring Closed-Loop Settings Record to Active Parameters

A closed-loop settings record can be transferred to the active parameters by actuating the ("Apply
closed-loop settings record to active parameters") button.

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2.3.8.8 Auto tuning

The results of the auto-tuning are effective in the following operating modes:
• In closed-loop operation
• In open-loop operation with encoder

Auto-tuning is a process during which the closed-loop parameters for position and velocity controllers
are automatically adjusted. The process can be completed statically (when the motor is at a standstill)
or dynamically (when the motor is running). The dynamic process is suitable for drive systems for
which the properties are not known. The calculation is based on the following data:
– Current regulator, which is already designed
– Suitable start parameters for position and velocity controllers
– Amplitude of excitation signal
Servo drive start values
The standard values for the position controller and velocity controller are determined in this paramet-
er group. The start parameters are determined automatically on the basis of the drive configuration.
Additional information on auto tuning è 6.5 Auto-tuning.
Results
The auto-tuning results are displayed in this parameter group once the values have been adopted by
the assistant.
Additional information on auto tuning è 6.5 Auto-tuning.
Measurement of movement (identification) and Test movement (validation)
The properties for the movement measurement and movement test are defined by a test run in these
parameter groups.
The following parameters are initially not synchronised with the corresponding acceleration and decel-
eration parameters.
– Measurement of movement (identification)
– Maximum acceleration during the identification
– Maximum deceleration during the identification
– Test movement (validation)
– Maximum acceleration during validation movement
– Maximum deceleration during validation movement
This ensures that different values can be specified for the acceleration and deceleration. A synchron-
isation is not carried out until the function is started in the assistant.
Additional information on auto-tuning è 6.5 Auto-tuning
Start auto tuning...
Via the button "Start auto tuning...", the assistant for configuration and execution of the auto-tuning
is displayed. The button is only active if the following prerequisites are met:
– The plug-in is connected to the device.
– The plug-in has the master control.
Additional information on the assistant for auto-tuning è Running Auto-Tuning

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2.3.8.9 Assistant for Auto-Tuning

Overview
The assistant can be called up from the page "Closed loop" or the page "Auto tuning" using the but-
ton "Start auto tuning...". On the start page, the currently set marginal conditions for motions during
the motion measurement (identification) are displayed. The following steps are run using the button
"Next" or selection of the next page in the toolbar.

Symbol Description

Display marginal conditions for motion measurement (identifica-

tion) and parameterise (assistant start page)

"Constraints"
Start the auto-tuning after setting the rigidity and the dynamics of
the closed-loop controller (soft, medium or hard).

"Start"
Display the auto-tuning status

"Status"
Display the auto-tuning results

"Results"
Tab. 58 Description of the Toolbar Symbols for Auto-Tuning

Section/command Description

Function:
– Assign master control to the plug-in or higher-level controller
"Control" The scroll bar shows the current setting.
The master control can be withdrawn from the fieldbus using the
plug-in. If the master control is released again, it automatically
goes to the fieldbus.
If the connection is interrupted, the plug-in releases the master
control again.
Requirement:
– The plug-in is connected to a device.
– No other plug-in has the master control.

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Section/command Description

If another device has the master control, an information symbol is

displayed over the deactivated command "Control".
The tool tip for the command "Control" contains the IP address
and the port number of the device.
Function:
– Release output stage of the servo drive
"Powerstage" The scroll bar shows the current setting.
Requirement:
– The plug-in is connected to a device.
– The plug-in has the master control.
– The device is not in error status.
During activation of controller enable, a check determines whether
a reinitialisation is required. If a reinitialisation is required, a
query is displayed offering the following options:
– "Ok": The reinitialisation is executed and controller enable is
activated.
– "Cancel": The reinitialisation is not executed and controller
enable remains deactivated.
If another plug-in has the master control, an information symbol is
displayed over the deactivated command "Powerstage".
The tool tip for the command "Powerstage" contains the IP
address and the port number of the device.
Function:
– Send stop command to the servo drive (category 2 stop)
Requirement:
"Stop"
– The plug-in is connected to a device.
– The plug-in has the master control.
– Controller enable is activated.
Function:
– Acknowledge all cancelled current diagnostic messages for
the servo drive.
"Acknowledge all" Additional information è 2.5.2.
Requirement:
– The plug-in is connected to a device.
– The plug-in has the master control.
Tab. 59 Description of the Toolbar Symbols for Motion Control

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Copying Device Parameters from the Assistant to the Plug-in

Device parameters that are defined or calculated in the auto-tuning assistant are only transferred to
the plug-in through specific actions. The device parameters are not transferred if these actions are not
executed and the assistant is cancelled.

Action Transferred parameters

Press the "Start auto tuning" – Identification with movement

button. – Maximum movement stroke during the identification
– Maximum velocity during the identification
– Maximum acceleration during the identification
– Maximum deceleration during the identification
Press the "Execute test run" – Number of validation movements
button. – Movement stroke during validation movement
– Maximum velocity during validation movement
– Maximum acceleration during validation movement
– Maximum deceleration during validation movement
Press the "Apply values" but- – Result amplification gain of position controller
ton. – Result amplification gain of velocity controller
– Result integration constant of velocity controller
Tab. 60 Transferring Device Parameters
Running Auto-Tuning
Before identification:
1. On page "Constraints" of the assistant, adjust the motion parameters for identification.

If the maximum acceleration value is changed during the identification, the maximum deceleration
value changes by the same amount during the identification.

2. Press the "Next" button.

Ä The "Start" screen is displayed.
3. On page "Start":
– Adjust the rigidity to the axis type.
– The dynamics for the closed-loop controller calculation can be defined with the scroll bar.
When the slider is changed, the start values for the controller parameters are automatically
recalculated.

The start parameters for the closed-loop controller are influenced by the selection. A standard
value for the rigidity is recommended depending on the selected configuration. The relevant value
is highlighted with the "(recommended)" addition.

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Once the marginal conditions are set, the motion measurement can be carried out. The button "Start
auto tuning" is only active if the following prerequisites are met:
– The plug-in is connected to the device.
– The plug-in has the master control.
– Controller enable is activated.
1. Press the "Start auto tuning..." button.
Ä The "Status" screen is displayed. The calculation of the auto-tuning is completed.
2. Press the "Next" button.
Ä The page "Results" opens and shows the current and newly calculated parameter values of
the velocity and position controller.
3. On page "Results", a motion test (validation) may be optionally completed:
– Adjust the motion parameters for validation.
– Using the button "Execute test run", start the validation.
4. If required: repeat identification.
The button "Retry" leads back to page "Constraints" for the assistant.
5. Once the auto-tuning is complete, use the button "Apply values" to transfer the results to the
plug-in.
The following new values are then displayed on the page "Closed loop" and the page "Auto tun-
ing":
– Result amplification gain of position controller
– Result amplification gain of velocity controller
– Result integration constant of velocity controller

In order to optimise the closed-loop settings for specific applications, the auto-tuning measurement
result can be evaluated as follows on the "Auto tuning" diagnostics screen:
• Display or export of logarithmic diagrams
• Export settings to a CSV file

Additional information on the function, parameterisation and motion test (test run)
è 6.5 Auto-tuning.

2.3.8.10 Vibration compensation

Notch filters are provided to suppress interfering frequencies.
"1. Notch filter", "2. Notch filter" and "3. Notch filter"
The properties of the notch filters are specified in these parameter groups.
Additional information on the notch filter è 6.4 Notch Filter.
"Vibration frequency 1" and "Vibration frequency 2"
By specifying a natural frequency, the specified frequency is suppressed in the positioning operating
mode.

2.3.8.11 Feed forward control

The pilot control prepares the deactivation variables for the closed-loop controller. This ensures that
the positioning behaviour of the drive and run-in behaviour can be improved in accordance with the
target position and that the contouring error can be reduced.

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The input variables for the pilot control are directly connected to the output variable or are adjusted
using a mathematical operation.
Additional information on pilot control è 6.3 Pilot control (Setpoint value control).
The working area contains a graphic to set the parameters for the pilot control calculation.

1 "Edit friction"
Fig. 20 "Feed forward control"parameter panel

Defining the Parameters for the Velocity-Dependent Torque

Proceed as follows to define the velocity and torque parameters:
1. Button button.
Ä The pop-up to enter the corresponding parameters is opened.
2. Define velocity and torque parameters.
3. Press the "Apply parameters" button.

The changed values are not applied if the "Apply parameters" button is not actuated, and the
pop-up is closed.

2.3.8.12 Cam Controller (Position Trigger)

With the cam controller function, position switches and rotor position switches, for example , can be
simulated in positioning mode.
For each cam switch mechanism of the device, there is a screen "Cam controller 0" … "n" in the navig-
ation tree below the "Cam controller" screen for the parameterisation of the respective cam switch
mechanism. The number of possible cam switches depends on the device and its firmware.
By selecting the corresponding screen in the navigation tree, the respective screen can be selected
directly. You can use links in the working area of the "Cam controller" screen to select the "Cam con-
troller 0" … "n" screen alternatively.

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Detailed information on how to parameterise the function of the cam controllers

è 7.1 Cam controller (position trigger).
Prepared values
The initial values of the respective cam controller can be defined in the "Prepared values" parameter
group.
Parameters can be set in the "General parameters" subgroup depending on the selected mode of the
cam controller. Parameters that are not relevant for the selected mode are invisible.

General parameters Brief description

Cam controller mode Defines the mode of the cam

controllerè Tab. 505 Possible modes of the cam controller function.
Configured output Internal parameters:
Displays the configured output for the cam controller.
Cam controller source Determines the source of the measured values.
Switching time (manual) Determines the switching time for time-based manual switching (mode
4/5).
Tt1 Determines the inactive time compensation for the signal change for
the first switching point. With this parameter, switch-on delays of
external components can be compensated.
Tt2 Determines the inactive time compensation for the signal change for
the second switching point. With this parameter, switch-on delays of
external components can be compensated.
-Mod Determines the lower limit value for the modulo calculation. When the
lower limit value is undershot, the position jumps to the upper limit
value.
+Mod Determines the upper limit value for the modulo calculation. When the
upper limit value is exceeded, the position jumps to the lower limit
value.
Hy Through the determination of the hysteresis range, undesired switch-
ing procedures are suppressed around the switching point during fluc-
tuations.
Offset Offset of the modulo position
Tab. 61
Timing Diagram (Automatic Mode)
The timing diagram is only visible if the parameter "Current mode cam controller" is set to "Automat-
ic".
The timing diagram shows an example of the signal path for the positive direction of motion. The tim-
ing diagram has input fields. Parameters for the automatic mode are entered directly into the timing
diagram.

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Fig. 21 Timing diagram with input fields for the automatic mode

Cam switches
This parameter group is only visible if the "Mode cam controller" parameter is set to Automatic. In the
parameter group, you can define new ones Cam switches for automatic mode and edit existing Cam
switchesones.
When editing a cam switch, a pop-up appears that allows you to edit the selected cam switch in indi-
vidual steps. When editing the existing cam switches, the last step of the pop-up control is opened.
Symbols can be used to trigger the following commands:

Symbol Meaning Description

"New cam "New cam switch" button Adds a new entry to the list.
switch"
Edit Allows you to edit the corresponding cam switch.

Delete Deletes the cam switch from the list after a prompt.

Tab. 62
Acceptance of the Initial Values as Active Values
The "Activate values" button can only be activated if the plug-in is connected to the device. When the
button is activated, the set initial values are taken over by the device as the active value and are then
visible in the "Active values" parameter group.

Symbol Meaning Description

"Activate values" button Accepts the start values as active values.

Tab. 63

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Active values
If the plug-in is disconnected from the device, the default value of parameter Current cam controller
mode is displayed.
If there is a connection with the device, the parameters of the cam controller active in the device are
displayed in the Active values parameter group.

General parameters Brief description

Cam controller mode Specifies the current mode of the cam controller function.
Configured port Shows the digital output connected to the cam controller.
Current cam controller Specifies the current source of the position values of the cam control-
source ler.
Switching time (manual) Specifies the current switch-on time for mode 4.
Tt1 Specifies the current delay compensation of the first switching point for
the switch-on process.
Tt2 Specifies the current delay compensation of the second switching point
for the switch-on process.
-Mod Specifies the currently determined lower limit value for the modulo cal-
culation.
+Mod Specifies the currently determined upper limit value for the modulo cal-
culation.
Hy Specifies the current hysteresis. In the hysteresis range, switching pro-
cedures are suppressed around the switching point during fluctuations.
Offset Specifies the currently used offset of the modulo position.
Tab. 64
The timing diagram is only visible if the "automatic" mode is active.
The timing diagram shows an example of the signal curve for the positive direction of motion with the
active parameters for the automatic mode.
Cam switches
This parameter group is only visible if the "automatic" mode is active. The parameter group shows the
parameters for the cam switches defined for the automatic mode.

2.3.8.13 Position Detection (Touch Probe)

The Touch Probe function enables the exact detection of current positions during the processing of
commands. In the process, the position detection function is triggered by the trigger signals at a trig-
ger input (CAP).
For each trigger input of the device there is a "Touch probe 0" … n screen in the navigation tree below
the "Touch probe" screen for parameterising the respective position acquisition. The number of pos-
sible position acquisitions depends on the device and its firmware.

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By selecting the corresponding screen in the navigation tree, the respective screen can be selected
directly. You can use links in the working area of the "Touch probe" screen to select the "Touch probe
0" … n screen alternatively.
The screens provide the following functions:
– Selection of the desired Touch Probe mode
– Displays the input configured for the Touch Probe function
– Warning if no input is configured and possibility to jump to the Digital I/O screen via adorner/pop-
up
– Graphically supported input option for the parameters relevant to the selected operating mode
– When connected to the device: Activation possibility of the selected settings
– Display of active parameters and additional actual values as real-time values
Detailed information on the parameterisation of the Touch Probe function
è 7.2 Position detection (touch probe).
Prepared values
In the "Prepared values" parameter group, you can define the initial values of the respective position
acquisition.
In the "General parameters" subgroup, parameters can be set depending on the selected position
acquisition mode. Parameters that are not relevant for the selected mode are invisible.

General parameters Brief description

Touch probe mode Determines the mode of the touch probe function. The specified mode
is effective on activation of the touch probe function. Available modes
è 7.2 Position detection (touch probe).

Selection trigger event Determines the type of signal edge with which the measurement shall
be triggered.
Configured input Internal parameters:
Displays the configured input for the touch probe function.
Touch probe source Determines the source of the measured values.
+MOD Determines the upper limit value for the modulo calculation. When the
upper limit value is exceeded, the position jumps to the lower limit
value.
–MOD Determines the lower limit value for the modulo calculation. When the
lower limit value is undershot, the position jumps to the upper limit
value.
Offset Offset of the modulo position
+MOD Determines the upper limit for trigger signals within the modulo range.
Trigger signals at positions above the limit are ignored. Only relevant in
the following modes: once with window and cyclic with window

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General parameters Brief description

–MOD Determines the lower limit for trigger signals within the modulo range.
Trigger signals at positions below the limit are ignored. Only relevant in
the following modes: once with window and cyclic with window
Tab. 65

Symbol Description

Trigger event at configured input

Single rising edge

Single falling edge

One-time rising and falling edge

Cyclically rising edge

Cyclically falling edge

Cyclically rising and falling edge

Trigger function
Modulo function

Trigger

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Symbol Description

Trigger event limitation by the input variables +LIM and -LIM

The block and the two input variables +LIM and -LIM are only displayed if a
Touch Probe mode with window is selected.

Tab. 66 Description of the Symbols in the Touch Probe Block Diagram

Acceptance of the Initial Values as Active Values
The "Activate values" button can only be activated if the plug-in is connected to the device. When the
button is activated, the set initial values are taken over by the device as the active value and are then
visible in the "Active values" parameter group.

Symbol Meaning Description

"Activate values" button Accepts the start values as active values.

Tab. 67
Active values
If the plug-in is disconnected from the device, the default value of parameter Current touch probe
mode is displayed.
If there is a connection with the device, the parameters of the position detection active in the device
are displayed in the Active values parameter group.

General parameters Brief description

Current touch probe mode Specifies the current mode of the touch probe function.
Current values
Current selection trigger Specifies the currently defined signal edge of the trigger event.
event
Configured input Displays the configured input for the touch probe function.
Current touch probe source Specifies the current sources of the measured values.
Absolute position in user Indicate the position in the user units in relation to the axis zero point.
units
+MOD Specifies the currently determined upper limit value for the modulo cal-
culation.
–MOD Specifies the currently determined lower limit value for the modulo cal-
culation.
Offset Specifies the currently used offset of the modulo position.

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General parameters Brief description

+MOD Specifies the upper limit for trigger signals within the modulo range.
Trigger signals at positions above the limit are ignored.
–MOD Specifies the lower limit for trigger signals within the modulo range.
Trigger signals at positions below the limit are ignored.
Modulo position Modulo of the reference position
Results
Time stamp touch probe Specifies the time of the last measurement based on the system time
position of the device.
Touch probe position Specifies the position of the last measurement.
Trigger event initiated Indicates whether the trigger signal was triggered within the specified
range. With cyclic acquisition, the signal is set up to the transition of
the modulo limit and is reset at the transition.
Trigger event NOT initiated Specifies whether a trigger signal has been triggered within the defined
range if the module limit is exceeded. 1 means that the trigger signal
has not been triggered
Trigger events counter Specifies the number of valid measurements. The parameter value
triggered increases at every valid measurement.
Trigger events counter NOT Specifies the number of invalid measurements. The parameter value
triggered increases at every invalid measurement.
Tab. 68

2.3.8.14 Jog mode

The working area includes a parameter group to configure the motion parameter for jog mode.
Jog mode enables manual travel of the drive. This is required in the following situations, amongst oth-
ers:
– Moving to the teach position.
– Moving to a safe position following a system error.
Jog mode is executed on the Manual movement control side or by the PLC.
"Movement parameters"
The individual parameters for jog mode are specified in this parameter group.
Additional information on jog mode è 4.6 Jog Mode.

2.3.9 Parameter list

The working area contains a table with all of the servo drive parameters.
The "Parameter list" parameter panel is always displayed in a table view. Switchover to page view is
not possible.

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2.4 Control
2.4.1 Surface
Toolbar
In addition to the standard commands, the toolbar for the "Control" context also contains the follow-
ing command:

Identifier Function

Start currently configured recording on the device.

Requirements:
– The plug-in is connected to a device.
"Start trace" – No recording is currently being performed.
Tab. 69 Additional Command of the Context "Control"

2.4.2 Manual movement

The working area contains sections to complete homing and execute manual movements.
Requirements:
– The plug-in is connected to a device.
– The plug-in has the master control.
– Controller enable is activated.
Using Default Values
For some parameter settings, standard values are defined which are read out from the device. Values
entered by the user have priority. If the user does not specify a value, the default value is used.
The "Reset to default values" button in the working area title bar overwrites the entered target posi-
tion and velocity values with the default values.
"Homing"
The section "Homing" shows
– The homing run status
– The homing method set on the "Axis" parameter panel
The "Start homing" button executes homing with the current homing method. After successful com-
pletion of the homing run, the homing run status "Homed" is displayed.

Depending on the drive configuration, a zero point offset is determined during homing. After success-
ful completion of the homing run, the determined zero point offset must be saved.
Requirements:
• The drive configuration contains a motor with encoder.
• The homing of the drive is valid (homing status "Homed").
The button "Save zero point offset"permanently secures the zero point offset. This ensures that the
determined value is retained when the device is restarted.

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"Manual movement"
The section "Manual movement" supports simple manual operation and does not require an active
control program. This function allows, for example, the testing and setting up of the mechanics of a
machine during commissioning.

The current actual position is displayed and can be adopted using the command buttons in the
adorner pop-up, e. g. for setting the software end position.

1 Jogging in negative direction 6 "Stop movement"

2 Single step in negative direction 7 "Execute"
3 Distance of single step 8 Velocity
4 Jogging in positive direction 9 Target position
5 Single step in positive direction
Fig. 22 Manual movements

No. Name Function

Jog Mode
1 Negative jogging Jog movement in negative direction
Motion parameters:
– "Jog mode" parameter screen
– è 2.3.8.14,

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No. Name Function

4 Positive jogging Jog movement in positive direction
Motion parameters:
– "Jog mode" parameter screen
– è 2.3.8.14.
Single step, target position
3 Distance of single step Indication of the traverse path per step
2 Negative single step Execution of a single step:
– In a negative direction
– With indicated distance and velocity
– With standstill at target achievement
5 Positive single step Execution of a single step:
– In a positive direction
– With indicated distance and velocity
– With standstill at target achievement
9 Target position Define target position of movement.
8 Velocity Parameterisation of the velocity for the following
functions:
– Executing a single step
– The drive is to be carried out to the target posi-
tion.
7 "Execute" Start driving to target position
Standstill when targets are reached
6 "Stop movement" Issue stop command
Tab. 70 Legend for "Manual movement"
"Holding brake"
The status of the holding brake is displayed in this section and the holding brake can be opened or
closed manually. The section is only visible if the device configuration includes a motor with a brake.
The button in this section can be operated if the following requirements are met:
– The plug-in is connected to a device.
– Only the master control is set.
"Active closed loop parameter set"
A different closed-loop settings record can be transferred to the active closed-loop parameters in this
section.
The closed-loop settings records are parameterised on the Closed loop panel è 2.3.8.7.

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1 Select closed-loop settings record 3 "Activate closed-loop settings record"

2 Transition period during which the closed-
loop settings record should be transferred to
the active closed-loop parameters
Fig. 23 Manual movements − closed-loop settings record

2.4.3 Record list

All of the records and record links that were created in the "Record list" parameter panel (è 2.3.8.4)
are listed in the working area.
Records can be started and stopped on this control side. The records cannot be created, edited or
deleted.
Records can be started or stopped if the following prerequisites are met:
– The plug-in is connected to a device.
– The plug-in has the master control.
– Controller enable is activated.
Executing or Stopping a Record
Records can be executed and stopped via the corresponding button. If a record is being executed, the
symbol Execute record set changes to the symbol Stop record set.

Symbol Description

Execute record set

Stop record set

Tab. 71 Description of the Control Side Symbols

2.5 Diagnosis
2.5.1 Surface
Toolbar
In addition to the standard commands, the toolbar contains the following commands for the "Diagnos-
is" context:

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Identifier Function

Start currently configured recording on the device.

The command can be executed if the following prerequisites are
met:
"Start trace" – The plug-in is connected to a device.
– No recording is currently being performed.
If a recording is active or the device is waiting for a trigger, an
information symbol is displayed over the deactivated "Start trace"
button.
Read out recording from the device.
The command can be executed if the following prerequisites are
met:
"Read trace" – The plug-in is connected to a device.
– Recordings are available.
Tab. 72 Additional commands of the "Diagnosis"context

2.5.2 Device state

During an active device connection, the "Device state" diagnostic panel displays the current status of
the servo drive and axis and the message directory.
List of all diagnostic messages è 9.4.6 Diagnostic messages with information for fault clearance.
Additional information on the message directory è 9.4.3 Message Directory.
Additional information on the category è 9.2 Classification of Diagnostic Events.
Additional information on the status of messages è 9.4.1 Status of messages.

Fig. 24 Device Status

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No. Identifier Function

1 Status "Servo drive" Servo drive symbol including colour display of the status as
provided in the message directory.
If available, display of the currently applicable number of
the diagnostic message with the highest priority for the
servo drive.
2 Status "Axis" Axis symbol including colour display of the status as
provided in the message directory.
If available, display of the currently applicable number of
the diagnostic message with the highest priority for the
axis.
3 "Acknowledge all" Acknowledge all of the current diagnostic messages
è 9.4.5 Acknowledging messages and errors.

4 Message Directory Display all diagnostic messages sorted according to status,

priority or time stamp
Information on dividing the error messages into the main
group, sub-group and by number
è 9.4.2 Structure of Messages

Tab. 73 Legend for Device Status

Message Directory
The message directory shows all of the current diagnostic messages.
It is sorted according to the following criteria:
– Descending according to the category
– Descending according to the status
– Ascending within the category based on the time stamp
A diagnostic message can have various categories and statuses. They are displayed as follows in the
message table:

Category Status Meaning Colour dis-

play

Error: Diagnostic message with a high degree of severity

Stop category 0 Active Cause is active.
Stop category 1
Stop category 2
Cancelled Cause no longer active.

Acknowledged Diagnostic message has

already been acknow-
ledged.

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Category Status Meaning Colour dis-

play

Warning: Diagnostic message with a medium degree of severity

Warning Active Cause is active.

Cancelled Cause no longer active.

Acknowledged Diagnostic message has

already been acknow-
ledged.
Information: Diagnostic message with a low degree of severity
Information Active Cause is active.
Ignore (not displayed in
the message list)
Cancelled Cause no longer active.

Acknowledged Diagnostic message has

already been acknow-
ledged.
No diagnostic message (not displayed in the message list)
− − No current diagnostic mes-
sage
Tab. 74 Categories and Status of the Message List

2.5.3 I/O state

The following I/O interfaces are displayed in the working area:
– "X1A"
– "X1C"
The logic state of the relevant input or output is displayed for the individual interface pins, e.g., to
check the external circuitry or wiring.
The statuses are displayed in different colours. The following statuses are possible:

Status Representation

Active symbol (logic 1)

Inactive signal (logic 0)

Unavailable signal

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Status Representation

Tab. 75 Description of Possible Statuses

2.5.4 Error log

The following prerequisite applies for reading out the error memory on the diagnostics screen "Error
log":
– The plug-in is connected to a device.
A table of all the diagnostic messages currently on the device is available in the working area. The con-
tinuous error index is displayed in the first column. The last column contains the adorner with informa-
tion about the cause of the error and how to correct it.
The following information is displayed for the diagnostic messages currently contained in the error
memory:
– "State"
– "Category"
– "ID"
– "Name"
– "Timestamp"
The sequence of the entries is determined by the time when they occurred. The latest message is in
first position of the error memory, ready to be read out.
Additional information:
– On the error memory è 9.4.4 Error memory.
– On classifying the error messages into the main group or sub-group and by number
è 9.4.2 Structure of Messages
Reading out the Diagnostic Memory
The diagnostic memory can be read out with the "Update" command.
The diagnostic memory is automatically read out in the following cases:
– The content page is opened.
– The content page is opened, and the plug-in establishes a connection to the device.
Exporting Diagnostic Data
The diagnostic data can be exported as a .csv file with the "Export to CSV..." button in the title bar of
the working area.
All of the servo drive parameters can also be exported. The following files are saved in a .zip file during
this process:
– "DeviceParameters.csv" containing the device parameters
– "Diagnosis.csv" containing the diagnostic data
– "InternalParameters.csv" containing the internal parameters
– "Recorded trace_[period].csv" for every recorded trace

When exporting diagnostic data, all parameters are exported, even if they are not visible to the user.

2.5.5 Error classification

Additional information on error classification è 9.2 Classification of Diagnostic Events.

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The "Error classification" diagnostic panel contains a table with all of the diagnostic messages from
the device for which the classification has been changed.
The table is split into the following columns:

Column name Description

"ID" Display ID of diagnostic message.

"Name" Display name of diagnostic message.
"Category (actual configured)" Display or determine category of the diagnostic
message.
Tab. 76 Description of the Error Classification Columns
Changing the Diagnostic Level
The classification of a diagnostic message can be changed via the dropdown menu.
The levels are depicted in colour as follows:

Diagnostic level Colour display

Ignore

Information

Warning

Stop category 2

Stop category 1

Stop category 1

Tab. 77 Description of Possible Diagnostic Levels

Transferring Warnings to the Diagnostic Memory
Diagnostic messages that have been classified as warnings can be written to the diagnostic memory
with the "Store warnings to error log" checkbox above the table.
The checkbox can have the following statuses:

Status Description

There are various settings. Some messages that have been classified as
warnings are written to the diagnostic memory, others are not.

All messages that have been classified as warnings are written to the dia-
gnostic memory.

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Status Description

All messages that have been classified as warnings are not written to the
diagnostic memory.

Tab. 78 Description of the Statuses of the Checkbox "Store warnings to error log"
Switching to the "Error log" Panel
Actuating the "Go to diagnosis page "Error log"" button via the table opens the "Error log" dia-
gnostics panel.

2.5.6 Trace configuration

The working area contains parameter groups to configure a trace recording.
All available device parameters can be recorded. Recordings enable the system behaviour to be mon-
itored and optimised and possible errors to be identified.
Recording channels can be created, edited and deleted in the "Trace channels" parameter group.
Additional information on recording measurement data è 9.5 Recording measuring data (trace).
Creating a New Recording Channel
New recording channels can be created with the "Add new trace channel" button by means of a pop-
up. When selecting parameters, the pop-up supports multiple selection with the mouse in conjunction
with the [CTRL] key or the [Shift pushbutton].
The button is only active if the following prerequisite is met:
– The maximum number of trace channels has not been created yet.
1. Press the "Add new trace channel" button.
Ä The pop-up to create a recording channel is opened.

A direct search for a device parameter can be completed via the search field using the ID,
name or description.

2. Select the category for the device parameter to be recorded.

The "Frequently used" category contains the most common device parameters.

3. To select a device parameter to be recorded, select the device parameter.

To select several device parameters at the same time, use the multiple selection options with the
mouse in conjunction with the [CTRL] pushbutton or the [Shift pushbutton].
4. Press the "Apply trace channel" button.
Ä Depending on the number of selected parameters, one or more recording channels are cre-
ated and listed in the overview. Only as many recording channels are created as are permit-
ted. The selection of parameters that already exist in the trace configuration is ignored.
Activating, Editing and Deleting Recording Channels
Existing recording channels can be activated, edited or deleted using the following buttons:

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Symbol Description

Activate or deactivate the existing recording channel;

The recording channel can be temporarily removed from the recording
without being deleted.

Edit existing recording channel

Delete existing recording channel

Tab. 79 Description of the Diagnostics Panel Buttons

"Record settings"
This parameter group is only visible if at least one recording channel is created.
The recording duration can be set in this parameter group. The resolution is also displayed in this
parameter group.
The resolution depends on the recording duration, the number of recording channels and the data
type and is automatically calculated.

Parameter Comments

Trace duration Configured duration with selected trace resolution in s.

Trace resolution Sets the resolution of the trace recording.
Tab. 80 Information on Internal Parameters
"Trigger preferences"
The trigger can be selected and configured in this parameter group. The parameter group is only vis-
ible if at least one recording channel is created.

Parameter Comments

Trace delay Defines the pre- or post-trigger time with which a recording starts
when the trigger condition occurs (positive values: pre-trigger
time, negative values: post-trigger time).
Tab. 81 Information on Internal Parameters
If the trigger time should be set by pressing the button "Start trace", a trigger does not need to be
added. No trigger settings are needed (trigger type 0).
If data in the parameter directory for the device (trigger type 1) or a diagnostic result (trigger type 2)
should be used as a trigger, the trigger is selected as follows:
1. If a trigger has not yet been configured, actuate the button "Add new trigger" . If a trigger was
already configured, actuate the symbol ("Edit trigger") .
Ä The pop-up to edit a trigger is opened. If a trigger was already configured, the pop-up displays
the last edit step directly. Buttons in the pop-up enable scrolling to the previous or next step.
2. In the first edit step of the pop-up, select the trigger type (trigger type 1 or 2).
Ä The following steps depend on the selected trigger type.

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If the data trigger (1) trigger type is selected, the following steps are required:
1. Select device parameter category.

The "Frequently used" category contains the most common device parameters.
A direct search for a device parameter can be completed via the search field using the ID, name or
description.

2. Select device parameter.

Device parameters are combined in groups. The group can be hidden or shown by clicking on the
group title.

3. Depending on the data type of the selected device parameter, it is possible to select the trigger
condition bit mask or threshold value. If the selected data type only permits the selection of a
"threshold" value, this is set automatically. Next step in the next step.
4. Select the second trigger condition (e. g. "Falling edge") e. g. if the value falls below the
threshold value.
5. If the trigger condition "Threshold value" has been selected, set the threshold value.
If the trigger condition Bit Mask was selected, set Bit Mask. The pop-up supports multiple selec-
tion with the mouse in connection with the [CTRL] pushbutton or the [Shift] pushbutton.
6. Press the "Change trigger" button.
Ä The selected data trigger is then displayed in the parameter group and can be changed or
deleted again if required.
If the diagnostic trigger (2) trigger type was selected, the following steps are required:
1. Select trigger condition.
2. Select diagnostic element.

A direct search for a diagnostic element can be completed via the search field using the ID, name
or description.

3. Press the "Change trigger" button.

Ä The selected diagnostic trigger is then displayed in the parameter group and can be changed
or deleted again if required.
The Trace delay specifies during which period measurements are performed before and after the trig-
ger event.
The Trace delay can only be set if at least one recording channel has been activated for the recording.
The following options are available:
– Positive value: the recording starts before the trigger event occurs (lead time).
– Negative value: the recording starts after the trigger event occurs (follow-up time).
The Trace delay is limited in such a way that at least one measurement is performed.
"Status"
The current status of the recording is displayed in this parameter group. The parameter group is only
visible if at least one recording channel is created.

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The buttons to start and stop a recording are located underneath the status.
Starting the Trace
Recordings can be started with the button "Start trace" or the symbol ("Start trace") of the tool-
bar.
The button and the symbol "Start trace" are active if the following prerequisites are met:
– A valid trace configuration is set.
– The plug-in is connected to a device.
– No recording is currently being performed.
Stopping the Trace
The recording is stopped with the button "Stop trace".
The "Stop trace" button is only active if the following prerequisites are met:
– The plug-in is connected to a device.
– A recording is currently being performed.

The "Stop trace" button stops the recording even if the recording is not fully completed.

2.5.7 Trace display

Recordings that have been stopped can be read from the device and displayed, analysed and further
edited on the diagnostic page "Trace display".
The configuration of the recording is done with the aid of the diagnostic page "Trace configuration"
è 2.5.6.
The start and read-out of a recording can be triggered, for example, using commands from the toolbar
of the context "Diagnosis" è 2.5.1 Surface.
If there are no recordings available, a corresponding message is displayed in the graph section. If a
recording is available, the recordings that have been read out and imported are listed in the trace dis-
play section with the date and time.
Under the recording names, the recorded signals and the recording trigger are displayed as elements.
The graph section shows the recorded signals and trigger for the recording selected in the list.

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1 Recording (selected) 5 Buttons in the title bar

2 Elements of the preceding recording 6 Graph section
3 Recording (deselected) 7 Y primary axis
4 Import... button 8 List of recordings and elements
Fig. 25 Interface of Trace display diagnostics panel

No. Identifier Function

1 Recording (selected) Name, date and time of the recording shown in the graph
section;
The text of the selected recording is highlighted in bold.
2 Elements of the preceding Elements of the recording are the recorded channels and the
recording trigger for the recording.
The list contains the element name and the assigned line
type. Using a symbol, the visibility of the element in the
graph can be switched on or off if the element is scaled on
the Y primary axis.
Elements that are scaled on the X axis do not have a symbol,
as the visibility of these elements cannot be switched over.
The graph curve of selected elements is highlighted in the
graph. This changes the line thickness and the data points
are marked.
The channels are sorted by channel number in ascending
order from top to bottom. The channel number is displayed
in the tooltip of the element.

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No. Identifier Function

3 Recording (deselected) Name, date and time of recordings that are not currently
shown in the graph section are not highlighted in bold.
Clicking on the entry switches over the display and shows the
recording in the graph section.
4 "Import..." button Recordings previously exported can be imported into the list
of recordings.
5 Buttons in the title bar è Tab.84 Description of the Symbols in the Title Bar of the
Working Area
6 Graph section In this section, the selected recording is shown as a graph.
The signal curves are shown in the same colour as the label
for the associated Y axis.
7 Y primary axis The scaling of the Y primary axis influences the pattern of the
grid. In addition, the scaling of the Y primary axis is also used
for measuring bars.
8 List of recordings and their The list contains the available recordings and their elements.
elements Elements are recorded signals and the trigger for the respect-
ive recording.
Tab. 82 Legend
The symbols in the recording list have the following meanings:

Symbol Meaning Description

Element visible Indicates that the element is visible if the associated recording is
shown in the graph section.
Clicking on it switches the element to non-visible. If an element is
hidden that is scaled on the Y primary axis, the following visible
element is scaled on the Y primary axis, and it not scaled on the X
axis.
With elements that are scaled on the X axis, the visibility cannot
be changed.
Element non-visible Indicates that the element is non-visible if the associated record-
ing is shown in the graph section.
Clicking on it switches the element to visible.
Opened The elements of the assigned recording are visible. Clicking the
symbol closes the elements of the recording in the recording list.
This hides all elements of the recording in the list.
Alternatively, the elements can also be collapsed by double-click-
ing the recording.

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Symbol Meaning Description

Closed The elements of the assigned recording are hidden. Clicking the
symbol opens the elements of the recording in the recording list.
This shows all elements of the recording in the list.
Alternatively, the elements can also be opened by double-clicking
the recording.
Scaled on the Y The marked element is scaled on the Y primary axis.
primary axis
Scaled on the X axis The marked element is scaled on the X axis.

Combined Y-axis The Y-axis of the selected element is combined with the Y-axis of
another element with the same selection (scaling several elements
on one Y-axis).
"Import..." button enables the import of recordings that were previously exported as
a csv file
Tab. 83 Description of the Symbols in the Working Area
Via the symbols in the title bar of the working area, the following commands can be triggered:

Symbol Command Description

Export as CSV Exports the displayed diagram as a CSV file.

Export chart as Exports the graph shown as an image file.

image
Enable/disable tool- For the graph points marked with the aid of the measuring bar, the
tip recorded value, parameter number and parameter name can be
displayed as a tool tip.
Enable/disable grid Shows or hides a grid in the graph section.

Undo scrolling and Undoes the last zoom/scroll operation.

zooming
Redo scrolling and Restores the next zoom/scroll operation.
zooming
Zoom to y extents Expands the graph to the maximum extension of the Y-axes.

Reset zoom Expands the graph to the maximum extension of the X-axis.

Tab. 84 Description of the Symbols in the Title Bar of the Working Area

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Commands of the Context Menu

For the graph section, recordings and elements of the recordings, there are separate context menus
with the following commands and symbols:

Symbol Menu command Description

Export chart as Exports the selected graph as an image file.

image
Copy chart to clip- Copies the selected graph as an image to the Windows clipboard.
boad
Tab. 85 Commands of the Context Menu for the Graph Section

Symbol Menu command Description

Copy to clipboard Copies the recording as a CSV file to the clipboard.

Export as CSV Exports the recording as a CSV file to a file.

Add user defined Adds a custom channel to an existing recording.

channel

Rename Enables the renaming of the recording (also possible with the
function key [F2]).

Delete Removes the diagram of the selected recording from the trace dis-
play.
Delete all Removes all diagrams from the trace display.
Delete all but this Removes all diagrams from the trace display except the selected
diagram.
Expand all Expands the elements of all recordings in the recording list.

Collapse all Collapses the elements of all recordings of the recording list.
Collapse all but this Collapses the elements of all other recordings. The elements of
the selected recordings are expanded.
Tab. 86 Context Menu Commands for Recording Names

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Symbol Menu command Description

Show Shows the element in the graph.

Hide Hides the element in the graph.

Set as primary axis Scales the element on the Y primary axis.

Set as x axis Scales the element on the X-axis.

Combine axes Combines the Y-axes of selected elements with the same unit. The
elements are then scaled on the same combined Y-axis.

Split axes Separates the combined Y-axes of the elements again. Each ele-
ment is scaled on its own Y-axis.

Tab. 87 Commands of the Context Menu for the Elements

Adjusting the Graph Display
The graph section can be moved, zoomed and re-scaled. The changes can be made with the following
mouse-keyboard combination:

Adjustment Required action Behaviour

Move graph – Click on the graph with the [left The cursor changes to a hand. The
mouse button]. graph moves with the mouse
– Keep the [mouse button] motion.
pressed and move the mouse.
Zooming with the zoom – Keep the [shift key] + [left The zoom box will stretch from the
box mouse button] pressed and start point to the current mouse
drag the mouse. position. Releasing the [mouse but-
– Release the [mouse button] at ton] will cause the size of the zoom
the desired end point. box to become zoomed.
Zooming with the – Point to the graph section with Zooming will occur as soon as the
mouse wheel the mouse. mouse wheel is moved.
– Zoom in or out with the mouse
wheel
Rescaling the axis – Move the mouse over the axis to The scaling follows the movement of
be rescaled. the mouse while the [left mouse but-
ton] is pressed.

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Adjustment Required action Behaviour

– Keep the [left mouse button]

pressed and move the mouse. A
vertical movement must be per-
formed to scale the Y axes and a
horizontal movement performed
to scale the X axis.
Tab. 88 Adjusting the Graph Display
If a graph is moved, zoomed or rescaled via the mentioned actions, these actions can be undone step
by step with the command "Undo" and restored step by step with the command "Redo".
This history goes back to when the changes were made. The history is deleted if the graph section is
reset to the maximum extension.
Combine Y-axes
Signals with the same unit can be scaled together on a common Y-axis. The number of Y-axes in the
graph is reduced accordingly. The reduction and combination of Y-axes can increase the clarity of the
graph view.
Combining Y-Axes of Elements with the Same Unit
1. Click the element name in the recording list whose Y-axis is to be combined.
Ä The line with the element name is highlighted.
2. Keep the [Ctrl button] pressed.
3. Click other element names with the same unit.
Ä The line is also highlighted.
4. Repeat the above step until all desired items are highlighted.
5. Select the command Combine axes in the context menu of a selected element.
Ä The scales of the Y-axes of previously selected elements are combined on a single Y-axis.
Add user defined channel
You can add a custom channel to an existing recording. Custom channels enable the following:
– Representation of individual bits of a recorded signal in the diagram (calculation bit mask)
– Calculation of measurement data with formulas and graphical representation of the results in the
diagram for further analyses
1. Select the command "Add user defined channel" in the context menu of the recording name.
Ä This will open a pop-up that allows you to add a custom channel.
Step 1: The pop-up offers input fields for the channel name and the unit and offers a selection
of calculations (e. g. bit mask).
2. Enter the channel name and unit and select Calculation.
Ä Step 2: The pop-up will display depending on the selected Calculation name of the possible
recording channels.
3. Select Calculation.
Ä Step 3: The pop-up displays additional input fields depending on the selected Calculation.
4. Edit input fields and activate settings with the button "Apply".
Ä The pop-up is closed. The user-defined channel is added to the list of elements and displayed
graphically in the diagram.

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Adding the Measuring Bar

In the graph, simple measurements related to the X axis and the Y primary axis can be carried out via
the measuring bar. Measuring bars can be added to the graph using the following mouse-keyboard
combinations:

Measuring bar type User action Behaviour

Measuring bar with Keep the [CTRL] + [shift] + [left The measuring bar will stretch to the
dimensional reference mouse button] pressed and drag the the entire graph height.
to the X axis mouse
Measuring bar with Keep the [CTRL] + [left mouse but- The measuring bar will stretch from
dimensional reference ton] pressed and drag the mouse the start point to the current mouse
to the X axis and to the position.
Y primary axis
Tab. 89 Expanding the Measuring Bar

1 Measuring bar with dimensional reference to 3 Measuring bar with dimensional reference to
the X axis the X axis and to the Y primary axis
2 Symbol Delete
Fig. 26 Measuring bar
Depending on the measuring bar added, the distance between the measuring bar edges is displayed
with reference to the X axis or with reference to the X axis and Y axis. Clicking on the symbols shown in

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the measuring bar "Delete" will remove the measuring bar from the graph once again. If the scaling of
the Y primary axis or the X axis is changed, all measuring bars are removed from the graph again. This
action cannot be undone.
Graph Tool Tip
The tool tip for the graph can be activated and deactivated using the symbol for the title bar of the
working area. The tool tip works in the following two modes:

Mode Description

Line If the time is plotted on the X axis, a line is shown in the graph.
The position of the line is attached to the mouse cursor. At the intersection
points of the line with the graph curves, information boxes are displayed with
the name and the current Y value of the signals. The time is displayed in an
information box on the X axis.
Cross-hair pointer If there is no time plotted on the X axis, a cross-hair pointer is shown in the
graph. The position of the crosshairs is attached to the mouse pointer.
If the cursor is over one or more data points, an information box with the corres-
ponding Y-value and signal name is displayed at this position for each data
point.
Tab. 90 Modes of the Tool Tip Command
Exporting the Recording
Recordings can be exported as a CSV file or as an image file or they can be copied directly as an image
or as csv data to the clipboard. CSV data and files can be further processed with external programmes
(Comma-separated values).
Exporting a Recording as a CSV File
• Select the command "Export as CSV"in the context menu of the recording name or in the title bar
of the working area.
Ä A dialogue opens which enables the file to be saved.
Copying CSV Data of the Recording to the Clipboard
• Select the command "Copy to clipboard"in the context menu of the recording name.
Ä The recording is then copied as CSV data to the clipboard.
Exporting the Recording as an Image
1. Select the recording name so that the recording is shown in the graph section.
2. In the context menu of the graph section or in the title bar of the working area, select the com-
mand "Export chart as image".
Ä A dialogue opens which enables the file to be saved.
Copying the Recording as an Image to the Clipboard
1. Select the recording so that this is shown in the graph section.
2. In the context menu of the graph section, select the command "Copy chart to clipboad".
Ä The image is then copied to the clipboard.
Importing a Recording
Recordings previously exported to CSV files can be imported as follows:

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1. Press the "Import..." button.

Ä A dialogue opens which enables the the imported file to be selected.
2. Find and select the required file.
3. Actuate the button "Open".
Deleting a Recording
Recordings can be deleted with the command "Delete"in the context menu of the recording name.

2.5.8 Auto tuning (evaluation)

Functions
In order to optimise the closed-loop settings for specific applications, the auto-tuning measurement
result can be evaluated as follows on the "Auto tuning" diagnostics screen:
– Display or export of logarithmic diagrams
– Export settings to a CSV file
Requirements for using the functions:
– Perform auto-tuning.
– Establish connection to the device.
– Read out settings.
Reading Out Settings
Settings can be read out from the device with the "Read out settings" command if the device is con-
nected. The settings are then immediately shown in the graphs.

1 Logarithmic view of the frequency response 2 Logarithmic view of the phase response
Fig. 27 Auto-tuning measurement result

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Functions for Evaluating the Auto-tuning

The following graphs are displayed on the "Auto tuning" diagnostics panel for evaluation of the
closed-loop controller settings:
– logarithmic view of the frequency response (top graph)
– logarithmic view of the phase response (bottom graph)
The following actions for both graphs are synchronised by default:
– Zoom actions
– Move actions
– Scaling the frequency axis (x-axis)
– Activate tool tip
The synchronisation of the actions is activated or deactivated with the "Synchronise graphs" com-
mand.
The "Grid", "Y Zoom" and "Reset graph section" commands are not synchronised, but applied inde-
pendently to both graphs.

Symbol Command Description

Reading Out Settings Reads auto-tuning settings from the device.

Export data Exports the displayed settings to a CSV file.

Export graph Exports the displayed graphs to a common image file

.png. The generated files contains the names of the
measured variables and their measured values.
Synchronise graphs Activates or deactivates synchronisation of the graphs.

Activate tool tip Activates or deactivates the tool tip in the graphs. If the
tool tip is activated, the associated values are displayed
in a window by positioning a vertical reference line on
the values curve of the graphs.
Activate grid Activates or deactivates the grid in the graphs.

Y-zoom Zoom y-axes of the graphs to maximum extension with

reference to the data.
Reset graph section Reset graphs to maximum extension with reference to
the settings.
Tab. 91 Functions

2.6 Integrating a Device in a Festo Controller

Devices can be connected to networks via connectors within the Designer of the Festo Automation
Suite. Depending on the type of device, the connectors are displayed on different sides of the tile. In

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the event of a master/slave connection, one of the two devices is a master device and the other a
slave device.

Device Functions
Functions that are available to the applicable device in the CODESYS extension of the Festo Automa-
tion Suite are described in more detail in the documentation of the relevant device library.
The device library and the related documentation are automatically integrated into the CODESYS pro-
gram.

The following example describes the integration of a CMMT servo drive into a CODESYS program.
Connecting Device to a Controller as a Slave
• Connect device to a Festo controller as a slave (è Online help for Festo Automation Suite,
chapter "Projecting device networks").
Ä – The slave device is displayed in the "Programming" context of the controller (master
device)
– The slave device is automatically integrated in the control program when a connection to
the controller is established (master device)
– The slave device can be activated under the name specified in the Festo Automation Suite
in the CODESYS extension of the Festo Automation Suite.
Setting the Operating Mode on the "Fieldbus" Parameter Panel
If the device is connected to a controller, the operating mode in which the servo drive should be activ-
ated in the control program and the version of the device driver in the CODESYS CODESYS extension of
the Festo Automation Suite can be specified on the "Fieldbus" parameter panel è 2.3.5.
The following operating modes are available:

Mode Description

"Point to point" The servo drive receives a positioning command from the control-
ler.
To execute the movement, the servo drive uses the integrated tra-
jectory generator to calculate the required position setpoint val-
ues.
This operating mode is suitable for controlling an axis regardless
of the other axes (uncoordinated movement).
"SoftMotion" The controller sends the position setpoints to the servo drive via
the fieldbus.
This operating mode enables the coordinated movement of sever-
al axes. It requires a controller with CODESYS SoftMotion function.
Tab. 92 Operating Modes for the Servo Drive
Device drivers for the CODESYS extension of the Festo Automation Suite can be components of device-
specific plug-ins for the Festo Automation Suite. By installing a new plug-in version, new versions of
the device drivers are also installed. The latest available device driver version is used when establish-

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ing a device connection in the Designer of the Festo Automation Suite. If a different driver version is
required, this version can be selected in the plug-in of the respective device.
Functions in the CODESYS Extension of the Festo Automation Suite with Selection of the Operating
Mode "SoftMotion"
The "SoftMotion" operating mode is based on the CODESYS SoftMotion and requires a controller with
SoftMotion function. Integration into the control program takes place as in CODESYS by transfer of the
SoftMotion axis object to PLCopen modules for SoftMotion.
Functions in the CODESYS Extension of the Festo Automation Suite with Selection of the Operating
Mode "Point to point"
When selecting "Point to point" operating mode, there are two options for integrating the device into
the control program:
– Transferring an axis object to PLCopen modules (similar to "Interpolated" operating mode/Soft-
Motion).
– Directly accessing methods and properties of axis objects.
Parameters for movement commands (e.g. target position or velocity) are always specified in user
units. If necessary, the device driver automatically adjusts itself internally to the parameterisation
saved on the device (e.g. scaling of setpoint values).
The mapping of the process data is also completed automatically and does not need to be implemen-
ted manually in the control program.
PLCopen modules are included in the Festo_PtP_BasePLCopen library. This library has the following
categories:
– Administrative FBs: Modules without a movement function, e. g. for issuing controller enable,
resetting device errors or importing actual values
– Continuous Motion FBs: Modules to execute continuous movement types (velocity- or torque-con-
trolled operation)
– Discrete Motion FBs: Modules to execute positioning jobs (absolute, additive and relative)
– Other FBs: Modules for other or manufacturer-specific functions, e. g. homing or record operation
Methods and properties of the axis object can primarily be accessed via the structured text. It must be
ensured that a method is only called up once and not cyclically. The device driver then executes the
relevant function itself and the status can be evaluated by requesting the corresponding properties.
For additional information on the available methods, see è Library documentation.

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Fig. 28 Example: Control program with an integrated slave device (axis 1)

No. Description
1 Access to actual values via properties of axis object
2 Call up axis object method including direct switchover to the next step
3 Wait for successful execution of the method by requesting the corresponding property

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No. Description
4 Start a positioning command including transfer of position and dynamic values in user
units
5 Wait to start and subsequently terminate the positioning process
Tab. 93 Legend for control program

3 Product Configuration
3.1 Controller
3.1.1 Communication interfaces
IP address
The device can be set to a concrete IP address or, alternatively, obtain the address via DHCP è Online
help for Festo Automation Suite.
Factory setting: 192.168.0.1
The Ethernet interface [X18] supports 2 connections of which only one may assume the master control.
With the "Identify Device" function, a flashing sequence can be activated on the connected servo
drive è 2.2.2.2 Establishing and Disconnecting a Connection.
MAC addresses
The device has 4 MAC addresses in total. The first MAC address can be found on the type plate, while
the other three have consecutive numbers based on the first address. MAC addresses 1, 2 and 3 are
allocated to the device profile. MAC address 4 is allocated to the communication interface [X18].

3.1.2 Firmware
Firmware Management
The servo drive supports the use of any number of compatible firmware packages. In this way, the
device can be updated to the latest firmware package. As required, however, an older firmware pack-
age can also be loaded, e.g. so that the same firmware version can be used in identical systems.
The firmware can be updated using Festo Automation Suite.
Compatibility Check
Before a firmware package is downloaded, the system checks whether the firmware is compatible with
the following:
– Basically for the type of equipment: CMMT-ST-...-EC (EtherCAT), CMMT-ST-...-PN (PROFINET) etc.
– The hardware version of the device
The check is performed by Festo Automation Suite before the download already.
Firmware Download
The available firmware packages are downloaded onto the PC using Festo Automation Suite.
The firmware file download and firmware update on the device are performed in the Scan area è Help
for Festo Automation Suite.

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Product Configuration

The firmware download may take several minutes and must not be interrupted. Do not turn off the
device! Do not close the software! Incorrectly or improperly executed firmware downloads can render
the device unusable (service case).

To update the firmware, perform the following steps:

1. Download the firmware files onto the device.
2. Start the firmware update. The start of the firmware update does not take place at the same time
as the download of the firmware files.
3. Start the update procedure. The update procedure is performed in a device-internal manner in
interaction between the firmware management component and the bootloader.
Festo Automation Suite carry out the abovementioned steps automatically, one after another.
Information on the Firmware
The firmware package of a device can be read through parameters.

ID Px. Parameter Description

9550 Firmware package Firmware package version

version Access read/−
Update effective immediately
Unit −
9560 Major version firm- Major version of the firmware package
ware package Access read/−
Update effective immediately
Unit −
9570 Minor version firm- Minor version of the firmware package
ware package Access read/−
Update effective immediately
Unit −
9580 Patch version firm- Patch version of firmware package
ware package Access read/−
Update effective immediately
Unit −
9590 Build version firm- Build version of firmware package
ware package Access read/−
Update effective immediately
Unit −
Tab. 94 Parameter

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Diagnostic Messages for the Firmware Update

ID Dx. Name Description

11 | 04 | 00181 Writing of firmware failed Writing of firmware failed

(184811701)
11 | 04 | 00182 Reading of firmware failed Reading of firmware failed
(184811702)
11 | 04 | 00183 Firmware invalid Firmware invalid
(184811703)
11 | 04 | 00184 Firmware incompatible Firmware incompatible
(184811704)
11 | 04 | 00185 Firmware save location invalid Firmware save location invalid
(184811705)
11 | 04 | 00186 Firmware save location empty Firmware save location empty
(184811706)
11 | 04 | 00187 Firmware update not allowed Firmware update not allowed
(184811707)
11 | 04 | 00188 Firmware package in use Firmware package in use
(184811708)
11 | 04 | 00189 System error during firmware System error occurred during firmware update
(184811709) update
11 | 04 | 00190 Firmware update failed Firmware update failed
(184811710)
Tab. 95 Diagnostic Messages

3.1.2.1 CiA 402

Objects for the Firmware

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
9550 0x2129.08 Firmware package version STRING(30)
9560 0x2129.09 Major version firmware package UINT32
9570 0x2129.0A Minor version firmware package UINT32
9580 0x2129.0B Patch version firmware package UINT32
9590 0x2129.0C Build version firmware package UINT32
Tab. 96 Objects

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3.1.2.2 PROFIdrive
PNUs for Firmware

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

9550 2807.0 ... 29 Firmware package version STRING(30)
9560 2808.0 Major version firmware package Unsigned32
9570 2809.0 Minor version firmware package Unsigned32
9580 2810.0 Patch version firmware package Unsigned32
9590 2811.0 Build version firmware package Unsigned32
Tab. 97 PNUs

3.1.3 Parameter set

Default and factory settings, user parameter set
Various parameter sets are available for work on the servo drive.

Parameter set Description

Default parameter set Device-independent parameter, only used within

the firmware.
Factory parameter set Device-specific parameter set, contains the spe-
cific default values of the servo drive.
User parameter set Application-specific parameter set in device;
parameter values are defined by the user.
Project parameter set Application-specific parameter set in the project
(plug-in), parameter values are defined by the
user.
Tab. 98 Parameter sets
If an online connection is active, the user parameter set and project parameter set are identical.

Changed parameters must be saved on the device; otherwise the last parameter set will become act-
ive again after a restart.

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Sequence at the start-up of the servo drive and establishment of an online connection

Fig. 29 Sequence at start-up

3.1.4 Master control

Master control determines the interface through which the motion commands may be started.
Motion commands can always be started only through one of the following interfaces:
– Interface of the device profile (factory setting)
– Standard Ethernet (through the device-specific plug-in)
– I/O interface
Ex works, the device profile interface has the master control after activation (master control via field-
bus) Through parameterisation, the master control can also be transferred to the I/O interface.
If no other device with a plug-in has the master control, master control can be taken at any time with
the plug-in. The master control is withdrawn from the fieldbus (interface of the device profile). If the
master control is released again with the plug-in, the master control goes back to the fieldbus.

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Assuming and relinquishing the master control

Through the revocation of the master control by the plug-in, active setpoint settings are interrupted,
such as those made in the device profile.

The plug-in can assume and relinquish the master control at any time, even during an active motion
for example. If the plug-in assumes or relinquishes the master control, the device performs a Category
1 stop. Depending on the parameterisation, the master control then returns to the device profile inter-
face (factor setting) or I/O interface.
Recommendation: When relinquishing the master control, proceed as follows:
1. Make sure the drive is at a standstill in a regulated manner (e.g. by a stop command, stop cat-
egory 2).
2. Revoke the controller enable (stop category 1, drive is at a standstill in an unregulated manner).
3. Relinquish the master control.
No master control is required for parameterisation. Parameterisation through the standard Ethernet
and device profile interfaces is always possible.
Simultaneous connections via standard Ethernet interface
Through the standard Ethernet interface, 2 connections at once are technically possible, e.g. through
2 device-specific plug-ins. If the master control has been assumed by a device-specific plug-in, the
plug-in has the master control until it relinquishes the master control again.

If the plug-in relinquishes the master control, the device performs a Category 1 stop.

Time-out
If the device-specific plug-in has the master control, the device detects when the connection to the
plug-in has been interrupted. The device executes the parameterised reaction. The time-out time is
typically 5 s. For slow networks, a longer time-out time can be selected.

3.1.5 Device services

Device services are executed by the methods described in the following sections. Functions close to
the hardware, such as reset of the device, can be called.
The status query of a method delivers one of the following return values:
Method status:
– 0 = ready
– 1 = execute
– 2 = ended
– 3 = Error
The query of the return code of a method delivers one of the following return values:
– 0 = successful
– 1 = Error

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3.1.5.1 Reset device

CiA402

Method Object Function Description

Reset Device 0x2000.01 Controlling method Value = 1: execute method

Tab. 99 Reset device
PROFIdrive

Method PNU Function Description

Reset Device 1000 Controlling method Value = 1: execute method

Tab. 100 Reset device

3.1.5.2 Controller parameter set switchover

CiA402

Method Object Function Description

Controller parameter set 0x2001.01 Controlling method Value = 1: execute method

switchover 0x2001.02 Method status Status
0x2001.03 Method transfer value 0 … 2: controller parameter set
ID
0x2001.04 Method transfer value 0 … 100: transition time [s]
0x2001.05 Method return value Return code
Tab. 101 Controller parameter set switchover
PROFIdrive

Method PNU Function Description

Controller parameter set 1002 Controlling method Value = 1: execute method

switchover 1003 Method status Status
1004 Method transfer value 0 … 2: controller parameter set
ID
1005 Method transfer value 0 … 100: transition time [s]
1006 Method return value Return code
Tab. 102 Controller parameter set switchover

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3.1.5.3 Saving zero point offset

CiA402

Method Object Function Description

Save zero point offset 0x2002.01 Controlling method Value = 1: execute method
0x2002.02 Method status Status
0x2002.03 Method return value Return code
Tab. 103 Saving zero point offset
PROFIdrive

Method PNU Function Description

Save zero point offset 1007 Controlling method Value = 1: execute method
1008 Method status Status
1009 Method return value Return code
Tab. 104 Saving zero point offset

3.1.5.4 Request ReInit

CiA402

Method Object Function Description

Request ReInit 0x2003.01 Controlling method Value = 1: execute method

0x2003.02 Method status Status
0x2003.03 Method return value Return code
Tab. 105 Request ReInit
PROFIdrive

Method PNU Function Description

Request ReInit 1010 Controlling method Value = 1: execute method

1011 Method status Status
1012 Method return value Return code
Tab. 106 Request ReInit

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3.1.5.5 Delete parameter set

CiA402

Method Object Function Description

Delete parameter set 0x2004.01 Controlling method Value = 1: execute method

0x2004.02 Method status Status
0x2004.03 Method transfer value Value = 1
0x2004.04 Method return value Return code
0x2004.05 Method return value Value = 1
Tab. 107 Delete parameter set
PROFIdrive

Method PNU Function Description

Delete parameter set 1013 Controlling method Value = 1: execute method

1014 Method status Status
1015 Method transfer value Value = 1
1016 Method return value Return code
1017 Method return value Value = 1
Tab. 108 Delete parameter set

3.1.5.6 Save parameter set

CiA402

Method Object Function Description

Save parameter set 0x2005.01 Controlling method Value = 1: execute method

0x2005.02 Method status Status
0x2005.03 Method transfer value Value = 1
0x2005.04 Method return value Return code
0x2005.05 Method return value Value = 1
Tab. 109 Save parameter set

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PROFIdrive

Method PNU Function Description

Save parameter set 1018 Controlling method Value = 1: execute method

1019 Method status Status
1020 Method transfer value Value = 1
1021 Method return value Return code
1022 Method return value Value = 1
Tab. 110 Save parameter set

3.1.5.7 Cam controller 0

CiA402

Method Object Function Description

Cam controller 0 0x2006.01 Controlling method Value = 1: execute method

0x2006.02 Method status Status
0x2006.03 Method transfer value Mode (Px.112700)
0x2006.04 Method transfer value Update Mode
0 = apply immediately
1 = apply with the next modulo
overflow
0x2006.05 Method return value Return code
Tab. 111 Cam controller 0
PROFIdrive

Method PNU Function Description

Cam controller 0 1036 Controlling method Value = 1: execute method

1037 Method status Status
1038 Method transfer value Mode (Px.112700)
1039 Method transfer value Update Mode
0 = apply immediately
1 = apply with the next modulo
overflow
1040 Method return value Return code
Tab. 112 Cam controller 0

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3.1.5.8 Cam controller 1

CiA402

Method Object Function Description

Cam controller 1 0x2007.01 Controlling method Value = 1: execute method

0x2007.02 Method status Status
0x2007.03 Method transfer value Mode (Px.112700)
0x2007.04 Method transfer value Update Mode
0 = apply immediately
1 = apply with the next modulo
overflow
0x2007.05 Method return value Return code
Tab. 113 Cam controller 1
PROFIdrive

Method PNU Function Description

Cam controller 1 1041 Controlling method Value = 1: execute method

1042 Method status Status
1043 Method transfer value Mode (Px.112700)
1044 Method transfer value Update Mode
0 = apply immediately
1 = apply with the next modulo
overflow
1045 Method return value Return code
Tab. 114 Cam controller 1

3.1.5.9 Position capture (touch probe) 0

CiA402

Method Object Function Description

Position Capture (Touch- 0x2008.01 Controlling method Value = 1: execute method

Probe) 0 0x2008.02 Method status Status
0x2008.03 Method transfer value Mode (Px.113000)
0x2008.05 Method return value Return code
Tab. 115 Position capture (touch probe) 0

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PROFIdrive

Method PNU Function Description

Position Capture (Touch- 1046 Controlling method Value = 1: execute method

Probe) 0 1047 Method status Status
1048 Method transfer value Mode (Px.113000)
1049 Method return value Return code
Tab. 116 Position capture (touch probe) 0

3.1.5.10 Position capture (touch probe) 1

CiA402

Method Object Function Description

Position Capture (Touch- 0x2009.01 Controlling method Value = 1: execute method

Probe) 1 0x2009.02 Method status Status
0x2009.03 Method transfer value Mode (Px.113000)
0x2009.05 Method return value Return code
Tab. 117 Position capture (touch probe) 1
PROFIdrive

Method PNU Function Description

Position Capture (Touch- 1046 Controlling method Value = 1: execute method

Probe) 1 1047 Method status Status
1048 Method transfer value Mode (Px.113000)
1049 Method return value Return code
Tab. 118 Position capture (touch probe) 1

3.2 Fundamentals of Parameterisation

3.2.1 Depiction of the parameters
Structure of parameter IDs
All parameter IDs have the following structure to uniquely identify the parameter:
– System (0) or axis label (1, …)
– Parameter number
– Instance (identification of the instance to differentiate between similar parameters of different
components, e.g. position capture 1 and position capture 2).
– Index (identification of the differentiation of similar parameters within an instance, e.g., record
type of record 1, 2, 3, etc.)
Depiction:

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P[system or axis label].[parameter number].[instance].[index]

e.g.: "P1.1510.0.0"
Structure of the parameter tables
The parameter tables are structured as follows in the descriptions of the individual functions:

ID Px. Parameter Description

8416 Axis zero point offset Specifies the offset of the axis zero point to the reference 3
1 2 mark.
Access read/write 4

Update effective immediately 5

Unit user defined 6

Tab. 119 Parameter example

Cell Content/description
1 Parameter number
2 Name of the parameter
3 Brief description of the parameter. If required: additional information on the para-
meter, e.g. content of indices, value list, etc.
4 Access: The parameter can be read or written
5 Update: change of the parameter:
– Immediately effective: assumed immediately in the parameter
– Reinitialisation: not effective until after reinitialisation
– Restart: does not come into effect until after a restart of the device
6 Unit:
– –: no unit
– User-defined: position, velocity, acceleration or jerk according to paramet-
erisation (see Px.1150.0.0, Current user unit)
– explicit specification of the applicable unit (Nm, kg, s, …)
Tab. 120 Legend for the parameter example

3.2.2 Data types

Data types used and their value ranges:

Data type Variable and sign Value range

BOOL 8-bit without sign 0 … 255

CHAR 8-bit without sign 0 … 255
UINT8 8-bit without sign 0 … 255
SINT8 8-bit with sign –128 … 127

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Data type Variable and sign Value range

UINT16 16-bit without sign 0 … 65536

SINT16 16-bit with sign –32768 … 32767
UINT32 32-bit without sign 0 … (232 –1)
SINT32 32-bit with sign –231 … (232 –1)
UINT64 64-bit without sign 0 … (264 –1)
SINT64 64-bit with sign –263 … (264 –1)
FLOAT32 32-bit with floating decimal 1.17 * 10–38 … 3.4 * 1038
FLOAT64 64-bit with floating decimal 2.2 * 10–308 … 1.8 * 10308
STRING(X) X * 8-bit without sign X * 0 … 255
Tab. 121 Data types

3.2.3 Depiction of the Objects Specific to the Device Profile

The function descriptions in the profile-specific section contain tables in which the profile-specific
objects or parameters assigned to the relevant parameters are listed.
Structure of the CiA Object Tables
In the device-specific section, the function descriptions contain tables in which objects allocated to
the parameters involved are listed.
The CiA object tables are structured as follows in the descriptions of the individual functions:

Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective. 1

468 0x6068.00 Damping time target reached UINT16
469 0x6067.00 Monitoring window target position UINT32
4610 0x606D.00 Monitoring window target speed UINT16
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective. 2
468 0x2166.09 Damping time target reached FLOAT32
469 0x2166.0A Monitoring window target position FLOAT32
4610 0x2166.0B Monitoring window target speed FLOAT32
4611 0x2166.0C Monitoring window target torque FLOAT32
3 4 5 6

Tab. 122 Object Table Example

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Cell Content/description
1 Range for CiA 402 objects: only the parameters that are allocated to an object of the
standard device profile for drives and motion controllers.
2 Range for manufacturer-specific objects: all parameters are allocated to an object in the
manufacturer-specific range
3 Parameter number
4 Allocated index and sub-index (hexadecimal)
5 Name of the parameter
6 Data type of the object; can differ from the data type of the parameter
Recomm. maximum
Tab. 123 Legend for the Object Table Example
Structure of the PNU Parameter Tables
The PNU parameter tables are structured as follows in the descriptions of the individual functions:

Parameter PNU Name Data type

Px. Profile-specific parameters 1

11280606 36.0 Acceleration MDI FloatingPoint
11280607 37.0 Deceleration MDI FloatingPoint
11280604 34.0 Target position MDI Integer64
11280605 35.0 Profile speed MDI FloatingPoint
Px. Manufacturer-specific parameters 2
11280606 12341.0 Acceleration MDI FloatingPoint
11280607 12342.0 Deceleration MDI FloatingPoint
11280604 12339.0 Target position MDI Integer64
11280605 12340.0 Profile speed MDI FloatingPoint
… … … …
3 4 5 6

Tab. 124 Examples of PNUs

Cell Content/description
1 Range for profile-specific PNUs: only the parameters that are allocated to PNUs of the
PROFIdrive device profile.
2 Range for manufacturer-specific PNUs: parameters are allocated to the PNUs from the
manufacturer-specific range.
3 Parameter number

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Cell Content/description
4 Assigned PNU (decimal)
5 Name of the parameter
6 Data type of the PNU; can differ from the data type of the parameter
Tab. 125 Legend for the PNU Table Example

3.2.4 Measuring units

3.2.4.1 Defined measuring units

Basic units are defined measuring units in the servo drive controller that typically characterise physic-
al properties. These units cannot be changed by the user.

Size Basic unit Data type

Temperature T Degrees Celsius °C FLOAT32

Current I Ampere A FLOAT32
Voltage r Volt V FLOAT32
Energy E Joule/Watt second J/Ws FLOAT32
Torque M Newton-metre Nm FLOAT32
Resistance (Electrical) R Ohm Ω FLOAT32
Inductance L Henry H FLOAT32
Capacity (Electrical) C Farad F FLOAT32
Power P Watt W FLOAT32
Time t Second s FLOAT32
Value specification in per- % — — FLOAT32
cent
Tab. 126 Basic units

3.2.4.2 Configurable measuring units ("user unit")

Configurable units adapted to the respective application by the user are typically required for motion
variables. They generally refer to the output-side motion variables. The conversion of these user units
can be performed only in the "Pre-operational" state and requires a reinitialisation of the servo drive.
As a result, all pertinent parameters in the servo drive are converted to the new user unit. The control-
ler parameters do not have to be recalculated during a conversion of the units. The configured user
unit also applies for the drive profile. A conversion of the measuring unit using the drive profile also
converts the unit of the entire device.

Measuring units (position) Decimal places Data type

Increments incr 0 SINT64

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Measuring units (position) Decimal places Data type

Metre m 10 SINT64
Imperial in 8 SINT64
Revolution r 9 SINT64
Radian rad 8 SINT64
Degree ° 6 SINT64
Tab. 127 Configurable measuring units of the position
All measuring units for the position are depicted and preset with data type SINT64. The position is
depicted in every measuring unit with a different number of decimal places.
Examples for the depiction of positions
– 0.001 m x 1010 ≙ 1 x 107
– 1 degree x 106 ≙ 1 x 106

To simplify the entry for the user, the plug-in performs the necessary conversion in the commissioning
software of Festo. During the use of the plug-in, the units shown there and/or resolution for the entry
of the respective parameters must be used.
Using the drive profile, the resolutions set there always apply.

All position differences and derivations from the position are displayed as FLOAT32 values in the
device. As a result, a resolution (decimal place) does not have to be taken into consideration.

Vari- Position differ- Velocity Acceleration Jerk Data type

ables/measur- ence
ing units

Increments incr incr/s incr/s² incr/s³ FLOAT32

Metre m m/s m/s² m/s³ FLOAT32
Imperial in in/s in/s² in/s³ FLOAT32
Revolution r Rev/s Rev/s² Rev/s³ FLOAT32
Revolution 1) r rpm rpm/s rpm/s² FLOAT32
Radian rad rad/s rad/s² rad/s³ FLOAT32
Degree ° °/s °/s² °/s³ FLOAT32
1) Default
Tab. 128 Configurable measuring units of the position difference and derived variables of the position

In user parameter sets, parameters are always saved in the unit set by the user. When a user unit is
set, the derived variable obtains the same length reference (m, m/s, m/s2, etc.).

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Parameters for the configurable measuring units

ID Px. Parameter Description

1150 Current user unit Specifies the active user unit.

Access read/−
Update effective immediately
Unit −
1151 Selection of next user Selection of the next user unit
unit – 0: Internal increments [Inci, Inci/s, …]
– 1: Increments [Inc, Inc/s, …]
– 2: Rev [rev, rps, …]
– 3: Rev [rev, rpm, …]
– 4: Rad [rad, rad/s, …]
– 5: Degree [°, °/s, …]
– 6: Metric [m, m/s, …]
– 7: Imperial [in, in/s, …]
Access read/write
Update reinitialization
Unit −
1152 User unit status Specifies whether the user unit is active
Access read/−
Update effective immediately
Unit −
Tab. 129 Parameter

CiA 402
Objects for the configurable measuring units

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1150 0x217C.01 Current user unit UINT32
1151 0x217C.02 Selection of next user unit UINT32
1152 0x217C.03 User unit status UINT32
Tab. 130 Objects

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PROFIdrive
PNUs for the configurable measuring units

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

1150 11277.0 Current user unit Unsigned32
1151 11278.0 Selection of next user unit Unsigned32
1152 11279.0 User unit status Unsigned32
Tab. 131 PNUs

3.2.4.3 Scaling of internal units for the fieldbus ("factor group")

The "factor group" and user unit depend directly on each other. If the unit in the "factor group" is
changed, the user unit also changes and vice versa. The prefix in the "factor group" used for scaling
has no influence on the internal depiction of the parameters in the servo drive. The units are scaled to
user units according to the CiA 402 specification ("Factor group"). Scalability is limited to the power of
10.
Different user units cannot be set for position, velocity, acceleration and jerk. When the user unit is
changed, the derivations are changed as well.
Parameters for the scaling of internal units for fieldbus

ID Px. Parameter Description

7841 Resolution position Determines the resolution of the position. The value is inter-
preted as ten-expont e.g. with meter and -6 the resolution is 1
µm.
Access read/write
Update reinitialization
Unit −
7842 Resolution velocity Determines the resolution of the velocity. The value is inter-
preted as ten-expont e.g. with meter and -3 the resolution is 1
mm/s.
Access read/write
Update reinitialization
Unit −
7843 Resolution accelera- Determines the resolution of the acceleration. The value is inter-
tion preted as ten-expont e.g. with meter and -3 the resolution is 1
mm/s².
Access read/write
Update reinitialization

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ID Px. Parameter Description

7843 Resolution accelera- Unit −

tion
7844 Resolution jerk Determines the resolution of the jerk. The value is interpreted as
ten-expont e.g. with meter and -3 the resolution is 1 mm/³.
Access read/write
Update reinitialization
Unit −
7851 User unit position Determines the user unit of the position.
Access read/write
Update effective immediately
Unit −
7852 User unit velocity Determines the user unit of the velocity.
Access read/write
Update effective immediately
Unit −
7853 User unit acceleration Determines the user unit of the acceleration.
Access read/write
Update effective immediately
Unit −
7854 User unit jerk Determines the user unit of the jerk.
Access read/write
Update effective immediately
Unit −
Tab. 132 Parameter

CiA 402
Objects for the scaling of internal units for fieldbus

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
7841 0x2194.01 Resolution position SINT8
7842 0x2194.02 Resolution velocity SINT8

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Parameter Index.Subindex Name Data type

7843 0x2194.03 Resolution acceleration SINT8

7844 0x2194.04 Resolution jerk SINT8
7851 0x216E.01 User unit position UINT16
7852 0x216E.02 User unit velocity UINT16
7853 0x216E.03 User unit acceleration UINT16
7854 0x216E.04 User unit jerk UINT16
Tab. 133 Objects
Unit coding for CiA 402 user units

User unit Values lists

Position 49920: SI Unit INCI

46336: SI Unit INC
46080: SI Unit ROUND (rev/s)
50176: SI Unit ROUND (rpm)
4096: SI Unit RAD
16640: SI Unit DEGREE
256: SI Unit METRE
49152: SI Unit INCH
Velocity 49923: SI Unit INCI 1/s
46339: SI Unit INC 1/s
46083: SI Unit ROUND (rev/s) 1/s
50247: SI Unit ROUND (rpm) 1/min
4099: SI Unit RAD 1/s
16643: SI Unit DEGREE 1/s
259: SI Unit METRE 1/s
49155: SI Unit INCH 1/s
Acceleration 50007: SI Unit INCI 1/s2
46423: SI Unit INC 1/s2
46167: SI Unit ROUND (U/s) 1/s2
50369: SI Unit ROUND (rpm) 1/(min*s)
4183: SI Unit RAD 1/s2
16727: SI Unit DEGREE 1/s2
343: SI Unit METRE 1/s2
49239: SI Unit INCH 1/s2

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User unit Values lists

Jerk 49920: SI Unit INCI 1/s3

46336: SI Unit INC 1/s3
46080: SI Unit ROUND (U/s) 1/s3
50176: SI Unit ROUND (rpm) 1/(min*s2)
4096: SI Unit RAD 1/s3
16640: SI Unit DEGREE 1/s3
256: SI Unit METRE 1/s3
49152: SI Unit INCH 1/s3
Tab. 134 Unit coding values list
Example
CMMT is parameterised to revolutions and revolutions per minute. This setting shall also be used
through the device profile.
The following shall be parameterised:
– 1 position increment 0.00001 rev = 10 µrev
– 1 velocity increment 1 rpm
– 1 acceleration increment 1 rev/(min*s)
– 1 jerk increment 1 rev/(min*s²)

Setting factor group parameters (example)

Parameter Value Comments

Resolution position
P1.7841.0.0 -5 Resolution 10-5
Resolution velocity
P1.7842.0.0 0 Resolution 10-0
Resolution acceleration
1.7843.0.0 0 Resolution 10-0
Resolution jerk
1.7843.0.0 0 Resolution 10-0
Tab. 135 Parameters for setting factor group (example)
In CODESYS the increments must be set to 100000 so the module writes the position in the correct
resolution.

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Fig. 30 Example of the user unit for revolutions

Example
CMMT is parameterised to metres. This setting shall also be used through the device profile.
The following shall be parameterised:
– Position increment 0.000001 m = 1 µm
– 1 velocity 0.001 m/s = 1 mm/s
– 1 acceleration 0.001 m/s2 = 1 mm/s2
– 1 jerk 0.001 m/s3 = 1 mm/s3

Setting factor group parameters (example)

Parameter Value Comments

Resolution position
P1.7841.0.0 -6 Resolution 10-6
Resolution velocity
P1.7842.0.0 -3 Resolution 10-3
Resolution acceleration
1.7843.0.0 -3 Resolution 10-3
Resolution jerk
1.7843.0.0 -3 Resolution 10-3
Tab. 136 Setting factor group parameters (example)
In CODESYS the “Increments” field must be set to 1000000 so the module writes the position in the
correct resolution.

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Fig. 31 Example of the user unit for metres

PROFIdrive
PNUs for the scaling of internal units for fieldbus

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

7841 11724.0 Resolution position Integer8
7842 11725.0 Resolution velocity Integer8
7843 11726.0 Resolution acceleration Integer8
7844 11727.0 Resolution jerk Integer8
Tab. 137 PNUs

3.2.5 Dimension Reference System

3.2.5.1 Function
The correct positioning of the drive requires a defined dimension reference system. To define the
measuring reference system, the following steps must be taken during first-time commissioning.
– Defining the Axis Zero Point
– Limitation of the usable range by software end positions and/or limit switches
– Determine the reference point using a homing run and move the factory-set zero point of the
absolute encoder

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Signs and Directions in the Measuring Reference System

Fig. 32 Positive direction of rotation

The indication of the signs or directions refer to the view on the front side of the motor drive shaft. The
signs of all directional variables are defined at the factory as follows:
– Positive (+) = direction of movement with clockwise direction of rotation of the motor shaft
– Negative (–) = direction of movement with anti-clockwise direction of rotation of the motor shaft
The direction of movement of load is, for example, dependent on the spindle type of the axis (clock-
wise/anti-clockwise) and on the gear unit employed. If angular or toothed belt gear units are used, the
opposite assignment of the direction of rotation can be advantageous and parameterised accordingly.
Rotational Measuring Reference System

Example: rotational drive

REF Homing point (Reference Point)

AZ Axis zero point (Axis Zero Point)
SLN Software end position, negative (SW Limit Negative)
SLP Software end position, positive (SW Limit Positive)

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Example: rotational drive

TP Target position (Target Position)

AP Actual position/current position (Actual Position)
a Axis zero point offset (AZ)
b Target/actual position (TP/AP)
c Optional: negative software end position (SLN)1)
d Optional: positive software end position (SLP)1)
1 Usable range
2 Working area
3 Direction of rotation with factory setting, looking at the front surface of the motor
shaft
1) For rotating axes with the configuration “unlimited”, no end position can be parameterised.
Tab. 138 Rotational Measuring Reference System (Positive Direction of Rotation)

Reference point Calculation rule

Axis zero point AZ = REF + a

Negative software end SLN = AZ + c = REF + a + c
position
Positive software end SLP = AZ + d = REF + a + d
position
Target position/actual TP/AP = AZ + b
position
Tab. 139 Rotational Measuring Reference System – Calculation Rule

The various positions are specified according to the configured user unit. At the conversion of the user
unit, the variables are converted automatically.

Linear Measuring Reference System

Example: linear drive

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Example: linear drive

REF Homing point (Reference Point)

AZ Axis zero point (Axis Zero Point)
SLN Software end position, negative (SW Limit Negative)
SLP Software end position, positive (SW Limit Positive)
TP Target position (Target Position)
AP Actual position/current position (Actual Position)
a Axis zero point offset (AZ)
b Target/actual position (TP/AP)
c Negative software end position (SLN)
d Positive software end position (SLP)
1 Usable range (working stroke)
2 Operating range (working stroke)
3 Direction of movement with the factory setting
Tab. 140 Linear Measuring Reference System

Reference point Calculation rule

Axis zero point AZ = REF + a

Negative software end SLN = AZ + c = REF + a + c
position
Positive software end SLP = AZ + d = REF + a + d
position
Target position/actual TP/AP = AZ + b = REF + a + b
position
Tab. 141 Linear Measuring Reference System – Calculation Rule

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The various positions are specified according to the configured user unit. At the conversion of the user
unit, the variables are converted automatically è 3.2.4 Measuring units.

Limitation of the Usable Range

The range of use can be limited by software end positions and hardware limit switches.
Software End Position SLN/SLP
Delineation of a usable range within the operating range takes place through the parameterisation of
software end positions. The position is specified relative to the axis zero point AZ.
The controller checks whether the target position of the command record lies between the software
end positions SLN/SLP.
Before the software end position is reached, the drive is braked according to the error response, so
that, if possible, the software end position is not passed. After stopping, the positioning direction is
blocked.
If the controller is not released or is not referenced, no monitoring of software end positions takes
place. If the drive is moved manually behind a software end position, after release of the controller,
only travel in the opposite direction to the exceeded software limit is possible. If the target of the next
positioning motion is beyond the software end position, an error is reported. If the target lies within
the permitted area, travel outside the software end position is possible without error.

Additional information è 5.6 Software limit position reached.

Hardware Limit Switch HLP/HLN

Limit switches limit the absolute usable range of the drive. The switching functions “N/C contact” or
“N/O contact” can be parameterised dependent on the limit switch type. The reaction of the device to
limit switch signals can be parameterised using the error management function.
The drive is blocked in the positioning direction of the active limit switch. As soon as the limit switch is
active, travel is possible only in the reverse direction after acknowledgment of the error.

Additional information è 5.5 Hardware limit switch reached.

Parameters and Diagnostic Messages

ID Px. Parameter Description

1170 Reversing the direc- Determines whether the reversal of the direction of rotation
tion of rotation shall be activated.
This means:
– 0: inactive
– 1: active
Access read/write
Update reinitialization

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ID Px. Parameter Description

1170 Reversing the direc- Unit −

tion of rotation
1171 Invert encoder signal Determines whether the encoder signal shall be inverted.
This means:
– 0: inactive (do not invert the encoder signal)
– 1: active (invert the encoder signal)
One encoder is allocated to every index
è Index for the Invert Encoder Signal Parameter (Px.1171)

Access read/write
Update reinitialization
Unit −
1172 Phase rotation Specifies whether the sequence of phases is swapped. The usu-
al phase sequence for the servomotor to turn clockwise is
ascending (U, V, W). If the servomotor has the phase sequence
U, W, V, the phase sequence is reversed. 0 for the phase
sequence U, V, W and 1 for the phase sequence U, W, V. For a
stepper motor, the phase sequence for 0 is the assignment A-#A
and B-#B. For the phase sequence equal to 1, the assignment A-
#A and #B-B is. Changing the phase sequence changes the
rotating field of the motor.
Access read/write
Update reinitialization
Unit −
Tab. 142 Parameter
Diagnostic messages
No specific diagnostic messages are allocated to the function.

3.2.5.2 CiA 402

Objects for the measuring reference system

Parameters Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

1170 0x607E.00 Reversing the direction of rotation UINT8
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1170 0x217D.01 Reversing the direction of rotation BOOL
1171 0x226E.01 ... 0A Invert encoder signal BOOL

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Parameters Index.Subindex Name Data type

1172 0x217D.02 Phase rotation BOOL

Tab. 143 Objects

3.2.5.3 PROFIdrive
PNUs for the measuring reference system

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

1170 11287.0 Reversing the direction of rotation Boolean
1171 11288.0 ... 9 Invert encoder signal Boolean
1172 11289.0 Phase rotation Boolean
Tab. 144 PNUs

3.3 Drive Configuration

3.3.1 Motor configuration

3.3.1.1 Function
The device supports Festo motors and the use of the motors of other manufacturers (third-party
motors). Information on the motor used must be provided to the device during the configuration of the
drive system. The following options are available for configuration:

Configuration options Description

Readout of motor data from the In the case of certain Festo motors, the motor data is stored in the
motor encoder EEPROM of the integrated encoder. If a corresponding motor is
used by Festo, the motor data can be read out using the plug-in
and assumed in the current project.
Configuring motor data All required information to the motor can be configured with the
plug-in or transferred to the device through the device profile
used. In the case of third-party motors, the requirement informa-
tion must be taken from the data sheet of the motor. In the case of
Festo motors, the information is saved in the database of the cur-
rent plug-in and assumed automatically in the project during the
configuration procedure of the plug-in.
Tab. 145 Motor configuration options
For the configuration of the motor, parameters with the following motor data are present in the device:
– Active motor data (currently effective motor data, è 3.3.1.8 Active motor data parameters
– Motor data from the EEPROM of the encoder (if present,
è 3.3.1.5 Parameter and diagnostic messages for motor data from the EEPROM memory)

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– Motor data from the user configuration (assume from the database or transfer manually,
è 3.3.1.2 Parameter and diagnostic messages for motor data from the user configuration)
Using parameter Px.14.0.0, it is possible to determine which motor data shall be assumed as active
data. The motor data is fundamentally not assumed until after reinitialisation.

Incorrect motor data can damage the motor!

• Check data before transfer.
• For transfer, reinitialise device.

The motor data is fundamentally not assumed until after reinitialisation. Incorrect motor data can
damage the motor!

Fig. 33 Allocation of the motor data using parameter Px.14.0.0

3.3.1.2 Parameter and diagnostic messages for motor data from the user configuration
The following list contains the changeable motor data. During the configuration of Festo motors using
the plug-in, the motor data is assumed automatically from the database after the selection of the
motor. During the configuration of third-party motors, the data must be entered manually.

ID Px. Parameter Description

718 Pole pairs (user Specifies the number of pole pairs of the motor -> data sheet of
defined) the motor. 1 pole pair = 2 poles!
Access read/write
Update reinitialization
Unit −

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ID Px. Parameter Description

7111 Motor inertia (user Specifies the inertia of the motor used -> data sheet of the
defined) motor.
Access read/write
Update reinitialization
Unit kgm²
7114 Phase sequence (user Specifies whether the sequence of phases is swapped. The usu-
defined) al phase sequence for the servomotor to turn clockwise is
ascending (U, V, W). If the servomotor has the phase sequence
U, W, V, the phase sequence is reversed. 0 for the phase
sequence U, V, W and 1 for the phase sequence U, W, V. For a
stepper motor, the phase sequence for 0 is the assignment A-#A
and B-#B. For the phase sequence equal to 1, the assignment A-
#A and #B-B is. Changing the phase sequence changes the
rotating field of the motor.
Access read/write
Update reinitialization
Unit −
7117 Nominal current (user Specifies the root mean square value of the nominal current of
defined) the motor when loading with the nominal torque -> data sheet of
the motor.
Access read/write
Update reinitialization
Unit Arms
7120 Maximum peak cur- Specifies the permissible root mean square value of the maxim-
rent (user defined) um current that may flow through the motor in the short term ->
data sheet of the motor.
Access read/write
Update reinitialization
Unit Arms
7123 Maximum rpm (user Specifies the maximum permissible velocity of the motor used ->
defined) data sheet of the motor.
Access read/write
Update reinitialization
Unit rpm

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ID Px. Parameter Description

7126 Nominal rotary speed Specifies the nominal rotary speed of the motor -> data sheet of
(user defined) the motor.
Access read/write
Update reinitialization
Unit rpm
7129 Winding inductance Specifies the inductance between 2 motor phases for a servo-
(user defined) motor. Indicates the inductance of a motor phase in a stepper
motor. -> data sheet of the motor.
Access read/write
Update reinitialization
Unit H
7132 Winding resistance Specifies the winding resistance between 2 motor phases for a
(user defined) servomotor. Specifies the winding resistance of a motor phase
for a stepper motor. -> data sheet of the motor.
Access read/write
Update reinitialization
Unit Ω
7135 Torque constant (user Specifies the ratio of the motor torque to the root mean square
defined) value of the current -> data sheet of the motor.
Access read/write
Update reinitialization
Unit Nm/Arms
7144 Time constant I²t Specifies the duration for which the parameterised maximum
(user defined) current may act. In the case of a servomotor, the current set-
point is automatically limited to the rated current at the end of
the period and the corresponding diagnostic message with the
parameterised behaviour is generated (I²t monitoring). If a
thermal model is used for I²t monitoring, as for a stepper motor
with rated current=maximum current, the time constant is used
as the filter time constant.
Access read/write
Update reinitialization
Unit s

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ID Px. Parameter Description

7147 Winding temperature Specifies the maximum permissible winding temperature of the
(user defined) motor -> data sheet of the motor.
Access read/write
Update reinitialization
Unit °C
7153 Temperature sensor Specifies the sensor type of the temperature sensor -> data
(user defined) sheet of the motor.
Possible sensor types
è Tab. 147 Value list of the temperature sensor parameters.

Access read/write
Update reinitialization
Unit −
7156 Temperature sensor Specifies the characteristic of the temperature sensor -> data
characteristic (user sheet of the motor. The temperature characteristic is described
defined) by a straight line whose increase is determined by the gain and
whose position is determined by the offset.
– Index 0: gain
– Index 1: Offset
Access read/write
Update reinitialization
Unit −
7159 Holding brake (user Determines whether the motor has an integrated holding brake
defined) and whether it shall be used -> data sheet of the motor.
– 0: inactive, holding brake not available
– 1: active, holding brake available
Access read/write
Update reinitialization
Unit −
7162 Switch-on delay hold- user-configured switch-on delay
ing brake (user Determines how long the next command is delayed after a con-
defined) troller enable. Using this parameter, the behaviour of the device
is adapted to the inertia of the holding brake by parameters. No
orders are processed until the switch-on delay has elapsed, so
the holding brake can release completely.
Access read/write

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ID Px. Parameter Description

7162 Switch-on delay hold- Update reinitialization

ing brake (user Unit s
defined)
7165 Switch-off delay hold- user-configured switch-off delay
ing brake (user Determines how long the closed-loop controller shall hold the
defined) current position so that the holding brake can be closed com-
pletely. Using this parameter, the behaviour of the device is
adapted to the inertia of the holding brake by parameters. The
position controller is switched off after expiration of the switch-
off delay. The holding brake should then be completely closed.
Access read/write
Update reinitialization
Unit s
7182 NOC code motor (user Specifies the order code of the motor -> product labelling of the
defined) motor.
Access read/write
Update reinitialization
Unit −
7184 Database ID motor Specifies the database ID of the configured motor.
(user defined) Access read/write
Update reinitialization
Unit −
71421 Nominal motor Specifies the nominal motor voltage of the motor -> data sheet
voltage (user defined) of the motor. An excessive DC link voltage can destroy the
motor!
Access read/write
Update reinitialization
Unit V
71424 Continuous current Determines the effective current that the motor requires to
(user defined) apply the stall torque -> data sheet of the motor.
Access read/write
Update reinitialization
Unit Arms

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ID Px. Parameter Description

71430 Lq inductance (user The inductance is orthogonal to the direction of the field. This
defined) value is a theoretical construct and cannot be measured -> data
sheet of the motor.
Access read/write
Update reinitialization
Unit H
71431 Ld inductance (user The inductance is in parallel with the direction of the field. This
defined) value is a theoretical construct and cannot be measured -> data
sheet of the motor.
Access read/write
Update reinitialization
Unit H
71432 Motor type Selection of motor type -> data sheet of the motor.
– 1: stepper motor
– 2: servo motor (EC motor)
Access read/write
Update reinitialization
Unit −
Tab. 146 Parameter

Value list of the temperature sensor parameters (settable using Px.7153)

Value Temperature sensor Description

0 Without temperature sensor No temperature sensors available

1000 Temperature value from Temperature sensor in encoder
encoder
Tab. 147 Value list of the temperature sensor parameters

ID Dx. Name Description

06 | 00 | 00248 Motor type is not supported The parameterised motor type (servo, stepper
(100663544) etc.) is not supported
Tab. 148 Diagnostic messages

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3.3.1.3 CiA 402

Motor data objects from the user configuration

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
718 0x216C.01 Pole pairs (user defined) UINT32
7111 0x216C.02 Motor inertia (user defined) FLOAT32
7114 0x216C.03 Phase sequence (user defined) BOOL
7117 0x216C.04 Nominal current (user defined) FLOAT32
7120 0x216C.05 Maximum peak current (user defined) FLOAT32
7123 0x216C.06 Maximum rpm (user defined) FLOAT32
7126 0x216C.07 Nominal rotary speed (user defined) FLOAT32
7129 0x216C.08 Winding inductance (user defined) FLOAT32
7132 0x216C.09 Winding resistance (user defined) FLOAT32
7135 0x216C.0A Torque constant (user defined) FLOAT32
7144 0x216C.0B Time constant I²t (user defined) FLOAT32
7147 0x216C.0C Winding temperature (user defined) FLOAT32
7153 0x216C.0D Temperature sensor (user defined) UINT32
7156 0x225B.01 ... 02 Temperature sensor characteristic (user FLOAT32
defined)
7159 0x216C.0E Holding brake (user defined) BOOL
7162 0x216C.0F Switch-on delay holding brake (user defined) FLOAT32
7165 0x216C.10 Switch-off delay holding brake (user defined) FLOAT32
7182 0x216C.11 NOC code motor (user defined) STRING(32)
7184 0x216C.12 Database ID motor (user defined) UINT32
71421 0x216C.13 Nominal motor voltage (user defined) FLOAT32
71424 0x216C.14 Continuous current (user defined) FLOAT32
71430 0x216C.15 Lq inductance (user defined) FLOAT32
71431 0x216C.16 Ld inductance (user defined) FLOAT32
71432 0x216C.17 Motor type UINT8
Tab. 149 Objects

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Product Configuration

3.3.1.4 PROFIdrive
Motor data PNUs from the user configuration

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

718 11184.0 Pole pairs (user defined) Unsigned32
7111 11686.0 Motor inertia (user defined) FloatingPoint
7114 11688.0 Phase sequence (user defined) Boolean
7117 11690.0 Nominal current (user defined) FloatingPoint
7120 11692.0 Maximum peak current (user defined) FloatingPoint
7123 11694.0 Maximum rpm (user defined) FloatingPoint
7126 11696.0 Nominal rotary speed (user defined) FloatingPoint
7129 11698.0 Winding inductance (user defined) FloatingPoint
7132 11700.0 Winding resistance (user defined) FloatingPoint
7135 11702.0 Torque constant (user defined) FloatingPoint
7144 11706.0 Time constant I²t (user defined) FloatingPoint
7147 11708.0 Winding temperature (user defined) FloatingPoint
7153 11710.0 Temperature sensor (user defined) Unsigned32
7156 11712.0 ... 1 Temperature sensor characteristic (user FloatingPoint
defined)
7159 11714.0 Holding brake (user defined) Boolean
7162 11716.0 Switch-on delay holding brake (user defined) FloatingPoint
7165 11718.0 Switch-off delay holding brake (user defined) FloatingPoint
7182 11720.0 ... 31 NOC code motor (user defined) STRING(32)
7184 11721.0 Database ID motor (user defined) Unsigned32
71421 11918.0 Nominal motor voltage (user defined) FloatingPoint
71424 11920.0 Continuous current (user defined) FloatingPoint
71430 11926.0 Lq inductance (user defined) FloatingPoint
71431 11927.0 Ld inductance (user defined) FloatingPoint
71432 11928.0 Motor type Unsigned8
Tab. 150 PNUs

3.3.1.5 Parameter and diagnostic messages for motor data from the EEPROM memory
If the motor data is stored in the EEPROM of the integrated encoder, the motor data can be read out.
The read-out motor data is transferred to the parameters listed here.

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Product Configuration

The device has an encoder interface. The parameters of the encoder interface are allocated to instance
0.

ID Px. Parameter Description

710 Product key Specifies the product key of the motor.

Access read/−
Update reinitialization
Unit −
711 NOC code Specifies the order code of the motor.
Access read/−
Update reinitialization
Unit −
712 Material number Specifies the material number of the motor.
Access read/−
Update reinitialization
Unit −
713 Serial number Specifies the serial number of the motor.
Access read/−
Update reinitialization
Unit −
717 Pole pairs Specifies the number of pole pairs of the motor used.
Access read/−
Update reinitialization
Unit −
7110 Motor inertia Specifies the inertia of the motor.
Access read/−
Update reinitialization
Unit kgm²
7113 Phase sequence Specifies whether the sequence of phases is swapped. The usu-
al phase sequence for the servomotor to turn clockwise is
ascending (U, V, W). If the servomotor has the phase sequence
U, W, V, the phase sequence is reversed. 0 for the phase
sequence U, V, W and 1 for the phase sequence U, W, V. For a
stepper motor, the phase sequence for 0 is the assignment A-#A
and B-#B. For the phase sequence equal to 1, the assignment A-

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Product Configuration

ID Px. Parameter Description

7113 Phase sequence #A and #B-B is. Changing the phase sequence changes the
rotating field of the motor.
Access read/−
Update reinitialization
Unit −
7116 Nominal current Specifies the root mean square value of the nominal current
when loading the motor with the nominal torque.
Access read/−
Update reinitialization
Unit Arms
7119 Maximum current Specifies the root mean square value of the permissible maxim-
um current that may flow through the motor in the short term.
Access read/−
Update reinitialization
Unit Arms
7122 Maximum rpm Specifies the maximum permissible velocity of the motor.
Access read/−
Update reinitialization
Unit rpm
7125 Nominal rotary speed Specifies the nominal rotary speed of the motor.
Access read/−
Update reinitialization
Unit rpm
7128 Winding inductance Indicates the inductance between 2 motor phases for a servo-
motor. Indicates the inductance of a motor phase in a stepper
motor.
Access read/−
Update reinitialization
Unit H
7131 Winding resistance Specifies the winding resistance between 2 motor phases for a
servomotor. Specifies the winding resistance of a motor phase
for a stepper motor.
Access read/−

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ID Px. Parameter Description

7131 Winding resistance Update reinitialization

Unit Ω
7134 Torque constant Specifies the ratio of the motor torque to the root mean square
value of the current (root mean square value).
Access read/−
Update reinitialization
Unit Nm/Arms
7143 Time constant I²t Specifies the duration for which the parameterised maximum
current may act. In the case of a servomotor, the current set-
point is automatically limited to the rated current at the end of
the period and the corresponding diagnostic message with the
parameterised behaviour is generated (I²t monitoring). If a
thermal model is used for I²t monitoring, as for a stepper motor
with rated current=maximum current, the time constant is used
as the filter time constant.
Access read/−
Update reinitialization
Unit s
7146 Winding temperature Specifies the maximum winding temperature of the motor. When
the specified temperature threshold is exceeded, the corres-
ponding diagnostic message is generated with the paramet-
erised behaviour (temperature monitoring of motor).
Access read/−
Update reinitialization
Unit °C
7149 Nominal motor Specifies the nominal motor voltage of the motor.
voltage Access read/−
Update reinitialization
Unit V
7150 Major version hard- Specifies the major version number of the hardware.
ware Access read/−
Update reinitialization
Unit −

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Product Configuration

ID Px. Parameter Description

7151 Minor version hard- Specifies the minor version number of the hardware.
ware Access read/−
Update reinitialization
Unit −
7152 Temperature sensor Sensor type of temperature sensor.
Possible sensor types
è Tab. 147 Value list of the temperature sensor parameters.

Access read/−
Update reinitialization
Unit −
7155 Temperature sensor Specifies the characteristic of the temperature sensor. The tem-
characteristic perature characteristic is described by a straight line resulting
from the gain (increase) and the offset.
Index 0: gain
Index 1: Offset
Access read/−
Update reinitialization
Unit −
7158 Holding brake Specifies whether the motor has an integrated holding brake.
– 0: inactive, holding brake not available
– 1: active, holding brake available
Access read/−
Update reinitialization
Unit −
7161 Switch-on delay hold- Switch-on delay saved in the EEPROM for the execution of a
ing brake command if an electronic data sheet for the Festo motor is
stored.
Access read/−
Update reinitialization
Unit s
7164 Switch-off delay hold- The delay saved in the EEPROM for the deactivation of the regu-
ing brake lator if an electronic data sheet for the Festo motor is stored.
Access read/−
Update reinitialization

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ID Px. Parameter Description

7164 Switch-off delay hold- Unit s

ing brake
7181 Continuous current Specifies the effective current that the motor requires to apply
the stall torque.
Access read/−
Update reinitialization
Unit Arms
7183 Encoder data set ID Specifies the ID of the encoder data set.
Access read/−
Update reinitialization
Unit −
7186 Major version motor Specifies the major version of the motor data set.
data set Access read/−
Update reinitialization
Unit −
7187 Minor version motor Specifies the minor version of the motor data set.
data set Access read/−
Update reinitialization
Unit −
7428 Lq inductance The inductance is orthogonal to the direction of the field. This
value is a theoretical construct and cannot be measured -> data
sheet of the motor.
Access read/−
Update reinitialization
Unit H
7429 Ld inductance The inductance is in parallel with the direction of the field. This
value is a theoretical construct and cannot be measured -> data
sheet of the motor.
Access read/−
Update reinitialization
Unit H

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Product Configuration

ID Px. Parameter Description

7430 Motor type Selection of motor type -> data sheet of the motor.
Access read/−
Update reinitialization
Unit −
Tab. 151 Parameter

ID Dx. Name Description

06 | 00 | 00248 Motor type is not supported The parameterised motor type (servo, stepper
(100663544) etc.) is not supported
Tab. 152 Diagnostic messages

3.3.1.6 CiA 402

Motor data objects from the EEPROM memory

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
710 0x2106.01 Product key STRING(15)
711 0x2106.03 NOC code STRING(32)
712 0x2106.05 Material number UINT32
713 0x2106.07 Serial number STRING(20)
717 0x2106.09 Pole pairs UINT32
7110 0x2106.0B Motor inertia FLOAT32
7113 0x2106.0D Phase sequence BOOL
7116 0x2106.0F Nominal current FLOAT32
7119 0x2106.11 Maximum current FLOAT32
7122 0x2106.13 Maximum rpm FLOAT32
7125 0x2106.15 Nominal rotary speed FLOAT32
7128 0x2106.17 Winding inductance FLOAT32
7131 0x2106.19 Winding resistance FLOAT32
7134 0x2106.1B Torque constant FLOAT32
7143 0x2106.1D Time constant I²t FLOAT32
7146 0x2106.1F Winding temperature FLOAT32
7149 0x2106.21 Nominal motor voltage FLOAT32

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Parameter Index.Subindex Name Data type

7150 0x2106.23 Major version hardware STRING(2)

7151 0x2106.25 Minor version hardware UINT16
7152 0x2106.27 Temperature sensor UINT32
7155 0x2202.01 ... 02 Temperature sensor characteristic FLOAT32
7158 0x2106.29 Holding brake BOOL
7161 0x2106.2B Switch-on delay holding brake FLOAT32
7164 0x2106.2D Switch-off delay holding brake FLOAT32
7181 0x2106.2F Continuous current FLOAT32
7183 0x2106.31 Encoder data set ID UINT32
7186 0x2106.33 Major version motor data set STRING(2)
7187 0x2106.35 Minor version motor data set UINT16
7428 0x2106.37 Lq inductance FLOAT32
7429 0x2106.39 Ld inductance FLOAT32
7430 0x2106.3B Motor type UINT8
Tab. 153 Objects

3.3.1.7 PROFIdrive
PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

710 2215.0 ... 14 Product key STRING(15)
711 2217.0 ... 31 NOC code STRING(32)
712 2219.0 Material number Unsigned32
713 2221.0 ... 19 Serial number STRING(20)
717 2223.0 Pole pairs Unsigned32
7110 2721.0 Motor inertia FloatingPoint
7113 2723.0 Phase sequence Boolean
7116 2725.0 Nominal current FloatingPoint
7119 2727.0 Maximum current FloatingPoint
7122 2729.0 Maximum rpm FloatingPoint
7125 2731.0 Nominal rotary speed FloatingPoint
7128 2733.0 Winding inductance FloatingPoint

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Product Configuration

Parameter PNU Name Data type

7131 2735.0 Winding resistance FloatingPoint

7134 2737.0 Torque constant FloatingPoint
7143 2739.0 Time constant I²t FloatingPoint
7146 2741.0 Winding temperature FloatingPoint
7149 2743.0 Nominal motor voltage FloatingPoint
7150 2745.0 ... 1 Major version hardware STRING(2)
7151 2747.0 Minor version hardware Unsigned16
7152 2749.0 Temperature sensor Unsigned32
7155 2751.0 ... 1 Temperature sensor characteristic FloatingPoint
7158 2753.0 Holding brake Boolean
7161 2755.0 Switch-on delay holding brake FloatingPoint
7164 2757.0 Switch-off delay holding brake FloatingPoint
7181 2759.0 Continuous current FloatingPoint
7183 2761.0 Encoder data set ID Unsigned32
7186 2763.0 ... 1 Major version motor data set STRING(2)
7187 2765.0 Minor version motor data set Unsigned16
7428 2767.0 Lq inductance FloatingPoint
7429 2769.0 Ld inductance FloatingPoint
7430 2771.0 Motor type Unsigned8
Tab. 154 Motor data object PNUs from the EEPROM memory

3.3.1.8 Active motor data parameters

The following parameters contain the active motor data. Using parameter Px.14.0.0, it is possible to
determine which motor data shall be assumed as active motor data after reinitialisation è Fig.33.

ID Px. Parameter Description

14 Use of user specific Specifies whether the user specific motor data should be adop-
motor data ted as the active motor data following reinitialisation.
– 0: motor data from the EEPROM of the encoder
– 1: user-specific motor data from device memory
Access read/write
Update reinitialization
Unit −

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ID Px. Parameter Description

719 Current pole pairs Specifies the number of pole pairs of the active motor.
Access read/−
Update effective immediately
Unit −
7112 Current motor inertia Specifies the inertia of the active motor used.
Access read/−
Update effective immediately
Unit kgm²
7115 Current phase Specifies whether the sequence of phases is swapped. The usu-
sequence al phase sequence for the servomotor to turn clockwise is
ascending (U, V, W). If the servomotor has the phase sequence
U, W, V, the phase sequence is reversed. 0 for the phase
sequence U, V, W and 1 for the phase sequence U, W, V. For a
stepper motor, the phase sequence for 0 is the assignment A-#A
and B-#B. For the phase sequence equal to 1, the assignment A-
#A and #B-B is. Changing the phase sequence changes the
rotating field of the motor.
Access read/−
Update effective immediately
Unit −
7118 Current nominal cur- Specifies the root mean square value of the nominal current
rent when loading the motor with the nominal torque.
Access read/−
Update effective immediately
Unit Arms
7121 Current maximum cur- Specifies the permissible root mean square value of the maxim-
rent um current that may flow through the motor in the short term.
Access read/−
Update effective immediately
Unit Arms
7124 Current maximum Specifies the current maximum velocity of the motor used.
velocity Access read/−
Update effective immediately
Unit user defined

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Product Configuration

ID Px. Parameter Description

7127 Current nominal velo- Specifies the current nominal velocity of the active motor.
city Access read/−
Update effective immediately
Unit user defined
7130 Current winding Specifies the inductance between 2 motor phases of the active
inductance servomotor. Indicates the inductance of a motor phase in a step-
per motor.
Access read/−
Update effective immediately
Unit H
7133 Current winding res- Specifies the winding resistance between 2 motor phases of the
istance active servomotor. Specifies the winding resistance of a motor
phase for a stepper motor.
Access read/−
Update effective immediately
Unit Ω
7136 Current torque con- Specifies the ratio of the motor torque to the root mean square
stant value of the current of the active motor (root mean square value
Access read/−
Update effective immediately
Unit Nm/Arms
7139 Resulting nominal Specifies the resulting nominal torque of the active motor (cur-
torque rent nominal current x current torque constant).
Access read/−
Update effective immediately
Unit Nm
7142 Resulting maximum Specifies the resulting maximum torque of the active motor (cur-
torque rent maximum current x current torque constant).
Access read/−
Update effective immediately
Unit Nm

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Product Configuration

ID Px. Parameter Description

7145 Current time constant Specifies the duration for which the parameterised maximum
I²t current may act. In the case of a servomotor, the current set-
point is automatically limited to the rated current at the end of
the period and the corresponding diagnostic message with the
parameterised behaviour is generated (I²t monitoring). If a
thermal model is used for I²t monitoring, as for a stepper motor
with rated current=maximum current, the time constant is used
as the filter time constant.
Access read/−
Update effective immediately
Unit s
7148 Current winding tem- Specifies the maximum permissible winding temperature of the
perature motor.
Access read/−
Update effective immediately
Unit °C
7154 Current temperature Specifies the sensor type of the temperature sensor.
sensor motor Possible sensor types
è Tab. 147 Value list of the temperature sensor parameters.

Access read/−
Update effective immediately
Unit −
7157 Current temperature Specifies the characteristic of the temperature sensor.
sensor characteristic – Index 0: gain
motor – Index 1: Offset
Access read/−
Update effective immediately
Unit −
7160 Holding brake Specifies whether the motor has an integrated holding brake
and whether it shall be used -> data sheet of the motor.
– 0: inactive, holding brake not available
– 1: active, holding brake available
Access read/−
Update effective immediately
Unit −

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Product Configuration

ID Px. Parameter Description

7163 Current switch-on Specifies the currently used switch-on delay of the holding
delay holding brake brake.
Determines how long the next command is delayed after a con-
troller enable. Using this parameter, the behaviour of the device
is adapted to the inertia of the holding brake by parameters. No
orders are processed until the switch-on delay has elapsed, so
the holding brake can release completely.
Access read/−
Update effective immediately
Unit s
7166 Current switch-off Specifies the current effective delay for switching off the closed-
delay holding brake loop control.
Determines how long the closed-loop controller shall hold the
current position so that the holding brake can be closed com-
pletely. Using this parameter, the behaviour of the device is
adapted to the inertia of the holding brake by parameters. The
position controller is switched off after expiration of the switch-
off delay. The holding brake should then be completely closed.
Access read/−
Update effective immediately
Unit s
7188 Current NOC code Specifies the order code of the motor -> product labelling of the
motor motor.
Access read/−
Update effective immediately
Unit −
71422 Current nominal Specifies the nominal motor voltage of the motor. An excessive
motor voltage DC link voltage can destroy the motor!
Access read/−
Update effective immediately
Unit V
71425 Current continuous Specifies the effective current that the motor requires to apply
current the stall torque.
Access read/−
Update effective immediately

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Product Configuration

ID Px. Parameter Description

71425 Current continuous Unit Arms

current
71426 Current Lq inductance Specifies the currently used inductance orthogonal to the direc-
tion of the field. This value is a theoretical construct and cannot
be measured.
Access read/−
Update effective immediately
Unit H
71427 Current Ld inductance Specifies the currently used inductance along the direction of
the field. This value is a theoretical construct and cannot be
measured.
Access read/−
Update effective immediately
Unit H
71428 Motor type Specifies the currently used selection of motor type.
Access read/−
Update effective immediately
Unit −
Tab. 155 Parameter

3.3.1.9 CiA 402

Motor data objects

Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

7118 0x6075.00 Current nominal current UINT32
7139 0x6076.00 Resulting nominal torque UINT32
7188 0x6403.00 Current NOC code motor STRING(32)
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
14 0x2162.01 Use of user specific motor data BOOL
719 0x2162.02 Current pole pairs UINT32
7112 0x2162.03 Current motor inertia FLOAT32
7115 0x2162.04 Current phase sequence BOOL

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Product Configuration

Parameter Index.Subindex Name Data type

7118 0x2162.05 Current nominal current FLOAT32

7121 0x2162.06 Current maximum current FLOAT32
7124 0x2162.07 Current maximum velocity FLOAT32
7127 0x2162.08 Current nominal velocity FLOAT32
7130 0x2162.09 Current winding inductance FLOAT32
7133 0x2162.0A Current winding resistance FLOAT32
7136 0x2162.0B Current torque constant FLOAT32
7139 0x2162.0C Resulting nominal torque FLOAT32
7142 0x2162.0D Resulting maximum torque FLOAT32
7145 0x2162.0E Current time constant I²t FLOAT32
7148 0x2162.0F Current winding temperature FLOAT32
7154 0x2162.10 Current temperature sensor motor UINT32
7157 0x225A.01 ... 02 Current temperature sensor characteristic FLOAT32
motor
7160 0x2162.11 Holding brake BOOL
7163 0x2162.12 Current switch-on delay holding brake FLOAT32
7166 0x2162.13 Current switch-off delay holding brake FLOAT32
7188 0x2162.14 Current NOC code motor STRING(32)
71422 0x2162.16 Current nominal motor voltage FLOAT32
71425 0x2162.17 Current continuous current FLOAT32
71426 0x2162.18 Current Lq inductance FLOAT32
71427 0x2162.19 Current Ld inductance FLOAT32
71428 0x2162.1A Motor type UINT8
Tab. 156 Active motor data object parameters

3.3.1.10 PROFIdrive
Motor configuration PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

14 11001.0 Use of user specific motor data Boolean
719 11185.0 Current pole pairs Unsigned32
7112 11687.0 Current motor inertia FloatingPoint

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Product Configuration

Parameter PNU Name Data type

7115 11689.0 Current phase sequence Boolean

7118 11691.0 Current nominal current FloatingPoint
7121 11693.0 Current maximum current FloatingPoint
7124 11695.0 Current maximum velocity FloatingPoint
7127 11697.0 Current nominal velocity FloatingPoint
7130 11699.0 Current winding inductance FloatingPoint
7133 11701.0 Current winding resistance FloatingPoint
7136 11703.0 Current torque constant FloatingPoint
7139 11704.0 Resulting nominal torque FloatingPoint
7142 11705.0 Resulting maximum torque FloatingPoint
7145 11707.0 Current time constant I²t FloatingPoint
7148 11709.0 Current winding temperature FloatingPoint
7154 11711.0 Current temperature sensor motor Unsigned32
7157 11713.0 ... 1 Current temperature sensor characteristic FloatingPoint
motor
7160 11715.0 Holding brake Boolean
7163 11717.0 Current switch-on delay holding brake FloatingPoint
7166 11719.0 Current switch-off delay holding brake FloatingPoint
7188 11722.0 ... 31 Current NOC code motor STRING(32)
71422 11919.0 Current nominal motor voltage FloatingPoint
71425 11921.0 Current continuous current FloatingPoint
71426 11922.0 Current Lq inductance FloatingPoint
71427 11923.0 Current Ld inductance FloatingPoint
71428 11924.0 Motor type Unsigned8
Tab. 157 Active motor data PNU parameters

3.3.2 Brake Control

3.3.2.1 Function
The device has 1 switching output for direct connection of the holding brake in the motor.

Output Connection Name in the CMMT plug-in Description

BR+/BR- X6 Holding brake 1 Motor holding brake

Tab. 158 Output for the Brakes (Holding Brake)

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Product Configuration

The output is intended for the actuation of a brake that drops when the system is in a non-energised
status and holds the motor and/or axis in position.
The mechanical delay of the brake means that release and activation takes a certain length of time.
The behaviour of the device can be adapted to the mechanical delay of the brake using parameters:

Parameter Description

Switch-on Delay in switching on the closed-loop controller until a command is accepted

delay – The holding brake is not released until the controller is enabled. The closed-
loop controller takes over the control (actual position = setpoint position).
– No orders are accepted until the switch-on delay has elapsed, so the holding
brake can release completely.
– After the switch-on delay has elapsed, orders are accepted.
Switch-off Delay prior to shut-down of the controller:
delay – Removal of the controller enable triggers a Category 1 stop. If the set rotational
speed is 0, the signal for applying the holding brake is emitted.
– The drive is maintained in its current position until the end of the switch-off
delay.
– The closed-loop controller is switched off after expiration of the switch-off
delay.
Tab. 159 Switch-on and Switch-off Delay
Automatic Control of the Brake
The device controls the output for the brake.

Control of the Brakes

Event Behaviour

#STO request – The output stage is switched off immediately.

– The outputs are switched off. The brakes apply immediately.
– The device enters the “Not ready for operation” status.
– An error message is emitted (error status).
The error must be reset. When the request is rescinded, the drive
can be set in the "ready for operation" status again through the
controller enable.
The controller enable (RF) is res- – Stop category 1
cinded – If the set velocity is 0, the brake outputs are switched off. The
brakes apply.
– The closed-loop controller is switched off upon expiry of the
parameterised delay to prevent an unwanted movement of
the drive.

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Product Configuration

Control of the Brakes

Event Behaviour

The controller enable (RF) is – The outputs are switched on to release the brakes (exception;
granted force operating mode with brake). The brakes release with a
mechanical delay.
– The position controller assumes the control (actual posi-
tion = setpoint position).
– The motion commands are not accepted until the paramet-
erised delay has been expired.
Tab. 160 Control of the Brakes
Manual Release of the Holding Brake or Clamping Unit
If the controller release is withdrawn, the output is reset and the holding brake is applied. The holding
brake can be released manually in this status.

• When the brake is released manually, suspended loads generally drop.

Manual release through ... Description

Open holding brake input (configurable) The holding brake is released at high level or low
level depending on the parameterised switching
function
è 3.3.2.2 Parameters and Diagnostic Messages.

Plug-in è 2.4.2

Device profile è 3.3.2.3 CiA 402

è 3.3.2.4 PROFIdrive
Tab. 161 Releasing the Holding Brake
When the closed-loop controller is released again, the output is controlled as required for the active
operating mode. Another rescinding of the controller enables results in the actuation of the holding
brakes è Tab. 160 Control of the Brakes. In order to release the holding brake again, a new level
change from low to high is required.

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Product Configuration

Timing

v=0
Stop Cat. 1

RF

OP

BR+
t1 t2

brake

Fig. 34 Brake control timing (example)

Name Description

RF Controller enable signal

OP Motion commands are accepted
BR+ Brake output
Brake Mechanical behaviour of brake (released and set)
t1 Delay time depending on the parameterised switch-on delay
t2 Delay time depending on the parameterised switch-off delay
Tab. 162 Legend for the Brake Control Timing Image (Example)
Holding Current Reduction
The servo drive has a voltage reduction for the holding brake. The holding current reduction is activ-
ated with Px.40001.
If the function of the holding current reduction is not activated, the voltage from Px.40003 is output to
open the holding brake.
If the function of the holding current reduction is activated, after the holding brake has been opened,
the voltage is first output to Px.40003 and after a delay time of Px.40002 the voltage reduction is per-
formed to the parameterised voltage value of Px.40004.

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Product Configuration

The voltages for the holding brake in Px.40003 and Px.40004 may not be higher than the logic supply
voltage regardless of the parameterisation.

3.3.2.2 Parameters and Diagnostic Messages

ID Px. Parameter Description

20 Switch-on delay hold- Determines how long the next command is delayed after a con-
ing brake 1 troller enable. No commands are processed until the switch-on
delay has elapsed so that holding brake 1 can release com-
pletely. During initial commissioning, the presets are assumed
from the motor data set. Using this parameter, the behaviour
can be adapted to application-specific concerns.
Access read/−
Update effective immediately
Unit s
21 Switch-off delay hold- Determines how long the closed-loop controller shall hold the
ing brake 1 current position so that the holding brake can be closed com-
pletely. The position controller is switched off after expiration of
the switch-off delay. Holding brake 1 should then be completely
closed. During initial commissioning, the presets are assumed
from the motor data set. Using this parameter, the behaviour
can be adapted to application-specific concerns.
Access read/−
Update effective immediately
Unit s
24 Status holding brake Specifies the status of the corresponding holding brake.
1 Possible status
è Tab. 164 Holding Brake Status Parameter Values List.

Access read/−
Update effective immediately
Unit −
29 Selection of holding Selection of holding brake for manual opening
brake (manual open- – 0: holding brake 1
ing) Access read/write
Update effective immediately
Unit −

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Product Configuration

ID Px. Parameter Description

7162 Switch-on delay hold- user-configured switch-on delay

ing brake (user Access read/write
defined)
Update reinitialization
Unit s
7165 Switch-off delay hold- user-configured switch-off delay
ing brake (user Access read/write
defined)
Update reinitialization
Unit s
7163 Current switch-on Specifies the currently used switch-on delay of the holding
delay holding brake brake.
Access read/−
Update effective immediately
Unit s
7166 Current switch-off Specifies the current effective delay for switching off the closed-
delay holding brake loop control.
Access read/−
Update effective immediately
Unit s
7161 Switch-on delay hold- Switch-on delay saved in the EEPROM for the execution of a
ing brake command if an electronic data sheet for the Festo motor is
stored.
Access read/−
Update reinitialization
Unit s
7164 Switch-off delay hold- The delay saved in the EEPROM for the deactivation of the regu-
ing brake lator if an electronic data sheet for the Festo motor is stored.
Access read/−
Update reinitialization
Unit s
40001 Activation current Activation of the current reduction for the holding brake.
reduction holding Access read/write
brake
Update effective immediately
Unit −

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Product Configuration

ID Px. Parameter Description

40002 Delay time Specifies the time with which the current reduction for the hold-
ing brake is initiated.
Access read/write
Update effective immediately
Unit s
40003 Supply voltage hold- Specifies the voltage supplied to the holding brake before cur-
ing brake rent reduction is initiated. The voltage is only output if the cur-
rent reduction for the holding brake is activated (Px.4001.0.0)
Access read/write
Update effective immediately
Unit V
40004 Holding voltage Specifies the voltage to which it is reduced after elapse of the
delay time.
Access read/write
Update effective immediately
Unit V
Tab. 163 Parameter

Value Status Description

0 Closed The holding brake is closed

1 Open The holding brake is open
2 Opened The holding brake is being opened
3 Closed Holding brake is being closed
Tab. 164 Holding Brake Status Parameter Values List
Diagnostic messages
No specific diagnostic messages are allocated to the function.

3.3.2.3 CiA 402

Holding brake objects

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
20 0x2150.01 Switch-on delay holding brake 1 FLOAT32
21 0x2150.02 Switch-off delay holding brake 1 FLOAT32

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Product Configuration

Parameters Index.Subindex Name Data type

24 0x2150.05 Status holding brake 1 UINT32

29 0x2150.09 Selection of holding brake (manual opening) UINT32
7162 0x216C.0F Switch-on delay holding brake (user defined) FLOAT32
7165 0x216C.10 Switch-off delay holding brake (user defined) FLOAT32
7163 0x2162.12 Current switch-on delay holding brake FLOAT32
7166 0x2162.13 Current switch-off delay holding brake FLOAT32
7161 0x2106.2B Switch-on delay holding brake FLOAT32
7164 0x2106.2D Switch-off delay holding brake FLOAT32
40001 0x21A7.01 Activation current reduction holding brake BOOL
40002 0x21A7.02 Delay time FLOAT32
40003 0x21A7.03 Supply voltage holding brake FLOAT32
40004 0x21A7.04 Holding voltage FLOAT32
Tab. 165 Objects

3.3.2.4 PROFIdrive
Holding brake PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

20 11002.0 Switch-on delay holding brake 1 FloatingPoint
21 11003.0 Switch-off delay holding brake 1 FloatingPoint
24 11006.0 Status holding brake 1 Unsigned32
29 11011.0 Selection of holding brake (manual opening) Unsigned32
7162 11716.0 Switch-on delay holding brake (user defined) FloatingPoint
7165 11718.0 Switch-off delay holding brake (user defined) FloatingPoint
7163 11717.0 Current switch-on delay holding brake FloatingPoint
7166 11719.0 Current switch-off delay holding brake FloatingPoint
7161 2755.0 Switch-on delay holding brake FloatingPoint
7164 2757.0 Switch-off delay holding brake FloatingPoint
40001 12409.0 Activation current reduction holding brake Boolean
40002 12410.0 Delay time FloatingPoint
40003 12411.0 Supply voltage holding brake FloatingPoint

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Product Configuration

Parameter PNU Name Data type

40004 12412.0 Holding voltage FloatingPoint

Tab. 166 PNUs

3.3.3 Encoder Configuration

3.3.3.1 Function
The Festo motor series has integrated encoders. If a Festo motor is used and the configuration is per-
formed with the device-specific plug-in, the required data for the encoder configuration is assumed
automatically in the project from the stored database with the selection of the motor.
The device has an encoder interface that supports different encoder protocols and standards.

Protocols and standards Supported encoders

Digital incremental encoder digital incremental encoder (differential A, B and N signals), e.g.
(with differential A, B and N sig- ROD 426 or compatible
nals)
BiSS C protocol Absolute encoders with BiSS interface that support the BiSS C
protocol.
Tab. 167 Supported Standards and Protocols

3.3.3.2 Encoder Parameters and Diagnostic Messages

The parameters named below are used to configure which encoder is used. The parameters also show
the currently used data of the configured encoder. The options for configuration and parameterisation
of the encoder depend on the properties of the encoder.
The device provides configurable parameters from the parameter set and data from the EEPROM of the
encoder if corresponding data can be found in the EEPROM. The data saved in the EEPROM are
assumed during reinitialisation as active data independently of parameter Px.14.0.0 è Fig.33.

ID Px. Parameter Description

3219 Commutation angle Determines the commutation angle saved in the parameter set.
from user configura- Parameter P0.3219.0.0 is responsible for the commutation angle
tion on encoder channel 1 and parameter P0.3219.1.0 for the com-
mutation angle on encoder channel 2 (device specific).
Access read/write
Update reinitialization
Unit −
3220 Current commutation Specifies the currently used commutation angle.
angle Access read/−
Update effective immediately
Unit −

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Product Configuration

ID Px. Parameter Description

3221 Zero point offset from Specifies the zero point offset saved in the encoder.
encoder memory Access read/write
Update reinitialization
Unit r
3223 Zero point offset from Determines the zero point offset saved in the parameter set.
user configuration Access read/write
Update reinitialization
Unit r
3224 Current zero point off- Specifies the currently used zero point offset
set Access read/−
Update effective immediately
Unit user defined
3225 Encoder referencing is Displays whether the homing status saved in the encoder shall
valid still be valid.
This means:
– 0: invalid
– 1: valid
Access read/−
Update reinitialization
Unit −
3226 Referencing in user Determines whether the homing status saved in the parameter
configuration is valid set shall still be valid.
This means:
– 0: invalid
– 1: valid
Access read/write
Update reinitialization
Unit −
3227 Current referencing is Displays whether the current homing status shall be valid.
valid This means:
– 0: invalid
– 1: valid
Access read/−
Update effective immediately

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Product Configuration

ID Px. Parameter Description

3227 Current referencing is Unit −

valid
3228 Valid commutation Displays whether the commutation angle saved in the encoder
angle from encoder shall be valid.
memory This means:
– 0: invalid
– 1: valid
Access read/−
Update reinitialization
Unit −
3229 Valid commutation Displays whether the commutation angle saved in the parameter
angle from user con- set shall be valid.
figuration This means:
– 0: invalid
– 1: valid
Access read/−
Update reinitialization
Unit −
3230 Current commutation Displays whether the current commutation status shall be valid.
angle valid This means:
– 0: invalid
– 1: valid
Access read/−
Update effective immediately
Unit −
3234 Electrical angular fre- Specifies the current angular frequency as a filtered value.
quency filtered Access read/−
Update effective immediately
Unit Hz
3236 Deactivation motor Determines whether the switch-on phase shall be checked as to
change check whether the detected motor encoder corresponds with the last
motor encoder used. The following applies: 0: motor change
check active, 1: motor change check inactive. The last motor
encoder used is stored after valid homing and saving in the
parameter set. The check compares the data in the memory of
the encoder with data stored in the parameter set of the device.

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Product Configuration

ID Px. Parameter Description

3236 Deactivation motor Access read/write

change check Update reinitialization
Unit −
3237 Encoder permanently For single-turn encoders, determines whether the encoder shall
homed indicate the "Homed" status after activation. For encoders that
deliver the "Homed" status, a new homing run is not mandat-
ory.
This means:
– 0: inactive
– 1: active
Access read/write
Update reinitialization
Unit −
3250 Activation automatic Determines whether the automatic encoder detection shall be
encoder detection active. The automatic encoder detection attempts to detect the
connected encoder in the switch-on phase. If the automatic
encoder detection is active, various voltage levels are set auto-
matically for the encoder supply in the switch-on phase. Long
encoder lines can lead to the connected encoder not being
detected at the defined voltage level and the connected encoder
being destroyed at a higher supply voltage due to an increase in
the voltage for an encoder type.
This means:
– 0: inactive
– 1: active
Access read/write
Update reinitialization
Unit −
3251 Selection gear ratio Determines the gear ratio group of the encoder interface con-
group taining the gear ratio and feed constant. The gear ratio and feed
constant can be set individually for each encoder. In the pro-
cess, the gear ratio and feed constant are described by a numer-
ator and denominator, respectively. The gear ratio indicates the
transmission ratio between the drive side (numerator) and out-
put side (denominator). The feed constant determines the ratio
between a motor revolution and the feed in the user unit on the
output.
3 gear ratio groups are available for selection è Fig.35

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Product Configuration

ID Px. Parameter Description

3251 Selection gear ratio Access read/write

group Update reinitialization
Unit −
11600 Standardised encoder Specifies the 24 bit standardised position of the encoder. In
position case of an encoder with a resolution of 18 bits, the increments
are multiplied at a factor of e.g.64 for standardisation. Encoder
resolution of 18 bits: 262143 incr/rev
Access read/−
Update effective immediately
Unit −
11601 Absolute position in Indicate the position in the user units in relation to the axis zero
user units point.
Access read/−
Update effective immediately
Unit user defined
11602 Velocity in user units Specifies the current velocity in the user units.
Access read/−
Update effective immediately
Unit user defined
11603 Filtered velocity in Specifies the filtered velocity in user units.
user units Access read/−
Update effective immediately
Unit user defined
11604 Electrical angle Specifies the electrical angle of the encoder calculated from the
number of pole pairs, the pole pitch and the offset.
Access read/−
Update effective immediately
Unit −
11605 Electrical angular fre- Specifies the electrical angular frequency of the encoder.
quency Access read/−
Update effective immediately
Unit Hz

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Product Configuration

ID Px. Parameter Description

11608 Commutation angle Specifies the commutation angle saved in the encoder.
from encoder memory Access read/write
Update reinitialization
Unit −
11615 Current position Specifies the current standardised position in increments
related to the output shaft of the gear unit or drive shaft of the
mechanism.
Access read/−
Update effective immediately
Unit −
11616 Encoder selection Determines the encoder type set to which the encoder interface
shall be set after the next reinitialisation. The selection of the
encoder type can influence the amount of supply voltage
provided for the encoder. Incorrect parameterisation can dam-
age the connected encoder due to impermissibly high supply
voltage! In case of EnDat and Hiperface encoders, this is preven-
ted by protection mechanisms.
Possible encoder types
è Tab. 170 Encoder Selection Values List (Px.11616).

Access read/write
Update reinitialization
Unit −
11617 Active encoder Specifies the encoder type currently configured for the encoder
interface.
Access read/−
Update effective immediately
Unit −
11618 Velocity filter filter Determines the filter time constant of the velocity filter. The fil-
time constant ter time constant prevents or dampen signal noise in the
encoder signal.
Access read/write
Update effective immediately
Unit s

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Product Configuration

ID Px. Parameter Description

71500 Actual acceleration Displays the actual value of the acceleration unfiltered
value unfiltered Access read/−
Update effective immediately
Unit Inci/s²
71501 Actual acceleration Displays the actual value of the acceleration filtered
value filtered Access read/−
Update effective immediately
Unit Inci/s²
71502 Filter time constant Specifies the filter time constant for the actual value accelera-
acceleration filter tion filter
Access read/write
Update effective immediately
Unit s
Tab. 168 Encoder Parameters

Fig. 35 Selection of the gear ratio and feed constant using the gear ratio group

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Product Configuration

Name Description

Gear ratio Gear ratio

Feed constant Feed constant
Numerator Numerator
Denominator Denominator
Encoderchannel Encoder channel
Tab. 169 Legend for Selection of the Gear Ratio and Feed Constant

Value list of the encoder selection parameter (Px.11616)

Value Standards/protocols Supported encoders

4 Incremental Digital incremental encoder (differential A, B and N sig-

nals),e. g. ROD 426 or compatible
7 Without encoder None
8 BiSS-C Absolut encoders with BiSS C protocol
Tab. 170 Encoder Selection Values List (Px.11616)
Example
A motor with the incremental distance measuring system should be used.

Parameter settings (example)

Parameter Value Comments

Encoder selection
P0.11616.0.0 4 Instance 0 for encoder channel 1, encoder type: increment-
al encoder (A, B, N)
Tab. 171 Example: Encoder Selection

ID Dx. Name Description

18 | 00 | 00092 Motor change detected, commut- Motor change detected, commutation angle
(301989980) ation angle invalid invalid
18 | 00 | 00093 Motor change detected, zero Motor change detected, zero point offset
(301989981) point offset invalid invalid
18 | 00 | 00094 Commutation angle in encoder Commutation angle in encoder invalid
(301989982) invalid
18 | 00 | 00095 Encoder type plate invalid Encoder type plate invalid
(301989983)
18 | 00 | 00096 Encoder type plate (user defined) Encoder type plate (user defined) invalid
(301989984) invalid

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Product Configuration

ID Dx. Name Description

18 | 00 | 00227 Encoder identification reports Encoder identification reports incorrect

(301990115) incorrect encoder type encoder type
Tab. 172 Encoder Diagnostic Messages

3.3.3.3 CiA 402

Objects for encoder channels 1/2

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
3219 0x2130.1F Commutation angle from user configuration SINT64
3220 0x2130.21 Current commutation angle SINT64
3221 0x2130.23 Zero point offset from encoder memory SINT64
3223 0x2130.25 Zero point offset from user configuration SINT64
3224 0x2130.27 Current zero point offset SINT64
3225 0x2130.29 Encoder referencing is valid BOOL
3226 0x2130.2B Referencing in user configuration is valid BOOL
3227 0x2130.2D Current referencing is valid BOOL
3228 0x2130.2F Valid commutation angle from encoder BOOL
memory
3229 0x2130.31 Valid commutation angle from user configura- BOOL
tion
3230 0x2130.33 Current commutation angle valid BOOL
3234 0x2130.39 Electrical angular frequency filtered FLOAT32
3236 0x2130.3D Deactivation motor change check BOOL
3237 0x2130.3F Encoder permanently homed BOOL
3250 0x2130.59 Activation automatic encoder detection BOOL
3251 0x2130.5B Selection gear ratio group UINT8
11600 0x2130.5D Standardised encoder position SINT64
11601 0x2130.5F Absolute position in user units SINT64
11602 0x2130.61 Velocity in user units FLOAT32
11603 0x2130.63 Filtered velocity in user units FLOAT32
11604 0x2130.65 Electrical angle UINT32
11605 0x2130.67 Electrical angular frequency FLOAT32

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Parameter Index.Subindex Name Data type

11608 0x2130.6D Commutation angle from encoder memory SINT64

11615 0x2130.7B Current position SINT64
11616 0x2130.7D Encoder selection UINT32
11617 0x2130.7F Active encoder UINT32
11618 0x2130.81 Velocity filter filter time constant FLOAT32
71500 0x2130.93 Actual acceleration value unfiltered FLOAT32
71501 0x2130.95 Actual acceleration value filtered FLOAT32
71502 0x2130.97 Filter time constant acceleration filter FLOAT32
Tab. 173 Objects

3.3.3.4 PROFIdrive
PNUs for encoder channels 1/2

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

3219 2408.0 Commutation angle from user configuration Integer64
3220 2410.0 Current commutation angle Integer64
3221 2412.0 Zero point offset from encoder memory Integer64
3223 2414.0 Zero point offset from user configuration Integer64
3224 2416.0 Current zero point offset Integer64
3225 2418.0 Encoder referencing is valid Boolean
3226 2420.0 Referencing in user configuration is valid Boolean
3227 2422.0 Current referencing is valid Boolean
3228 2424.0 Valid commutation angle from encoder Boolean
memory
3229 2426.0 Valid commutation angle from user configura- Boolean
tion
3230 2428.0 Current commutation angle valid Boolean
3234 2434.0 Electrical angular frequency filtered FloatingPoint
3236 2438.0 Deactivation motor change check Boolean
3237 2440.0 Encoder permanently homed Boolean
3250 2466.0 Activation automatic encoder detection Boolean
3251 2468.0 Selection gear ratio group Unsigned8

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Parameter PNU Name Data type

11600 2937.0 Standardised encoder position Integer64

11601 2939.0 Absolute position in user units Integer64
11602 2941.0 Velocity in user units FloatingPoint
11603 2943.0 Filtered velocity in user units FloatingPoint
11604 2945.0 Electrical angle Unsigned32
11605 2947.0 Electrical angular frequency FloatingPoint
11608 2953.0 Commutation angle from encoder memory Integer64
11615 2967.0 Current position Integer64
11616 2969.0 Encoder selection Unsigned32
11617 2971.0 Active encoder Unsigned32
11618 2973.0 Velocity filter filter time constant FloatingPoint
71500 3073.0 Actual acceleration value unfiltered FloatingPoint
71501 3075.0 Actual acceleration value filtered FloatingPoint
71502 3077.0 Filter time constant acceleration filter FloatingPoint
Tab. 174 PNUs

3.3.3.5 Parameters of Digital Incremental Encoders (A, B and N Signals)

ID Px. Parameter Description

10040 Encoder resolution Specifies the number of increments per Encoder revolution.
Parameter P0.10040.0.0 for the encoder at encoder interface 1
and parameter P0.10040.1.0 for the encoder at encoder inter-
face 2 (device specific).
Access read/write
Update reinitialization
Unit Inc/r
10041 Raw value position Specifies the raw position value delivered by the single-turn
encoder in increments.
Access read/−
Update effective immediately
Unit −

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ID Px. Parameter Description

10042 Raw value number of Specifies the raw value of the number of revolutions determined
revolutions by the single-turn encoder.
Access read/−
Update effective immediately
Unit −
10043 Quadrature evalu- Determines how the quadrature signal of the encoder shall be
ation evaluated.
This means:
– 1: single evaluation
– 2: double evaluation
– 4: quadruple evaluation
Access read/write
Update reinitialization
Unit −
10044 Activate of position Determines whether the position value is automatically correc-
correction when zero ted to 0 in the case of a zero pulse from the incremental
pulse encoder.
This means:
– 0: inactive
– 1: active
Access read/write
Update reinitialization
Unit −
Tab. 175 Parameters of Digital Incremental Encoders (A, B and N Signals)

ID Dx. Name Description

18 | 03 | 00235 Incremental encoder analysis Common error quadrature encoder

(302186731) invalid
Tab. 176 Diagnostic Messages for Digital Incremental Encoders (A, B and N Signals)
Example
A motor with incremental distance measuring system shall be used (resolution 2000 inc./rev., quad-
ruple evaluation, gear unit 3:1, feed constant = 90 mm/rev

Parameter settings (example)

Parameter Value Comments

Encoder selection

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Parameter settings (example)

Parameter Value Comments

P0.11616.0.0 4 Instance 0 for encoder channel 1, encoder type: increment-

al encoder
Encoder resolution
P0.10040.0.0 2000 With a resolution of 2000 inc./rev., there is an effective
internal resolution of 8000 inc./rev.
Quadrature evaluation
P0.10043.0.0 4 Quadruple evaluation
Gear unit numerator
P1.1242.0.0 3 Numerator of total gear unit factor
Gear unit denominator
P1.1243.0.0 1 Denominator of total gear unit factor
Feed constant numerator
P1.1194.0.0 9 0.09 m (corresponds with 9/100)
Feed constant denominator
P1.1195.0.0 100 0.09 m (corresponds with 9/100)
Selection gear ratio group
P0.3251.0.0 0 Gear ratio group 1 (è Fig.35)
Tab. 177 Example: Encoder Parameterisation

3.3.3.6 CiA 402

Objects of digital incremental encoders (A, B and N signals)

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
10040 0x2138.01 Encoder resolution UINT16
10041 0x2138.04 Raw value position UINT16
10042 0x2138.07 Raw value number of revolutions SINT16
10043 0x2138.0A Quadrature evaluation UINT8
10044 0x2138.0D Activate of position correction when zero BOOL
pulse
Tab. 178 Objects

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3.3.3.7 PROFIdrive
PNUs for digital incremental encoders (A, B and N signals)

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

10040 2837.0 Encoder resolution Unsigned16
10041 2840.0 Raw value position Unsigned16
10042 2843.0 Raw value number of revolutions Integer16
10043 2846.0 Quadrature evaluation Unsigned8
10044 2849.0 Activate of position correction when zero Boolean
pulse
10046 2852.0 Supply voltage encoder FloatingPoint
10049 2855.0 Encoder supply voltage monitoring window FloatingPoint
Tab. 179 PNUs

3.3.3.8 Parameters of Encoders with the BiSS C Protocol

ID Px. Parameter Description

3601 Resolution single turn Specifies the resolution in bits per revolution.
Access read/write
Update reinitialization
Unit −
3602 Resolution multiturn Specifies the number of bits for the distinguishable revolutions
of the multiturn scanning of the encoder.
Access read/write
Update reinitialization
Unit −
3603 Single-turn position Specifies the current position of the singleturn scanning of the
encoder.
Access read/−
Update effective immediately
Unit −

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ID Px. Parameter Description

3604 Multi-turn numerator Specifies the current position of the multiturn scanning of the
encoder.
Access read/−
Update effective immediately
Unit −
3610 CRC BiSS-C Specifies the size of the BiSS-C checksum in bits.
Access read/−
Update effective immediately
Unit −
3612 Baud rate Defines the baud rate at which the encoder data is transmitted.
Access read/write
Update reinitialization
Unit −
3613 Activation of correc- Determines whether the correction table of the encoder is used.
tion table This means:
– 0: inactive
– 1: active
Access read/write
Update effective immediately
Unit −
3618 Activation read out Defines whether the extended encoder data of the encoder
extended encoder should be used.
data This means:
– 0: inactive
– 1: active
Access read/write
Update reinitialization
Unit −
3624 unused unused
Access read/write
Update effective immediately
Unit −
Tab. 180 Parameters of Encoders with the BiSS C Protocol

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Product Configuration

ID Dx. Name Description

18 | 05 | 00239 BiSS-C encoder analysis invalid Check the wiring of the encoder and the posi-
(302317807) tion resolution of the BiSS-C protocol.
Tab. 181 Diagnostic Messages for Encoders with BiSS-C Protocol

3.3.3.9 CiA 402

Objects for encoders with the BBiSS-C protocol

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
3601 0x21A2.01 Resolution single turn UINT32
3602 0x21A2.02 Resolution multiturn UINT32
3603 0x21A2.03 Single-turn position UINT32
3604 0x21A2.04 Multi-turn numerator UINT32
3610 0x21A2.0A CRC BiSS-C UINT8
3612 0x21A2.0C Baud rate UINT32
3613 0x21A2.0D Activation of correction table BOOL
3618 0x21A2.0E Activation read out extended encoder data BOOL
3624 0x21A2.14 unused STRING(20)
Tab. 182 Objects

3.3.3.10 PROFIdrive
PNUs for encoders with BiSS

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

3601 3327.0 Resolution single turn Unsigned32
3602 3328.0 Resolution multiturn Unsigned32
3603 3329.0 Single-turn position Unsigned32
3604 3330.0 Multi-turn numerator Unsigned32
3610 3336.0 CRC BiSS-C Unsigned8
3612 3338.0 Baud rate Unsigned32
3613 3339.0 Activation of correction table Boolean
3618 3343.0 Activation read out extended encoder data Boolean

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Parameter PNU Name Data type

3624 3349.0 ... 19 unused STRING(20)

Tab. 183 PNUs

3.3.3.11 Parameters of the Actual Value Management

ID Px. Parameter Description

122 Encoder channel 1 Determines the encoder interface to which the encoder is con-
position nection whose values shall be evaluated by the positional con-
troller. 0 for encoder interface 1 (primary encoder) at connection
[X2] and 1 for encoder interface 2 (secondary encoder) at con-
nection [X3] (device specific).
Access read/write
Update reinitialization
Unit −
128 Actual position value Specifies the current actual position value of the primary
encoder.
Access read/−
Update effective immediately
Unit user defined
1210 Actual velocity value Specifies the velocity measured by the primary encoder.
Access read/−
Update effective immediately
Unit user defined
1212 Electrical angle Specifies the electrical angle used by the commutation.
Access read/−
Update effective immediately
Unit −
1213 Electrical angular fre- Specifies the electrical angular frequency used by the commuta-
quency tion.
Access read/−
Update effective immediately
Unit Hz
Tab. 184 Parameters of the Actual Value Management

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3.3.3.12 CiA 402

Objects of the actual value management

Parameters Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

128 0x6064.00 Actual position value SINT32
1210 0x606C.00 Actual velocity value SINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
122 0x2155.03 Encoder channel 1 position UINT32
128 0x2155.09 Actual position value SINT64
1210 0x2155.0B Actual velocity value FLOAT32
1212 0x2155.0D Electrical angle UINT32
1213 0x2155.0E Electrical angular frequency FLOAT32
Tab. 185 Objects

3.3.3.13 PROFIdrive
PNUs of actual value management

Parameters PNU Name Data type

Px. Profile-specific parameters

128 28.0 Actual position value Integer64
1210 6.0 Actual velocity value FloatingPoint
Px. Manufacturer-specific parameters
122 11061.0 Encoder channel 1 position Unsigned32
128 11067.0 Actual position value Integer64
1210 11311.0 Actual velocity value FloatingPoint
1212 11313.0 Electrical angle Unsigned32
1213 11314.0 Electrical angular frequency FloatingPoint
Tab. 186 PNUs

3.3.3.14 Parameters of the Direction of Rotation Manager

The following parameters influence the direction of rotation of the drive:

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ID Px. Parameter Description

1170 Reversing the direc- Determines whether the reversal of the direction of rotation
tion of rotation shall be activated.
This means:
– 0: inactive
– 1: active
Access read/write
Update reinitialization
Unit −
1171 Invert encoder signal Determines whether the encoder signal shall be inverted.
This means:
– 0: inactive (do not invert the encoder signal)
– 1: active (invert the encoder signal)
One encoder is allocated to every index
è Index for the Invert Encoder Signal Parameter (Px.1171)

Access read/write
Update reinitialization
Unit −
1172 Phase rotation Specifies whether the sequence of phases is swapped. The usu-
al phase sequence for the servomotor to turn clockwise is
ascending (U, V, W). If the servomotor has the phase sequence
U, W, V, the phase sequence is reversed. 0 for the phase
sequence U, V, W and 1 for the phase sequence U, W, V. For a
stepper motor, the phase sequence for 0 is the assignment A-#A
and B-#B. For the phase sequence equal to 1, the assignment A-
#A and #B-B is. Changing the phase sequence changes the
rotating field of the motor.
Access read/write
Update reinitialization
Unit −
Tab. 187 Parameters of the Direction of Rotation Manager

Index for the "Invert encoder signal" parameter (Px.1171.0.x)

Index Assignment

0 Encoder at connection [X2]

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Product Configuration

Index for the "Invert encoder signal" parameter (Px.1171.0.x)

Index Assignment

1 Providing parameters for future extensions

…

8
9
Tab. 188 Index for the Invert Encoder Signal Parameter (Px.1171)

3.3.3.15 CiA 402

Objects of direction of rotation manager

Parameters Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

1170 0x607E.00 Reversing the direction of rotation UINT8
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1170 0x217D.01 Reversing the direction of rotation BOOL
1171 0x226E.01 ... 0A Invert encoder signal BOOL
1172 0x217D.02 Phase rotation BOOL
Tab. 189 Objects

3.3.3.16 PROFIdrive
PNUs of direction of rotation manager

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

1170 11287.0 Reversing the direction of rotation Boolean
1171 11288.0 ... 9 Invert encoder signal Boolean
1172 11289.0 Phase rotation Boolean
Tab. 190 PNUs

3.3.3.17 Parameters of the Commutation-Angle Detection

Commutation-angle detection normally does not have to be performed. If no valid commutation angle
has been found in the current data record, the commutation-angle detection is performed automatic-
ally. For encoders that do not provide an absolute position on a revolution, a commutation-angle
detection is performed once in the switch-on phase. If a commutation-angle detection is required, the
drive system must not demonstrate excessive function. The motor shaft should be freely rotating dur-

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Product Configuration

ing the commutation-angle detection. After a successful commutation-angle detection, the parameter
set must be saved on the device.

ID Px. Parameter Description

660 Status of state Specifies the status of the state machine of the commutation-
machine commutation angle detection.
finding Access read/−
Update effective immediately
Unit −
661 Commutation finding Specifies the status of the commutation-angle detection.
status Access read/−
Update effective immediately
Unit −
662 Time current increase Determines the time duration of the current rise ramp for the
commutation-angle detection.
Access read/write
Update effective immediately
Unit s
664 Increments Determines the increment for the commutation-angle detection.
Access read/write
Update effective immediately
Unit −
668 Mode Determines the mode of the commutation-angle detection.
This means:
– 0: always (at each controller enable)
– 1: automatic (only once at the first controller enable)
– 2: off
Access read/write
Update effective immediately
Unit −
669 Velocity Determines the set velocity for the commutation-angle detec-
tion.
Access read/write
Update effective immediately
Unit user defined

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ID Px. Parameter Description

6691 Acceleration Determines the set acceleration for the commutation-angle

detection.
Access read/write
Update effective immediately
Unit user defined
6692 Jerk Determines the set jerk for the commutation-angle detection.
Access read/write
Update effective immediately
Unit user defined
6693 Monitoring window Determines the size of the window for monitoring the commuta-
angle tion-angle detection.
Access read/write
Update effective immediately
Unit −
6694 Factor current set- Defines the factor for the current setpoint used for the commut-
point value ation angle determination.
Access read/write
Update effective immediately
Unit −
Tab. 191 Parameters of the Commutation-Angle Detection

ID Dx. Name Description

07 | 04 | 00136 Commutation finding failed Commutation finding failed

(117702792)
07 | 04 | 00137 Commutation finding direction An error has occurred during the commutation
(117702793) error angle search, the direction of rotation of the
motor does not correlate with the position
from the encoder.
Tab. 192 Diagnostic Messages for the Commutation-Angle Detection

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3.3.3.18 CiA 402

Objects of the commutation-angle detection

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
660 0x216B.01 Status of state machine commutation finding UINT32
661 0x216B.02 Commutation finding status UINT32
662 0x219C.03 Time current increase FLOAT32
664 0x216B.04 Increments FLOAT32
668 0x216B.06 Mode UINT32
669 0x216B.07 Velocity FLOAT32
6691 0x216B.0A Acceleration FLOAT32
6692 0x216B.0B Jerk FLOAT32
6693 0x216B.0C Monitoring window angle FLOAT32
6694 0x219C.14 Factor current setpoint value FLOAT32
Tab. 193 Objects

3.3.3.19 PROFIdrive
PNUs for commutation-angle detection

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

660 11177.0 Status of state machine commutation finding Unsigned32
661 11178.0 Commutation finding status Unsigned32
662 11179.0 Time current increase FloatingPoint
664 11180.0 Increments FloatingPoint
668 11182.0 Mode Unsigned32
669 11183.0 Velocity FloatingPoint
6691 11682.0 Acceleration FloatingPoint
6692 11683.0 Jerk FloatingPoint
6693 11684.0 Monitoring window angle FloatingPoint
6694 11685.0 Factor current setpoint value FloatingPoint
Tab. 194 PNUs

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3.3.3.20 Replacement of Motors without an Electronic Data Sheet

Encoders with BiSS-C have a communication interface. If a motor is used with such an encoder, the
CMMT checks whether the motor with which the homing and zero point offset were performed is still
connected during the switch-on phase. If the motor was exchanged, the CMMT generates a corres-
ponding error message.
The exchange of the motor requires another homing run because the zero point offset in the encoder
is labelled as invalid.
After the Replacement of the Motor
1. Check the configuration and parameterisation of the motor.
2. Reset the error message.
3. Perform homing again.
4. Save zero point offset in the device, e. g. using the device-specific plug-in ("Control" context,
"Save zero point offset" command or in the toolbar area with the "Store on device" command).
Diagnostic Messages

ID Dx. Name Description

18 | 00 | 00092 Motor change detected, commut- Motor change detected, commutation angle
(301989980) ation angle invalid invalid
18 | 00 | 00093 Motor change detected, zero Motor change detected, zero point offset
(301989981) point offset invalid invalid
Tab. 195 Diagnostic Messages

3.3.4 Gear unit

3.3.4.1 Function
The device supports the use of several gear units within a drive chain. During configuration, the cor-
rect transmission ratio for each gear unit used must be specified. The transmission ratio is specified
using the gear ratio. The gear ratio consists of a numerator and denominator. The numerator indicates
the number of revolutions on the drive side of the gear unit and the denominator indicates the number
of resulting revolutions on the output side of the gear unit.

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1 Motor shaft 4 Output side

2 Drive side 5 Axis
3 Gear unit
Fig. 36 Gear ratio (example)

Parameters of gear ratio groups 0, 1, 2

The device offers 3 gear ratio groups. For each gear ratio group, a gear ratio and a feed constant can
be set.
Using parameter P0.3251.x.0, it is possible to define which gear ratio group shall be used for the
respective encoder interface è Fig.35. The gear ratio and feed constant can therefore be set individu-
ally for each encoder interface.
The following parameters form gear ratio group 0:

ID Px. Parameter Description

1242 Total conversion Determines the numerator of the overall gear ratio (drive side).
factor gear unit Access read/write
numerator
Update reinitialization
Unit −
1243 Total conversion Determines the denominator of the overall gear ratio (output
factor gear unit side).
denominator Access read/write
Update reinitialization
Unit −

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Product Configuration

ID Px. Parameter Description

1194 Feed constant numer- Determines the numerator of the feed constant (data type
ator UINT32).
Access read/write
Update reinitialization
Unit −
1195 Feed constant denom- Determines the denominator of the feed constant (data type
inator UINT32).
Access read/write
Update reinitialization
Unit −
Tab. 196 Parameter for gear ratio group 0
The following parameters form gear ratio group 1 and 2:

ID Px. Parameter Description

11591 Numerator gear unit Determines the numerator of the gear ratio for the user-defined
(user defined) gear unit (drive side).
Index 0: gear ratio group 1
Index 1: gear ratio group 2
Access read/write
Update reinitialization
Unit −
11592 Denominator gear Determines the denominator of the gear ratio for the user-
unit (user defined) defined gear unit (output side).
Index 0: gear ratio group 1
Index 1: gear ratio group 2
Access read/write
Update reinitialization
Unit −
11593 Numerator feed con- Determines the numerator of the user-defined feed constant
stant (user defined) (data type UINT32).
Index 0: gear ratio group 1
Index 1: gear ratio group 2
Access read/write
Update reinitialization
Unit −

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ID Px. Parameter Description

11594 Denominator feed Determines the denominator of the user-defined feed constant
constant (user (data type UINT32).
defined) Index 0: gear ratio group 1
Index 1: gear ratio group 2
Access read/write
Update reinitialization
Unit −
Tab. 197 Parameters of gear ratio groups 1 and 2
Parameter from the drive configuration
If a drive configuration was performed using the plug-in, the parameters named in the following table
are assumed from the drive configuration. The plug-in calculates the numerator from parameters
Px.1232, Px.1233, Px.1236, Px.1237, Px.1240 and Px.1241 and the denominator of the overall trans-
mission ratio of the gear ratio group 0 (Px.1242 and Px.1243).
For the closed-loop controller, the gear ratio of the selected gear ratio group is relevant è Fig.35.
If the gear ratio group 0 is selected, parameters Px.1242 and Px.1243 calculated by the plug-in can be
changed as required. The change has no influence on the abovementioned parameters from the drive
configuration (Px.1232, Px.1233, etc.).

ID Px. Parameter Description

1230 Database ID gear unit Specifies the database ID of the first gear unit.
1 Access read/write
Update effective immediately
Unit −
1231 NOC code gear unit 1 Specifies the order code of the first configured gear unit.
Access read/write
Update effective immediately
Unit −
1232 Conversion factor Specifies the numerator of the gear ratio for the first gear unit
gear unit 1 numerator (drive side).
Access read/write
Update effective immediately
Unit −

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ID Px. Parameter Description

1233 Conversion factor Specifies the denominator of the gear ratio for the first gear unit
gear unit 1 denomin- (output side).
ator Access read/write
Update effective immediately
Unit −
1234 Database ID gear unit Specifies the database ID of the second gear unit.
2 Access read/write
Update effective immediately
Unit −
1235 NOC code gear unit 2 Specifies the order code of the second configured gear unit.
Access read/write
Update effective immediately
Unit −
1236 Conversion factor Specifies the numerator of the gear ratio for the second gear
gear unit 2 numerator unit (drive side).
Access read/write
Update effective immediately
Unit −
1237 Conversion factor Specifies the numerator of the gear ratio for the second gear
gear unit 2 denomin- unit (output side).
ator Access read/write
Update effective immediately
Unit −
1238 Database ID gear unit Specifies the database ID of the third gear unit.
3 Access read/write
Update effective immediately
Unit −
1239 NOC code gear unit 3 Specifies the order code of the third configured gear unit.
Access read/write
Update effective immediately
Unit −

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ID Px. Parameter Description

1240 Conversion factor Specifies the numerator of the gear ratio for the third gear unit
gear unit 3 numerator (drive side).
Access read/write
Update effective immediately
Unit −
1241 Conversion factor Specifies the denominator of the gear ratio for the third gear
gear unit 3 denomin- unit (output side).
ator Access read/write
Update effective immediately
Unit −
Tab. 198 Parameter from the drive configuration

3.3.4.2 CiA 402

Objects of gear ratio group 0

Parameters Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

1242 0x60E8.01 Total conversion factor gear unit numerator UINT32
1243 0x60ED.01 Total conversion factor gear unit denominator UINT32
1194 0x60E9.01 Feed constant numerator UINT32
1195 0x60EE.01 Feed constant denominator UINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1242 0x2182.0D Total conversion factor gear unit numerator UINT32
1243 0x2182.0E Total conversion factor gear unit denominator UINT32
1194 0x217E.04 Feed constant numerator UINT32
1195 0x217E.05 Feed constant denominator UINT32
Tab. 199 Objects
Objects of gear ratio groups 1 and 2

Parameters Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

11591 0x60E8.02 ... 03 Numerator gear unit (user defined) UINT32
11592 0x60ED.02 ... 03 Denominator gear unit (user defined) UINT32

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Parameters Index.Subindex Name Data type

11593 0x60E9.02 ... 03 Numerator feed constant (user defined) UINT32

11594 0x60EE.02 ... 03 Denominator feed constant (user defined) UINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
11591 0x226A.01 ... 02 Numerator gear unit (user defined) UINT32
11592 0x226B.01 ... 02 Denominator gear unit (user defined) UINT32
11593 0x226C.01 ... 02 Numerator feed constant (user defined) UINT32
11594 0x226D.01 ... 02 Denominator feed constant (user defined) UINT32
Tab. 200 Objects
Parameter of the gear units from the drive configuration

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1230 0x2182.01 Database ID gear unit 1 UINT32
1231 0x2182.02 NOC code gear unit 1 STRING(37)
1232 0x2182.03 Conversion factor gear unit 1 numerator UINT32
1233 0x2182.04 Conversion factor gear unit 1 denominator UINT32
1234 0x2182.05 Database ID gear unit 2 UINT32
1235 0x2182.06 NOC code gear unit 2 STRING(37)
1236 0x2182.07 Conversion factor gear unit 2 numerator UINT32
1237 0x2182.08 Conversion factor gear unit 2 denominator UINT32
1238 0x2182.09 Database ID gear unit 3 UINT32
1239 0x2182.0A NOC code gear unit 3 STRING(37)
1240 0x2182.0B Conversion factor gear unit 3 numerator UINT32
1241 0x2182.0C Conversion factor gear unit 3 denominator UINT32
Tab. 201 Objects

3.3.4.3 PROFIdrive
PNUs for gear ratio group 0

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

1242 11329.0 Total conversion factor gear unit numerator Unsigned32

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Parameters PNU Name Data type

1243 11330.0 Total conversion factor gear unit denominator Unsigned32

1194 11296.0 Feed constant numerator Unsigned32
1195 11297.0 Feed constant denominator Unsigned32
Tab. 202 PNUs
PNUs for gear ratio groups 1 and 2

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

11591 11830.0 ... 1 Numerator gear unit (user defined) Unsigned32
11592 11831.0 ... 1 Denominator gear unit (user defined) Unsigned32
11593 11832.0 ... 1 Numerator feed constant (user defined) Unsigned32
11594 11833.0 ... 1 Denominator feed constant (user defined) Unsigned32
Tab. 203 PNUs
PNUs of gear units from the drive configuration

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

1230 11317.0 Database ID gear unit 1 Unsigned32
1231 11318.0 ... 36 NOC code gear unit 1 STRING(37)
1232 11319.0 Conversion factor gear unit 1 numerator Unsigned32
1233 11320.0 Conversion factor gear unit 1 denominator Unsigned32
1234 11321.0 Database ID gear unit 2 Unsigned32
1235 11322.0 ... 36 NOC code gear unit 2 STRING(37)
1236 11323.0 Conversion factor gear unit 2 numerator Unsigned32
1237 11324.0 Conversion factor gear unit 2 denominator Unsigned32
1238 11325.0 Database ID gear unit 3 Unsigned32
1239 11326.0 ... 36 NOC code gear unit 3 STRING(37)
1240 11327.0 Conversion factor gear unit 3 numerator Unsigned32
1241 11328.0 Conversion factor gear unit 3 denominator Unsigned32
Tab. 204 PNUs

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3.3.5 Digital Inputs and Outputs

3.3.5.1 Function
The function of the digital inputs and outputs listed here can be parameterised. The signals at the
digital inputs trigger the parameterised function (e.g. “Release holding brake”). The signals at the
digital outputs map the parameterised signal (e.g. “Objective reached”).
The status of the inputs and outputs of the interfaces [X1A] and [X1C] is mapped to the parameters
Px.10151 and Px.10152. The status of the respective inputs and outputs can be recorded by recording
the parameters with the measurement data recording (trace).
Parameters and Diagnostic Messages

ID Px. Parameter Description

10151 Device interface x1A Status of the device interface x1A

status Assignment of the status word
è Tab. 206 Assignment of the Status Word of Device Interface
X1A.
Access read/−
Update effective immediately
Unit −
10152 Device interface x1C Status of the device interface x1C
status Assignment of the status word
è Tab. 207 Assignment of the Status Word of Device Interface
X1C.
Access read/−
Update effective immediately
Unit −
10153 Internal interface Status of the internal interface
status Assignment of the status word
è Tab. 208 Assignment of the Status Word of the Internal
Interface.
Access read/−
Update effective immediately
Unit −
10191 Activate PNP input Defines the switching logic of the digital inputs and outputs.
and output behaviour Here 0 means: NPN logic (ground is switched) and 1 means: PNP
logic (a potential is switched).
Specifies the switching logic of the digital inputs and outputs.
This means:
– 0: NPN logic (earth is switched)

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ID Px. Parameter Description

10191 Activate PNP input – 1: PNP logic (a potential is switched)

and output behaviour Access read/write
Update restart
Unit −
10192 Inversion of the Indicates with 1 that the inputs are inverted.
inputs active Access read/−
Update effective immediately
Unit −
10193 Inversion of the out- Indicates with 1 that the outputs are inverted.
puts active Access read/−
Update effective immediately
Unit −
11201 Digital input X1A.7 Specifies the function of the digital input signal at connection
X1A.7.
Possible functions
è Tab. 209 Configurable Input Signals at X1A.7 and X1A.8.

Access read/write
Update reinitialization
Unit −
11202 Digital input X1A.8 Specifies the function of the digital input signal at connection
X1A.8.
Possible functions
è Tab. 209 Configurable Input Signals at X1A.7 and X1A.8.

Access read/write
Update reinitialization
Unit −
11203 Digital output X1A.9 Specifies the function of the digital output signal at connection
X1A.9.
Possible signals
è Tab. 212 Configurable Output Signals at X1A.9 and X1A.10.

Access read/write
Update reinitialization
Unit −

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Product Configuration

ID Px. Parameter Description

11204 Digital output X1A.10 Specifies the function of the digital output signal at connection
X1A.10.
Possible signals
è Tab. 212 Configurable Output Signals at X1A.9 and X1A.10.

Access read/write
Update reinitialization
Unit −
11205 Digital input X1C.2 Specifies the function of the digital input signal at connection
X1C.2.
Possible signals è Tab. 210 Configurable Input Signals at X1C.2.
Access read/write
Update reinitialization
Unit −
101200 Reference switch con- Determines the configuration of the reference switch.
figuration Possible switching functions
è Tab. 211 Switching Function of the Reference Switch.

Access read/write
Update effective immediately
Unit −
1128054 Digital outputs Digital output image CiA402
CiA402 Access read/write
Update effective immediately
Unit −
Tab. 205 Parameter

Parameter Device interface x1A status Px.10151

Bit Signal name Brief description Description

0 X1A.6 CTRL-EN Power stage enable/acknowledge

error
1 X1A.7 Basic in 01 Configurable input
è Tab. 209 Configurable Input
Signals at X1A.7 and X1A.8
2 X1A.8 Basic in 02 Configurable input
è Tab. 209 Configurable Input
Signals at X1A.7 and X1A.8

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Parameter Device interface x1A status Px.10151

Bit Signal name Brief description Description

3 X1A.9 Basic out 01 Configurable output

è Tab. 212 Configurable Output
Signals at X1A.9 and X1A.10
4 X1A.10 Basic out 02 Configurable output
è Tab. 212 Configurable Output
Signals at X1A.9 and X1A.10
Tab. 206 Assignment of the Status Word of Device Interface X1A

Parameter Device interface x1C status Px.10152

Bit Signal name Brief description Description

0 X1C.2 REF/IN Reference signal/limit switch signal

Tab. 207 Assignment of the Status Word of Device Interface X1C

Parameter Internal interface status Px.10153

Bit Signal name Brief description Description

0 STO-A STO channel A Internal parameters

1 STO-B STO channel B
2 STO FB A STO feedback channel
A
3 STO FB B STO feedback channel
B
4 PWM ENABLE Power stage enable
5 STA Feedback STO
Tab. 208 Assignment of the Status Word of the Internal Interface

Parameters of digital inputs X1A.7, X1A.8 (Px.11201, Px.11202)

Value Function Description

1 No function The input is deactivated.

3 Open holding brake 1 The input signal enables the functional release of one
or more holding brakes.
6 Touch probe 0 The input provides the trigger signal for the high-preci-
7 Touch probe 1 sion recording of the current actual position. The saved
values can be read out using the device profile used.

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Product Configuration

Parameters of digital inputs X1A.7, X1A.8 (Px.11201, Px.11202)

Value Function Description

8 Negative hardware limit switch The input shows the exceeding of the usable range in a
9 Positive hardware limit switch negative or positive direction. The switching function
can be set with parameters Px.101100 and Px.101101
(N/C or N/O contact). For more information, see
è 5.5 Hardware limit switch reached

11 Record table input 0 The input can be used as a step enabling condition
12 Record table input 1 during record selection (ID Px.1831 = 4).

Tab. 209 Configurable Input Signals at X1A.7 and X1A.8

Parameters of digital input X1C.2 (Px.11205)

Value Function Description

1 No function The input is deactivated.

8 Negative hardware limit switch The input shows the exceeding of the usable range in a
9 Positive hardware limit switch negative or positive direction. The switching function
can be set with parameters Px.101100 and Px.101101
(N/C or N/O contact). For additional information
è 5.5 Hardware limit switch reached.

10 Reference switch The input returns the signal of the reference switch.
Tab. 210 Configurable Input Signals at X1C.2

Parameters of the reference switch (Px.101200)

Value Function Description

0 Deactivated The input for the reference switch is deactivated.

1 N/O contact Switching function of N/O (normally open) contact
2 N/C contact Switching function of N/C (normally closed) contact
Tab. 211 Switching Function of the Reference Switch

Parameters of digital outputs X1A.9, X1A.10 (Px.11203 and Px.11204)

Value Function Description

1 No function The output has no function.

2 Servo drive ready The output is active when the servo drive is ready for
operation.
4 Holding brake 1 open The output becomes active when holding brake 1 is
released.

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Parameters of digital outputs X1A.9, X1A.10 (Px.11203 and Px.11204)

Value Function Description

6 Permanent 0 V The output is always inactive.

7 Permanent 24 V The output is always active.
9 Cam switch 0 The output provides the logical status of the corres-
10 Cam switch 1 ponding cam switch.

12 Drive referenced The output becomes active when the drive is being
homed.
13 Target position reached The output becomes active when the actual position
remains in the target window for the duration of the
damping time.
14 Target velocity reached The output becomes active when the actual velocity is
within the target window for the duration of the damp-
ing time.
15 Target torque reached The output becomes active when the actual torque is
within the target window for the duration of the damp-
ing time.
16 Position: following error The output becomes active when the corresponding
17 Velocity: following error following error is present after the operate delay has
expired.
18 Target range position The output becomes active after the target range is
19 Target range velocity reached and becomes inactive again when the target
range is left.
20 Target range torque
21 Positive hardware limit switch The output provides the logical signal of the corres-
22 Negative hardware limit switch ponding limit switch.

23 Positive SW limit switch The output becomes active if the software end position
24 Negative SW limit switch has been exceeded.

25 Standstill position The output becomes active when the corresponding

26 Standstill velocity standstill monitoring indicates a standstill.

27 Limit stop reached The output becomes active when a stop ramp is oper-
ated.
28 Positive stroke limitation The output becomes active if the stroke limitation has
29 Negative stroke limitation been exceeded in the corresponding direction.

30 Velocity limit value The output becomes active when the velocity monitor-
ing indicates the exceeding of the limit value.

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Parameters of digital outputs X1A.9, X1A.10 (Px.11203 and Px.11204)

Value Function Description

31 Pushback The output becomes active when the set torque and
direction of movement do not correlate and the para-
meterised damping time has expired.
32 MC The output provides the “Motion Complete” signal.
33 Record table output 0 The output becomes active if the output has been set
34 Record table output 1 using the record table.

35 Error The output becomes active if an error is reported.

36 Variable message function The output becomes active if the parameterised result
of the variable message function is valid.
Tab. 212 Configurable Output Signals at X1A.9 and X1A.10

ID Dx. Name Description

06 | 00 | 00085 Digital I/O configuration invalid The configuration of the digital inputs or out-
(100663381) puts is invalid
Tab. 213 Diagnostic Messages

3.3.5.2 CiA 402

Objects of digital inputs and outputs

Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

1128054 0x60FE.01 Digital outputs CiA402 UINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
10191 0x2140.01 Activate PNP input and output behaviour UINT8
10192 0x2140.02 Inversion of the inputs active BOOL
10193 0x2140.03 Inversion of the outputs active BOOL
11201 0x212F.0A Digital input X1A.7 UINT32
11202 0x212F.0B Digital input X1A.8 UINT32
11203 0x212F.0C Digital output X1A.9 UINT32
11204 0x212F.0D Digital output X1A.10 UINT32
11205 0x212F.0E Digital input X1C.2 UINT32
101200 0x218A.01 Reference switch configuration UINT32

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Parameter Index.Subindex Name Data type

1128054 0x2195.02 Digital outputs CiA402 UINT32

Tab. 214 Objects

3.3.5.3 PROFIdrive
PNUs of digital inputs and outputs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

10191 3361.0 Activate PNP input and output behaviour Unsigned8
10192 3362.0 Inversion of the inputs active Boolean
10193 3363.0 Inversion of the outputs active Boolean
11201 3364.0 Digital input X1A.7 Unsigned32
11202 3365.0 Digital input X1A.8 Unsigned32
11203 3366.0 Digital output X1A.9 Unsigned32
11204 3367.0 Digital output X1A.10 Unsigned32
11205 3368.0 Digital input X1C.2 Unsigned32
101200 11947.0 Reference switch configuration Unsigned32
Tab. 215 PNUs

3.4 Protective functions

3.4.1 I²t monitoring of the power output stage
The “I²t monitoring of power output stage” protective function is used to protect the power output
stage from thermal damage due to an excessive dissipation of electrical energy.
In the process, the limit values of a certain warning threshold and upper limit are monitored. When the
respective limit value is reached, a diagnostic message is triggered. After the upper limit is reached,
the current is limited to the nominal current. The limitation to the nominal current is automatically res-
cinded when the integrator value of the I²t monitoring is set to 0.
An electrical rotational frequency £ 5 Hz at the output of the power output stage is monitored by a
short I²t time and separate diagnostic messages.
Parameters and diagnostic messages

ID Px. Parameters Description

637 Scaling factor start Specifies the scaling factor for the start value based on the limit
value I²t monitoring value of the I²t monitoring of the power output stage at stand-
power output stage still.
Access read/−

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Product Configuration

ID Px. Parameters Description

637 Scaling factor start Update effective immediately

value I²t monitoring Unit −
power output stage
638 Limit value I²t monit- Specifies the limit value for I²t monitoring of the power output
oring power output stage.
stage Access read/−
Update effective immediately
Unit A²s
639 Scaling factor maxim- Displays the scaling factor for the maximum value based on the
um value after switch- limit value after switching on.
ing on Access read/−
Update effective immediately
Unit −
6310 Actual value I²t monit- Specifies the actual value for I²t monitoring of the power output
oring power output stage.
stage Access read/−
Update effective immediately
Unit A²s
6311 Scaling factor warning Specifies the scaling factor for the warning limit based on the
limit I²t monitoring limit value of the I²t monitoring of the power output stage.
power output stage Access read/write
Update effective immediately
Unit −
6313 Scaling factor start Specifies the scaling factor for the start value based on the limit
value I²t monitoring value of the I²t monitoring of the power output stage at stand-
power output stage at still.
standstill Access read/−
Update effective immediately
Unit −
6314 Limit value I²t monit- Specifies the limit value for I²t monitoring of the power output
oring power output stage at standstill.
stage at standstill Access read/−
Update effective immediately
Unit A²s

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ID Px. Parameters Description

6315 Scaling factor maxim- Displays the scaling factor for the maximum value based on the
um value after drive limit value, after drive is at standstill.
at standstill Access read/−
Update effective immediately
Unit −
6316 Actual value I²t monit- Specifies the actual value for I²t monitoring of the power output
oring power output stage at standstill.
stage at standstill Access read/−
Update effective immediately
Unit A²s
6317 Scaling factor warning Specifies the scaling factor for the warning limit based on the
limit I²t monitoring limit value of the I²t monitoring of the power output stage if the
drive at standstill drive is at standstill.
Access read/write
Update effective immediately
Unit −
6332 Actual value relative Specifies the actual value for relative I²t monitoring of the power
I²t monitoring of output stage to the limit.
power output stage to Access read/−
limit
Update effective immediately
Unit −
6333 Actual value relative Specifies the actual value for relative I²t monitoring of the power
I²t monitoring of output stage at standstill to the limit.
power output stage at Access read/−
standstill to limit
Update effective immediately
Unit −
6334 Actual value I²t monit- Specifies the current actual value of the I²t monitoring of the
oring of the total cur- total current.
rent Access read/−
Update effective immediately
Unit Arms
Tab. 216 Parameters of “I²t monitoring of power output stage”

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Product Configuration

ID Dx. Name Description

01 | 02 | 00014 I²t monitoring: output stage warn- I²t monitoring: output stage warning limit
(16908302) ing limit
01 | 02 | 00015 I²t monitoring: output stage error I²t monitoring: output stage error limit
(16908303) limit
01 | 02 | 00016 I²t monitoring: output stage v0 I²t monitoring: output stage in standstill warn-
(16908304) warning limit ing limit
01 | 02 | 00017 I²t monitoring: output stage v0 I²t monitoring: output stage in standstill error
(16908305) error limit limit
Tab. 217 Diagnostic messages of “I²t monitoring of the power output stage”

3.4.1.1 CiA 402

Objects of “I²t monitoring of the power output stage”

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
637 0x216A.07 Scaling factor start value I²t monitoring power FLOAT32
output stage
638 0x216A.08 Limit value I²t monitoring power output stage FLOAT32
639 0x216A.09 Scaling factor maximum value after switching FLOAT32
on
6310 0x216A.0A Actual value I²t monitoring power output stage FLOAT32
6311 0x216A.0B Scaling factor warning limit I²t monitoring FLOAT32
power output stage
6313 0x216A.0C Scaling factor start value I²t monitoring power FLOAT32
output stage at standstill
6314 0x216A.0D Limit value I²t monitoring power output stage FLOAT32
at standstill
6315 0x216A.0E Scaling factor maximum value after drive at FLOAT32
standstill
6316 0x216A.0F Actual value I²t monitoring power output stage FLOAT32
at standstill
6317 0x216A.10 Scaling factor warning limit I²t monitoring FLOAT32
drive at standstill
6332 0x216A.1E Actual value relative I²t monitoring of power FLOAT32
output stage to limit

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Parameters Index.Subindex Name Data type

6333 0x216A.1F Actual value relative I²t monitoring of power FLOAT32

output stage at standstill to limit
6334 0x216A.20 Actual value I²t monitoring of the total current FLOAT32
Tab. 218 Objects

3.4.1.2 PROFIdrive
PNUs of the I²t monitoring of the power output stage

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

637 11174.0 Scaling factor start value I²t monitoring power FloatingPoint
output stage
638 11175.0 Limit value I²t monitoring power output stage FloatingPoint
639 11176.0 Scaling factor maximum value after switching FloatingPoint
on
6310 11655.0 Actual value I²t monitoring power output stage FloatingPoint
6311 11656.0 Scaling factor warning limit I²t monitoring FloatingPoint
power output stage
6313 11657.0 Scaling factor start value I²t monitoring power FloatingPoint
output stage at standstill
6314 11658.0 Limit value I²t monitoring power output stage FloatingPoint
at standstill
6315 11659.0 Scaling factor maximum value after drive at FloatingPoint
standstill
6316 11660.0 Actual value I²t monitoring power output stage FloatingPoint
at standstill
6317 11661.0 Scaling factor warning limit I²t monitoring FloatingPoint
drive at standstill
6332 11675.0 Actual value relative I²t monitoring of power FloatingPoint
output stage to limit
6333 11676.0 Actual value relative I²t monitoring of power FloatingPoint
output stage at standstill to limit
6334 11677.0 Actual value I²t monitoring of the total current FloatingPoint
Tab. 219 PNUs

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Product Configuration

3.4.2 I²t monitoring of motor

To protect the connected motor from thermal overload, a simplified thermal motor model is used for
the CMMT-ST. The simplified thermal motor model is based on a deceleration member of the first
order with a standardised status variable of 0 to 1 and a parameterisable filter time constant of
Px.7144 è 3.3.1 Motor configuration. If the deceleration member reaches the value 1, this means that
the motor is permanently operated with nominal current. If the value 1.05 of the status variable is
reached, a diagnostic message is emitted. Between 0 and 1, a warning threshold can be paramet-
erised.
Timing

Fig. 37 Timing of I²t monitoring of motor

Name Description

Error limit Px.6306, Limit value I²T monitoring motor model

Warning limit Px.6305, Scaling factor warning limit I²t monitoring motor model
Act. Value Px.6302, Actual value I²T monitoring motor model
Tab. 220 Legend on the timing of I²t monitoring of motor

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Parameters and diagnostic messages

ID Px. Parameter Description

6302 Actual value I²T mon- Displays the actual value of I²t monitoring from the motor mod-
itoring motor model el.
Access read/−
Update effective immediately
Unit −
6301 Scaling factor start Specifies the scaling factor for setting the start value for I²t mon-
value I²t monitoring itoring based on the limit value of I²t monitoring of the motor
motor model model.
Access read/write
Update effective immediately
Unit −
6305 Scaling factor warning Specifies the scaling factor for setting the warning limit for I²t
limit I²t monitoring monitoring based on the limit value of I²t monitoring of the
motor model motor model.
Access read/write
Update effective immediately
Unit −
6303 Maximum start value Specifies the maximum permissible start value of I²t monitoring
I²t monitoring motor of the motor model.
model Access read/−
Update effective immediately
Unit −
Tab. 221 Parameters of I²t monitoring of motor

ID Dx. Name Description

01 | 02 | 00259 I²t monitoring: motor model error I²t monitoring: motor model error limit
(16908547) limit
01 | 02 | 00258 I²T monitoring: motor model I²T monitoring: motor model warning limit
(16908546) warning limit
Tab. 222 Diagnostic messages of I²t monitoring of the motor

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Product Configuration

3.4.2.1 CiA 402

Objects of I²t monitoring of the motor

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
6302 0x21A5.02 Actual value I²T monitoring motor model FLOAT32
6301 0x21A5.01 Scaling factor start value I²t monitoring motor FLOAT32
model
6305 0x21A5.04 Scaling factor warning limit I²t monitoring FLOAT32
motor model
6303 0x21A5.03 Maximum start value I²t monitoring motor FLOAT32
model
Tab. 223 Objects

3.4.2.2 PROFIdrive
PNUs of I²t monitoring of motor

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

6302 12405.0 Actual value I²T monitoring motor model FloatingPoint
6301 12404.0 Scaling factor start value I²t monitoring motor FloatingPoint
model
6305 12407.0 Scaling factor warning limit I²t monitoring FloatingPoint
motor model
6303 12406.0 Maximum start value I²t monitoring motor FloatingPoint
model
Tab. 224 PNUs

3.4.3 Temperature monitoring of the servo drive

The “Temperature monitoring of the servo drive” protective function protects the power module
against overtemperature.
The upper and lower limit values of a certain warning threshold and of a certain upper and lower limit
are monitored, including hysteresis. The hysteresis is 5 °C. When the respective limit value is reached,
a diagnostic message is triggered. The diagnostic message can only be acknowledged if the temperat-
ure has left the threshold or the limit including the hysteresis range.

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Parameters and diagnostic messages

ID Px. Parameters Description

920 Temperature power Specifies the current actual temperature value of the power out-
output stage put stage.
Access read/−
Update effective immediately
Unit °C
921 Temperature status Specifies the status of the temperature monitoring of the power
power output stage output stage
Access read/−
Update effective immediately
Unit −
9314 Upper limit value Determines the upper limit value of warning threshold for the
warning threshold temperature monitoring of the power output stage.
power output stage Access read/write
temperature
Update effective immediately
Unit °C
9315 Upper limit value Determines the upper limit value of the temperature monitoring
power output stage of the power output stage.
temperature Access read/write
Update effective immediately
Unit °C
9316 Lower limit value Determines the lower limit value of warning threshold for the
warning threshold temperature monitoring of the power output stage.
power output stage Access read/write
temperature
Update effective immediately
Unit °C
9317 Lower limit value Determines the lower limit value of the temperature monitoring
power output stage of the power output stage.
temperature Access read/write
Update effective immediately
Unit °C

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Product Configuration

ID Px. Parameters Description

9322 Current upper limit Specifies the current upper limit value of the warning threshold
value warning for the temperature monitoring of the power output stage.
threshold power out- Access read/−
put stage temperat-
Update effective immediately
ure
Unit °C
9323 Current upper limit Specifies the current upper limit value of the temperature monit-
value power output oring of the power output stage.
stage temperature Access read/−
Update effective immediately
Unit °C
9324 Current lower limit Specifies the current lower limit value of the warning threshold
value warning for the temperature monitoring of the power output stage.
threshold power out- Access read/−
put stage temperat-
Update effective immediately
ure
Unit °C
9325 Current lower limit Specifies the current lower limit value of the temperature monit-
value power output oring of the power output stage.
stage temperature Access read/−
Update effective immediately
Unit °C
Tab. 225 Parameters of “Temperature monitoring of the servo drive”
Diagnostic messages
No specific diagnostic messages are allocated to the function.

3.4.3.1 CiA 402

Objects of "Temperature monitoring of the servo drive"

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
920 0x2128.01 Temperature power output stage FLOAT32
921 0x2128.02 Temperature status power output stage SINT32
9314 0x2128.19 Upper limit value warning threshold power FLOAT32
output stage temperature

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Parameters Index.Subindex Name Data type

9315 0x2128.1A Upper limit value power output stage temper- FLOAT32
ature
9316 0x2128.1B Lower limit value warning threshold power FLOAT32
output stage temperature
9317 0x2128.1C Lower limit value power output stage temper- FLOAT32
ature
9322 0x2128.21 Current upper limit value warning threshold FLOAT32
power output stage temperature
9323 0x2128.22 Current upper limit value power output stage FLOAT32
temperature
9324 0x2128.23 Current lower limit value warning threshold FLOAT32
power output stage temperature
9325 0x2128.24 Current lower limit value power output stage FLOAT32
temperature
Tab. 226 Objects

3.4.3.2 PROFIdrive
PNUs "temperature monitoring of the servo drive"

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

920 2246.0 Temperature power output stage FloatingPoint
921 2247.0 Temperature status power output stage Integer32
9314 2795.0 Upper limit value warning threshold power FloatingPoint
output stage temperature
9315 2796.0 Upper limit value power output stage temper- FloatingPoint
ature
9316 2797.0 Lower limit value warning threshold power FloatingPoint
output stage temperature
9317 2798.0 Lower limit value power output stage temper- FloatingPoint
ature
9322 2803.0 Current upper limit value warning threshold FloatingPoint
power output stage temperature
9323 2804.0 Current upper limit value power output stage FloatingPoint
temperature

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Parameters PNU Name Data type

9324 2805.0 Current lower limit value warning threshold FloatingPoint

power output stage temperature
9325 2806.0 Current lower limit value power output stage FloatingPoint
temperature
Tab. 227 PNUs

3.4.4 System monitoring

The protective function monitors the internal system during initialisation and runtime. It is used to
protect the control unit. If a system error is detected, the power output stage is switched off and the
servo drive is put in an operationally safe condition. A system error can be eliminated by restarting the
servo drive.

3.4.5 Mains and DC link monitoring

3.4.5.1 Mains voltage monitoring

The mains monitoring protective function is used to protect against mains failure, undershooting or
exceeding of the mains voltage.
When the respective limit value is undershot or exceeded over a certain period of time, a diagnostic
message is triggered. The servo drive tolerates a short-term interruption of the mains voltage. The tol-
erance time is device-specific and cannot be changed by the user.
Parameters and diagnostic messages

ID Px. Parameters Description

491 Load voltage root Specifies the load voltage root mean square value.
mean square value Access read/−
Update effective immediately
Unit V
493 Lower load voltage Determines the lower limit value for load voltage monitoring.
limit value Access read/write
Update effective immediately
Unit V
494 Upper load voltage Determines the upper limit value for load voltage monitoring.
value Access read/write
Update effective immediately
Unit V

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ID Px. Parameters Description

28151 Current lower limit Specifies the lower limit value for load voltage monitoring.
value load voltage Access read/−
Update effective immediately
Unit V
28152 Current upper limit Specifies the upper limit value for load voltage monitoring.
value load voltage Access read/−
Update effective immediately
Unit V
Tab. 228 Mains voltage monitoring parameter

ID Dx. Name Description

02 | 03 | 00038 Undervoltage in load voltage Undervoltage in load voltage

(33751078)
02 | 03 | 00039 Overvoltage in load voltage Overvoltage in load voltage
(33751079)
Tab. 229 Mains voltage monitoring diagnostic messages

CiA 402
Mains voltage monitoring objects

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
490 0x2115.01 Load voltage peak value FLOAT32
491 0x2115.02 Load voltage root mean square value FLOAT32
492 0x2115.03 Actual rectified load voltage value FLOAT32
493 0x2115.04 Lower load voltage limit value FLOAT32
494 0x2115.05 Upper load voltage value FLOAT32
495 0x2115.06 Actual load voltage frequency value FLOAT32
4995 0x2115.12 Status load voltage BOOL
5113 0x2115.15 Activation DC voltage supply BOOL
28140 0x2115.17 Load voltage frequency minimum FLOAT32
28150 0x2115.18 Maximum load voltage frequency FLOAT32
28151 0x2115.19 Current lower limit value load voltage FLOAT32

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Parameters Index.Subindex Name Data type

28152 0x2115.1A Current upper limit value load voltage FLOAT32

Tab. 230 Objects

PROFIdrive
Mains voltage monitoring PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

490 2156.0 Load voltage peak value FloatingPoint
491 2157.0 Load voltage root mean square value FloatingPoint
492 2158.0 Actual rectified load voltage value FloatingPoint
493 2159.0 Lower load voltage limit value FloatingPoint
494 2160.0 Upper load voltage value FloatingPoint
495 2161.0 Actual load voltage frequency value FloatingPoint
4995 2549.0 Status load voltage Boolean
5113 2552.0 Activation DC voltage supply Boolean
28140 3050.0 Load voltage frequency minimum FloatingPoint
28150 3051.0 Maximum load voltage frequency FloatingPoint
28151 3052.0 Current lower limit value load voltage FloatingPoint
28152 3053.0 Current upper limit value load voltage FloatingPoint
Tab. 231 PNUs

3.4.5.2 Monitoring of the DC link voltage

The protective function is used for the monitoring of the DC link voltage. In the process, the DC link
voltage is monitored for preset maximum value and parameterised minimum value. In addition, a limit
value for the warning threshold can be parameterised. When the respective limit value is reached, a
diagnostic message is triggered.

If the maximum permissible DC link voltage exceeded, a Category 0 stop is performed and the drive
slowly comes to a stop.

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Parameters and diagnostic messages

ID Px. Parameters Description

480 Actual value DC link Specifies the current actual value of the DC link voltage.
voltage Access read/−
Update effective immediately
Unit V
4811 Warning thresholds Determine the warning threshold for the monitoring of the DC
DC link voltage link voltage.
Access read/write
Update effective immediately
Unit V
4813 Upper limit value DC Determines the upper limit value for the monitoring of the DC
link voltage link voltage.
Access read/write
Update effective immediately
Unit V
4814 Lower limit value DC Determines the lower limit value for the monitoring of the DC
link voltage link voltage.
Access read/write
Update effective immediately
Unit V
56799 Current warning Specifies the currently used warning threshold for monitoring
threshold DC link the DC link voltage.
voltage Access read/−
Update effective immediately
Unit V
56800 Current upper limit Specifies the currently used upper limit value for monitoring the
value DC link voltage DC link voltage.
Access read/−
Update effective immediately
Unit V

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ID Px. Parameters Description

56801 Current lower limit Specifies the currently used lower limit value for monitoring the
value DC link voltage DC link voltage.
Access read/−
Update effective immediately
Unit V
Tab. 232 Parameters of “Monitoring of the DC link voltage”

ID Dx. Name Description

02 | 02 | 00030 Overvoltage in intermediate cir- Overvoltage in intermediate circuit

(33685534) cuit
02 | 02 | 00031 Undervoltage in intermediate cir- Undervoltage in intermediate circuit
(33685535) cuit
02 | 02 | 00032 Intermediate circuit warning Intermediate circuit warning threshold
(33685536) threshold reached reached
Tab. 233 Diagnostic messages of “Monitoring of the DC link voltage”

CiA 402

Parameters Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

480 0x6079.00 Actual value DC link voltage UINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
480 0x2114.01 Actual value DC link voltage FLOAT32
4811 0x2114.0A Warning thresholds DC link voltage FLOAT32
4813 0x2114.0C Upper limit value DC link voltage FLOAT32
4814 0x2114.0D Lower limit value DC link voltage FLOAT32
56799 0x2114.18 Current warning threshold DC link voltage FLOAT32
56800 0x2114.19 Current upper limit value DC link voltage FLOAT32
56801 0x2114.1A Current lower limit value DC link voltage FLOAT32
Tab. 234 Objects of “Monitoring of the DC link voltage”

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PROFIdrive

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

480 2148.0 Actual value DC link voltage FloatingPoint
4811 2533.0 Warning thresholds DC link voltage FloatingPoint
4813 2535.0 Upper limit value DC link voltage FloatingPoint
4814 2536.0 Lower limit value DC link voltage FloatingPoint
56799 3065.0 Current warning threshold DC link voltage FloatingPoint
56800 3066.0 Current upper limit value DC link voltage FloatingPoint
56801 3067.0 Current lower limit value DC link voltage FloatingPoint
Tab. 235 PNUs of "monitoring of the DC link voltage"

3.4.5.3 Return energy feed

Function
The drive can return generative energy to the servo drive during a deceleration phase..
The servo drive has reactive current braking. If the DC link voltage lies above a defined threshold value
due to the return energy feed of the drive, the reactive current braking switches on and dissipates this
energy in the drive and the motor cable.
The automatic detection of the threshold value for the reactive current braking can be switched off
with Px.102107 and specified via the parameters Px.102108 and Px.102109.
The reactive current braking can be completely deactivated with Px.102104.
If the load supply of several devices is connected with one another, the energy returned from a drive
can be used by other devices. If the DC link voltage rises above an automatically identified threshold
value, the intermediate circuit is disconnected from the load supply to protect the other devices.
The automatic detection of the threshold value for the switch-off can be switched off with Px.10184
and specified via the parameter Px.10185.
Parameters and diagnostic messages

ID Px. Parameter Description

10181 DC link recovery deac- Voltage from which the DC link recovery is deactivated
tivation Access read/−
Update effective immediately
Unit V
10182 DC link recovery DC link recovery status
status Access read/−
Update effective immediately

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Product Configuration

ID Px. Parameter Description

10182 DC link recovery Unit −

status
10184 Activation automatic Activation of the automatic voltage determination
voltage determination Access read/write
Update reinitialization
Unit −
10185 Power feedback Power feedback switch-off threshold
switch-off threshold Access read/write
Update effective immediately
Unit V
10186 Scaling factor offset Specifies the scaling factor for the offset of the automatic
of voltage calculation voltage calculation
Access read/write
Update effective immediately
Unit −
102101 Active switch-on Active switch-on threshold of reactive current braking
threshold reactive Access read/−
current braking
Update effective immediately
Unit V
102102 Active end value Active end value for reactive current braking
reactive current brak- Access read/−
ing
Update effective immediately
Unit V
102103 Status reactive cur- Status of the reactive current braking
rent braking Access read/−
Update effective immediately
Unit −
102104 Activate reactive cur- Activate reactive current braking
rent braking Access read/write
Update effective immediately
Unit −

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ID Px. Parameter Description

102105 Maximum reactive Maximum reactive current of the reactive current braking
current reactive cur- Access read/−
rent braking
Update effective immediately
Unit Arms
102106 Actual value reactive Actual value of the reactive current braking
current braking Access read/−
Update effective immediately
Unit Arms
102107 Activation automatic Activation of the automatic voltage determination
voltage determination Access read/write
Update reinitialization
Unit −
102108 Switch-on threshold Switch-on threshold of the reactive current braking
reactive current brak- Access read/write
ing
Update effective immediately
Unit V
102109 End value reactive End value for the reactive current braking
current braking Access read/write
Update effective immediately
Unit V
Tab. 236 Parameter

CiA 402
Return energy feed objects

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
10181 0x213F.01 DC link recovery deactivation FLOAT32
10182 0x213F.02 DC link recovery status BOOL
10184 0x213F.04 Activation automatic voltage determination BOOL
10185 0x213F.05 Power feedback switch-off threshold FLOAT32
10186 0x213F.06 Scaling factor offset of voltage calculation FLOAT32

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Product Configuration

Parameter Index.Subindex Name Data type

102101 0x218D.01 Active switch-on threshold reactive current FLOAT32

braking
102102 0x218D.02 Active end value reactive current braking FLOAT32
102103 0x218D.03 Status reactive current braking BOOL
102104 0x218D.04 Activate reactive current braking BOOL
102105 0x218D.05 Maximum reactive current reactive current FLOAT32
braking
102106 0x218D.06 Actual value reactive current braking FLOAT32
102107 0x218D.07 Activation automatic voltage determination BOOL
102108 0x218D.08 Switch-on threshold reactive current braking FLOAT32
102109 0x218D.09 End value reactive current braking FLOAT32
Tab. 237 Objects

PROFIdrive
Return energy feed PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

10181 3352.0 DC link recovery deactivation FloatingPoint
10182 3353.0 DC link recovery status Boolean
10184 3355.0 Activation automatic voltage determination Boolean
10185 3356.0 Power feedback switch-off threshold FloatingPoint
10186 3357.0 Scaling factor offset of voltage calculation FloatingPoint
102101 12417.0 Active switch-on threshold reactive current FloatingPoint
braking
102102 12418.0 Active end value reactive current braking FloatingPoint
102103 12419.0 Status reactive current braking Boolean
102104 12420.0 Activate reactive current braking Boolean
102105 12421.0 Maximum reactive current reactive current FloatingPoint
braking
102106 12422.0 Actual value reactive current braking FloatingPoint
102107 12423.0 Activation automatic voltage determination Boolean
102108 12424.0 Switch-on threshold reactive current braking FloatingPoint

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Parameter PNU Name Data type

102109 12425.0 End value reactive current braking FloatingPoint

Tab. 238 PNUs

4 Motion Control
4.1 Operating Modes
4.1.1 Finite State Machine
The internal finite state machine defines how the available operating statuses of the device are
changed.
If the device completes the start-up phase without error, it automatically switches to the Ready status.
If the closed-loop controller and the output stage are enabled, depending on the parameterisation the
device automatically switches to the status Standstill or the status Profile è Px.10234. The required
operating mode can be activated in the Standstill status, e. g. by the device profile or the device-spe-
cific plug-in.

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Motion Control

Fig. 38

Statuses Description

Not ready The device is not ready because a precondition is not fulfilled,
e. g. an encoder is not selected, or DC link voltage is not connec-
ted.
Disabled The device is blocked. The output stage is locked and switched
off.
Ready The device is ready. The output stage is switched off. The brake
can be set and released manually è 3.3.2 Brake Control.
Enabling The power output stage is switched on.
Standstill The device is ready for operation and it is position-controlled.

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Statuses Description

Homing The device is running a homing movement è 4.4 Homing.

Jog The device is in jog mode è 4.6 Jog Mode.
Autotuning The device is running autotuning è 6.5 Auto-tuning.
Torque with brake The device is running force or torque commands with set brake
è 4.1.5 Force/torque mode (PT) with or without holding brake.

Profile The device is running motion commands

è 4.1.2 Operating modes for performing motion commands.

Halt The current command was aborted via the device profile
è 4.3 Hold.

Stop The device was stopped by a stop signal è 4.2 Stop.

Error stop The device was stopped by a diagnostic event. The brake can be
set and released manually è 3.3.2 Brake Control.
Tab. 239 Statuses of the Internal Finite State Machine

Status transitions Description

Note 1 The transition to the Disabled status occurs status occurs if the
output stage enable is cancelled or a safety stop is requested
(e.g. STO).
Note 2 The transition to the Not ready status occurs, e.g., if the connec-
tion to the encoder is interrupted or the re-initialisation is reques-
ted or the intermediate circuit is not charged.
Note 3 The transition to the Ready status occurs once all preconditions
have been fulfilled.
Note 4 Automatic switch to the Standstill status if the output stage
enable is not exclusively via the CTRL-EN input
è 4.1.9 Switch-on/off Behaviour and Closed-loop Controller
Enable.
Note 5 Automatic transition to the Profile status if the output stage
enable is exclusively via the CTRL-EN input
è 4.1.9 Switch-on/off Behaviour and Closed-loop Controller
Enable.
RF Closed-loop controller and output stage enable
è 4.1.9 Switch-on/off Behaviour and Closed-loop Controller
Enable.
Stop Cat. Stop of the corresponding category

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Motion Control

Status transitions Description

stop Stop command via device profile, record list or device-specific

plug-in
halt Stop command via device profile
resume Resume command via device profile
PWM On Power output stage is switched on
PWM Off Power output stage is switched off
Tab. 240 Status Transitions of the Internal Finite State Machine

4.1.2 Operating modes for performing motion commands

The servo drive has the following operating modes for performing motion commands:

Operating modes Description

Profile operating modes The servo drive uses the integrated trajectory
– Positioning mode(PP) generator to generate the relevant setpoint
– Velocity mode (PV) quantities.
– Force/torque mode (PT)
Cyclic synchronised ... The command values are specified at equidistant
– ... positioning mode (CSP) time points via fieldbus, e. g. via EtherCAT. The
– ... velocity mode (CSV) time-equidistant command values are input by a
– ... force/torque mode (CST) fine interpolator of the closed-loop controller.
Tab. 241 Operating modes for performing motion commands

The cyclically synchronised operating modes are only available in the CiA402 profile.

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Fig. 39 Internal forwarding of the command values

4.1.2.1 Dynamic operating mode switch

The device can switch dynamically between some operating modes while the drive is moving. In the
case of other operating modes, the current motion command must be completed or cancelled before
switching the operating mode. See the following table for an overview:

From... To...
PP PV PT CSP CSV CST HM PT-B

PP – a a c c c c c
PV a – a c c c c c
PT a a – c c c c c
CSP d d d – e e d d
CSV d d d e – e d d
CST d d d e e – d d

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Motion Control

From... To...
PP PV PT CSP CSV CST HM PT-B

HM MC MC MC MC MC MC – MC
PT-B d d d d d d d –

P a a a d d d d d
V a a a d d d d d
T a a a d d d d d
Tab. 242 Operating mode switch – part 1

Meaning

a The dynamic switch between the operating modes is possible at any time.
b Dynamic switching is possible.
Unwanted command value jumps after switching the operating mode must be avoided by
input corresponding command value specification by the user or by the higher-order PLC
(reconciliation between setpoint and actual value).
c One of the following conditions must be met for switching the operating mode:
– The current motion command has been closed by MC.
– The current motion command has been aborted by a stop.
Once the request for a switch of operating mode has been accepted, no more motion
commands are accepted until the operating mode switch is complete (message).
Unwanted command value jumps after switching the operating mode must be avoided by
input corresponding command value specification by the user or by the higher-order con-
troller (reconciliation between setpoint and actual value).
d The current motion command must be terminated by a stop before the new operating
mode can be requested.
e The dynamic switching of the operating mode is possible at any time if the required com-
mand values for the operating modes are mapped in the cyclic process data
è 4.1.2 Operating modes for performing motion commands.

MC Motion complete
HM Homing
Tab. 243 Operating mode switch – part 2

4.1.2.2 CiA402
If a dynamic switch between the CSP, CSV and CST operating modes is required, the following objects
must be mapped in the cyclic process data:
– Modes of operation (0x6060)
– Mode of operation display (0x6061)
– the required setpoint and actual values of the operating modes

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The following graph shows an example of the switch from the CSV operating mode to the CSP operat-
ing mode.

control Drive
device

EtherCat Slave CSV CSP

driver process process
(1)
RPDO: Mode_of_Operation = CSV / Controlword / Target velocity / Target position

TPDO: Mode_of_Operation_Display = CSV / Statusword / Position actual value

(2)
RPDO: Mode_of_Operation = CSP / Controlword / Target velocity / Target position

TPDO: Mode_of_Operation_Display = CSV / Statusword / Position actual value

(3)

RPDO: Mode_of_Operation = CSP / Controlword / Target velocity / Target position

TPDO: Mode_of_Operation_Display = CSP / Statusword / Position actual value

Fig. 40 Operating mode switch from CSV to CSP (example)

Explanations for the above graph:

(1) The CSV operating mode is active. The nominal velocity (Target velocity) and the nominal position
(Target position) are sent. However, the target position is not used in the current operating mode.
(2) Switch to the CSP operating mode.
(3) The CSP operating mode is active. The nominal velocity (Target velocity) and the nominal position
(Target position) are sent. However, the target velocity is not used in the current operating mode.

4.1.3 Positioning Mode (PP)

4.1.3.1 Function
In the positioning profile position operating mode, the theoretical path curve is calculated by the
integrated trajectory generator (Profile position mode). The trajectory for the target position is calcu-
lated based on the motion quantities for the profile velocity, the acceleration, the deceleration and the
jerk. If the value 0 is defined for the final velocity and no other command is triggered, the drive
remains position-controlled at the target position. In positioning mode, the position, velocity and cur-
rent regulators are active. The following types of position specification are supported in positioning
mode:

Position specification Description

Absolute Absolute position referenced to the axis origin

Relative to the current actual Distance referenced to the current position (actual position)
position

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Motion Control

Position specification Description

Relative to the current setpoint Distance referenced to the last setpoint position
position
Relative to the last target posi- Distance referenced to the last target position
tion
Tab. 244 Variations of Positioning Mode

Relative position specifications may result in an overflow of the internally mapped position. In the
event of an overflow the parameterised reaction is executed. The reaction must be taken into account
by a higher-order controller.

In positioning mode new commands can be triggered at any time. The current command may be abor-
ted, or the new command appended in a buffer. A jerk-free switch between the PP, PV and PT profile
operating modes is possible.
Monitoring Functions
The monitoring functions marked with a dot are effective in this operating mode:

Motion monitoring function status word

Bit Code Name Effective
·
0 TRX Target window reaches position
·
1 TRV Target window reaches velocity
·
2 TRT Target window reaches torque
·
3 FEX Following error position
4 FEV Velocity following error –

·
6 TMX Position target area monitoring
·
7 TMV Velocity target area monitoring
8 TMT Torque target area monitoring –

9…11 – Reserved –

·
12 HLP Hardware limit switch reached positive
·
13 HLN Hardware limit switch reached negative
·
14 SLP Software end position reached positive
·
15 SLN Software limit position reached negative
·
16 STX Standstill monitoring position/velocity
·
17 STV Standstill monitoring velocity
·
18 LS Stop reached

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Motion monitoring function status word

Bit Code Name Effective

19 STLP Stroke limit reached positive –

20 STLN Stroke limit reached negative –

·
21 VM Velocity monitoring
22 PB Pushback monitoring –

·
23 RDX Remaining distance monitoring
·
24 MC Trajectory completed
·
25 REFS Reference switch activated
26 TUR Torque utilisation exceeded –

27 FSPR Fixed stop reached –

·
28 ACC Drive accelerated
·
29 DEC Drive decelerated
30… 31 – Reserved –

Tab. 245 Motion Monitoring Function

Detailed information on the monitoring functions è 5 Motion monitoring.
Motion Quantities
The path course of a positioning command is largely influenced by the following motion quantities:

Motion Quantities Description

Target position Target specification (specification of a route or absolute position)

Profile velocity Setpoint value for velocity
Acceleration Setpoint value for acceleration
Deceleration Setpoint value for deceleration
Jerk Maximum value for the jerk during the acceleration phase and
deceleration phase
End velocity Velocity at the target position
Tab. 246 Motion Quantities
Triggering Commands
– Record table
– Fieldbus (direct mode)
– Page "Manual movement" of the device-specific plug-in
Requirements
– Valid homing
– Controller Enable

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Timing
Example: positioning command with end velocity and unequal specifications for acceleration and
deceleration

8.0
x 6.0
4.0
2.0
0.0
0 1 2 3 4 5 6

2.0
v
1.5
1.0
0.5
0.0
0 1 2 3 4 5 6

1.0
a
0.5

0.0

- 0.5
0 1 2 3 4 5 6

1.0
j 0.5
0.0
- 0.5
- 1.0
0 1 2 3 4 5 6

Fig. 41 Positioning mode timing graph (example)

Name Description

x Position
v Velocity
a Acceleration
j Jerk
Tab. 247 Legend for Positioning Mode Timing Graph

4.1.3.2 CiA 402

The following graphs show an overview of the objects involved in the positioning mode and their inter-
action with the trajectory generator:

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Trajectory Position
generator control law
parameters parameters

Target position Position demand value Position

(0x607A) Trajectory (0x6062) control
generator function

Fig. 42 Overview of the trajectory generator - position control operating mode (PP)

Controlword
(0x6040)
Statusword
(0x6041)

Target position
(0x607A)

Limit Target
Software position limit Function Multiplier position
(0x607D)
Polarity
(0x607E)

Polarity
(0x607E) Profile
velocity Position
Profile velocity
or demand
(0x6081)
End value
End velocity Position
Multiplier velocity Trajectory (0x6062)
(0x6082) control
generator
Limit function
Max profile velocity
Function
(0x607F)
Minimum
Max. motor speed
comparator
(0x6080)

Profile acceleration
(0x6083)
Profile deceleration
(0x6084) Profile acceleration or
Quick stop deceleration profile deceleration or
(0x6085) Limit quick stop deceleration
Function
Max acceleration
(0x60C5)
Max deceleration
(0x60C6)

Fig. 43 Trajectory generator in positioning mode (PP)

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Motion Control

Objects for positioning mode

Parameters Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

730 0x6040.0 Control word CiA402 UINT16
731 0x6041.0 Status word CiA402 UINT16
90 0x6062.0 Pilot control position output SINT32
128 0x6064.0 Actual position value SINT32
1210 0x606C.0 Actual velocity value SINT32
151 0x6077.0 Actual torque value gear shaft SINT16
8130 0x607A.0 Target position CiA402 SINT32
4629 0x607D.1 Negative software limit position SINT32
4630 0x607D.2 Positive software limit position SINT32
1170 0x607E.0 Reversing the direction of rotation UINT8
1304 0x607F.0 Limit value velocity limiting UINT32
7123 0x6080.0 Maximum rpm (user-defined) UINT32
8131 0x6081.0 Profile velocity CiA402 UINT32
8132 0x6082.0 End velocity CiA402 UINT32
8133 0x6083.0 Profile acceleration CiA402 UINT32
8134 0x6084.0 Profile deceleration CiA402 UINT32
8135 0x6085.0 Quick stop deceleration CiA402 UINT32
8136 0x60A4.0 Profile jerk CiA402 UINT32
1305 0x60C5.0 Limit value acceleration limiting UINT32
1306 0x60C6.0 Limit value deceleration limiting UINT32
88817 0x60F2.0 Positioning option code CiA402 UINT16
Tab. 248 Objects
Precondition for positioning mode
The following conditions must be fulfilled for positioning mode:
– Modes of operation display (0x6061) = 1
– Statusword (0x6041) = 1X0X X11X X011 0111b
Control and monitoring
Object 0x6040: Controlword
The object controls the following functions of positioning mode:
– Bit 4: start motion command (New set-point)
– Bit 5: accept change immediately (Change set immediately)

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– Bit 6: positioning type (absolute/relative)

– Bit 8: stop motion command (Halt)

Bit1) Description
8 6 5 4

Positioning type
0 0 x x absolute
0 1 x x relative; the reference point is defined in object 60F2h (Position-
ing option code).
Set new motion command
0 x 0 0à1 If a motion command is currently running, the new motion com-
mand is saved. The new motion command is started on comple-
tion of the previous motion command.
Start motion command immediately
0 x 1 0à1 The new motion command is started immediately.
Stop or continue motion command
0 x x 0 The motion command is run or continued with the acceleration
ramp of the current motion command.
Bit 4 must not be 0 but must not toggle. A rising edge in the stop
status results in the motion command being aborted.
1 x x x The motion command is interrupted with the stated deceleration
è object 0x6084 Profile deceleration.

1) signal status: 0 = low; 1 = high; 0à1 = rising edge

Tab. 249 Control positioning mode

Object 0x60F2, Positioning option code

Bit 1 Bit 0 Description

0 0 New target position relative to the last target position (Target pos-
ition) of the last motion command (relative to 0, if no last motion
command is available).
0 1 New target position relative to the current setpoint position, out-
put of path generator or current setpoint position of setpoint man-
agement.
1 0 New target position relative to the current actual position, current
actual position of the actual value management.
1 1 reserved
Tab. 250 Reference point for relative positioning

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Object 0x6041: Statusword

The following statuses of positioning mode can be monitored with the object:
– Bit 10: target position reached (Target reached)
– Bit 12: motion command acknowledged (Set-point acknowledge)
– Bit 13: position following error (Following error)

Bit1) Description
13 12 10

Target position reached (Target reached) (depending on Bit 8 (Halt) in Controlword 0x6040)
x x 0 Halt = 0: target position has not yet been reached
x x 1 Halt = 0: target position has been reached
x x 0 Halt = 1: drive decelerated
x x 1 Halt = 1: velocity = 0
Motion command acknowledged (setpoint acknowledge)
x 0 x Wait for new motion command
x 1 x Motion command has been acknowledged
Position following error
0 x x Position following error in tolerance range
1 x x Position following error limit reached
1) Signal status: 0 = low; 1 = high
Tab. 251 Monitoring positioning mode

4.1.3.3 PROFIdrive
Control and Monitoring
Application class è Finite State Machine Positioning Mode in Application Class 3
SATZANW è Record Selection (SATZANW)
AKTSATZ è 12.4.7.16 Active Record (AKTSATZ)
Positioning Mode PNUs

Parameter PNU Name Data type

Px. Profile-specific parameters

128 28.0 Actual position value Integer64
1210 6.0 Actual velocity value FloatingPoint
Px. Manufacturer-specific parameters
128 11067.0 Actual position value Integer64
1210 11311.0 Actual velocity value FloatingPoint
90 11045.0 Setpoint value position Integer64

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Parameter PNU Name Data type

128 11067.0 Actual position value Integer64

1210 11311.0 Actual velocity value FloatingPoint
151 11070.0 Actual torque value gear shaft FloatingPoint
4629 11584.0 Negative software limit position Integer64
4630 11585.0 Positive software limit position Integer64
1170 11287.0 Reversing the direction of rotation Boolean
1304 11334.0 Limit value velocity limiting FloatingPoint
7123 11694.0 Maximum rpm (user defined) FloatingPoint
1305 11335.0 Limit value acceleration limiting FloatingPoint
1306 11336.0 Limit value deceleration limiting FloatingPoint
Tab. 252 PNUs

Travel top fixed stop (application class 3)

Travel to fixed stop performs a positioning with reference to a max. clamping torque. During travel to
fixed stop a fixed stop is approached from the current position before reaching the target posi-
tion (e.g. at a workpiece). Then a torque is established up to the desired clamping torque. For
example, the following parameters can be set:
– Position
– Velocity
– Acceleration
– Deceleration
– Clamping torque
– Clamping torque offset
A current positioning task can be switched by "STW2.8 Traverse to fixed endstop". The switching runs
a positioning task with clamping torque. The closed-loop limit manager limits the motion to the clamp-
ing torque. On completion of the task the original limit is restored.
The following error monitor is not active during the task and the following status bits are set:
– ZSW2.8 Move to fixed stop active
– POS_ZSW2.14 Move to fixed stop active
The following error monitor of the motion monitor is used during the task to detect the fixed stop.
When the fixed stop is detected, "POS_ZSW2.12 Fixed stop reached" is set and the stroke limit monit-
or of the motion monitor is activated based on the current position.
With pending clamping torque "POS_ZSW2.13 Fixed stop Clamping torque reached" is set.
The clamping torque remains pending until a new travel command starts.
When the stroke limits for the fixed stop monitor are reached, "POS_ZSW2.12 Fixed stop reached" is
reset.
The following diagrams show the behaviour:
Timing
Example 1: travel to fixed stop with reaching and stopping at the fixed stop

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Fig. 44 Timing diagram travel to fixed stop

Name Description ID Px.

Fixed Stop Fixed Stop –

Clamping Clamping torque 526801

Torque
FSPR Motion monitoring function "fixed stop reached" (1 = status 460
reached)
TMT Motion monitoring function "target torque range monitor"
(1 = status reached)
Tab. 253 Legend for timing diagram travel to fixed stop

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Example 2: travel to fixed stop without reaching the fixed stop

Fig. 45 Timing diagram fixed stop not reached

Name Description ID Px.

Target Position Target position –

Deceleration Start of deceleration

Start
DEC Motion monitoring function "drive decelerated" (1 = status 460
reached)
Dx.05|02| Diagnostic message Fixed stop not detected –

000279
Tab. 254 Legend for timing diagram fixed stop not reached

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Example 3: travel to fixed stop with reaching and feedback at the fixed stop

Fig. 46 Timing diagram fixed stop feeds back

Name Description ID Px.

Positive Limit Stroke limit positive for detection of a fixed stop 11280408
of Limit Stop
Movement
Window
Fixed Stop Fixed Stop –

Clamping Clamping torque 526801

Torque

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Name Description ID Px.

TMT Motion monitoring function "target torque range monitor" 460

(1 = status reached)
FSPR Motion monitoring function "fixed stop reached" (1 = status
reached)
STLP Motion monitoring function "stroke limit reached" (1 = status
reached)
Dx.05|02|280 Diagnostic message Monitoring window of fixed stop left –

Tab. 255 Legend for timing diagram fixed stop feeds back
Parameter
Details of the motion monitoring functions è 5.1 Motion monitoring functions.
The fixed stop detection acts like the following error monitor for position with critical limit and timing
è 5.3 Following error. The following error of the position and a damping time are used (Px.4694,
Px.4693).

The detection of the pending clamping torque acts like the target range monitor for torque with critical
limit and timing è 5.4 Target area monitoring.
The monitoring of the stroke limits after detected fixed stop acts like the stroke limit reached motion
monitor è 5.9 Stroke limit reached.
The window limits can be set in the positive and negative directions (Px.11280408, Px.11280409
è Tab. 256 Parameter).
If the motion leaves the monitoring window in the positive and negative direction it is detected and
triggers the following diagnostic message:
– Monitoring window of fixed stop left: Dx.05 | 02 | 00280
The following parameter determines the braking behaviour on exit of the monitoring window:
– Activation of automatic stop ramp stroke limit: Px.4675
The clamping torque depends on the direction of motion. The set clamping torque is added with the
offset. This means that the resulting clamping torque depends on the sign of the offset.
An asymmetrical clamping torque can be set with the offset for suspended axes (parameter Clamping
torque offset, Px.11280407).

ID Px. Parameter Description

460 Movement monitoring Status of movement monitoring

status Access read/−
Update effective immediately
Unit −

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ID Px. Parameter Description

4693 Fixed stop detection Determines the damping time for the fixed stop detection. If the
damping time absolute value of the following error for the specified time is
above the limit value following error (Px.4694), the signal is set.
Access read/write
Update effective immediately
Unit s
4694 Limit value following Specifies the limit value for the fixed stop detection. Is com-
error pared with the absolute value of the following error for fixed
stop detection.
Access read/write
Update effective immediately
Unit user defined
11280409 Stroke limit negative Specifies the negative stroke limit for detection of a fixed stop.
for detection of a The negative stroke limit must be lower than the positive stroke
fixed stop limit.
Access read/write
Update effective immediately
Unit user defined
11280408 Stroke limit positive Specifies the positive stroke limit for detection of a fixed stop.
for detection of a The negative stroke limit must be lower than the positive stroke
fixed stop limit.
Access read/write
Update effective immediately
Unit user defined
4675 Activation of automat- Specifies whether automatic braking should be activated. If
ic stop ramp stroke automatic braking is active, the drive is decelerated so that it
limit stops before the stroke limit, if possible. If automatic braking is
deactivated, the drive is only stopped once it reaches the stroke
limit.
Access read/write
Update effective immediately
Unit −

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ID Px. Parameter Description

4665 Damping time target Specifies the damping time for target area monitoring (move-
range ment to a fixed stop). Minimum duration that the threshold
value can be exceeded before a message is generated. The
damping time is restarted if the actual value is below the
threshold value or if the prefix for the specified setpoint value
changes during the evaluation of the damping time.
Access read/write
Update effective immediately
Unit s
4668 Monitoring window Specifies the monitoring window for the target torque. The mon-
torque itoring window is set symmetrically to the target value (window
width = 2x parameter).
Access read/write
Update effective immediately
Unit Nm
526801 Clamping torque Specifies the offset for the clamping torque for the approach to
the fixed stop.
Access read/write
Update effective immediately
Unit Nm
11280407 Clamping torque off- Specifies the offset for the clamping torque during approach to
set the fixed stop. The offset moves the clamping torque in order to
retain an asymmetrical limit, e.g. for a vertical axis.
Access read/write
Update effective immediately
Unit Nm
11280606 Acceleration MDI Displays the acceleration for the setpoint direct input MDI.
Access read/write
Update effective immediately
Unit Inci/s²
11280607 Deceleration MDI Displays the deceleration for the direct-value setpoint MDI.
Access read/write
Update effective immediately
Unit Inci/s²

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ID Px. Parameter Description

11280604 Target position MDI Displays the target position for the setpoint direct MDI.
Access read/write
Update effective immediately
Unit user defined
11280605 Profile speed MDI Displays the profile speed for the direct-value setpoint MDI.
Access read/write
Update effective immediately
Unit user defined
Tab. 256 Parameter

Parameter PNU Name Data type

Px. Profile-specific parameters

11280606 36.0 Acceleration MDI FloatingPoint
11280607 37.0 Deceleration MDI FloatingPoint
11280604 34.0 Target position MDI Integer64
11280605 35.0 Profile speed MDI FloatingPoint
Px. Manufacturer-specific parameters
460 11144.0 Movement monitoring status Unsigned32
4693 11635.0 Fixed stop detection damping time FloatingPoint
4694 11636.0 Limit value following error FloatingPoint
11280409 12331.0 Stroke limit negative for detection of a fixed Integer64
stop
11280408 12330.0 Stroke limit positive for detection of a fixed Integer64
stop
4675 11619.0 Activation of automatic stop ramp stroke limit Boolean
4665 11611.0 Damping time target range FloatingPoint
4668 11614.0 Monitoring window torque FloatingPoint
526801 12168.0 Clamping torque FloatingPoint
11280407 12329.0 Clamping torque offset FloatingPoint
11280606 12341.0 Acceleration MDI FloatingPoint
11280607 12342.0 Deceleration MDI FloatingPoint
11280604 12339.0 Target position MDI Integer64

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Parameter PNU Name Data type

11280605 12340.0 Profile speed MDI FloatingPoint

Tab. 257 PNUs
Diagnostic messages

ID Dx. Name Description

05 | 02 | 00279 Fixed stop not detected Fixed stop was not detected
(84017431)
05 | 02 | 00280 Monitoring window of fixed stop Monitoring window of fixed stop left
(84017432) left
Tab. 258 Diagnostic messages

4.1.4 Velocity Mode (PV)

4.1.4.1 Function
In the velocity mode profile position operating mode, the theoretical velocity curve is calculated by the
integrated trajectory generator (Profile velocity mode). The trajectory for the target velocity is calcu-
lated based on the motion quantities for the profile velocity, the acceleration, the deceleration and the
jerk.
In velocity mode the velocity and current regulators are active.
The following types of velocity settings are supported in velocity mode:

Velocity specification Description

... with stroke limitation When the stroke limit is reached, the device reacts in accordance
with parameterised STL monition monitoring
è 5.9 Stroke limit reached

... without stroke limitation Velocity mode without path limitation

Tab. 259 Types of velocity mode
In velocity mode new commands can be triggered at any time. The current command may be aborted,
or the new command appended in a buffer. A jerk-free switch between the PP, PV and PT profile oper-
ating modes is possible.
Monitoring functions
The monitoring functions marked with a dot are effective in this operating mode:

Motion monitoring function status word

Bit Code Name Effective

0 TRX Target window reaches position –

·
1 TRV Target window reaches velocity
2 TRT Target window reaches torque –

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Motion monitoring function status word

Bit Code Name Effective

3 FEX Following error position –

·
4 FEV Velocity following error
6 TMX Position target area monitoring –

·
7 TMV Speed target area monitoring
8 TMT Torque target area monitoring –

9…11 – Reserved –

·
12 HLP Hardware limit switch reached positive
·
13 HLN Hardware limit switch reached negative
·
14 SLP Software limit position reached positive
·
15 SLN Software limit position reached negative
·
16 STX Standstill monitoring position/velocity
·
17 STV Standstill monitoring velocity
·
18 LS Stop reached
·
19 STLP Stroke limit reached positive
·
20 STLN Stroke limit reached negative
·
21 VM Speed monitoring
22 PB Pushback monitoring –

·
23 RDX Remaining distance monitoring
·
24 MC Trajectory completed
·
25 REFS Reference switch activated
26 TUR Torque utilisation exceeded –

27 FSPR Fixed stop reached –

·
28 ACC Drive accelerated
·
29 DEC Drive decelerated
30… 31 – Reserved –

Tab. 260 Motion monitoring function

Detailed information on the monitoring functions è 5 Motion monitoring.

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Motion quantities
The path course of a positioning command is largely influenced by the following motion quantities:

Motion quantities Description

Target velocity Command value for the target velocity

Acceleration Nominal acceleration
Deceleration Nominal deceleration (with target velocity < actual velocity)
Jerk Maximum value for the jerk during the acceleration phase and
deceleration phase
Activation of stroke limits Stroke limit monitoring must be activated by parameters.
Negative stroke limit If the negative stroke limit is greater than or equal to the positive
Positive stroke limit stroke limit, the stroke limit is not effective.

Tab. 261 Motion quantities

Triggering commands
– the record table
– the fieldbus (direct mode)
Requirements
– Controller enable
Timing

v 0.5
0.4
0.3
0.2
0.1
0.0
- 0.1
- 0.2
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6

a 0.5
0.4
0.3
0.2
0.1
0.0
- 0.1
- 0.2
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6

1.0
j
0.5
0.0
- 0.5
- 1.0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6

Fig. 47 Timing graph of velocity mode (example)

Name Description

v Velocity

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Name Description

a Acceleration
j Jerk
Tab. 262 Legend for timing graph of velocity mode

4.1.4.2 CiA 402

The following graphs show an overview of the objects involved in the velocity mode and their interac-
tion with the trajectory generator:

Controlword
(0x6040)
Statusword
(0x6041)

Target velocity
(0x60FF)
Max profile velocity
(0x607F) Limit
Minimum Function
Max. motor speed
comparator
(0x6080)

Profile acceleration Velocity

(0x6083) demand
Profile deceleration value
(0x6084) Trajectory (0x606B) Velocity
Multiplier control
Quick stop deceleration generator
(0x6085) Limit
Function
Max acceleration
(0x60C5)
Max deceleration
(0x60C6)

Polarity
(0x607E)

Position actual value

Velocity
(0x6064) d/dt Velocity
sensor
Velocity
selection
actual
Polarity value
(0x607E) Multiplier (0x606C)

Fig. 48 Trajectory generator in velocity mode (PV)

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Objects

Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

730 0x6040.00 Control word CiA402 UINT16
731 0x6041.00 Status word CiA402 UINT16
128 0x6064.00 Actual position value SINT32
1210 0x606C.00 Actual velocity value SINT32
4610 0x606D.00 Monitoring window target speed UINT16
468 0x6068.00 Damping time target reached UINT16
466 0x606F.00 Monitoring window speed standstill monitor- UINT16
ing
465 0x6070.00 Standstill damping time UINT16
1170 0x607E.00 Reversing the direction of rotation UINT8
1304 0x607F.00 Limit value velocity limiting UINT32
7123 0x6080.00 Maximum rpm (user defined) UINT32
8133 0x6083.00 Profile acceleration CiA402 UINT32
8134 0x6084.00 Profile deceleration CiA402 UINT32
8135 0x6085.00 Quick stop deceleration CiA402 UINT32
1305 0x60C5.00 Limit value acceleration limiting UINT32
1306 0x60C6.00 Limit value deceleration limiting UINT32
464 0x60F8.00 Monitoring window speed: following error SINT32
8137 0x60FF.00 Target velocity CiA402 SINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
730 0x216D.01 Control word CiA402 UINT16
731 0x216D.02 Status word CiA402 UINT16
128 0x2155.09 Actual position value SINT64
1210 0x2155.0B Actual velocity value FLOAT32
4610 0x2166.0B Monitoring window target speed FLOAT32
468 0x2166.09 Damping time target reached FLOAT32
466 0x2166.07 Monitoring window speed standstill monitor- FLOAT32
ing
465 0x2166.06 Standstill damping time FLOAT32

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Parameter Index.Subindex Name Data type

1170 0x217D.01 Reversing the direction of rotation BOOL

1304 0x2183.04 Limit value velocity limiting FLOAT32
7123 0x216C.06 Maximum rpm (user defined) FLOAT32
8133 0x216F.06 Profile acceleration CiA402 FLOAT32
8134 0x216F.07 Profile deceleration CiA402 FLOAT32
8135 0x216F.08 Quick stop deceleration CiA402 FLOAT32
1305 0x2183.05 Limit value acceleration limiting FLOAT32
1306 0x2183.06 Limit value deceleration limiting FLOAT32
464 0x2166.05 Monitoring window speed: following error FLOAT32
8137 0x216F.0A Target velocity CiA402 FLOAT32
Tab. 263 Objects
Precondition for Velocity Mode
The following conditions must be fulfilled for velocity mode:
– Modes of operation display (0x6061) = 3
– Statusword (0x6061) = XX0X XX1X X011 0111b
Control and Monitoring
NOTICE!
In velocity mode, start signal or starting edge is not required to start the motion.

Object 0x6040: Controlword

The object controls the following velocity mode functions:
– Bit 8: stop motion command (Halt)

Bit1) Description
8

Stop/continue movement (Halt)

0 The motion is executed or continued
1 The motion is stopped with the stated deceleration (see object 0x6084, Profile decelera-
tion)
1) Signal status: 0 = low; 1 = high
Tab. 264 Control Velocity Mode
Object 0x6041: Statusword
The following statuses of velocity mode can be monitored with the object:
– Bit 10: target velocity reached (Target reached)
– Bit 12: velocity (Speed)
– Bit 13: velocity following error (Following error)

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Bit1) Description
13 12 10

Target velocity reached (Target reached) (depending on Bit 8 (Halt) in Controlword 0x6040)
x x 0 Halt = 0: target velocity was not reached
x x 1 Halt = 0: target velocity was reached
x x 0 Halt = 1: drive decelerated
x x 1 Halt = 1: velocity = 0
Standstill message
x 0 x Geschwindigkeitsistwert ≠ 0
x 1 x Geschwindigkeitsistwert = 0
Velocity following error (Following error)
0 x x A velocity following error is not active
1 x x Velocity following error limit reached
1) signal status: 0 = low; 1 = high; x = any
Tab. 265 Monitoring Velocity Mode

4.1.4.3 PROFIdrive
Control and Monitoring
Application class è 12.4.3.2 Finite State Machine Velocity Mode in Application Class 1
PNUs

Parameter PNU Name Data type

Px. Profile-specific parameters

128 28.0 Actual position value Integer64
1210 6.0 Actual velocity value FloatingPoint
Px. Manufacturer-specific parameters
128 11067.0 Actual position value Integer64
1210 11311.0 Actual velocity value FloatingPoint
4610 11565.0 Monitoring window target speed FloatingPoint
468 11152.0 Damping time target reached FloatingPoint
466 11150.0 Monitoring window speed standstill monitor- FloatingPoint
ing
465 11149.0 Standstill damping time FloatingPoint
1170 11287.0 Reversing the direction of rotation Boolean
1304 11334.0 Limit value velocity limiting FloatingPoint

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Parameter PNU Name Data type

7123 11694.0 Maximum rpm (user defined) FloatingPoint

1305 11335.0 Limit value acceleration limiting FloatingPoint
1306 11336.0 Limit value deceleration limiting FloatingPoint
464 11148.0 Monitoring window speed: following error FloatingPoint
Tab. 266 PNUs

4.1.5 Force/torque mode (PT) with or without holding brake

4.1.5.1 Function
In the force/torque mode profile position operating mode the theoretical setpoint curve is calculated
by the integrated trajectory generator (Profile torque mode). The trajectory for the target torque is cal-
culated based on the torque rise time. The force/torque mode enables force control. In force/torque
mode the velocity and current regulators are active.
The transition to the new setpoint quantity can be influenced by parameterisation of the rise time.
The following variants are supported in force/torque mode:

Force/torque mode ... Description

With velocity and without stroke Force/torque with velocity limitation

limitation
With velocity and stroke limita- Force/torque with velocity and stroke limitation
tion
Tab. 267 Variants of force/torque
In force/torque mode new commands can be triggered at any time. The current command may be
aborted, or the new command appended in a buffer. A jerk-free switch between the PP, PV and PT pro-
file operating modes is possible.
Force/torque mode with brake (PT/B)
Force/torque mode with brake is a variant of force/torque mode in which a command for force/torque
control is executed with set brake.
Monitoring functions
The monitoring functions marked with a dot are effective in this operating mode:

Motion monitoring function status word

Bit Code Name Effective

0 TRX Target window reaches position –

1 TRV Target window reaches velocity –

·
2 TRT Target window reaches torque
3 FEX Following error position –

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Motion monitoring function status word

Bit Code Name Effective

4 FEV Velocity following error –

6 TMX Position target area monitoring –

7 TMV Speed target area monitoring –

·
8 TMT Torque target area monitoring
9…11 – Reserved –

·
12 HLP Hardware limit switch reached positive
·
13 HLN Hardware limit switch reached negative
·
14 SLP Software limit position reached positive
·
15 SLN Software limit position reached negative
·
16 STX Standstill monitoring position/velocity
·
17 STV Standstill monitoring velocity
·
18 LS Stop reached
·
19 STLP Stroke limit reached positive
·
20 STLN Stroke limit reached negative
·
21 VM Speed monitoring
·
22 PB Pushback monitoring
·
23 RDX Remaining distance monitoring
·
24 MC Trajectory completed
·
25 REFS Reference switch activated
26 TUR Torque utilisation exceeded –

27 FSPR Fixed stop reached –

28 ACC Drive accelerated –

29 DEC Drive decelerated –

30… 31 – Reserved –

Tab. 268 Motion monitoring function

Detailed information on the monitoring functions è 5 Motion monitoring.
Motion quantities
The path course of a positioning command is largely influenced by the following motion quantities:

Motion quantities Description

Target torque Target specification

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Motion quantities Description

Torque rise time Minimum time for reaching the target torque
Speed limit value Maximum velocity for reaching the target torque
Activation of stroke limits Stroke limit monitoring must be activated by parameters.
Negative stroke limit If the negative stroke limit is greater than or equal to the positive
Positive stroke limit stroke limit, the stroke limit is not effective.

Tab. 269 Motion quantities

Triggering commands
– the record table
– the fieldbus (direct mode)
Requirements for force/torque
– Controller enable
Timing

0.5
M 0.4
0.3
0.2
0.1
0.0
- 0.1
- 0.2
0 0. 2 0. 4 0. 6 0. 8 1

1.0
M/s 0.8
0.6
0.4
0.2
0.0
- 0.2
0 0. 2 0. 4 0. 6 0. 8 1

Fig. 49 Force/torque mode timing graph (example)

Name Description

M Torque
M/s Torque increase
Tab. 270 Legend for force/torque mode timing graph

4.1.5.2 CiA 402

The following graphs show an overview of the objects involved in the force/torque mode and their
interaction with the trajectory generator:

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Controlword
(0x6040)
Statusword
(0x6041)

Target torque
(0x6071)
Target slope
(0x6087)
Torque demand
Trajectory (0x6074)
generator
Controlword
(0x6040) Torque
control
Max torque
and Motor
(0x6072)
power
stage
Max. current
(0x6073)
Motor rated current
(0x6075)
Motor rated torque
(0x6076)

Torque actual value

(0x6077)
Current actual value
(0x6078)
DC link voltage
(0x6079)

Fig. 50 Trajectory generator in force/torque (PT)

Objects

Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

730 0x6040.00 Control word CiA402 UINT16
731 0x6041.00 Status word CiA402 UINT16
526795 0x6071.00 Target torque CiA402 SINT16
526796 0x6072.00 Maximum torque symmetrical UINT16
856 0x6073.00 Limit value total current (closed loop control- UINT16
ler)
3014 0x6074.00 Setpoint generator output torque SINT16

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Parameter Index.Subindex Name Data type

7118 0x6075.00 Current nominal current UINT32

7139 0x6076.00 Resulting nominal torque UINT32
151 0x6077.00 Actual torque value gear shaft SINT16
814 0x6078.00 Actual active current value SINT16
480 0x6079.00 Actual value DC link voltage UINT32
526799 0x6087.00 Torque slope CiA402 UINT32
853 0x60E0.00 Upper limit value torque (closed loop control- UINT16
ler)
852 0x60E1.00 Lower limit value torque (closed loop control- UINT16
ler)
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
730 0x216D.01 Control word CiA402 UINT16
731 0x216D.02 Status word CiA402 UINT16
526795 0x216F.0D Target torque CiA402 FLOAT32
526796 0x2168.17 Maximum torque symmetrical FLOAT32
856 0x2168.07 Limit value total current (closed loop control- FLOAT32
ler)
3014 0x2188.07 Setpoint generator output torque FLOAT32
7118 0x2162.05 Current nominal current FLOAT32
7139 0x2162.0C Resulting nominal torque FLOAT32
151 0x2157.02 Actual torque value gear shaft FLOAT32
814 0x2153.0F Actual active current value FLOAT32
480 0x2114.01 Actual value DC link voltage FLOAT32
526799 0x216F.0E Torque slope CiA402 FLOAT32
853 0x2168.04 Upper limit value torque (closed loop control- FLOAT32
ler)
852 0x2168.03 Lower limit value torque (closed loop control- FLOAT32
ler)
Tab. 271 Objects
Precondition for force/torque mode
The following conditions must be fulfilled for force/torque mode:
– Modes of operation display (0x6061) = 4
– Statusword (0x6061) = XX0X XX1X X011 0111b

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Control and monitoring

Object 0x6040: Controlword
NOTICE!
In force/torque mode, start signal or starting slope is not required to start movement.

The object controls the following force/torque mode functions:

– Bit 8: stopping, initiating or continuing movement (Halt)

Bit1) Description
8

Stop/continue movement (Halt)

0 The motion is executed or continued.
1 The motion is stopped with the stated torque ramp (see object 0x6087, Torque slope)
1) Signal status: 0 = low; 1 = high
Tab. 272 Controlling force/torque mode
Object 0x6041: Statusword
The following statuses of force/torque mode can be monitored with the object:
– Bit 10: target reached (Target reached)

Bit1) Description
10

Target reached (Target reached) (depending on Bit 8 (Halt) in Controlword 0x6040)

0 Halt = 0: force/torque has not yet been reached.
1 Halt = 0: force/torque has been reached.
0 Halt = 1: drive decelerated
1 Halt = 1: velocity = 0
1) Signal status: 0 = low; 1 = high
Tab. 273 Monitoring force/torque mode

4.1.5.3 PROFIdrive
PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

526796 12166.0 Maximum torque symmetrical FloatingPoint
856 11218.0 Limit value total current (closed loop control- FloatingPoint
ler)
3014 11502.0 Setpoint generator output torque FloatingPoint

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Parameters PNU Name Data type

7118 11691.0 Current nominal current FloatingPoint

7139 11704.0 Resulting nominal torque FloatingPoint
151 11070.0 Actual torque value gear shaft FloatingPoint
814 11190.0 Actual active current value FloatingPoint
480 2148.0 Actual value DC link voltage FloatingPoint
853 11215.0 Upper limit value torque (closed loop control- FloatingPoint
ler)
852 11214.0 Lower limit value torque (closed loop control- FloatingPoint
ler)
Tab. 274 PNUs

4.1.6 Cyclic Synchronised Positioning Mode (CSP)

4.1.6.1 Function
Cyclic synchronised positioning mode enables setpoint values to be pre-set for the device in a fixed
time grid using the drive profile (SYNC interval). The import of the setpoint values is synchronised with
the synchronisation signal of the higher-order controller. The synchronisation signal is generally
slower by a whole number than the cycle of the closed-loop controller. The synchronisation time is
generally set by the higher-order PLC (synchronisation time 1 … 20 ms, step 1 ms, è Px.1051). The
integrated fine interpolator therefore calculates intermediate support points and derivations from the
setpoint quantity for the closed-loop controller (interpolation).
Monitoring Functions
The monitoring functions marked with a dot are effective in this operating mode:

Motion monitoring function status word

Bit Code Name Effective

0 TRX Target window reaches position –

1 TRV Target window reaches velocity –

2 TRT Target window reaches torque –

·
3 FEX Following error position
4 FEV Velocity following error –

6 TMX Position target area monitoring –

7 TMV Velocity target area monitoring –

8 TMT Torque target area monitoring –

9…11 – Reserved –

·
12 HLP Hardware limit switch reached positive

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Motion monitoring function status word

Bit Code Name Effective
·
13 HLN Hardware limit switch reached negative
·
14 SLP Software end position reached positive
·
15 SLN Software limit position reached negative
·
16 STX Standstill monitoring position/velocity
·
17 STV Standstill monitoring velocity
·
18 LS Stop reached
19 STLP Stroke limit reached positive –

20 STLN Stroke limit reached negative –

·
21 VM Velocity monitoring
22 PB Pushback monitoring –

23 RDX Remaining distance monitoring –

24 MC Trajectory completed –

·
25 REFS Reference switch activated
26 TUR Torque utilisation exceeded –

27 FSPR Fixed stop reached –

28 ACC Drive accelerated –

29 DEC Drive decelerated –

30… 31 – Reserved –

Tab. 275 Motion Monitoring Function

Detailed information on the monitoring functions è 5 Motion monitoring.
Motion Quantities
The path course of a positioning command is largely influenced by the following motion quantities:

Motion Quantities Description

Setpoint position The higher-order PLC supplies the setpoint position.

Velocity (optional) External pilot control values for the velocity and the torque can
Torque (optional) also be specified (optional).

Tab. 276 Motion Quantities

Requirements
– Controller Enable
Pilot Control Values
External pilot control values for the velocity and the torque can also be specified (optional).

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The integrated interpolator distinguishes the following operating modes in CSP operation, which can
be selected with the parameter Px.11412:

Operating modes of the interpolator in CSP operation (ID Px.11412)

Operating Modes Description

CSP Straight CSP operation without external pilot control values; pilot
control values are generated by an internal algorithm
– Ipo algorithms 4nd order
CSP-V external velocity pilot control value
– Ipo algorithms 3nd order
CSP-T external torque pilot control value
– Ipo algorithms 3nd order
CSP-VT external velocity and torque pilot control values
– Ipo algorithms 2nd order
Tab. 277 Operating Modes of the Integrated Interpolator in CSP Operation
The interpolator has two sets of interpolator algorithm instances and can be switched between the
CSP, CSV and CST operating modes. When switching the required algorithm instances are generated
first and populated with input data. When the algorithms reach the initialised status, the regulation is
switched to the new operating mode.
The following graph shows an example of the input and output values for the interpolator in straight
CSP operation without external pilot control values.

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Fieldbus Controller

Interpolator
x x

x x

Ipo algorithm v v
4. order
a
j a

j=0

M=0

I=0

Fig. 51 CSP operation without external pilot control

The following graph shows an example of the input and output values for the interpolator in straight
CSP operation with velocity and torque pilot control values.

Fieldbus Controller

Interpolator
x x

x x
v v
Ipo algorithm
2. order
M
a=0

v v
Ipo algorithm j=0
2. order

M M
Ipo algorithm I=0
2. order

Fig. 52 CSP operation with external velocity and torque pilot control (CSP-VT)

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Parameters and Diagnostic Messages

ID Px. Parameter Description

11412 Interpolation mode Selection of CSx mode for the position default. The setting is
CSP accepted when the interpolation mode is activated by the device
profile.
Access read/write
Update effective immediately
Unit −
Tab. 278 Parameter
Diagnostic Messages

ID Dx. Name Description

08 | 12 | 00250 Invalid mode of operation An invalid mode of operation was requested

(135004410)
Tab. 279 Diagnostic Messages

4.1.6.2 CiA 402

The following graphs show an overview of the objects involved in the cyclic synchronised positioning
mode and their interaction with the closed-loop controller.

Torque offset
(0x60B2)
Velocity offset
(0x60B1)

Target position + +
(0x607A)
+ +
Position Velocity Torque Motor
control control control

Geber

Torque actual value

(0x6077)
Velocity actual value
(0x606C)
Position actual
value (0x6064)

Fig. 53 Overview of the cyclic synchronised positioning operation (CSP)

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Controlword
(0x6040)
Statusword
(0x6041)

Target position
(0x607A)
Position
Limit actual
Software position limit Function value
Multiplier (0x6064)
(0x607D)
Polarity
(0x607E) Following
error
Following error window actual
(0x6065) value
Following error time out (0x60F4)
(0x6066)

Max. motor speed

(0x6080) Drive Velocity
control actual
Polarity Multiplier function value
(0x607E)
(0x606C)
Velocity offset
(0x60B1)
Quick stop deceleration
(0x6085)

Torque offset
(0x60B2)
Torque
Motor rated torque Multiplier actual
(0x6076)
value
(0x6077)
Max torque
(0x6072)
Motor rated torque Multiplier
(0x6076)

Fig. 54 Object overview of the cyclic synchronised positioning operation (CSP)

NOTICE!
The position following error is only evaluated in the "operation enabled" status.

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Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

730 0x6040.00 Control word CiA402 UINT16
731 0x6041.00 Status word CiA402 UINT16
128 0x6064.00 Actual position value SINT32
463 0x6065.00 Monitoring window position: following error UINT32
462 0x6066.00 Damping time position: following error UINT16
1210 0x606C.00 Actual velocity value SINT32
526796 0x6072.00 Maximum torque symmetrical UINT16
7139 0x6076.00 Resulting nominal torque UINT32
151 0x6077.00 Actual torque value gear shaft SINT16
8130 0x607A.00 Target position CiA402 SINT32
4629 0x607D.01 Negative software limit position SINT32
4630 0x607D.02 Positive software limit position SINT32
1170 0x607E.00 Reversing the direction of rotation UINT8
7123 0x6080.00 Maximum rpm (user defined) UINT32
8135 0x6085.00 Quick stop deceleration CiA402 UINT32
8138 0x60B1.00 Velocity offset CiA402 SINT32
8111 0x60B2.00 Torque offset CiA402 SINT16
4682 0x60F4.00 Current position: following error SINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
730 0x216D.01 Control word CiA402 UINT16
731 0x216D.02 Status word CiA402 UINT16
128 0x2155.09 Actual position value SINT64
463 0x2166.04 Monitoring window position: following error FLOAT32
462 0x2166.03 Damping time position: following error FLOAT32
1210 0x2155.0B Actual velocity value FLOAT32
526796 0x2168.17 Maximum torque symmetrical FLOAT32
7139 0x2162.0C Resulting nominal torque FLOAT32
151 0x2157.02 Actual torque value gear shaft FLOAT32
8130 0x216F.03 Target position CiA402 SINT64
4629 0x2166.1E Negative software limit position SINT64

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Parameter Index.Subindex Name Data type

4630 0x2166.1F Positive software limit position SINT64

1170 0x217D.01 Reversing the direction of rotation BOOL
7123 0x216C.06 Maximum rpm (user defined) FLOAT32
8135 0x216F.08 Quick stop deceleration CiA402 FLOAT32
8138 0x216F.0B Velocity offset CiA402 FLOAT32
8111 0x216F.01 Torque offset CiA402 FLOAT32
4682 0x2166.42 Current position: following error FLOAT32
11412 0x217B.0D Interpolation mode CSP UINT32
Tab. 280 Objects
Objects in the different CSP operating modes
The objects marked with a dot are effective in the different CSP operating modes.

CSP CSP-V CSP-T CSP-VT Objects

· · · ·
0x607A
– · – ·
0x60B1
– – · ·
0x60B2
Tab. 281 Effective objects
Precondition for the cyclic synchronised positioning mode
The following conditions must be fulfilled for the cyclic synchronised positioning mode:
– Modes of operation display (0x6061) = 8
– Statusword (0x6061) = XX0X XX1X X011 0111b
Control and monitoring
Object 0x6040: Controlword
Bits specific to operating modes are not required and not evaluated. The operating mode is active
immediately.
The bit Halt in the control word is ignored.
Object 0x6041: Statusword
The following statuses of cyclic synchronised positioning mode can be monitored with the object:
– Bit 12: drive follows the command value (Drive follows the command value)
– Bit 13: position following error (Following error)

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Bit1) Description
13 12

Drive follows the command value (Drive follows the command value)
x 0 Drive does not follow the command value for internal reasons (e. g. because a
safety function is active)
x 1 Drive in operation enabled status and follows the command value.
Position following error (Following error)
0 1 Position following error in tolerance range
1 1 Position following error limit reached
1) Signal status: 0 = low; 1 = high
Tab. 282 Monitoring cyclic synchronised positioning mode (CSP)

4.1.6.3 PROFIdrive
PNUs

Parameters PNU Name Data type

Px. Profile-specific parameters

128 28.0 Actual position value Integer64
1210 6.0 Actual velocity value FloatingPoint
Px. Manufacturer-specific parameters
128 11067.0 Actual position value Integer64
463 11147.0 Monitoring window position: following error FloatingPoint
462 11146.0 Damping time position: following error FloatingPoint
1210 11311.0 Actual velocity value FloatingPoint
526796 12166.0 Maximum torque symmetrical FloatingPoint
7139 11704.0 Resulting nominal torque FloatingPoint
151 11070.0 Actual torque value gear shaft FloatingPoint
4629 11584.0 Negative software limit position Integer64
4630 11585.0 Positive software limit position Integer64
1170 11287.0 Reversing the direction of rotation Boolean
7123 11694.0 Maximum rpm (user defined) FloatingPoint
4682 11624.0 Current position: following error FloatingPoint
Tab. 283 PNUs

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4.1.7 Cyclic Synchronised Velocity Mode (CSV)

4.1.7.1 Function
The cyclic synchronised velocity mode enables setpoint values to be pre-set for the device in a fixed
time grid using the drive profile (SYNC interval). The import of the setpoint values is synchronised with
the synchronisation signal of the higher-order controller. The synchronisation signal is generally
slower by a whole number than the cycle of the closed-loop controller. The synchronisation time is
generally set by the higher-order PLC (synchronisation time 1 … 20 ms, step 1 ms, è Px.1051). The
integrated fine interpolator therefore calculates intermediate support points and derivations from the
setpoint quantity for the closed-loop controller (interpolation).
Monitoring Functions
The monitoring functions marked with a dot are effective in this operating mode:

Motion monitoring function status word

Bit Code Name Effective

0 TRX Target window reaches position –

1 TRV Target window reaches velocity –

2 TRT Target window reaches torque –

3 FEX Following error position –

·
4 FEV Velocity following error
6 TMX Position target area monitoring –

7 TMV Velocity target area monitoring –

8 TMT Torque target area monitoring –

9…11 – Reserved –

·
12 HLP Hardware limit switch reached positive
·
13 HLN Hardware limit switch reached negative
·
14 SLP Software end position reached positive
·
15 SLN Software limit position reached negative
·
16 STX Standstill monitoring position/velocity
·
17 STV Standstill monitoring velocity
·
18 LS Stop reached
19 STLP Stroke limit reached positive –

20 STLN Stroke limit reached negative –

·
21 VM Velocity monitoring
22 PB Pushback monitoring –

23 RDX Remaining distance monitoring –

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Motion monitoring function status word

Bit Code Name Effective

24 MC Trajectory completed –

·
25 REFS Reference switch activated
26 TUR Torque utilisation exceeded –

27 FSPR Fixed stop reached –

28 ACC Drive accelerated –

29 DEC Drive decelerated –

30… 31 – Reserved –

Tab. 284 Motion Monitoring Function

Detailed information on the monitoring functions è 5 Motion monitoring.
Motion Quantities
The path course of a positioning command is largely influenced by the following motion quantities:

Motion Quantities Description

Nominal velocity The higher-order PLC supplies the setpoint velo-

city.
Torque Pilot control values for the torque can also be
specified (optional).
Tab. 285 Motion Quantities
Requirements
– Controller Enable
Pilot Control Values
External pilot control values for the torque can also be specified (optional).
The integrated interpolator distinguishes the following operating modes in CSV operation, which can
be selected with the parameter Px.11413:

Operating modes of the interpolator in CSV operation (ID Px.11413)

Operating Modes Description

CSV Straight CSV operation without external pilot control values; pilot control
values are generated by an internal algorithm.
– Ipo algorithms 4nd order
CSV-T external torque pilot control value
– Ipo algorithms 3nd order
Tab. 286 Operating Modes of the Integrated Interpolator in CSV Operation
The interpolator has two sets of interpolator algorithm instances and can be switched between the
CSP, CSV and CST operating modes. When switching the required algorithm instances are generated

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first and populated with input data. When the algorithms reach the initialised status, the regulation is
switched to the new operating mode.
The following graphs show the input and output values for the interpolator in the CSV operating
modes.

Fieldbus Controller

Interpolator
v x=0

v
Ipo algorithm v v
4. order
a
j a

M=0

I=0

Fig. 55 CSV operation without external pilot control

The following graph shows an example of the input and output values for the interpolator in straight
CSV operation with velocity and torque pilot control values.

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Fieldbus Controller

Interpolator
x=0

v v
v v
Ipo algorithm a
M 3. order
j
a

M M j=0
Ipo algorithm
3. order
M

I=0

Fig. 56 CSV operation with external torque pilot control (CSV-T)

Parameter

ID Px. Parameter Description

11413 Interpolation mode Selection of CSx mode for the velocity default. The setting is
CSV accepted when the interpolation mode is activated by the device
profile.
Access read/write
Update effective immediately
Unit −
Tab. 287 Parameter
Diagnostic Messages

ID Dx. Name Description

08 | 12 | 00250 Invalid mode of operation An invalid mode of operation was requested

(135004410)
Tab. 288 Diagnostic Messages

4.1.7.2 CiA 402

The following graphs show an overview of the objects involved in the cyclic synchronised velocity
mode and their interaction with the closed-loop controller.

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Torque offset
(0x60B2)

Target velocity +
(0x60FF)
+
Velocity Torque Motor
control control

Geber

Torque actual value

(0x6077)
Velocity actual value
(0x606C)
Position actual value
(0x6064)

Fig. 57 Overview of the cyclic synchronised velocity operation (CSV)

Controlword
(0x6040)
Statusword Velocity
(0x6041) actual
value
Target velocity (0x606C)
(0x60FF)
Polarity Multiplier
(0x607E)

Max. motor speed

(0x6080)
Drive
Polarity Multiplier control
(0x607E) function

Quick stop deceleration

(0x6085)

Torque offset
(0x60B2)
Torque
Motor rated torque Multiplier actual
(0x6076)
value
(0x6077)
Max torque
(0x6072)
Motor rated torque Multiplier
(0x6076)

Fig. 58 Object overview of the cyclic synchronised velocity operation (CSV)

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Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

730 0x6040.00 Control word CiA402 UINT16
731 0x6041.00 Status word CiA402 UINT16
128 0x6064.00 Actual position value SINT32
1210 0x606C.00 Actual velocity value SINT32
526796 0x6072.00 Maximum torque symmetrical UINT16
7139 0x6076.00 Resulting nominal torque UINT32
151 0x6077.00 Actual torque value gear shaft SINT16
1170 0x607E.00 Reversing the direction of rotation UINT8
7123 0x6080.00 Maximum rpm (user defined) UINT32
8135 0x6085.00 Quick stop deceleration CiA402 UINT32
8111 0x60B2.00 Torque offset CiA402 SINT16
8137 0x60FF.00 Target velocity CiA402 SINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
730 0x216D.01 Control word CiA402 UINT16
731 0x216D.02 Status word CiA402 UINT16
128 0x2155.09 Actual position value SINT64
1210 0x2155.0B Actual velocity value FLOAT32
526796 0x2168.17 Maximum torque symmetrical FLOAT32
7139 0x2162.0C Resulting nominal torque FLOAT32
151 0x2157.02 Actual torque value gear shaft FLOAT32
1170 0x217D.01 Reversing the direction of rotation BOOL
7123 0x216C.06 Maximum rpm (user defined) FLOAT32
8135 0x216F.08 Quick stop deceleration CiA402 FLOAT32
8111 0x216F.01 Torque offset CiA402 FLOAT32
8137 0x216F.0A Target velocity CiA402 FLOAT32
11413 0x217B.0E Interpolation mode CSV UINT32
Tab. 289 Objects
Objects in the different CSV operating modes
The objects marked with a dot are effective in the different CSV operating modes.

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CSV CSV-T Objects

· ·
0x60FF
– ·
0x60B2
Tab. 290 Effective objects
Precondition for the cyclic synchronised velocity mode
The following conditions must be fulfilled for the cyclic synchronised velocity mode:
– Modes of operation display (0x6061) = 9
– Statusword (0x6061) = XX0X XX1X X011 0111b
Monitoring
Object 0x6041: Statusword
The following statuses of cyclic synchronised velocity mode can be monitored with the object:
– Bit 12: drive follows the command value (Drive follows the command value)

Bit1) Description
12

Drive follows the command value (Drive follows the command value)
0 Drive does not follow the command value for internal reasons (e. g. because a safety
function is active)
1 Drive is in Operation enabled status and follows the command value.
1) Signal status: 0 = low; 1 = high
Tab. 291 Monitoring cyclic synchronised velocity mode

4.1.7.3 PROFIdrive
PNUs

Parameters PNU Name Data type

Px. Profile-specific parameters

128 28.0 Actual position value Integer64
1210 6.0 Actual velocity value FloatingPoint
Px. Manufacturer-specific parameters
128 11067.0 Actual position value Integer64
1210 11311.0 Actual velocity value FloatingPoint
526796 12166.0 Maximum torque symmetrical FloatingPoint
7139 11704.0 Resulting nominal torque FloatingPoint
151 11070.0 Actual torque value gear shaft FloatingPoint
1170 11287.0 Reversing the direction of rotation Boolean

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Parameters PNU Name Data type

7123 11694.0 Maximum rpm (user defined) FloatingPoint

Tab. 292 PNUs

4.1.8 Cyclic synchronised force/torque mode (CST)

4.1.8.1 Function
The cyclic synchronised force/torque mode enables command values to be pre-set for the device in a
fixed time grid using the drive profile (SYNC interval). The import of the command values is synchron-
ised with the synchronisation signal of the higher-order controller. The synchronisation signal is gen-
erally slower by a whole number than the cycle of the closed-loop controller. The synchronisation time
is generally set by the higher-order PLC (synchronisation time 1 … 20 ms, step 1 ms, è Px.1051). The
integrated fine interpolator therefore calculates intermediate support points and derivations from the
setpoint quantity for the closed-loop controller (interpolation).
Monitoring functions
The monitoring functions marked with a dot are effective in this operating mode:

Motion monitoring function status word

Bit Code Name Effective

0 TRX Target window reaches position –

1 TRV Target window reaches velocity –

2 TRT Target window reaches torque –

3 FEX Following error position –

·
4 FEV Velocity following error
6 TMX Position target area monitoring –

7 TMV Speed target area monitoring –

8 TMT Torque target area monitoring –

9…11 – Reserved –

·
12 HLP Hardware limit switch reached positive
·
13 HLN Hardware limit switch reached negative
·
14 SLP Software limit position reached positive
·
15 SLN Software limit position reached negative
·
16 STX Standstill monitoring position/velocity
·
17 STV Standstill monitoring velocity
·
18 LS Stop reached
19 STLP Stroke limit reached positive –

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Motion monitoring function status word

Bit Code Name Effective

20 STLN Stroke limit reached negative –

·
21 VM Speed monitoring
·
22 PB Pushback monitoring
23 RDX Remaining distance monitoring –

24 MC Trajectory completed –

·
25 REFS Reference switch activated
26 TUR Torque utilisation exceeded –

27 FSPR Fixed stop reached –

28 ACC Drive accelerated –

29 DEC Drive decelerated –

30… 31 – Reserved –

Tab. 293 Motion monitoring function

Detailed information on the monitoring functions è 5 Motion monitoring.
Motion quantities
The path course of a positioning command is largely influenced by the following motion quantities:

Motion quantities Description

Setpoint force/setpoint torque The higher-order PLC supplies the setpoint force.
Tab. 294 Motion quantities
Triggering commands
– Fieldbus (direct mode)
Requirements
– Controller enable
Pilot control values
Pilot control values are generated by an internal algorithm.
The input and output values of the interpolator in the CST operating mode are shown in the following
graph.

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Fieldbus Controller

Interpolator
M x=0

M
Ipo algorithm M v=0
4. order

a=0

j=0

I=0

Fig. 59 CST operation

4.1.8.2 CiA 402

The following graphs show an overview of the objects involved in the cyclic synchronised force/torque
mode and their interaction with the closed-loop controller.

Target torque
(0x6071) Torque Motor
control

Geber

Torque actual value

(0x6077)
Velocity actual value
(0x606C)
Position actual
value (0x6064)

Fig. 60 Overview of the cyclic synchronised force/torque operation (CST)

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Controlword
(0x6040)
Statusword
(0x6041)

Target torque
(0x6071)
Motor rated torque Multiplier
(0x6076) Torque
Drive actual
Max. motor speed control value
(0x6080) function (0x6077)
Polarity Multiplier
(0x607E)

Max torque
(0x6072)
Motor rated torque Multiplier
(0x6076)

Fig. 61 Object overview of the cyclic synchronised force/torque operation (CST)

Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

730 0x6040.00 Control word CiA402 UINT16
731 0x6041.00 Status word CiA402 UINT16
128 0x6064.00 Actual position value SINT32
1210 0x606C.00 Actual velocity value SINT32
526795 0x6071.00 Target torque CiA402 SINT16
526796 0x6072.00 Maximum torque symmetrical UINT16
151 0x6077.00 Actual torque value gear shaft SINT16
1170 0x607E.00 Reversing the direction of rotation UINT8
7123 0x6080.00 Maximum rpm (user defined) UINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
730 0x216D.01 Control word CiA402 UINT16
731 0x216D.02 Status word CiA402 UINT16
128 0x2155.09 Actual position value SINT64

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Parameter Index.Subindex Name Data type

1210 0x2155.0B Actual velocity value FLOAT32

526795 0x216F.0D Target torque CiA402 FLOAT32
526796 0x2168.17 Maximum torque symmetrical FLOAT32
151 0x2157.02 Actual torque value gear shaft FLOAT32
1170 0x217D.01 Reversing the direction of rotation BOOL
7123 0x216C.06 Maximum rpm (user defined) FLOAT32
Tab. 295 Objects
Precondition for the cyclic synchronised force/torque mode
The following conditions must be fulfilled for the cyclic synchronised force/torque mode:
– Modes of operation display (0x6061) = 10
– Statusword (0x6061) = XX0X XX1X X011 0111b
Monitoring
Object 0x6041: Statusword
The following statuses of cyclic synchronised force/torque mode can be monitored with the object:
– Bit 12: drive follows the command value (Drive follows the command value)

Bit1) Description
12

Drive follows the command value

0 Drive does not follow the command value (e. g. because a safety function is active)
1 Drive in operation enabled status and follows the command value
1) Signal status: 0 = low; 1 = high
Tab. 296 Monitoring cyclic synchronised force/torque operation

4.1.8.3 PROFIdrive
PNUs

Parameters PNU Name Data type

Px. Profile-specific parameters

128 28.0 Actual position value Integer64
1210 6.0 Actual velocity value FloatingPoint
Px. Manufacturer-specific parameters
128 11067.0 Actual position value Integer64
1210 11311.0 Actual velocity value FloatingPoint
526796 12166.0 Maximum torque symmetrical FloatingPoint

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Parameters PNU Name Data type

151 11070.0 Actual torque value gear shaft FloatingPoint

1170 11287.0 Reversing the direction of rotation Boolean
7123 11694.0 Maximum rpm (user defined) FloatingPoint
Tab. 297 PNUs

4.1.9 Switch-on/off Behaviour and Closed-loop Controller Enable

4.1.9.1 Function
Operating Readiness Status
The device can display its operating status via an output (ready). For this, the output must be con-
figured accordingly (Px.11203 or Px.11204
è Tab. 212 Configurable Output Signals at X1A.9 and X1A.10). To configure the output using the
plug-in, see è page "Digital I/O".
The configured output is active if the servo drive is ready for operation.
If there is an error, the configured output is inactive.
Switch-on Behaviour
After the device is switched on, it runs through the start-up phase. E.g. it runs the following items:
– The relevant EEPROM data are imported.
– The factory parameter set is loaded.
– The customer-specific parameter set is imported.
– The parameterised configuration is compared with the physical configuration (actual/setpoint
comparison).
– The software components are initialised (I/O mapping, monitoring, limitations etc.).
– If the power supply is correct, the intermediate circuit is loaded.
If the start-up phase has been completed without errors, the device switches to the "Ready" status or
the "Profile" status depending on the parameterisation
è Parameters and Diagnostic Messages, Parameter Px.10234.
The start-up phase may take several seconds, depending on the encoder used.
Switch-off Behaviour
When switching off the logic power supply the device detects that it has dropped below the defined
threshold value and reacts as follows:
– The output stage is switched off
– With multi-turn encoders the multi-turn position is saved in the EEPROM
– The operating hour counter is saved è 9.6.3 Operating hour counter.
– The outputs are moved to a defined safe status
– A corresponding message is generated
– The last messages are saved in the diagnostic memory
When switching off the power supply the device detects that it has dropped below the defined
threshold value and reacts as follows:
– A corresponding message is generated
– A stop is initiated with the parameterised category è 9.2 Classification of Diagnostic Events.

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– If the logic power supply to the device is still on, the fast discharge of the intermediate circuit is
initiated.
– The pre-charge relay is opened and this disconnects the DC Link capacitor from the rectifier.
Controller Enable
Various options are available for requesting controller enable. Parameters can be defined for how the
request for controller enable is to be triggered. The selection influences the operating mode that will
be activated after the controller enable.
– If the request is to be sent via the device-specific plug-in or the device profile, the associated
interface must have the master control è 3.1.4 Master control.
– If commutation angle discovery is required, the commutation angle discovery is performed. Then
the relevant operating mode is activated è Tab. 300 Options for controller enable.
– If commutation angle discovery is not required, the relevant operating mode is activated immedi-
ately è Tab. 300 Options for controller enable.

Behaviour with Controller Enable

The motor is energised after controller enable. The closed-loop controller takes control.
Information on the automatic actuation of the holding brake on activation or deactivation of controller
enable è 3.3.2 Brake Control.

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Timing

power on

no error

v=0
Stop Cat. 1
RF EA

RF SPS

OP

BR+
t1 t2

brake

Fig. 62 Timing graph achieve ready status – enable logic: IO and fieldbus (example)
With a new enable signal via CTRL-EN the closed-loop controller is also not enabled with pending
enable via fieldbus. For controller enable high level must first be pending at the CTRL-EN input and
then the positive edge of the enable signal must follow via fieldbus.

Name Description ID Px.

power on Switch on power supplies –

no error No error –

RF IO Controller enable via CTRL-EN –

RF PLC Controller enable via fieldbus –

OP Ready for operation –

BR+ Brake output –

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Name Description ID Px.

Brake Mechanical behaviour of brake (released and set) –

t1 Switch-on delay depending on the parameterised switch-on delay

Switch-on delay holding brake 1 20

t2 Switch-off delay depending on the parameterised switch-off delay

Switch-off delay holding brake 1 21
Stop cat. 1 Stop category 1 –

Tab. 298 Legend for the Achieve Ready Status Timing Graph

Detailed information on automatic actuation of the holding brakes è 3.3.2 Brake Control.

Commutation Angle Discovery and Controller Enable

If the drive moves during controller enable, automatic commutation angle discovery is not possible.
The device reacts as follows:
– The device executes a category 0 stop è 9.2 Classification of Diagnostic Events.
– A corresponding message is generated.
Removal of Controller Enable
Removal of the controller enable stops the ongoing command (category 1 stop). If the search velocity
v = 0, the normally open contact (RDY) is opened and the closed-loop controller is blocked. For
product designs without a holding brake, the drive is then freely movable.
Parameters and Diagnostic Messages

ID Px. Parameter Description

10231 Device status Shows the status of controller enable.

This means:
– 0: not enabled
– 1: enabled
Access read/−
Update effective immediately
Unit −
10232 Controller enable Specifies how the controller is to be enabled.
selection This means:
– 0: I/O and fieldbus
– 1: I/O (CTRL-EN input)
– 2: fieldbus
– 3: I/O and plug-in
– 4: plug-in

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ID Px. Parameter Description

10232 Controller enable For detailed information

selection è Tab. 300 Options for controller enable.

Access read/write
Update effective immediately
Unit −
10234 Controller enable Defines which operating mode is to be active after activation of
operating mode controller enable by CTRL-EN. The operating mode selected here
is only effective if the parameter Px.10232 has the value 1.
Possible operating modes
è Tab. 301 Possible Operating Modes with Controller Enable
via I/O.
Access read/write
Update effective immediately
Unit −
10235 Target velocity for Specifies the target velocity with controller enable for velocity
controller enable operation. The target velocity selected here is only effective if
(velocity operation) the parameter Px.10232 has the value 1.
Access read/write
Update effective immediately
Unit user defined
10236 Target torque for con- Specifies the target torque with controller enable for torque
troller enable (torque operation. The target torque selected here is only effective if the
operation) parameter Px.10232 has the value 1.
Access read/write
Update effective immediately
Unit Nm
10237 Maximum velocity for Specifies the maximum velocity with controller enable for torque
controller enable operation. The maximum velocity selected here is only effective
(torque operation) if the parameter Px.10232 has the value 1.
Access read/write
Update effective immediately
Unit user defined

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ID Px. Parameter Description

10238 Index for controller Specifies the index of the record that is to be started after con-
enable troller enable if the record selection operating mode is activated
with controller enable -> Px.10234.
Access read/write
Update effective immediately
Unit −
11280018 Torque increase for Specifies the torque increase that is to be used to achieve the
controller enable target torque after controller enable. The torque increase selec-
ted here is only effective if the parameter Px.10232 has the
value 1.
Access read/write
Update effective immediately
Unit Nm/s
Tab. 299 Parameter

Parameter for selection of controller enable (Px.10232)

Value Enable via ... Description Operating mode after
controller enable

0 I/O and fieldbus The request of controller enable is Positioning mode

issued in common via the following:
– CTRL-EN input
– Device profile
The enable signal at the CTRL-EN
input must be pending before the
request is sent via the device profile.
1 I/O The request of controller enable is parameterised operat-
issued exclusively via the CTRL-EN ing mode (Px.10234)
input.
2 Fieldbus The request of controller enable is Positioning mode
issued exclusively via the fieldbus.
3 I/O and plug-in The request of controller enable is Positioning mode
issued in common via the following:
– CTRL-EN input
– Device-specific plug-in (Ethernet
interface)
The enable signal at the CTRL-EN
input must be pending before the

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Parameter for selection of controller enable (Px.10232)

Value Enable via ... Description Operating mode after
controller enable

request is sent via the device-specif- Positioning mode

ic plug-in.
4 Plug-in The request of controller enable is
issued exclusively via the device-
specific plug-in (Ethernet interface).
Tab. 300 Options for controller enable
If the device switches to operating mode on controller enable, a category 2 stop is executed
è 9.2 Classification of Diagnostic Events. After the switch-on delay has elapsed, new commands can
be processed.
Controller Enable via CTRL-EN (Px.10232 = 1)
If the controller enable is issued exclusively via the CTRL-EN input, the operating mode defined by the
following parameters will be active after controller enable:

Operating mode parameters with controller enable (Px.10234)

Value Operating mode Description

4 Velocity On issue of controller enable the velocity mode is

activated. The device reacts as follows:
– The actual velocity is used as the start velocity.
– The parameterised target velocity is used as the
target velocity (Px.10235).
– The parameterised values for the stop decelera-
tion are used as acceleration and jerk.
5 Position On issue of controller enable the positioning mode is
activated. The device reacts as follows:
– Stop category 2
è 9.2 Classification of Diagnostic Events.

7 Torque On issue of controller enable the torque mode is activ-

ated. The device reacts as follows:
– The actual torque is used as the starting torque.
– The parameterised target torque is used as the tar-
get torque (Px.10236).
– The parameterised values for the stop are used as
acceleration and jerk.

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Operating mode parameters with controller enable (Px.10234)

Value Operating mode Description

15 Start record table On issue of controller enable the record table is activ-
ated. The device reacts as follows:
– Stop category 2
è 9.2 Classification of Diagnostic Events.
– After elapse of the switch-on delay the paramet-
erised record is automatically run (Px.10238).
Tab. 301 Possible Operating Modes with Controller Enable via I/O

4.1.9.2 CiA 402

Objects

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
10231 0x218E.01 Device status UINT32
10232 0x218E.02 Controller enable selection UINT32
10234 0x218E.03 Controller enable operating mode UINT32
10235 0x218E.04 Target velocity for controller enable (velocity FLOAT32
operation)
10236 0x218E.05 Target torque for controller enable (torque FLOAT32
operation)
10237 0x218E.06 Maximum velocity for controller enable FLOAT32
(torque operation)
10238 0x218E.07 Index for controller enable SINT32
11280018 0x218E.08 Torque increase for controller enable FLOAT32
Tab. 302 Objects

4.1.9.3 PROFIdrive
PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

10231 11800.0 Device status Unsigned32
10232 11801.0 Controller enable selection Unsigned32
10234 11802.0 Controller enable operating mode Unsigned32

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Parameters PNU Name Data type

10235 11803.0 Target velocity for controller enable (velocity FloatingPoint

operation)
10236 11804.0 Target torque for controller enable (torque FloatingPoint
operation)
10237 11805.0 Maximum velocity for controller enable FloatingPoint
(torque operation)
10238 11806.0 Index for controller enable Integer32
11280018 12294.0 Torque increase for controller enable FloatingPoint
Tab. 303 PNUs

4.2 Stop
4.2.1 Function
The stop command aborts the current motion command. The subsequent reactions to the stop com-
mand depend on what triggered the stop.

Stop command triggered by ... Specific reaction

– Record table – The motion command is aborted.

– The drive is braked down to a stop using the parameterised
stop ramp of the command record.
– If the standstill monitoring (STC signal
è 5.7 Standstill monitoring) detects that the drive has
stopped moving on conclusion of the stop ramp, the closed-
loop controller holds the drive at that position.
– Device profile (direct) – The motion command is aborted.
or – The drive is braked down to a stop using the parameterised
– device-specific plug-in stop ramp.
or – If the standstill monitoring (STC signal
– Diagnostic event of stop è 5.7 Standstill monitoring) detects that the drive has
cat. 2 stopped moving on conclusion of the stop ramp, the closed-
loop controller holds the drive at that position.
– Diagnostic event of stop – The motion command is aborted.
cat. 1 – The drive is braked down to a stop using the defined stop
or ramp.
– Removal of controller – If the standstill monitoring detects that the drive has stopped
enable moving on conclusion of the stop ramp, the brake locks and
the closed-loop controller switches off after the elapse of the
parameterised delay (Px.21 and Px.23 è 3.3.2 Brake Control).
The drive is switched off directly at standstill without brake.

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Stop command triggered by ... Specific reaction

– The drive is uncontrolled.

– Diagnostic event of stop – The motion command is aborted.
cat. 0 – The output stage is switched off.
– The brake locks on drives with brake. Without a brake the
drive runs down.
– The drive is uncontrolled.
Tab. 304 Specific reactions to the stop command

Detailed information on the general fault reactions to diagnostic

eventsè 9.2 Classification of Diagnostic Events.

The stop ramps are executed with the aid of the trajectory generator. If a stop is triggered, the current
motion command or the cyclic synchronised operation is aborted and a stop ramp with end velocity 0
is calculated (parameters for the stop ramp è Tab. 305 Parameter). The closed-loop controller is
switched to velocity control to execute the stop ramp.
With a stop via the record table or a category 2 stop:
– If the standstill monitor detects that the drive has stopped moving, the closed-loop controller
switches to position control and uses the actual position value as the new setpoint quantity.
Parameters and Diagnostic Messages

Information on parameterisation of stop ramps via the record list

è 4.5 Command for record selection.

ID Px. Parameter Description

12101 Stop ramp decelera- Specifies the deceleration for stops that are triggered by the
tion device profile, the device-specific Plug-in or a category 1 and 2
diagnostic event.
Information on the parameterisation of the deceleration for dir-
ect stops via the device profile Ci402 è 4.2.2 CiA 402.
Information on the parameterisation of the deceleration for dir-
ect stops via the device profile è 4.2.3 PROFIdrive.
Access read/write
Update effective immediately
Unit user defined

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ID Px. Parameter Description

12111 Stop ramp jerk Specifies the jerk for stops that are triggered by the following:
– Device profile (direct)
– Device-specific plug-in
– Category 1 or 2 diagnostic events.
Access Read/write
Update Effective immediately
Unit User-defined
Tab. 305 Parameter

ID Dx. Name Description

05 | 02 | 00078 Stop ramp: Timeout Stop ramp: Timeout

(84017230)
Tab. 306 Diagnostic Messages

4.2.2 CiA 402

Objects for stopping

Parameters Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

8135 0x6085.00 Quick stop deceleration CiA402 UINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
8135 0x216F.08 Quick stop deceleration CiA402 FLOAT32
12101 0x2180.01 Stop ramp deceleration FLOAT32
12111 0x2180.02 Stop ramp jerk FLOAT32
Tab. 307 Objects
Triggering and monitoring
Object 0x6040: control word
The stop command is triggered via the object:
– Bit 2: stop (quick stop)
The deceleration is specified by the 0x6085 object. For additional information
è 4.1 Operating Modes.
Object 0x6041: status word
If stop has been requested and executed, bit 5 is reset to 0.
– Bit 5: stop (quick stop active)
For additional information è 4.1 Operating Modes.

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4.2.3 PROFIdrive
PNUs for Stopping

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

12101 11834.0 Stop ramp deceleration FloatingPoint
12111 11835.0 Stop ramp jerk FloatingPoint
Tab. 308 PNUs
Control and Monitoring
Priority of stop responses: the table shows the stop responses in descending order. This means that
coasting has the highest priority and intermediate stop ramp the lowest.

Deceleration Condition Comments AC

Coast STW1.1 = 0 or The voltage is shut off, the motor AC1/AC3

STW1.3 = 0 coasts to a stop.
Fast stop STW1.2 = 0 Brake with the parameterised values AC1/AC3
and then shut down the output
stage.
Deceleration: PNU 11834.0,
Px.12101.0.0
Jerk: PNU 11835.0, Px.12111.0.0
System stop STW1.0 = 0 and Brake with the parameterised values AC1
STW1.4 = 0 and then shut down the output
stage.
Deceleration: PNU 12328.0,
Px.11280405.0.0
Jerk: PNU 12434.0, Px.11280406.0.0
Stop ramp STW1.0 = 0 Brake with the parameterised values AC1/AC3
and then shut down the output
stage.
Deceleration: PNU 12326.0,
Px.11280403.0.0
Jerk: PNU 12327.0, Px.11280404.0.0
Brakes STW1.8 = 1 à 0 and Brake with the parameterised val- AC1/AC3
STW1.9 = 0 ues. Output stage remains active. In
jog mode the deceleration and
acceleration are identical.
Deceleration: PNU 11353.0,
Px.1512.0.0
Jerk: PNU 11354.0, Px.1513.0.0

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Deceleration Condition Comments AC

Brakes STW1.8 = 0 and Brake with the parameterised val- AC1/AC3

STW1.9 = 1 à 0 ues. Output stage remains active. In
jog mode the deceleration and
acceleration are identical.
Deceleration: PNU 12129.0,
Px.214536.0.0
Jerk: PNU 12130.0, Px.214537.0.0
System stop STW1.4 = 0 or Brake with the parameterised val- AC3
SATZANW.15 = 1 à 0 ues. The output stage remains act-
or POS_STW1.15 = ive.
1à 0 Deceleration: PNU 12328.0,
Px.11280405.0.0
Jerk: PNU 12434.0, Px.11280406.0.0
Brakes STW1.4 = 1 and Brake with the parameterised val- AC1
STW1.6 = 0 ues. Output stage remains active,
velocity target value = 0
Deceleration: PNU 12326.0,
Px.11280403.0.0
Jerk: PNU 12327.0, Px.11280404.0.0
Brakes STW1.4 = 0 Brake with the parameterised val- AC1
ues. Output stage remains active,
velocity target value = 0
Deceleration: PNU 12328.0,
Px.11280405.0.0
Jerk: PNU 12434.0 Px.11280406.0.0
Intermediate stop STW1.5 = 0 Brake with the parameterised val- AC3
ues. Output stage remains active.
Deceleration: PNU 12342.0,
Px.11280607.0.0 (parameters from
MDI)
Jerk: PNU 12327.0, Px.11280404.0.0
Tab. 309
A stop with higher priority interrupts a stop with lower priority regardless of the cause.

4.3 Hold
4.3.1 Function
The reactions to the hold command depend on the active operating mode. If the cyclic synchronised
operation is active, the hold command is ignored. In other operating modes the current command is
aborted by the hold command and continued when the command is withdrawn.
Information on the operating modes è 4.1.2 Operating modes for performing motion commands.

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The stop ramp for the hold command in a profile operating mode is determined by the parameters val-
id for the operating mode è 4.2 Stop.

Operating modes Reaction to ...

... the hold command ... Withdrawal of the
hold command

– PP – The motion command is interrupted. – The motion com-

– P – The drive is braked and remains position- mand is continued
controlled stationary with reference to para- with reference to
meters v, a and j. parameters v, a
– A message is generated. and j.
– HM (homing) – The homing is not
continued.
– PV – The motion command is interrupted. – The motion com-
– V – The drive is braked and remains position- mand is continued
controlled stationary with reference to para- with reference to
meters a and j. parameters a and j.
– A message is generated.
– PT, PT-B – The motion command is interrupted. – The motion com-
– T – The force is reduced braked and the drive mand is continued
remains position-controlled stationary with with reference to
reference to the force ramp. the force ramp.
– A message is generated.
– CSP – The hold command is ignored. – The withdrawal of
– CSV the hold command
– CST is ignored.
– Jogging
Tab. 310 Reaction to the hold command

4.3.2 CiA 402

Triggering and monitoring
Object 0x6040: control word
The hold command is triggered via the object:
– Bit 8: hold (hold)
The deceleration is determined by the deceleration set in the operating mode. For additional informa-
tion è 4.1 Operating Modes.
Object 0x6041: status word
If hold is requested and executed in the PV operating mode (current velocity 0), bit 12 is set to 1.
– Bit 12: velocity (speed)
If hold is requested and executed in other operating modes (current velocity 0), bit 10 is set to 1.
– Bit 10: target position reached (target reached)

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For additional information è 4.1 Operating Modes.

4.3.3 PROFIdrive
Triggering and monitoring
Finite state machine application class 3 (STW1.5 Intermediate stop)
è 12.4.3.3 Finite State Machine Positioning Mode in Application Class 3.

4.4 Homing
4.4.1 Function
In order to be able to approach an absolute, unique position in the positioning range, the drive must
be homed to the dimensional reference system.
The homing of the drive includes:
– Homing
– Definition of the axis zero-point
– Definition of the dimension reference system è 3.2.5 Dimension Reference System
Reference mark
In the homing process the position of the reference mark is found in accordance with the selected
homing method. The reference mark is by default the absolute reference point for the dimensional ref-
erence system. A valid homing is required for all motion commands with the "position" target. Motion
commands with the "velocity, torque and jogging" targets cannot be run without a valid homing.

Fig. 63 Symbol: reference mark

Axis zero point

The absolute reference point of the dimensional reference system can be moved from the reference
mark to the axis zero-point with the "offset axis zero-point" parameter.

Fig. 64 Symbol: axis zero-point

Referencing method
The "limit switch, reference switch, stop, zero pulse or current position" target can be selected for the
reference mark with the "homing method" parameter. The maximum positioning accuracy for the ref-
erence mark can be reached with the "zero pulse" method.
Check of referencing methods of the open-loop operation without encoder
Referencing methods with zero pulse and with stop detection are not available in the open-loop oper-
ation without encoder. Stop detection is only supported in closed-loop mode. A zero pulse cannot be

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detected without an encoder. Therefore, only the following referencing methods are supported in
open-loop operation without encoder:
Referencing methods for open-loop operation:
– Method 17: negative limit switch
– Method 18: positive limit switch
– Method 23: Positive reference switch
– Method 27: Negative reference switch
– Method 37: Current position
Because stop monitoring is not possible during a homing movement, timeout monitoring is executed.
Referencing parameter
The "acceleration, velocity and jerk" setpoint values for "search, creeping jerk and travel" can be spe-
cified with the "homing parameter".
Homing
A homing is run with the start using the "limit switch, reference switch, stop and zero pulse" homing
methods. The motion phase that is run depends on the selected homing method. A motion with the
"current position" homing method is only run if the "travel to the axis zero-point" function is activ-
ated.
– Parameters:
– Search stroke:
The search path for the search is limited with the "maximum search stroke in positive/negat-
ive direction" parameters.
– Homing to the stop:
Travel to the axis zero-point is recommended for homing methods -17/-18 "homing to stop"
to prevent continuous control at the stop.
– Software end positions:
Monitoring the software end positions is activated after a valid homing.
– Encoder emulation:
Encoder emulation can be activated for the duration of homing with the "Do not activate
encoder emulation during homing" parameter.
Axis zero-point travel
Axis zero-point travel can be activated with the "travel to axis zero-point after homing" parameter. The
axis zero-point travel is run immediately after a valid homing if the axis zero-point offset ≠ 0.
– Parameters:
– Limit switches, stops and following errors:
The monitoring of limit switches, stops and following errors is activated for the duration of
axis zero-point travel.
Homing status
In the following cases the "homing status" changes:
– the status is reset
– At the start of a new homing
– Every time the device is restarted with single-turn encoder
– After replacement of the motor with multi-turn encoder

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– the status is set

– After a valid homing
Saving the homing (saving the zero point offset)
With multi-turn encoders, the zero point offset relative to the axis zero can be saved in the internal
memory. This position is used at a restart as the absolute reference point for the dimensional refer-
ence system.
Single-turn encoder
Single-turn encoders with an axis zero-point offset by one motor revolution can be permanently con-
figured to the "homing valid" status. For this, set Px.3237.0.0 = true (active).
Reference switch/limit switch with zero pulse (method: 1, 2, 7, 11)
For secure identification of the "zero pulse" reference mark, before the homing the falling edges of
the reference switch (Ref)/limit switch (Lim) must be set centrally between two zero pulses.

1 Position of the falling edge 3 Distance to the zero pulse

2 Zero pulse
Fig. 65

Parameters and diagnostic messages

ID Px. Parameter Description

840 Referencing status Specifies the status of referencing.

0: not referenced
1: referenced
Access read/−
Update effective immediately
Unit −
843 Search for reference Shows the setpoint velocity of searching for the reference mark.
mark setpoint velocity Access read/write
Update effective immediately
Unit user defined

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ID Px. Parameter Description

844 Search for reference Shows the setpoint acceleration of searching for the reference
mark setpoint acceler- mark.
ation Access read/write
Update effective immediately
Unit user defined
845 Search for reference Shows the setpoint jerk of searching for the reference mark.
mark setpoint jerk Access read/write
Update effective immediately
Unit user defined
846 Setpoint reference Shows the setpoint velocity of creeping of the reference mark.
mark creeping velo- Access read/write
city
Update effective immediately
Unit user defined
847 Setpoint reference Shows the setpoint acceleration of creeping of the reference
mark creeping accel- mark.
eration Access read/write
Update effective immediately
Unit user defined
848 Setpoint reference Shows the setpoint jerk of creeping of the reference mark.
mark creeping jerk Access read/write
Update effective immediately
Unit user defined
849 Move to axis zero Shows the setpoint velocity of move to the axis zero point.
point setpoint velocity Access read/write
Update effective immediately
Unit user defined
8410 Move to axis zero Shows the setpoint acceleration of the move to the axis zero
point setpoint accel- point.
eration Access read/write
Update effective immediately
Unit user defined

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ID Px. Parameter Description

8411 Search for move to Shows the setpoint jerk of searching for move to the axis zero
axis zero point set- point.
point jerk Access read/write
Update effective immediately
Unit user defined
8412 Maximum search Shows the maximum search stroke in positive direction.
stroke in positive dir- Access read/write
ection
Update effective immediately
Unit user defined
8413 Maximum search Shows the maximum search stroke in negative direction.
stroke in negative dir- Access read/write
ection
Update effective immediately
Unit user defined
8417 Referencing method Shows the selected homing method for homing of the axis
(value = method).
– -27: negative stop/limit switch with travel to reference
switch
– -23: positive stop/limit switch with travel to reference
switch
– -18: positive stop
– -17: negative stop
– -2: positive stop with zero pulse
– -1: negative stop with zero pulse
– 1: negative HW limit switch with zero pulse
– 2: positive HW limit switch with zero pulse
– 7: positive reference switch with zero pulse
– 11: negative reference switch with zero pulse
– 17: negative HW limit switch
– 18: positive HW limit switch
– 23: positive reference switch
– 27: negative reference switch
– 33: current position with negative zero pulse
– 34: current position with positive zero pulse
– 37: current position (default setting)
Referencing methods with zero pulse detection and stop detec-
tion are not available because the closed-loop controller without
encoder cannot detect a zero pulse or stop.

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ID Px. Parameter Description

8417 Referencing method Access read/write

Update effective immediately
Unit −
8418 Status state machine Status of the state machine for homing
homing Access read/−
Update effective immediately
Unit −
841 Move to axis zero Specifies the status of the "move to axis zero point after hom-
point after homing ing" function.
0: deactivated
1: activated
Access read/write
Update effective immediately
Unit −
842 Homing timeout Shows the time limit for homing with move to the axis zero-
point.
Access read/write
Update effective immediately
Unit s
8414 Nominal current limit Specifies the scaling factor for the limit value for the stop detec-
value scaling factor tion. The scaling factor refers to the nominal current of the
motor.
Access read/write
Update effective immediately
Unit −
8415 Limit position detec- Shows the time monitoring window for the limit position detec-
tion time monitoring tion.
window Access read/write
Update effective immediately
Unit s

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ID Px. Parameter Description

8416 Axis zero point offset Specifies the offset of the axis zero point to the reference mark.
Access read/write
Update effective immediately
Unit user defined
8421 Deactivate encoder Specifies the status of the encoder emulation during the hom-
emulation during ing.
homing 0: deactivated
1: activated
Access read/write
Update effective immediately
Unit −
Tab. 311 Homing parameters

ID Dx. Name Description

05 | 01 | 00056 Configuration of homing run inval- Parameterisation of homing run invalid

(83951672) id
05 | 01 | 00057 Homing: Timeout Homing: Timeout
(83951673)
05 | 01 | 00058 Homing: Search path exceeded Homing: Search path exceeded
(83951674)
07 | 01 | 00111 Limitation negative direction Limitation of direction of movement owing to
(117506159) negative software limit position
07 | 01 | 00112 Limitation positive direction Limitation of direction of movement owing to
(117506160) positive software limit position
07 | 01 | 00114 Negative hardware limit switch Negative hardware limit switch reached
(117506162) reached
07 | 01 | 00115 Positive hardware limit switch Positive hardware limit switch reached
(117506163) reached
07 | 01 | 00116 Limitation by negative hardware Limitation of direction of movement owing to
(117506164) limit switch negative hardware limit switch
07 | 01 | 00117 Limitation by positive hardware Limitation of direction of movement owing to
(117506165) limit switch positive hardware limit switch
07 | 01 | 00118 Error: both hardware limit Error: both hardware limit switches activated
(117506166) switches activated
Tab. 312 Diagnostic homing

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4.4.2 Timing
Homing to reference switch or limit switch
The graph shows as an example homing to a reference or limit switch without zero pulse in a positive
search direction and then travel to the axis zero-point in negative direction.

Fig. 66 Homing to reference switch or limit switch

Name Description

Ref/Lim Signal reference/limit switches

t1 Duration of search
t2 Duration of crawl
t3 Duration of travel to the axis zero-point
v1 Target velocity search
v2 Target velocity crawl

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Name Description

v3 Target velocity travel

x1 Reference mark reference/limit switches
x2 Axis zero point
x3 Axis zero point offset
Start Start homing
Status Referencing status
Tab. 313 Legend for homing to reference switch or limit switch
Homing to stop
The graph shows as an example homing to the stop without zero pulse in a positive search direction
and then travel to the axis zero-point in negative direction.

Fig. 67 Homing to stop

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Name Description

i1 Maximum current
i2 Nominal current limit percentage
t1 Duration of search
t2 Duration of stop detection
t3 Duration of travel to the axis zero-point
t4 Setpoint value time monitoring window stop detection
v1 Target velocity search
v2 Target velocity travel
x1 Reference mark stop
x2 Axis zero point
x3 Axis zero point offset
x4 Stop
Start Start homing
Status Referencing status
Tab. 314 Legend for homing to stop

4.4.3 Homing methods

The supported homing methods are oriented to the CANopen CiA 402 device profile for electric drives
and additionally manufacturer-specific methods.
Methods
Target and direction of homing travel are specified by the selected homing method.
Referencing methods with zero pulse detection and stop detection are not available in the open-loop
operation without encoder.
Example:
With method 2 "limit switch positive with zero pulse" the "limit switch" primary target is searched in
the positive direction at search velocity. Then the "zero pulse" secondary target is identified at creep
velocity in the negative direction. With travel to axis zero-point activated the parameterised axis zero-
point is approached at travel velocity.
The following homing methods are supported:

Method No. (dec.) Search direction Primary target Secondary target

Current position 37 — Current position —

341) positive Current position Zero pulse
331) negative Current position Zero pulse

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Method No. (dec.) Search direction Primary target Secondary target

Limit switch 18 positive Limit switch —

17 negative Limit switch —
21) positive Limit switch Zero pulse
11) negative Limit switch Zero pulse
Homing Switch 23 positive Homing Switch —
27 negative Homing Switch —
71) positive Homing Switch Zero pulse
111) negative Homing Switch Zero pulse
-231) positive Stop/limit switch Homing Switch
-271) negative Stop/limit switch Homing Switch
Stop -181) positive Stop —
-171) negative Stop —
-21) positive Stop Zero pulse
-11) negative Stop Zero pulse
1) This method is not supported in open-loop operation without encoder.
Tab. 315 Homing methods

4.4.3.1 Method 37: Current position

The reference mark is found by the current axis position.
Sequence:
1. Set reference mark: current position is taken as the reference mark.
2. Set axis zero-point: the axis zero-point is set with reference to the reference mark.
3. Report status: "homing status" is set.
Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point.

Method 37: Current position

Tab. 316 Sequence principle: current position

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4.4.3.2 Method 33/34: current position with zero pulse in negative/positive direction
The reference mark is found by the first zero pulse of the encoder.
Sequence:
1. Search zero pulse: first zero pulse of the encoder is searched at creep velocity in the search direc-
tion.
2. Set reference mark: position of the zero pulse is taken as the reference mark.
3. Set axis zero-point: the axis zero-point is set with reference to the reference mark.
4. Report status: "homing status" is set.
Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point.

Method 34: positive search direction Method 33: negative search direction

Tab. 317 Sequence principle: homing to zero pulse

Situation Reaction

Zero pulse within one motor revolution not detec- Homing aborted with fault message.
ted
Distance "zero pulse - limit switch" too short Homing aborted with fault message.
Limit switch detected Homing aborted with fault message.
Stop detected Homing aborted with fault message.
Tab. 318 Different sequence scenarios

4.4.3.3 Method 17/18 negative/positive limit switch

The reference mark is found by the switching edge of the limit switch.
Sequence:
1. Search limit switch: rising edge of the limit switch is searched in search direction at search velo-
city.
2. Search limit switch edge: falling edge of the limit switch (rest position) is searched at creep velo-
city in the opposite direction.
3. Set reference mark: position of switching edge is taken as the reference mark.
4. Set axis zero-point: the axis zero-point is set with reference to the reference mark.
5. Report status: "homing status" is set.

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Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point.

Method 18: positive search direction Method 17: negative search direction

Tab. 319 Sequence principle - homing to limit switch

Situation Reaction

"Search direction" limit switch not detected Homing aborted with fault message.
(rising edge)
Limit switch edge not detected (falling edge) Homing aborted with fault message.
"Opposite direction" limit switch detected Homing aborted with fault message.
Stop detected Homing aborted with fault message.
Tab. 320 Different sequence scenarios

4.4.3.4 Method 1/2: negative/positive limit switch with zero pulse

The reference mark is found after identification of the limit switch by the first zero pulse of the
encoder.
Sequence:
1. Search limit switch: rising edge of the limit switch is searched in search direction at search velo-
city.
2. Search limit switch edge: falling edge of the limit switch (rest position) is searched at creep velo-
city in the opposite direction.
3. Search zero pulse: first zero pulse of the encoder is searched again at creep velocity in the oppos-
ite direction.
4. Set reference mark: position of the zero pulse is taken as the reference mark.
5. Set axis zero-point: the axis zero-point is set with reference to the reference mark.
6. Report status: "homing status" is set.
Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point.

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Method 2: positive search direction Method 1: negative search direction

Tab. 321 Sequence principle - homing to limit switch with zero pulse

Situation Reaction

"Search direction" limit switch not detected Homing aborted with fault message.
(rising edge)
Limit switch edge not detected (falling edge) Homing aborted with fault message.
Zero pulse within one motor revolution not detec- Homing aborted with fault message.
ted
Distance "zero pulse - limit switch" too short Homing aborted with fault message.
"Opposite direction" limit switch detected Homing aborted with fault message.
Stop detected Homing aborted with fault message.
Tab. 322 Different sequence scenarios

4.4.3.5 Method 23/27: positive/negative reference switch

The reference mark is found by the switching edge of the limit switch.
Sequence:
1. Search reference switch: rising edge of the reference switch is searched in search direction at
search velocity.
2. Search reference switch edge: falling edge of the reference switch (rest position) is searched at
creep velocity in the opposite direction.
3. Set reference mark: position of switching edge is taken as the reference mark.
4. Set axis zero-point: the axis zero-point is set with reference to the reference mark.
5. Report status: "homing status" is set.
Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point.

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Method 23: positive search direction Method 27: negative search direction

Tab. 323 Sequence principle - homing to reference switch

Situation Reaction

"Search direction" reference switch not detected Homing aborted with fault message.
(rising edge)
Reference switch edge not detected (falling edge) Homing aborted with fault message.
"Search direction" limit switch detected Limit switch monitoring is deactivated
"Opposite direction" limit switch detected Homing aborted with fault message.
Stop detected Homing aborted with fault message.
Tab. 324 Different sequence scenarios

4.4.3.6 Method 7/11: positive/negative reference switch with zero pulse

The reference mark is found after identification of the reference switch by the first zero pulse of the
encoder.
Sequence:
1. Search reference switch: rising edge of the reference switch is searched in search direction at
search velocity.
2. Search reference switch edge: falling edge of the reference switch (rest position) is searched at
creep velocity in the opposite direction.
3. Search zero pulse: first zero pulse of the encoder is searched again at creep velocity in the oppos-
ite direction.
4. Set reference mark: position of the zero pulse is taken as the reference mark.
5. Set axis zero-point: the axis zero-point is set with reference to the reference mark.
6. Report status: "homing status" is set.
Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point.

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Method 7: positive search direction Method 11: negative search direction

Tab. 325 Sequence principle - homing to reference switch with zero pulse

Situation Reaction

"Search direction" reference switch not detected Homing aborted with fault message.
(rising edge)
Reference switch edge not detected (falling edge) Homing aborted with fault message.
Zero pulse within one motor revolution not detec- Homing aborted with fault message.
ted
Distance "zero pulse - reference switch" too Homing aborted with fault message.
short
"Search direction" limit switch detected Limit switch monitoring is deactivated
"Opposite direction" limit switch detected Homing aborted with fault message.
Stop detected Homing aborted with fault message.
Tab. 326 Different sequence scenarios

4.4.3.7 Method -23/-27: positive/negative stop/limit switch with run to reference switch
The reference mark is found by the switching edge of the reference switch after identification of the
limit switch or the stop.
Sequence:
1. Search stop/limit switch: stop or rising edge of the limit switch is searched in search direction at
search velocity.
2. Search reference switch: reference switch is searched in opposite direction at search velocity.
3. Search reference switch edge: falling edge of the reference switch (rest position) is searched
again at creep velocity in the opposite direction.
4. Set reference mark: position of switching edge is taken as the reference mark.
5. Set axis zero-point: the axis zero-point is set with reference to the reference mark.
6. Report status: "homing status" is set.
Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point.

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Method -23: positive search direction Method -27: negative search direction

Tab. 327 Sequence principle – reference movement to stop/limit switch positive/negative with travel
to reference switch

Situation Reaction

"Search direction" stop and limit switch not Homing aborted with fault message.
detected
Limit switch edge not detected (falling edge) Homing aborted with fault message.
"Opposite direction" limit switch detected Homing aborted with fault message.
"Search direction" reference switch detected Reference switch is ignored
"Opposite direction" stop detected Homing aborted with fault message.
Tab. 328 Different sequence scenarios

4.4.3.8 Method -17/-18 negative/positive stop

The reference mark is found by detection of the stop.
Sequence:
1. Search stop: stop is searched in search direction at search velocity.
2. Set reference mark: position of the stop is taken as the reference mark.
3. Set axis zero-point: the axis zero-point is set with reference to the reference mark.
4. Report status: "homing status" is set.
Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point.
NOTICE!
With the homing methods -17/-18 "homing to stop" the drive stands controlled at the stop after the
homing. The parameterisation of the travel to the axis zero-point makes continuous control at the stop
unnecessary.

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Method -18: positive search direction Method -17: negative search direction

Tab. 329 Sequence principle - homing to stop

Situation Reaction

"Search direction" stop not detected Homing aborted with fault message.
"Search direction" limit switch detected Homing aborted with fault message.
"Opposite direction" limit switch detected Homing aborted with fault message.
Tab. 330 Different sequence scenarios

4.4.3.9 Method -1/-2 negative/positive stop with zero pulse

The reference mark is found after identification of the stop by the first zero pulse of the encoder.
Sequence:
1. Search stop: stop is searched in search direction at search velocity.
2. Search zero pulse: first zero pulse of the encoder is searched at creep velocity in the opposite dir-
ection.
3. Set reference mark: position of the zero pulse is taken as the reference mark.
4. Set axis zero-point: the axis zero-point is set with reference to the reference mark.
5. Report status: "homing status" is set.
Travel to the axis zero-point è 4.4.3.10 Travel to axis zero-point.

Method -2: positive search direction Method -1: negative search direction

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Method -2: positive search direction Method -1: negative search direction

Tab. 331 Sequence principle - homing to stop with zero pulse

Situation Reaction

"Search direction" stop not detected Homing aborted with fault message.
Zero pulse within one motor revolution not detec- Homing aborted with fault message.
ted
"Search direction" limit switch detected Limit switch monitoring is deactivated
"Opposite direction" limit switch detected Homing aborted with fault message.
Tab. 332 Different sequence scenarios

4.4.3.10 Travel to axis zero-point

Travel to axis zero-point is run after a valid homing.
The requirements for travel to the axis zero-point are:
– "Activate move to axis zero-point after completion of homing" parameter is activated
– Reference mark was taken in accordance with the homing method
Sequence:
1. Travel to axis zero-point: axis zero-point is approached at travel velocity.
2. Set axis zero-point: the axis zero-point is set with reference to the reference mark.
3. Report status: "homing status" is set.

Positive axis zero-point offset: positive travel Negative axis zero-point offset: negative travel
direction direction

Tab. 333 Sequence principle - travel to axis zero-point

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Situation Reaction

Axis zero-point was not reached Homing aborted with fault message.
Limit switch detected Homing aborted with fault message.
Stop detected Homing aborted with fault message.
Tab. 334 Different sequence scenarios

4.4.4 CiA 402

Objects for homing

Parameters Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

843 0x6099.01 Search for reference mark setpoint velocity UINT32
844 0x609A.01 Search for reference mark setpoint accelera- UINT32
tion
846 0x6099.02 Setpoint reference mark creeping velocity UINT32
847 0x609A.02 Setpoint reference mark creeping acceleration UINT32
849 0x6099.03 Move to axis zero point setpoint velocity UINT32
8410 0x609A.03 Move to axis zero point setpoint acceleration UINT32
8416 0x607C.00 Axis zero point offset SINT32
8417 0x6098.00 Referencing method SINT8
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
840 0x2172.01 Referencing status UINT32
841 0x2172.02 Move to axis zero point after homing BOOL
842 0x2172.03 Homing timeout FLOAT32
843 0x2172.04 Search for reference mark setpoint velocity FLOAT32
844 0x2172.05 Search for reference mark setpoint accelera- FLOAT32
tion
845 0x2172.06 Search for reference mark setpoint jerk FLOAT32
846 0x2172.07 Setpoint reference mark creeping velocity FLOAT32
847 0x2172.08 Setpoint reference mark creeping acceleration FLOAT32
848 0x2172.09 Setpoint reference mark creeping jerk FLOAT32
849 0x2172.0A Move to axis zero point setpoint velocity FLOAT32
8410 0x2172.0B Move to axis zero point setpoint acceleration FLOAT32

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Parameters Index.Subindex Name Data type

8411 0x2172.0C Search for move to axis zero point setpoint FLOAT32
jerk
8412 0x2172.0D Maximum search stroke in positive direction SINT64
8413 0x2172.0E Maximum search stroke in negative direction SINT64
8414 0x2172.0F Nominal current limit value scaling factor FLOAT32
8415 0x2172.10 Limit position detection time monitoring win- FLOAT32
dow
8416 0x2172.11 Axis zero point offset SINT64
8417 0x2172.12 Referencing method SINT32
8418 0x2172.13 Status state machine homing UINT32
8421 0x2172.16 Deactivate encoder emulation during homing BOOL
Tab. 335 Objects
The overview shows the function of the homing mode:

Fig. 68 Overview: homing mode

Additional information è 4.4.3 Homing methods.

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Axis zero point

The overview shows the dependency of reference mark (Home position), reference offset (Home off-
set) and axis zero point (Zero position).

Fig. 69 Overview reference offset

Calculation of the axis zero-point:

The axis zero-point is calculated as follows:
Axis zero-point = reference mark + reference offset
All subsequent absolute positions are relative to the axis zero-point.
Precondition for homing

All homing methods can only be performed in the "operation enabled" status.

The following conditions must be fulfilled for homing mode.

– Operating mode display (Modes of operation display 0x6061) = 6
– Status word (Statusword 0x6041) = 0xXXXX X11X X011 0111
Control and monitoring
Object 0x6040: control word (Controlword)
The object controls the following homing functions:
– Bit 4: start or abort homing (Homing operation start)
– Bit 8: prepare or abort homing (Halt)

Bit1) Description
8 4

Prepare homing for start

0 0 Homing not active
Start homing
0 0à1 Start homing
Homing is carried out
0 x Homing active
Cancel homing
1 1 Cancel homing è deceleration as per object 0x609A.01
1) signal status: 0 = low; 1 = high; 0à1 = rising edge; x = any
Tab. 336 Control homing

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Object 0x6041: status word (Statusword)

The object controls the following homing functions:
– Bit10: target reached (Target reached)
– Bit 12: reference mark reached (Homing attained)
– Bit 13: homing error (Homing error)
– Bit 15: drive is referenced (Drive is referenced)

Bit1) Description
15 13 12 10

Drive not references or homing was aborted

0 0 0 1 If one of the following states has occurred
– the homing was not started
– the active homing was aborted with the fall-
ing edge in bit 4 of the control word
– a homing error occurred
and the velocity = 0
Homing active
0 0 0 0 Homing is carried out
Drive referenced
1 0 1 1 Homing was successfully completed, drive is ref-
erenced and the velocity = 0
Homing error
0 1 0 0 A homing error has occurred and the velocity ≠ 0
0 1 0 1 A homing error has occurred and the velocity = 0
1) signal status: 0 = low; 1 = high; x = any
Tab. 337 Monitor homing

4.4.5 PROFIdrive
PNUs for homing

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

840 11202.0 Referencing status Unsigned32
841 11203.0 Move to axis zero point after homing Boolean
842 11204.0 Homing timeout FloatingPoint
843 11205.0 Search for reference mark setpoint velocity FloatingPoint
844 11206.0 Search for reference mark setpoint accelera- FloatingPoint
tion

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Parameters PNU Name Data type

845 11207.0 Search for reference mark setpoint jerk FloatingPoint

846 11208.0 Setpoint reference mark creeping velocity FloatingPoint
847 11209.0 Setpoint reference mark creeping acceleration FloatingPoint
848 11210.0 Setpoint reference mark creeping jerk FloatingPoint
849 11211.0 Move to axis zero point setpoint velocity FloatingPoint
8410 11728.0 Move to axis zero point setpoint acceleration FloatingPoint
8411 11729.0 Search for move to axis zero point setpoint FloatingPoint
jerk
8412 11730.0 Maximum search stroke in positive direction Integer64
8413 11731.0 Maximum search stroke in negative direction Integer64
8414 11732.0 Nominal current limit value scaling factor FloatingPoint
8415 11733.0 Limit position detection time monitoring win- FloatingPoint
dow
8416 11734.0 Axis zero point offset Integer64
8417 11735.0 Referencing method Integer32
8418 11736.0 Status state machine homing Unsigned32
8421 11739.0 Deactivate encoder emulation during homing Boolean
Tab. 338 PNUs
Additional information è 4.4.3 Homing methods.
Control and monitoring
Information on control and monitoring è 12.4.3.4 Finite State Machine Homing Application Class 3.

4.5 Command for record selection

4.5.1 Record selection

4.5.1.1 Function
Command records can be saved in a record table in the device. The command records contain para-
meters for processing commands and can be addressed by a record number. To start a command
record, e. g. via the device profile, the controlling PLC only needs to send the record number and the
start signal in the output data. The record table can be activated either as a foreground process or a
background process. However, motion commands can only be run as a foreground process
è Tab. 343 Command record type parameter (ID Px.1810).

Start record table ... Description

... as foreground pro- All command record types can be executed, including motion commands.
cess The event table can monitor events at the same time.

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Start record table ... Description

... as background pro- Motion commands are illegal and generate a category 1 stop.
cess The event table can monitor events at the same time.
Tab. 339 Mode of record table
Besides the parameters for pure command processing, record selection offers the following options
for influencing sequence control:

Options for sequence Description

control

Record switching A start condition can be established for every record. The start condition
specifies what the reaction should be to a start signal for the record if the
current command has not been ended yet (abort, wait, ignore, Px.1838).
Record sequencing Command sequences that can be started with a single start signal can be
defined by sequencing records of the record table
è 4.5.2 Record sequencing.

Event table Step enabling conditions that should be monitored in parallel can be
defined with the event table (è 4.5.3 Monitoring of events).
Tab. 340 Options for sequence control
Mode of record table
– possible as background or foreground process
– maximum 3 record sequences per command record
– depending on the product variant and firmware: up to 128 command records and up to 128 record
links in total
The command records of the record table can be started as follows:
– the device profile of the higher-order controller
– the engineering interface, e. g. via the plug-in
Rules for processing
– The "write parameters" command record is always processed in one cycle and contains the start
of the next command.
– The priority of the record sequences depends on the index of the data record in which the record
sequence was created. Record sequences in data records with a smaller index have priority over
record sequences in data records with a larger index. If conditions in multiple record sequences
return the value "true" simultaneously, the record sequence in the data record with the smaller
index is effective.
Timing

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Start condition “Interrupt”

The current command (here record A) is interrupted immediately and the newly addressed command
(here record B) is then executed immediately.

Target position record B

Target position record A

Start A B
t

MC
t
Fig. 70 Start condition “Interrupt” (example)

Name Description

Target position Target position of the motion command

record A, B, C Record A, B or C
Start Start record
MC Motion complete
Tab. 341 Legend for the "Interrupt" start condition
Parameters and diagnostic messages
The index is the number of the internal data record in which the command record is saved. It is
addressed externally via the record number, which is saved in the parameter Px.1811.
The "record table field 1 … 7" parameters depend on the value of the record type parameter.

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ID Px. Parameter Description

1130224 Activation back- Specifies whether the record table is activated as a foreground
ground mode process or a background process.
è Tab. 339 Mode of record table
This means:
– 0: foreground process
– 1: background process
Access read/write
Update effective immediately
Unit −
1810 Command record type Specifies the type of the command record.
Px.1810.0.0: record type of data set 0
...
Px.1810.0.64: record type for data set 64
... (depending on the product variant and the firmware)
Permissible values
è Tab. 343 Command record type parameter (ID Px.1810).

Access read/write
Update effective immediately
Unit −
1811 Record number Specifies the record number with which the command record is
to be addressed.
Access read/write
Update effective immediately
Unit −
1812 Record table field 1 Specifies the value of the first parameter depending on the
record type
è Tab. 343 Command record type parameter (ID Px.1810)

Access read/write
Update effective immediately
Unit −
1813 Record table field 2 Specifies the value of the second parameter depending on the
record type
è Tab. 343 Command record type parameter (ID Px.1810)

Access read/write
Update effective immediately

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ID Px. Parameter Description

1813 Record table field 2 Unit −

1814 Record table field 3 Specifies the value of the third parameter depending on the
record type
è Tab. 343 Command record type parameter (ID Px.1810)

Access read/write
Update effective immediately
Unit −
1815 Record table field 4 Specifies the value of the fourth parameter depending on the
record type
è Tab. 343 Command record type parameter (ID Px.1810)

Access read/write
Update effective immediately
Unit −
1816 Record table field 5 Specifies the value of the fifth parameter depending on the
record type
è Tab. 343 Command record type parameter (ID Px.1810)

Access read/write
Update effective immediately
Unit −
1817 Record table field 6 Specifies the value of the sixth parameter depending on the
record type
è Tab. 343 Command record type parameter (ID Px.1810)

Access read/write
Update effective immediately
Unit −
1818 Record table field 7 Specifies the value of the seventh parameter depending on the
record type
è Tab. 343 Command record type parameter (ID Px.1810)

Access read/write
Update effective immediately
Unit −

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ID Px. Parameter Description

1838 Selection start condi- Specifies the behaviour on switching to another command
tion record record.
This means:
– 0: interrupt è Fig.70
The current command is interrupted immediately, and the
newly addressed command is executed directly.
Access read/write
Update effective immediately
Unit −
1846 Status of record table Display the status of the current record.
– 0: Inactive
– 1: new
– 2: active
– 3: executed
– 5: buffered
– 6: cancelled
– 7: synchronised
Access read/−
Update effective immediately
Unit −
Tab. 342 Parameter
Parameters depending on the record type
The meaning of the record table field 1 … record table field 7 parameters depends on the selected
record type (value of the record type parameter).

Command record type parameter (ID Px.1810)

Value Command record type Description Parameters depending on the
record type (record table field 1
... 7)

0 Inactive no operation – (none)

2 Stop ramp Stop with parameterised brake 1. Deceleration
ramp 2. Jerk
3 Homing Start homing 1. Homing method as per
CiA402 including manufac-
turer-specific methods

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Command record type parameter (ID Px.1810)

Value Command record type Description Parameters depending on the
record type (record table field 1
... 7)

4 Velocity Velocity mode with or without 1. Target velocity

stroke limitation: 2. Acceleration
3. Deceleration
4. Jerk
5. Activation of stroke limita-
tion
– 0: inactive
– 1: active
6. Negative stroke limitation
7. Positive stroke limitation
5 Position Positioning mode (absolute or 1. Type of target specifica-
relative): tion:
– 0: absolute
– 1: relative to the cur-
rent actual position
– 2: relative to the cur-
rent setpoint position
– 3: relative to the last
target position
– 4: relative to the cur-
rent capture position
2. Target position
3. Profile velocity
4. Acceleration
5. Deceleration
6. Jerk
7. End velocity
7 Torque Torque mode without or with 1. Target torque
stroke and velocity limitation 2. Torque rise time
3. Speed limit value

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Command record type parameter (ID Px.1810)

Value Command record type Description Parameters depending on the
record type (record table field 1
... 7)

7 Torque Torque mode without or with 4. Activation of stroke limita-

stroke and velocity limitation tion
– 0: inactive
– 1: active
5. Negative stroke limitation
6. Positive stroke limitation
10 Flow control Does not execute an action. – (none)
Used as placeholder for
appending record sequences.
25 Torque with brake set Torque mode with holding 1. Target torque
brake set 2. Torque rise time
3. Speed limit value
4. Activation of stroke limita-
tion
– 0: inactive
– 1: active
5. Negative stroke limitation
6. Positive stroke limitation
7. Selection of holding brake
– 0: holding brake 1
26 Cam controller Activation of the cam controller 1. Cam controller mode
(also allowed for background 2. Instance (number of the
process) cam controller)
3. Trigger mode
27 Set digital output Set digital output (also allowed 1. Output
for background process) – 33: record table output
The requested output must be 0
configured as output for use in – 34: record table output
the record table 1
è 3.3.5 Digital Inputs and
2. requested status (0, 1)
Outputs – 0 = reset output
– 1 = set output

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Command record type parameter (ID Px.1810)

Value Command record type Description Parameters depending on the
record type (record table field 1
... 7)

28 Position capture Activate/deactivate position 1. Touch probe mode

(touch probe) capture function (also allowed 2. Channel of trigger input:
for background process) – 0: CAP0
– 1: CAP1
30 Controller parameter Switch to another closed-loop 1. Controller parameter set ID
set switchover controller parameter record 2. Transition time
(also allowed for background
process)
31 Set position status Sets the corresponding bit 1. Status ID 1 or 2
word 2 10/11 in POS_ZSW, the corres- 2. Status
ponding status depending on – 0: inactive
the status ID 1/2 (only relevant – 1: active
for PROFIdrive).
Tab. 343 Command record type parameter (ID Px.1810)
Example
In the first data record (0) the command record no. 0 should be written and in the second data record
(1) command record no. 1 should be written with the following parameters:
– Command record no. 0: positioning mode absolute to the zero-point with the parameter values
noted below:
target position 500 mm, maximum velocity 3 m/s, maximum acceleration 3 m/s², maximum
deceleration 3 m/s², jerk 100 m/s³, final velocity 0 m/s, start condition "interrupt"
– Command record no. 1: velocity mode with stroke limitation with the parameter values noted
below
Target velocity 2.3 m/s, maximum acceleration 3 m/s², maximum deceleration 4 m/s², jerk
200 m/s³, stroke limitation monitor active, negative stroke limit 10 mm, positive stroke limit
910 mm, start condition "waiting"

Parameter Value Comments

Table type
P1.1810.0.0 5 Date record 0: positioning mode (5)
P1.1810.0.1 4 Date record 1: velocity mode (4)
Record number
P1.1811.0.0 0 Record number 0
P1.1811.0.1 1 Record number 1

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Parameter Value Comments

Record table field 1

P1.1812.0.0 0 absolute position (0)
P1.1812.0.1 2.3 Target velocity
Record table field 2
P1.1813.0.0 5000000000 Target position (user unit metre, resolution 1010)
P1.1813.0.1 3 maximum acceleration
Record table field 3
P1.1814.0.0 3 maximum velocity
P1.1814.0.1 4 maximum deceleration
Record table field 4
P1.1815.0.0 3 maximum acceleration
P1.1815.0.1 200 maximum jerk
Record table field 5
P1.1816.0.0 3 maximum deceleration
P1.1816.0.1 1 Activate stroke limitation (1 = active)
Record table field 6
P1.1817.0.0 100 maximum jerk
P1.1817.0.1 100000000 Stroke limitation in negative direction (user unit metre, resolution
1010)
Record table field 7
P1.1818.0.0 0 End velocity
P1.1818.0.1 9100000000 Stroke limitation in positive direction (user unit metre, resolution
1010)
Selection start condition record
P1.1838.0.0 0 Interrupt
P1.1838.0.1 0 Interrupt
Tab. 344 Set basic parameters (example)

4.5.2 Record sequencing

4.5.2.1 Function
Sequencing multiple records of the record table enables specification of command sequences. A com-
mand sequence is executed after starting with no further start commands to the last record of the
sequence. If the record list is activated as a foreground process, complex motion sequences and travel
profiles can be created with command sequences, e. g.:

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– Positioning and clamping in a motion sequence

– Travelling a velocity profile
– Executing a force profile for pressing procedures
A maximum of 3 record sequences can be parameterised for every record of the record table. Every
record sequence defines a condition and a subsequent record. The condition (comparator) can com-
pare signals, states or parameters and is cyclically monitored. If one of the maximum of 3 conditions
returns the value "true", the associated subsequent record is started.
Parameters for the sequence of command records of the record table

ID Px. Parameter Description

1831 Record step enabling Specifies the enabling condition that is to be monitored along
type with the execution of the record.
Possible record enabling types
è Record step enabling type parameter (ID Px.1831).

Access read/write
Update effective immediately
Unit −
1832 Record sequencing Specifies the number of the record from which the record
record number start sequence starts (maximum 3 record sequence per record).
Access read/write
Update effective immediately
Unit −
1833 Record sequencing Specifies the number of the target record to which the record
record number target sequence is targeted (maximum 1 target record per record
sequence).
Access read/write
Update effective immediately
Unit −
1834 Record sequencing Specifies the value of the time parameter
field time è Record step enabling type parameter (ID Px.1831)

Access read/write
Update effective immediately
Unit s
1835 Record sequencing Specifies the value of the first comparator type-dependent para-
field 1 meter
è Record step enabling type parameter (ID Px.1831)

Access read/write

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ID Px. Parameter Description

1835 Record sequencing Update effective immediately

field 1 Unit −
1836 Record sequencing Specifies the value of the second comparator type-dependent
field 2 parameter
è Record step enabling type parameter (ID Px.1831)

Access read/write
Update effective immediately
Unit −
1837 Current record table Shows the current record number.
index Access read/−
Update effective immediately
Unit −
Tab. 345 Parameter

The record enabling depends on the configured monitoring windows with a comparator that depends
on a motion monitor.

Record step enabling type parameter (ID Px.1831)

Value Record enabling types The step enabling condition is comparator type-dependent
achieved when ... parameters

0 no comparator – (comparator not specified) – (none)

1 Target position ... the motion monitor reports – (none)
reached that the target position has
been reached.
2 Target velocity ... the motion monitor reports – (none)
reached that the target velocity has been
reached.
3 Target torque reached ... the motion monitor reports – (none)
that the target torque has been
reached.
4 Digital input ... the digital input checks the 1. Input:
parameterised level (high or low – 11: record table input
level). 0
The requested input must be – 12: record table input
configured as input for use in 1

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Record step enabling type parameter (ID Px.1831)

Value Record enabling types The step enabling condition is comparator type-dependent
achieved when ... parameters

4 Digital input the record table 2. Status:

è 3.3.5 Digital Inputs and – 0 = low level
Outputs – 1 = high level
5 Position ... the actual position is within 1. lower limit
the pre-set window for the dura- 2. upper limit
tion of the specified damping
3. Damping time
time.
6 Velocity ... the actual velocity is within 1. lower limit
the pre-set window for the dura- 2. upper limit
tion of the specified damping
3. Damping time
time.
7 Torque ... the actual torque is within the 1. lower limit
pre-set window for the duration 2. upper limit
of the specified damping time.
3. Damping time
9 … 12 Reserved
13 Parameter ... the result of the paramet- 1. Damping time
erised comparison operation 2. Parameter ID
returns "true" (comparison of
3. Operation:
parameter and value).
– 0: within the range
– 1: outside the range
– 2: greater than
– 3: less than
4. lower limit
5. upper limit
14 Time ... the duration measured from 1. Duration
the start of the command is
equal to or greater than the spe-
cified duration.
15 MC ... the record is terminated by – (none)
the trajectory generator.
16 Execution completed ... the status of the command – (none)
corresponds to DONE.
With a motion command, DONE
corresponds to the status of tar-

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Record step enabling type parameter (ID Px.1831)

Value Record enabling types The step enabling condition is comparator type-dependent
achieved when ... parameters

get window reached (Target

Reached = TRUE)
17 Movement monitoring – And (4), Or (5) operator
status word – Bit mask (32-bit)
18 Touch probe valid The activated touch-probe func- 1. No. of the capture channel
tion has detected a valid event.
Tab. 346 Record step enabling type parameter (ID Px.1831)

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Example
Record 1 should be sequenced with record 2 and record 3.
It should be switched to record 2 if the actual position is within a pre-set window for the duration of
the specified damping time.
It should be switched to record 3 if the "record table 0" high level is pending at the digital input.

Setting parameters for record sequencing (example)

Parameter Value Comments

Record step enabling type

P1.1831.0.0 5 Record step enabling type 5 (position)
P1.1831.0.1 4 Record step enabling type 4 (digital input)
Record sequencing record number start
P1.1832.0.0 1 first record sequence for record 1
P1.1832.0.1 1 second record sequence for record 1
Record sequencing record number target
P1.1833.0.0 2 Target record for the first record sequence
P1.1833.0.1 3 Target record for the second record sequence
Record sequencing field time
P1.1834.0.0 0.1 Damping time of the first record sequence (0.1 s)
P1.1834.0.1 – –
Record sequencing field 1
P1.1835.0.0 950000000 lower limit 950 mm (user unit metre, resolution 1010)
P1.1835.0.1 11 Input (here record table input 0)
Record sequencing field 2
P1.1836.0.0 10500000000 upper limit 1.05 m (user unit metre, resolution 1010)
P1.1836.0.1 1 High level
Tab. 347 Setting parameters for record sequencing (example)

4.5.3 Monitoring of events

4.5.3.1 Function
The event table enables the monitoring of events that are to be monitored parallel to the step enabling
conditions of the current command record. If the event occurs, the current command record of the
record table is interrupted and branched to the record of the record table that was defined in the event
table. Characteristics of the event table:
– max. 16 events

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Rules for processing

– The priority is ascending and depends on the index. Events in data records with a smaller index
have priority over events in data records with a larger index. If multiple events occur simultan-
eously, it branches to the record that is saved in the data record with the smaller index. Priority:
Data record with Index 0 has the highest priority: Px.1841.0.0
...
Data record with Index 15 has the lowest priority: Px.1841.0.15
Parameters and diagnostic messages
The index is the number of the internal data record in which the event is saved.

ID Px. Parameter Description

1840 Activate Event table Enables activation of event monitoring

– 1 = activate
– 0 = deactivate
Access read/write
Update effective immediately
Unit −
1841 Event type Specifies the type of step enabling condition. The same step
enabling conditions as with record sequences can be used.
Possible record enabling types
è Record step enabling type parameter (ID Px.1831).

Access read/write
Update effective immediately
Unit −
1842 Next event target Specifies the number of the target record to which the step
enabling condition is targeted (maximum 1 target record per
event).
Access read/write
Update effective immediately
Unit −
1843 Next event field time Specifies the value of the "time" parameter
è Record step enabling type parameter (ID Px.1831)

Access read/write
Update effective immediately
Unit s

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ID Px. Parameter Description

1844 Next event field 1 Specifies the value for the first comparator type-dependent
parameter
è Record step enabling type parameter (ID Px.1831)

Access read/write
Update effective immediately
Unit −
1845 Next event field 2 Specifies the value for the second comparator type-dependent
parameter
è Record step enabling type parameter (ID Px.1831)

Access read/write
Update effective immediately
Unit −
Tab. 348 Parameter
Diagnostic messages

ID Dx. Name Description

06 | 00 | 00070 Invalid record table parameter A record table parameter is invalid

(100663366)
06 | 00 | 00083 Record table incorrect Record table incorrect
(100663379)
Tab. 349 Diagnostic messages

4.5.4 CiA 402

Objects command record table

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1130224 0x2159.0A Activation background mode BOOL
1810 0x2230.01 ... 80 Command record type UINT32
1811 0x2231.01 ... 80 Record number SINT32
1812 0x2232.01 ... 80 Record table field 1 SINT64
1813 0x2233.01 ... 80 Record table field 2 SINT64
1814 0x2234.01 ... 80 Record table field 3 SINT64
1815 0x2235.01 ... 80 Record table field 4 SINT64

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Parameters Index.Subindex Name Data type

1816 0x2236.01 ... 80 Record table field 5 SINT64

1817 0x2237.01 ... 80 Record table field 6 SINT64
1818 0x2238.01 ... 80 Record table field 7 SINT64
1838 0x223F.01 ... 80 Selection start condition record UINT32
1846 0x2159.04 Status of record table UINT32
Tab. 350 Objects
Objects command record sequence

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1831 0x2239.01 ... 80 Record step enabling type UINT32
1832 0x223A.01 ... 80 Record sequencing record number start SINT32
1833 0x223B.01 ... 80 Record sequencing record number target SINT32
1834 0x223C.01 ... 80 Record sequencing field time FLOAT32
1835 0x223D.01 ... 80 Record sequencing field 1 SINT64
1836 0x223E.01 ... 80 Record sequencing field 2 SINT64
1837 0x2159.01 Current record table index SINT32
Tab. 351 Objects
Objects command record event table

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1840 0x2159.03 Activate Event table BOOL
1841 0x2240.01 ... 10 Event type UINT32
1842 0x2241.01 ... 10 Next event target SINT32
1843 0x2242.01 ... 10 Next event field time FLOAT32
1844 0x2243.01 ... 10 Next event field 1 SINT64
1845 0x2244.01 ... 10 Next event field 2 SINT64
Tab. 352 Objects

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4.5.5 PROFIdrive
PNUs of command record table

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

1130224 12182.0 Activation background mode Boolean
1810 11380.0 ... 127 Command record type Unsigned32
1811 11381.0 ... 127 Record number Integer32
1812 11382.0 ... 127 Record table field 1 Integer64
1813 11383.0 ... 127 Record table field 2 Integer64
1814 11384.0 ... 127 Record table field 3 Integer64
1815 11385.0 ... 127 Record table field 4 Integer64
1816 11386.0 ... 127 Record table field 5 Integer64
1817 11387.0 ... 127 Record table field 6 Integer64
1818 11388.0 ... 127 Record table field 7 Integer64
1838 11396.0 ... 127 Selection start condition record Unsigned32
1846 11404.0 Status of record table Unsigned32
Tab. 353 PNUs
PNUs of command record sequence

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

1831 11389.0 ... 127 Record step enabling type Unsigned32
1832 11390.0 ... 127 Record sequencing record number start Integer32
1833 11391.0 ... 127 Record sequencing record number target Integer32
1834 11392.0 ... 127 Record sequencing field time FloatingPoint
1835 11393.0 ... 127 Record sequencing field 1 Integer64
1836 11394.0 ... 127 Record sequencing field 2 Integer64
1837 11395.0 Current record table index Integer32
Tab. 354 PNUs

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PNUs of command record event table

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

1840 11398.0 Activate Event table Boolean
1841 11399.0 ... 15 Event type Unsigned32
1842 11400.0 ... 15 Next event target Integer32
1843 11401.0 ... 15 Next event field time FloatingPoint
1844 11402.0 ... 15 Next event field 1 Integer64
1845 11403.0 ... 15 Next event field 2 Integer64
Tab. 355 PNUs

4.6 Jog Mode

4.6.1 Function
The drive can move to any position in jog mode. The drive is moved during jogging until the command
for jogging is pending. If a command is not pending, a stop is initiated.
The following commands are available:
– Jogging 1 (positive direction)
– Jogging 2 (negative direction)
Jogging for unreferenced drives is restricted by hardware limit switches or stops. The motion limits for
jogging with referenced drives monitored by the software end positions. If the drive is in an invalid
positioning range (outside the software limit switches), it may only move in the direction of the valid
positioning range. In this state jogging commands in the direction of the invalid positioning range are
ignored.
If jogging the drive moves it further in the blocked direction, the message defined depending on the
software limit position monitoring function is generated. This is also applicable for the hardware limit
switch monitoring function, for both referenced and unreferenced drives.
Tasks
Jogging mode supports the following tasks:
– Approaching teach positions (e. g. in commissioning)
– Drive free running (e. g. after a system malfunction)
– manual travel as standard operating mode
Feedback
Standstill monitoring STV.
Phases
Different jogging variants are possible depending on the device profile and parameterisation:
– One phase (slow only or fast only)
– 2 phases (slow first then fast)
– symmetrical dynamic value record, same dynamic values for jogging 1 (positive direction) and jog-
ging 2 (negative direction)

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– asymmetrical dynamic value record, different dynamic values for jogging 1 (positive direction) and
jogging 2 (negative direction)
– incremental (relative positioning at specific distance – for PROFIdrive AC3 only)
Jogging in the plug-in supports jogging in 2 phases and with symmetrical or asymmetrical dynamic
value records. Incremental jogging is not supported here.
Timing
The jogging motion consists of the following motion phases for jogging in 2 phases:
– Phase 1: motion at a slower velocity for precise positioning motions. (dynamic parameter record
"slow")
– Phase 2: motion at a faster velocity for fast traversing through longer distances. (dynamic para-
meter record "fast")
– Phase 3: motion is stopped.

v2

v1

t
t1

Jog
t
STV
t
Fig. 71 Jog mode timing graph (example)

Name Description ID Px.

Jog Command for jogging (positive example) –

STV Standstill monitoring signal –
v1 Slow jog 1 velocity 1511
Slow jog 2 velocity 214535
v2 Fast jog 1 velocity 1514
Fast jog 2 velocity 214540

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Name Description ID Px.

t1 Jog duration 1 movement 1510

Jog duration 2 movement 214539
Tab. 356 Legend for jog mode timing graph

Symmetrical Command Additional parameters

Yes Jogging 1 (+) Px.1510

Jogging 1 (-) (Jog duration 1 movement)
No Jogging 1 (+)
No Jogging 2 (-) Px.214539
(Jog duration 2 movement)
Tab. 357 Parameters for time period t1
The mode switches between symmetrical and asymmetrical with the Px.214526.0.0 parameter:
Symmetrical (default setting): the same dynamic parameter record is used for negative and positive.
The velocity sign is set automatically. (phase 1: 1 slow, -1 slow; phase 2: 1 fast, -1 fast)
asymmetrical: there is a separate dynamic parameter record for negative and positive (phase 1:
1 slow, 2 slow; phase 2: 1 fast, 2 fast)

Design Px.214526.0.0 Command Dynamic value record

(value)1) Phase 1 Phase 2

static slow 1 Jogging 1 (+) 1 langsam –

1 Jogging 2 (-) -1 langsam

0 Jogging 1 (+) 1 langsam
0 Jogging 2 (-) 2 langsam
static fast 1 Jogging 1 (+) 1 fast
1 Jogging 2 (-) -1 fast
0 Jogging 1 (+) 1 fast
0 Jogging 2 (-) 2 fast
2-phase 1 Jogging 1 (+) 1 langsam 1 fast
1 Jogging 2 (-) -1 langsam -1 fast
0 Jogging 1 (+) 1 langsam 1 fast
0 Jogging 2 (-) 2 langsam 2 fast
1) 0 = asymmetrical; 1 = symmetrical
Tab. 358 Overview of the supported commands

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Motion Control

Dynamic value Prefix Velocity Acceleration Jerk

record Px. Px. Px.

1 langsam + 1511 1512 1513

-1 langsam - 1511 1512 1513
2 langsam + 214535 214536 214537
1 fast + 1514 1515 1516
-1 fast - 1514 1515 1516
2 fast + 214540 214541 214542
Tab. 359 Overview of dynamic parameters
Parameters and diagnostic messages

ID Px. Parameter Description

1510 Jog duration 1 move- Duration of phase 1 from detection of the command to jogging
ment to switchover to phase 2. After elapse of the period the drive
accelerates in phase 2 to the velocity for faster movement.
Access read/write
Update effective immediately
Unit s
1511 Slow jog 1 velocity Maximum velocity during phase 1.
Access read/write
Update effective immediately
Unit user defined
1512 Slow jog 1 accelera- Acceleration (and deceleration) during phase 1.
tion Access read/write
Update effective immediately
Unit user defined
1513 Slow jog 1 jerk Jerk during phase 1.
Access read/write
Update effective immediately
Unit user defined

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ID Px. Parameter Description

1514 Fast jog 1 velocity Maximum velocity during phase 2.

Access read/write
Update effective immediately
Unit user defined
1515 Fast jog 1 acceleration Acceleration (and deceleration) during phase 2.
Access read/write
Update effective immediately
Unit user defined
1516 Fast jog 1 jerk Jerk during phase 2.
Access read/write
Update effective immediately
Unit user defined
214526 Activation of symmet- If activation is set, this means that the dynamic values for jog 1
rical jog are used for the two jog motions (positive/negative direction). If
activation is not set, the dynamic values for jog 1 or jog 2 will be
used for every jog motion.
Access read/write
Update effective immediately
Unit −
214535 Slow jog 2 velocity Maximum velocity during phase 1.
Access read/write
Update effective immediately
Unit user defined
214536 Slow jog 2 accelera- Acceleration (and deceleration) during phase 1.
tion Access read/write
Update effective immediately
Unit user defined
214537 Slow jog 2 jerk Jerk during phase 1.
Access read/write
Update effective immediately
Unit user defined

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ID Px. Parameter Description

214539 Jog duration 2 move- Duration of phase 1 from detection of the command to jogging
ment to switchover to phase 2. After elapse of the period the drive
accelerates in phase 2 to the velocity for faster movement.
Access read/write
Update effective immediately
Unit s
214540 Fast jog 2 velocity Maximum velocity during phase 2.
Access read/write
Update effective immediately
Unit user defined
214541 Fast jog 2 acceleration Acceleration (and deceleration) during phase 2.
Access read/write
Update effective immediately
Unit user defined
214542 Fast jog 2 jerk Jerk during phase 2.
Access read/write
Update effective immediately
Unit user defined
526917 Jogging state Reports the status of the drive in jog mode.
Value list:
– 0: Jogging 1 with 2 movement phases
– 1: Jogging 2 with 2 movement phases
– 2: Stop jogging
– 3: Jogging 1 fast
– 4: Jogging 2 fast
– 5: Jogging 1 slow
– 6: Jogging 2 slow
– 7: Incremental jog 1
– 8: Incremental jog 2
– 9: Velocity halt jog 1
– 10: Velocity halt jog 2
– 11: Velocity jog 1
– 12: Velocity jog 2
Access read/−
Update effective immediately

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ID Px. Parameter Description

526917 Jogging state Unit −

Tab. 360 Parameter
Diagnostic messages
No specific diagnostic messages are allocated to the function.

4.6.2 CiA 402

Objects

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1510 0x2186.01 Jog duration 1 movement FLOAT32
1511 0x2186.02 Slow jog 1 velocity FLOAT32
1512 0x2186.03 Slow jog 1 acceleration FLOAT32
1513 0x2186.04 Slow jog 1 jerk FLOAT32
1514 0x2186.05 Fast jog 1 velocity FLOAT32
1515 0x2186.06 Fast jog 1 acceleration FLOAT32
1516 0x2186.07 Fast jog 1 jerk FLOAT32
526917 0x2186.08 Jogging state UINT32
214526 0x2186.09 Activation of symmetrical jog BOOL
214535 0x2186.12 Slow jog 2 velocity FLOAT32
214536 0x2186.13 Slow jog 2 acceleration FLOAT32
214537 0x2186.14 Slow jog 2 jerk FLOAT32
214539 0x2186.16 Jog duration 2 movement FLOAT32
214540 0x2186.17 Fast jog 2 velocity FLOAT32
214541 0x2186.18 Fast jog 2 acceleration FLOAT32
214542 0x2186.19 Fast jog 2 jerk FLOAT32
Tab. 361 Objects
Control and monitoring
Basic functions for jogging è 4.6.1 Function.
Requirements
– Controller enable (status Operation enabled)
– Jog mode is activated: object 0x6060 Modes of operation CiA402 = –3.
Feedback: object 0x6061 Modes of operation display CiA402 = –3.

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Control
The object 0x6040 Control word CiA402 has the following specific bits in jog operating mode:

Bit Name Description

4 Jog positive Jogging 1 (positive direction)

5 Jog negative Jogging 2 (negative direction)
11 Jog with velocity 1 Optional: if the bit is set, jogging is with the dynamic values
for slow motion.
12 Jog with velocity 2 Optional: if the bit is set, jogging is with the dynamic values
for fast motion.
Tab. 362 Specific bits for jogging in the control word
If bits 4 and 5 are bot set, the drive does not move. If the other bit is also set during an active jog
motion, the drive stops.
Bits 11 and 12 also control the slow and fast velocity for jogging with a motion phase. If both bits are
not set, travel is first slow then fast (jogging with 2 motion phases). If both bits are set, there is no
motion.
The following dynamic values are applied depending on the Px.214526.0.0 parameter:

Bit 11 / 12 Px.214526.0.0 Command Dynamic value record Additional

(value)1) Phase 1 Phase 2 parameters

0/0 1 Jog positive 1 langsam 1 fast 1510,

0/0 1 Jog negative -1 langsam -1 fast Jog duration 1
movement
0/0 0 Jog positive 1 langsam 1 fast
0/0 0 Jog negative 2 langsam 2 fast 214539
Jog duration 2
movement
1/0 1 Jog positive 1 langsam – –

1/0 1 Jog negative -1 langsam

1/0 0 Jog positive 1 langsam
1/0 0 Jog negative 2 langsam
0/1 1 Jog positive 1 fast
0/1 1 Jog negative -1 fast
0/1 0 Jog positive 1 fast
0/1 0 Jog negative 2 fast
1) 0 = asymmetrical; 1 = symmetrical
Tab. 363 Overview of the supported parameter combinations

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Monitoring
The object 0x6041 Status word CiA402 has the following specific bits in jog operating mode:

Bit Name Description

10 STV Jogging not active (before or after the motion)

12 Velocity 1 jog Motion with the dynamic values for slow motion
13 Velocity 2 jog Motion with the dynamic values for fast motion
Tab. 364 Specific bits for jogging in the status word

4.6.3 PROFIdrive
The jogging function has the following special features from PROFIdrive:
– Only jogging with a motion phase is supported.
– Jogging of a parameterised distance (can be switched with POS_STW2.5 incremental jogging;
applicable only for AC3 with additional parameters).
Additional Parameters and Diagnostic Messages
PNUs of Jog Mode

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

1511 11352.0 Slow jog 1 velocity FloatingPoint
1512 11353.0 Slow jog 1 acceleration FloatingPoint
1513 11354.0 Slow jog 1 jerk FloatingPoint
214526 12126.0 Activation of symmetrical jog Boolean
214530 12127.0 Relative position jog 1 Integer64
214535 12128.0 Slow jog 2 velocity FloatingPoint
214536 12129.0 Slow jog 2 acceleration FloatingPoint
214537 12130.0 Slow jog 2 jerk FloatingPoint
214538 12131.0 Relative position jog 2. Integer64
Tab. 365 PNUs
The following values starting from the value of the Px.214526.0.0 parameters are used depending on
the application class.

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Value of Commands Dynamic value record Additional parameters

Px.214526.0.01)

1 STW1.8 Jogging 1 1 slow –

1 STW1.9 Jogging 2 -1 slow

0 STW1.8 Jogging 1 1 slow
0 STW1.9 Jogging 2 2 slow
1) 0 = asymmetrical; 1 = symmetrical
Tab. 366 Overview of the Supported Commands for Application Class AC1

POS_STW2.5 Px.214526.0.0 Commands Dynamic value Additional para-

(value)1) (value)2) record meters

0 1 STW1.8 Jogging 1 1 slow –

0 1 STW1.9 Jogging 2 -1 slow

0 0 STW1.8 Jogging 1 1 slow
0 0 STW1.9 Jogging 2 2 slow
1 1 STW1.8 Jogging 1 1 slow Px.214530.0.0
1 1 STW1.9 Jogging 2 -1 slow Relative position
jog 1
1 0 STW1.8 Jogging 1 1 slow
1 0 STW1.9 Jogging 2 2 slow Px.214538.0.0
Relative position
jog 2.
1) 0 = jogging velocity; 1 = incremental jogging
2) 0 = asymmetrical; 1 = symmetrical
Tab. 367 Overview of the Supported Commands for Application Class AC3

Control and Monitoring

Jog operation is controlled by the following 3 bits of the control word 1 or control word 2.

Px. Name Description PNU

1147080 12237.0 STW1.8 Jogging 1 Boolean

1147090 12238.0 STW1.9 Jogging 2 Boolean
112412100 12360.0 POS_ZSW1.10 Jogging active Boolean
112414050 12384.0 POS_STW2.5 Jogging incremental active Boolean
Tab. 368 Control and Status Words
If both bits (STW1.8, STW1.9) are set, the ramp is frozen at the current velocity.
Two independent parameter sets are valid for jogging operation. The direction of the two motions is
defined exclusively by the sign of the velocities (velocity 1 and velocity 2).

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Requirements
Requirements in application class AC1: the drive is in the status S61 RFG inactive è Fig.130.
Requirements in application class AC3: the drive is in the status S41 Basic State Positioning Mode or
S453 Intermediate Stop è Fig.131

5 Motion monitoring
5.1 Motion monitoring functions
The motion monitoring functions monitor the drive system and protect the drive components against
damage. Each motion monitoring function reads out values from the servo drive and compares them
to the expected behaviour (e.g. threshold value).
The actual values from the actual value management, the setpoint values (determined from between
the pilot control and directional lock), as well as the target values and configuration of the actual com-
mand are imported to monitor the motion.
All of the motion monitoring functions are executed in parallel during this process. Which of the func-
tions will cause an error response is dependent on the operating mode.

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Fig. 72 Determining the target, setpoint and actual values

Name Description

1 Target values Parameterised setpoint of the trajectory during profile operation

2 Setpoint Setpoint values that change with time
The setpoint values are determined between the pilot control and
directional lock.
3 Actual value Actual values that change with time
The actual values are determined by actual value management.
Tab. 369 Legend for determining the target, setpoint and actual values diagram
The monitoring result is issued as follows:
– as status signal
– As a directional lock when software and hardware limit positions are exceeded
– As a diagnostic message with parameterisable error response (in the event of an error)
Diagnostic messages can be disabled if necessary.

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Overview

Code Motion monitoring function Detailed information

TR Target window reached è 5.2Target Window

TRX Item Reached

TRV Speed
TRT Torque
FE Following error è 5.3 Following error
FEX Item
FEV Speed
TM Target area monitoring è 5.4Target area
TMX Item monitoring

TMV Speed
TMT Torque
HL Hardware limit switch reached è 5.5 Hardware limit
HLP positive switch reached

HLN negative
SL Software limit position reached è 5.6 Software limit
SLP positive position reached

SLN negative
ST Standstill monitoring è 5.7 Standstill monitoring
STX Position/speed
STV Speed
LS Stop reached è 5.8 Stop reached
STL Stroke limit reached è 5.9 Stroke limit reached
STLP positive
STLN negative
VM Speed monitoring è 5.10 Speed monitoring
(spinning protection)
PB Pushback monitoring è 5.11Pushback
monitoring
RDX Remaining distance monitoring è 5.12 Remaining
distance monitoring

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Code Motion monitoring function Detailed information

MC Trajectory completed è 5.13Trajectory

completed
REFS Reference switch activated è 5.14 Reference switch
activated
TUR Torque utilisation exceeded Status display
FSPR Fixed stop reached
ACC Drive accelerated
DEC Drive decelerated
Tab. 370 Overview of motion monitoring functions
Status word
The status of each motion monitoring function is provided in a status word within a bit, e.g. to contin-
ue commands based on the "Target reached" signal.
If a bit is set (1), the result for the associated motion monitoring function is "true".
The status word can be displayed via the Px.460 parameter.

Status word bit assignment1)

Bit Code Name

0 TRX Target window reaches position

1 TRV Target window reaches velocity
2 TRT Target window reaches torque
3 FEX Following error position
4 FEV Velocity following error
6 TMX Position target area monitoring
7 TMV Speed target area monitoring
8 TMT Torque target area monitoring
9 … 11 – Reserved
12 HLP Hardware limit switch reached positive
13 HLN Hardware limit switch reached negative
14 SLP Software limit position reached positive
15 SLN Software limit position reached negative
16 STX Standstill monitoring position/velocity
17 STV Standstill monitoring velocity
18 LS Stop reached

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Status word bit assignment1)

Bit Code Name

19 STLP Stroke limit reached positive

20 STLN Stroke limit reached negative
21 VM Speed monitoring
22 PB Pushback monitoring
23 RDX Remaining distance monitoring
24 MC Trajectory completed
25 REFS Reference switch activated
26 TUR Torque utilisation exceeded
27 FSPR Fixed stop reached
28 ACC Drive accelerated
29 DEC Drive decelerated
30 … 31 – Reserved
1) assignment identical to configuration word
Tab. 371 Bit assignment status word

Die Bits 9 … 11 und 30 … 31 sind reserviert.

Configuration word
Diagnostic messages (e.g. following error) that are not required in certain operating situations can be
disabled via the configuration word. The configuration word is a bitmask. If the bit for the associated
motion monitoring function is set (1), the associated motion monitoring function may issue a dia-
gnostic message and activate limits (e.g. directional lock). Without a diagnostic message, the bit is of
no significance to the motion monitoring functions. The configuration word is specified by the Motion
Sequence Control (MSC) component depending on the motion command and parameterisation of the
positioning block and is transmitted as part of the command.

Configuration word bit assignment1)

Bit Code Name

0 TRX Target window reaches position

1 TRV Target window reaches velocity
2 TRT Target window reaches torque
3 FEX Following error position
4 FEV Velocity following error
6 TMX Position target area monitoring

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Configuration word bit assignment1)

Bit Code Name

7 TMV Speed target area monitoring

8 TMT Torque target area monitoring
9 … 11 – Reserved
12 HLP Hardware limit switch reached positive
13 HLN Hardware limit switch reached negative
14 SLP Software limit position reached positive
15 SLN Software limit position reached negative
16 STX Standstill monitoring position/velocity
17 STV Standstill monitoring velocity
18 LS Stop reached
19 STLP Stroke limit reached positive
20 STLN Stroke limit reached negative
21 VM Speed monitoring
22 PB Pushback monitoring
23 RDX Remaining distance monitoring
24 MC Trajectory completed
25 REFS Reference switch activated
26 TUR Torque utilisation exceeded
27 FSPR Fixed stop reached
28 ACC Drive accelerated
29 DEC Drive decelerated
30 … 31 – Reserved
1) assignment identical to status word
Tab. 372 Configuration word bit assignment

Die Bits 9 … 11 und 26 … 31 sind reserviert.

Message types

Message type Description

Status signals Signal relating to an event or state to advance the internal state machine.

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Message type Description

Diagnostic messages Signal relating to a malfunction or error, in part with parameterisable error
responses.
– Ignore
– Information copies
– Warning
– Stop category 0
– Stop category 1
– Stop category 2
Tab. 373 Message types

5.2 Target Window Reached

Target Reached TRx
The function indicates whether the target value has been reached following the start of a command.
Depending on the operating mode, various target values are monitored simultaneously with a compar-
ator during this process. Each comparator is defined by a monitoring window and the damping time.
The damping time is set via the same parameter in all operating modes.
Timing

Status signal TR…

Initial state of TRX, TRV, TRT signals =1

The signal is set under the following conditions: 0à 1
– The difference (current actual value / target value) is within the monitoring win-
dow
– AND this condition is fulfilled for at least the specified damping time.
The signal remains set until a new command is started.
For positioning commands with a final velocity that is not equal to 0, the signal is
set if the target position is reached and the final velocity remains in the monitoring
window for the duration of the damping time.
The signal is reset under the following conditions: 1à0
– A command is started.
If the command has already been executed and it is restarted, all of the correspond-
ing signals are reset and then set again for at least one cycle of the servo drive (typ-
ically 1 ms).
Tab. 374 Status Signals - Target Window Reached (Dependent on Operating Mode)

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x/v /T
Act
2X Window
Target

t1

TRX

Start
t

Fig. 73 Timing diagram: target window reached (example)

Name Description

x/v/T Position, velocity and torque motion quantities

t1 Damping time
TRx Diagnostic message
Start Start motion command
Window Monitoring window
Act Actual value
Target Target value
Tab. 375 Legend for Timing diagram: target window reached (example)
Parameters and Diagnostic Messages

ID Px. Parameter Description

468 Damping time target Specifies the damping time for the target position, speed and
reached torque. The signal is set if the actual value for the specified dur-
ation is in the monitoring window. The signal remains set if the
actual value moves outside the monitoring window during the
specified duration. The damping time is re-evaluated when the
value returns to the window.
Access read/write

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ID Px. Parameter Description

468 Damping time target Update effective immediately

reached Unit s
469 Monitoring window Specifies the monitoring window for the target position. The
target position monitoring window is set symmetrically to the target value (win-
dow width = 2x parameter).
Access read/write
Update effective immediately
Unit user defined
4610 Monitoring window Specifies the monitoring window for the target speed. The mon-
target speed itoring window is set symmetrically to the target value (window
width = 2x parameter).
Access read/write
Update effective immediately
Unit user defined
4611 Monitoring window Specifies the monitoring window for the target torque. The mon-
target torque itoring window is set symmetrically to the target value (window
width = 2x parameter).
Access read/write
Update effective immediately
Unit Nm
Tab. 376 Parameters - Target Window Reached

ID Dx. Name Description

07 | 02 | 00121 Target position reached Target position reached

(117571705)
07 | 02 | 00122 Target velocity reached Target velocity reached
(117571706)
07 | 02 | 00123 Target torque reached Target torque reached
(117571707)
Tab. 377 Diagnostic Messages - Target Window Reached

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5.2.1 CiA 402

Objects - Target Window Reached

Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

468 0x6068.00 Damping time target reached UINT16
469 0x6067.00 Monitoring window target position UINT32
4610 0x606D.00 Monitoring window target speed UINT16
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
468 0x2166.09 Damping time target reached FLOAT32
469 0x2166.0A Monitoring window target position FLOAT32
4610 0x2166.0B Monitoring window target speed FLOAT32
4611 0x2166.0C Monitoring window target torque FLOAT32
Tab. 378 Objects

5.2.2 PROFIdrive
PNUs of Target Window Reached

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

468 11152.0 Damping time target reached FloatingPoint
469 11153.0 Monitoring window target position FloatingPoint
4610 11565.0 Monitoring window target speed FloatingPoint
4611 11566.0 Monitoring window target torque FloatingPoint
Tab. 379 PNUs

5.3 Following error

Following error FEx
The difference between the setpoint value and actual value is monitored by the following error monit-
or. The position and speed are monitored simultaneously with a comparator during this process. The
comparator is defined by a monitoring window and damping time. Following error monitoring is active
as long as the target has not been reached (target reached = FALSE). Target area monitoring is then
active è 5.4 Target area monitoring

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Parameters and diagnostic messages

ID Px. Parameters Description

462 Damping time posi- Specifies the damping time for the position following error. The
tion: following error signal is set if the position difference for the specified duration
is outside the monitoring window. If the position difference is
within the monitoring window, the required damping time re-
starts when the difference is outside the window again.
Access read/write
Update effective immediately
Unit s
463 Monitoring window Specifies the monitoring window for the position following error.
position: following The monitoring window is set symmetrically to the setpoint
error value pattern (window width = 2x parameter).
Access read/write
Update effective immediately
Unit user defined
464 Monitoring window Specifies the monitoring window for the speed following error.
speed: following error The monitoring window is set symmetrically to the setpoint
value pattern (window width = 2x parameter).
Access read/write
Update effective immediately
Unit user defined
4682 Current position: fol- Specifies the current position following error.
lowing error Access read/−
Update effective immediately
Unit user defined
4683 Current velocity: fol- Specifies the current speed following error.
lowing error Access read/−
Update effective immediately
Unit user defined
4690 Damping time velo- Specifies the damping time for the speed following error. The
city: following error signal is set if the speed difference for the specified duration is
outside the monitoring window. If the speed difference is within
the monitoring window, the required damping time re-starts
when the difference is outside the window again.

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ID Px. Parameters Description

4690 Damping time velo- Access read/write

city: following error Update effective immediately
Unit s
Tab. 380 Parameters - Following error

ID Dx. Name Description

07 | 02 | 00126 Position: following error Position: following error

(117571710)
07 | 02 | 00127 Velocity: following error Velocity: following error
(117571711)
Tab. 381 Diagnostic messages - Following error
Timing

Status signal FE…

Initial state of FEX, FEV signals =0

The signal is set under the following conditions: 0à 1
– The difference (current actual value / continuously determined setpoint value)
is outside the window
– AND this condition is fulfilled for at least the specified time.
The signal is reset under the following conditions: 1à 0
– The difference (current actual value / continuously determined setpoint value)
is within the window
– OR the target has been reached (target reached = TRUE).
Tab. 382 Status signals - Following error

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x/v

Set
Act

2xWindow

Abs(Act – Set) Window

t t

t1
FEx
t
Fig. 74 Timing diagram: following error

Name Description

x/v Position and speed motion quantities

t1 Damping time
FEx Diagnostic message
Window Monitoring window
Act Actual value
Set Setpoint
Tab. 383 Legend for Timing diagram: following error

5.3.1 CiA 402

Objects - Following error

Parameters Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

462 0x6066.00 Damping time position: following error UINT16
463 0x6065.00 Monitoring window position: following error UINT32

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Parameters Index.Subindex Name Data type

464 0x60F8.00 Monitoring window speed: following error SINT32

4682 0x60F4.00 Current position: following error SINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
462 0x2166.03 Damping time position: following error UINT32
463 0x2166.04 Monitoring window position: following error FLOAT32
464 0x2166.05 Monitoring window speed: following error FLOAT32
4682 0x2166.42 Current position: following error FLOAT32
4683 0x2166.43 Current velocity: following error FLOAT32
4690 0x2166.4A Damping time velocity: following error FLOAT32
Tab. 384 Objects

5.3.2 PROFIdrive
PNUs of following error

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

462 11146.0 Damping time position: following error FloatingPoint
463 11147.0 Monitoring window position: following error FloatingPoint
464 11148.0 Monitoring window speed: following error FloatingPoint
4682 11624.0 Current position: following error FloatingPoint
4683 11625.0 Current velocity: following error FloatingPoint
4690 11632.0 Damping time velocity: following error FloatingPoint
Tab. 385 PNUs

5.4 Target area monitoring

Target monitor TMx
The function monitors the movement of the drive after reaching the target window (target reached =
TRUE). Depending on the operating mode, the position, speed or torque are monitored during this pro-
cess. The target area monitoring of a positioning command with a final speed is identical to the target
area monitoring of a speed command.
Timing

Status signal TM…

Initial state =0

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Status signal TM…

The signal is reset under the following conditions: 1à0

– A new command is started
– OR the difference (current actual value / target value) is outside the window.
The signal is set under the following conditions: 0à1
– The associated target has been reached (target reached = TRUE)
– OR the difference (current actual value / target value) is within the window
AND this condition is fulfilled for at least the specified time.
Tab. 386 Status signals - Target area monitoring

x/v /T
Act
2XWindow
TargetSet

TRx

t1

TMX

Start
t

Fig. 75 Timing diagram: target area monitoring (example)

Name Description

x/v/T Position, speed and torque motion quantities

TRx Target reached
t1 Damping time
TMx Diagnostic message
Start Start motion command

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Name Description

Window Monitoring window

Act Actual value
TargetSet Target value
Tab. 387 Legend for Timing diagram: target area monitoring (example)
Parameters and diagnostic messages

ID Px. Parameter Description

4665 Damping time target Specifies the damping time for target area monitoring (move-
range ment to a fixed stop). Minimum duration that the threshold
value can be exceeded before a message is generated. The
damping time is restarted if the actual value is below the
threshold value or if the prefix for the specified setpoint value
changes during the evaluation of the damping time.
Access read/write
Update effective immediately
Unit s
4666 Monitoring window Determines the monitoring window for the target position. The
position monitoring window is set symmetrically to the target variable
(window width = 2x parameter).
Access read/write
Update effective immediately
Unit user defined
4667 Monitoring window Specifies the monitoring window for the target speed. The mon-
velocity itoring window is set symmetrically to the target value (window
width = 2x parameter).
Access read/write
Update effective immediately
Unit user defined
4668 Monitoring window Specifies the monitoring window for the target torque. The mon-
torque itoring window is set symmetrically to the target value (window
width = 2x parameter).
Access read/write
Update effective immediately
Unit Nm
Tab. 388 Parameters - Target area monitoring

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ID Dx. Name Description

07 | 02 | 00129 Out of target range Drive has left the target range
(117571713)
Tab. 389 Diagnostic messages - Target area monitoring

5.4.1 CiA 402

Objects - Target area monitoring

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
4665 0x2166.35 Damping time target range FLOAT32
4666 0x2166.36 Monitoring window position FLOAT32
4667 0x2166.37 Monitoring window velocity FLOAT32
4668 0x2166.38 Monitoring window torque FLOAT32
Tab. 390 Objects

5.4.2 PROFIdrive
PNUs of target area monitoring

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

4665 11611.0 Damping time target range FloatingPoint
4666 11612.0 Monitoring window position FloatingPoint
4667 11613.0 Monitoring window velocity FloatingPoint
4668 11614.0 Monitoring window torque FloatingPoint
Tab. 391 PNUs

5.5 Hardware limit switch reached

HW limit switch reached HL
The positioning area is limited via a hardware limit switch for each limit position. The drive must be
positioned between the limit positions when the power supply is switched on.
A digital input for the positive or negative limit switch is assigned via the commissioning software.
Rewiring the digital inputs is not necessary and can be changed via the configuration.
The monitoring function includes:
– Status evaluation of the limit switches
– Configuration check
– Limit switch monitoring
– Inverting and debouncing of the digital input signals

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– Detection of the limit switch being exceeded

Application
– Protect the drive against damage:
An error message is triggered, and the corresponding error response is initiated if the hardware
limit switch is reached or exceeded. The current direction of movement is blocked. Another com-
mand in the blocked direction will not be executed. The lock is removed, if the drive initiates the
limit switch again when reaching the valid area.
– Record sequencing during record linking:
The record sequencing function can be implemented during record linking for applications that do
not need protecting against exceeding the limit position. The error response is parameterised as a
message for this purpose.
– Monitoring the direction of movement during reference run to a reference point.
– Use as reference point for a reference run method.
Timing

Status signal HL…

Initial state of HLP, HLN signals =0

The signal is set under the following conditions: 0à 1
– HLP: if the switch is activated OR if the actual position is greater than the posi-
tion saved when the limit switch was triggered
– HLN: if the switch is activated OR if the actual position is lower than the posi-
tion saved when the limit switch was triggered
If the HLP signal is set, the directional lock is activated in a positive direction.
If the HLN signal is set, the directional lock is activated in a negative direction.
A configuration error is displayed if both switches are activated.
The signal is reset under the following conditions: 1à 0
– HLP: if the switch is not activated AND if the actual position is lower than the
position saved when the limit switch was triggered
– HLN: if the switch is not activated AND if the actual position is greater than the
position saved when the limit switch was triggered
Tab. 392 Status signals - Hardware limit switch reached
Parameters and diagnostic messages

ID Px. Parameters Description

101100 Configure negative Specifies the configuration of the negative hardware limit
hardware limit switch switch: 0: deactivated, 1: normally open, 2: normally closed
Access read/write
Update effective immediately
Unit −

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ID Px. Parameters Description

101101 Configure positive Specifies the configuration of the positive hardware limit switch:
hardware limit switch 0: deactivated, 1: normally open, 2: normally closed
Access read/write
Update effective immediately
Unit −
101112 Negative hardware Specifies whether the negative hardware limit switch is active.
limit switch detected Access read/−
Update effective immediately
Unit −
101113 Positive hardware lim- Specifies whether the positive hardware limit switch is active.
it switch detected Access read/−
Update effective immediately
Unit −
101114 Negative limit switch Specifies the position where the negative limit switch was detec-
position detected ted.
Access read/−
Update effective immediately
Unit user defined
101115 Positive limit switch Specifies the position where the positive limit switch was detec-
position detected ted.
Access read/−
Update effective immediately
Unit user defined
Tab. 393 Parameters - Hardware limit switch reached

ID Dx. Name Description

07 | 01 | 00114 Negative hardware limit switch Negative hardware limit switch reached
(117506162) reached
07 | 01 | 00115 Positive hardware limit switch Positive hardware limit switch reached
(117506163) reached
07 | 01 | 00116 Limitation by negative hardware Limitation of direction of movement owing to
(117506164) limit switch negative hardware limit switch

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ID Dx. Name Description

07 | 01 | 00117 Limitation by positive hardware Limitation of direction of movement owing to

(117506165) limit switch positive hardware limit switch
07 | 01 | 00118 Error: both hardware limit Error: both hardware limit switches activated
(117506166) switches activated
Tab. 394 Diagnostic messages - Hardware limit switch reached

5.5.1 CiA 402

Objects - Hardware limit switch reached

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
101100 0x2189.01 Configure negative hardware limit switch UINT32
101101 0x2189.02 Configure positive hardware limit switch UINT32
101112 0x2189.0D Negative hardware limit switch detected BOOL
101113 0x2189.0E Positive hardware limit switch detected BOOL
101114 0x2189.0F Negative limit switch position detected SINT64
101115 0x2189.10 Positive limit switch position detected SINT64
Tab. 395 Objects

5.5.2 PROFIdrive
PNUs of hardware limit switch reached

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

101100 11930.0 Configure negative hardware limit switch Unsigned32
101101 11931.0 Configure positive hardware limit switch Unsigned32
101112 11942.0 Negative hardware limit switch detected Boolean
101113 11943.0 Positive hardware limit switch detected Boolean
101114 11944.0 Negative limit switch position detected Integer64
101115 11945.0 Positive limit switch position detected Integer64
Tab. 396 PNUs

5.6 Software limit position reached

SW limit reached SL
Monitoring of the software limit positions controls the traversing range of the drive.

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The monitoring function includes:

– Status evaluation of the SLN/SLP software limit positions
– Configuration check
– Limit position monitoring (optionally with automatic braking)
The limit position configuration is invalid if the negative limit position is greater or equal to the posit-
ive limit position.
The configuration check is only completed if limit position monitoring is activated (default).

The software limit positions relate to the axis zero point. A valid reference run must therefore be com-
pleted. The reference run can also be completed if the drive is outside the limit positions.

Application
– Protect the drive against damage:
Status SLP or SLN is set when the limit position is exceeded. The status is reset as soon as the
drive reaches the valid range again.
– Protect the drive against damage:
– Limit position monitoring without automatic braking:
An error message is triggered if the limit position is reached or exceeded. The drive is stopped
depending on the set error response. The current direction of movement is blocked. Another
command in the blocked direction will not be executed. The block is removed when the drive
reaches the valid area again.
– Limit position monitoring with automatic braking:
Due to the current distance and speed, exceeding the limit position can be prevented by brak-
ing in time in record, interpolation and jog mode. The dynamic acceleration and jerk values
from the stop ramp parameters are used for the projection.
A message is triggered, and the parameterised error response is initiated, so that a standstill
can be achieved before the limit position, if possible. The current direction of movement is
blocked. Another command in the blocked direction will not be executed. The block is
removed when the drive reaches the valid area again.
Timing

Status signal SL…

Initial state of SLN/SLP signals =0

The signal is set under the following conditions: 0à1
– SLN: If the actual position is lower than the parameterised negative limit posi-
tion
– SLP: If the actual position is greater than the parameterised positive limit posi-
tion
– SLN/SLP, if automatic braking is triggered

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Status signal SL…

The signal is reset under the following conditions: 1à 0

– SLN: If the actual position is greater than the parameterised negative limit posi-
tion
– SLP: If the actual position is lower than the parameterised positive limit posi-
tion
Tab. 397 Status signals - Software limit position reached

Fig. 76 Timing diagram: software limit position reached

Name Description

Case A Target position over x_limit without error reaction

Case B Target position over x_limit with error reaction and automatic
braking to x_limit
Case C Target position over x_limit and overtravel of x_limit with error
reaction, e.g. category 0 stop
x Position motion quantity
x_target Target position
x_limit End position
TR Target reached
Warn Warning message
Err Error message
Tab. 398 Legend for timing graph

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Parameters and diagnostic messages

ID Px. Parameters Description

4628 Software limit posi- Specifies whether software limit position monitoring should be
tions active activated.
0: inactive
1: active
Access read/write
Update effective immediately
Unit −
4629 Negative software Specifies the limit value of the negative software limit position.
limit position The value of the negative software limit position must be lower
than the value of the positive software limit position.
Access read/write
Update effective immediately
Unit user defined
4630 Positive software limit Specifies the limit value of the positive software limit position.
position The value of the positive software limit position must be greater
than the value of the negative software limit position.
Access read/write
Update effective immediately
Unit user defined
4631 Activation of automat- Specifies whether the automatic stop ramp should be activated
ic stop ramp software before exceeding the software limit position. (Automatic) brak-
limit position ing is initiated as part of the error response. Braking is not initi-
ated if no error response is parameterised (warning).
0: inactive
1: active
Access read/write
Update effective immediately
Unit −
Tab. 399 Parameters - Software limit position reached

ID Dx. Name Description

07 | 01 | 00109 Negative software limit position Negative software limit position reached
(117506157)

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ID Dx. Name Description

07 | 01 | 00110 Positive software limit position Positive software limit position reached
(117506158)
07 | 01 | 00111 Limitation negative direction Limitation of direction of movement owing to
(117506159) negative software limit position
07 | 01 | 00112 Limitation positive direction Limitation of direction of movement owing to
(117506160) positive software limit position
07 | 01 | 00113 Parameterisation of software limit Parameterisation of software limit positions
(117506161) positions invalid
Tab. 400 Diagnostic messages - Software limit position reached

5.6.1 CiA 402

Objects - Software limit position reached

Parameters Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

4629 0x607D.01 Negative software limit position SINT32
4630 0x607D.02 Positive software limit position SINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
4628 0x2166.1D Software limit positions active BOOL
4629 0x2166.1E Negative software limit position SINT64
4630 0x2166.1F Positive software limit position SINT64
4631 0x2166.20 Activation of automatic stop ramp software BOOL
limit position
Tab. 401 Objects

5.6.2 PROFIdrive
PNUs of software limit position reached

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

4628 11583.0 Software limit positions active Boolean
4629 11584.0 Negative software limit position Integer64
4630 11585.0 Positive software limit position Integer64

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Parameters PNU Name Data type

4631 11586.0 Activation of automatic stop ramp software Boolean

limit position
Tab. 402 PNUs

5.7 Standstill monitoring

Standstill monitor STx
The monitoring function indicates that the drive is not moving or that the drive is only moving minim-
ally at a speed that is the lower than the parameterised threshold value. Despite a standstill message
being set, the drive can still move at a threshold value that is not equal to 0. Any drifting is prevented
by additional position monitors.
Timing

Status signal ST…

Position monitoring STX

Initial state STX =0
The signal is set under the following conditions: 0à1
– STV = 1
– AND the value (standstill position / actual position) is within the positioning
window.
The standstill position is the sampled actual position at the time of the rising edge
of STV (0à1).
The STX signal is reset under the following conditions: 1à0
– STV = 0
– OR the value (standstill position / actual position) is outside the positioning
window.
Speed monitoring STV
Initial state STV =0
The STV signal is set under the following conditions: 0à1
– The actual speed value falls below the threshold value
– AND the value falls below the threshold value for longer than the damping
time.
The STV signal is reset under the following condition: 1à0
– The actual speed value exceeds the threshold value.
Tab. 403 Status signals - Standstill monitoring

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Act

Abs(Act)
Lim
t

t1
STV
t
Fig. 77 Timing diagram: standstill monitoring

Name Description

v Speed motion quantity

t1 Damping time
STV Diagnostic message
Act Actual speed
Lim Threshold value
Tab. 404 Legend for Timing diagram: standstill monitoring
Parameters and diagnostic messages

ID Px. Parameters Description

465 Standstill damping Specifies the damping time of standstill monitoring. If the actual
time speed value falls below the threshold value and if it exceeds the
threshold during the damping time, the damping time is re-star-
ted once it falls below the threshold again.
Access read/write
Update effective immediately

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ID Px. Parameters Description

465 Standstill damping Unit s

time
466 Monitoring window Specifies the monitoring window for speed standstill monitoring
speed standstill mon- (maximum permissible speed at a standstill). A standstill indic-
itoring ates that the actual speed of the drive is below the paramet-
erised threshold value.
Access read/write
Update effective immediately
Unit user defined
467 Monitoring window Specifies the monitoring window for position standstill monitor-
position standstill ing to prevent drifting at a threshold value that is not equal to 0.
The monitoring window is set symmetrically to the standstill
position (window width = 2x parameter). The standstill position
is determined by the positive edge of the STV signal.
Access read/write
Update effective immediately
Unit user defined
Tab. 405 Parameters - Standstill monitoring

ID Dx. Name Description

07 | 02 | 00124 Standstill reached Standstill reached

(117571708)
07 | 02 | 00125 Standstill reached and in stand- Standstill reached and in standstill window
(117571709) still window
Tab. 406 Diagnostic messages - Standstill monitoring

5.7.1 CiA 402

Objects - Standstill monitoring

Parameters Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

465 0x6070.00 Standstill damping time UINT16
466 0x606F.00 Monitoring window speed standstill monitor- UINT16
ing

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Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
465 0x2166.06 Standstill damping time FLOAT32
466 0x2166.07 Monitoring window speed standstill monitor- FLOAT32
ing
467 0x2166.08 Monitoring window position standstill FLOAT32
Tab. 407 Objects

5.7.2 PROFIdrive
Standstill monitoring PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

465 11149.0 Standstill damping time FloatingPoint
466 11150.0 Monitoring window speed standstill monitor- FloatingPoint
ing
467 11151.0 Monitoring window position standstill FloatingPoint
Tab. 408 PNUs

5.8 Stop reached

Limit stop LS
The monitoring function combines standstill monitoring (STV) and current monitoring for the stop
detection. The actual current and velocity values are monitored cyclically to ensure that the defined
limits are reached.
Timing

Status signal LS

Stop detection
Initial state LS =0
The LS signal is set under the following conditions: 0à 1
– The actual current value exceeds the threshold value
– AND STV = 1
– AND both conditions are set to be longer than the damping time.
The LS signal is reset under the following conditions: 1à 0
– The actual current value falls below the threshold value.
– OR STV = 0
Tab. 409 Status signals - Stop reached

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Abs(Act1)

Lim1
t

I Abs(Act2)

Lim2

t1
LS
t

Fig. 78 Timing diagram: stop reached

Name Description

v Speed motion quantity

I Active current
t1 Damping time
LS Diagnostic message
Act1 Actual speed
Act2 Actual active current
Lim1 Stop detection limit value
Lim2 STV
Tab. 410 Legend for Timing diagram: stop reached

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Parameters and diagnostic messages

ID Px. Parameter Description

4626 Stop detection limit Specifies the percentage threshold value for the current limit.
value The value is relative to the current parameterisation of the nom-
inal current.
Access read/write
Update effective immediately
Unit −
4627 Damping time limit Specifies the response delay when both conditions are met. If
detection the current threshold is parameterised at more than 100%, the
damping time must be set to lower than I²t for the standstill
(typically 50…200ms) to ensure that the detection is triggered.
The damping time starts when both limit value monitors are val-
id. The damping time is reset if just one of the limit value monit-
ors is invalid.
Access read/write
Update effective immediately
Unit s
Tab. 411 Parameters - Stop reached

5.8.1 CiA 402

Objects - Stop reached

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
4626 0x2166.1B Stop detection limit value FLOAT32
4627 0x2166.1C Damping time limit detection FLOAT32
Tab. 412 Objects

5.8.2 PROFIdrive
Stop reached PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

4626 11581.0 Stop detection limit value FloatingPoint

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Parameters PNU Name Data type

4627 11582.0 Damping time limit detection FloatingPoint

Tab. 413 PNUs

5.9 Stroke limit reached

Stroke limit reached STL
The monitoring function includes:
– Status evaluation of the stroke limits
– Configuration check
– Monitoring of the completed, relative movement
– Automatic braking (optional)
In contrast to software limit position monitoring, stroke limit monitoring is only available for speed
and power operation.
The stroke limit is activated and parameterised separately via the relevant command during direct or
record operation ("Command with stroke limit monitoring"). Referencing is not necessary. The para-
meterised, relative monitoring window is applied to the current position when a new command is star-
ted. The stroke limit configuration is invalid if the negative stroke limit is greater or equal to the posit-
ive stroke limit.
Application
– Stroke limit monitoring without automatic braking:
An error message is triggered if the stroke limit is reached or exceeded. The drive is stopped with
the parameterised error response. The error message can only be acknowledged once the stop
ramp has expired.
– Stroke limit monitoring with automatic braking:
Due to the current distance and speed, exceeding the stroke limit can be prevented by braking in
time. The dynamic acceleration and jerk values from the stop ramp parameters are used for the
projection.
An error message is triggered, and the drive is decelerated with the parameterised error response,
so that it comes to a standstill before the stroke limit, if possible. The error message can only be
acknowledged once the stop ramp has expired.
Timing

Status signal STL…

Initial state of STLN/STLP signals =0

If stroke limit monitoring is activated for the command, the signal is set under the 0à1
following conditions:
– STLN: If the actual position is lower than the parameterised negative stroke
limit
– STLP: If the actual position is greater than the parameterised positive stroke
limit
– STLN/STLP, if automatic braking is triggered

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Status signal STL…

The signal is reset when a new command is started. 1à 0

Tab. 414 Status signals - Stroke limit reached
Parameters and diagnostic messages

ID Px. Parameters Description

10368 Default value negat- Specifies the negative stroke limit. The negative stroke limit
ive stroke limit must be lower than the positive stroke limit.
Access read/write
Update effective immediately
Unit user defined
10369 Default value positive Specifies the positive stroke limit. The positive stroke limit must
stroke limit be greater than the negative stroke limit.
Access read/write
Update effective immediately
Unit user defined
4675 Activation of automat- Specifies whether automatic braking should be activated. If
ic stop ramp stroke automatic braking is active, the drive is decelerated so that it
limit stops before the stroke limit, if possible. If automatic braking is
deactivated, the drive is only stopped once it reaches the stroke
limit.
0: inactive
1: active
Access read/write
Update effective immediately
Unit −
Tab. 415 Parameters - Stroke limit reached

ID Dx. Name Description

07 | 01 | 00119 Negative stroke limit reached Negative stroke limit reached

(117506167)
07 | 01 | 00120 Positive stroke limit reached Positive stroke limit reached
(117506168)
Tab. 416 Diagnostic messages - Stroke limit reached

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5.9.1 CiA 402

Objects - Stroke limit reached

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
10368 0x2190.08 Default value negative stroke limit SINT64
10369 0x2190.09 Default value positive stroke limit SINT64
4675 0x2166.3D Activation of automatic stop ramp stroke limit BOOL
Tab. 417 Objects

5.9.2 PROFIdrive
Stroke limit reached PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

10368 11819.0 Default value negative stroke limit Integer64
10369 11820.0 Default value positive stroke limit Integer64
4675 11619.0 Activation of automatic stop ramp stroke limit Boolean
Tab. 418 PNUs

5.10 Speed monitoring (spinning protection)

Speed monitor VM
The monitoring function detects excessive speeds and prevents the drive from spinning by stopping
category 0. The function ensures that the parameterised speed threshold value is not exceeded.
Timing

Status signal VM

Initial state VM =0
The signal is set under the following conditions: 0à1
– The threshold value (speed) is reached
The signal is reset under the following conditions: 1à0
– The value falls below the threshold value (speed)
Tab. 419 Status signals - Speed monitoring

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Motion monitoring

Parameters and diagnostic messages

ID Px. Parameters Description

4660 Maximum speed Specifies the absolute value of the maximum speed. When the
threshold value is reached, the drive is stopped with stop cat-
egory 0. A diagnostic message is issued if the parameterised
speed value is exceeded.
Access read/write
Update effective immediately
Unit user defined
Tab. 420 Parameters - Speed monitoring

ID Dx. Name Description

07 | 02 | 00128 Velocity too high RPM monitoring reports velocity too high
(117571712)
Tab. 421 Diagnostic messages - Speed monitoring

5.10.1 CiA 402

Objects - Speed monitoring

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
4660 0x2166.30 Maximum speed FLOAT32
Tab. 422 Objects

5.10.2 PROFIdrive
Velocity monitoring PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

4660 11606.0 Maximum speed FloatingPoint
Tab. 423 PNUs

5.11 Pushback monitoring

Pushback PB
The monitoring function checks the movement of the drive as a function of the specified effective dir-
ection of the torque. The torque setpoint value may at most trigger an aligned movement. A reverse
movement is only permissible below the parameterised velocity threshold value. If the torque setpoint
value = 0, movements in both directions are only permitted below the parameterised threshold value.

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Timing

Status signal PB

Initial state =0
The signal is set under the following conditions: 0à1
Torque setpoint ≄ 0:
– The actual speed value exceeds the threshold value for longer than the damp-
ing time
– AND the drive moves in the opposite direction to the torque.
Torque setpoint = 0:
– The actual speed value exceeds the threshold value for longer than the damp-
ing time.
The signal is reset under the following conditions: 1à0
– The setting logic is inverted.
Tab. 424 Status signals - Pushback monitoring
Parameters and diagnostic messages

ID Px. Parameters Description

4663 Monitoring window Specifies the monitoring window for pushback monitoring.
pushback Threshold value for monitoring the actual speed (direction of
movement) in relation to the effective direction of the torque
(setpoint value).
Access read/write
Update effective immediately
Unit user defined
4664 Damping time push- Specifies the damping time for pushback monitoring. Minimum
back duration that the threshold value can be exceeded before a mes-
sage is generated. The damping time is restarted if the actual
velocity is below the threshold value or if the prefix for the spe-
cified setpoint value (torque) changes during the evaluation of
the damping time.
Access read/write
Update effective immediately
Unit s
Tab. 425 Parameters - Pushback monitoring

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ID Dx. Name Description

07 | 02 | 00130 Reverse feed monitoring Reverse feed monitoring reports error

(117571714)
Tab. 426 Diagnostic messages - Pushback monitoring

5.11.1 CiA 402

Objects - Pushback monitoring

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
4663 0x2166.33 Monitoring window pushback FLOAT32
4664 0x2166.34 Damping time pushback FLOAT32
Tab. 427 Objects

5.11.2 PROFIdrive
Pushback monitoring PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

4663 11609.0 Monitoring window pushback FloatingPoint
4664 11610.0 Damping time pushback FloatingPoint
Tab. 428 PNUs

5.12 Remaining distance monitoring

Remain distance monitor RDX
The monitoring function indicates that the remaining path determined during the ongoing positioning
command is below the specified limit value.
Timing

Status signal RD...

Initial state =0
The RD signal is set under the following condition: 0à 1
– The difference (command target value / current actual value) falls below the
limit value.
The RD signal is reset under the following condition: 1à 0
– The setting logic is inverted.
Tab. 429 Status signals - Remaining distance monitoring

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Parameters and diagnostic messages

ID Px. Parameters Description

4685 Limit value remaining Specifies the limit value of the remaining distance to be mon-
distance monitoring itored.
Access read/write
Update effective immediately
Unit user defined
Tab. 430 Parameters - Remaining distance monitoring

ID Dx. Name Description

07 | 02 | 00131 Residual distance too low Residual distance too low

(117571715)
Tab. 431 Diagnostic messages - Remaining distance monitoring

5.12.1 CiA 402

Objects - Remaining distance monitoring

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
4685 0x2166.69 Limit value remaining distance monitoring SINT64
Tab. 432 Objects

5.12.2 PROFIdrive
Remaining distance monitoring PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

4685 11627.0 Limit value remaining distance monitoring Integer64
Tab. 433 PNUs

5.13 Trajectory completed

Motion complete MC
The monitoring function indicates that a trajectory (movement) has been completed.

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Timing

Status signal MC

Initial state =0
The signal is set under the following conditions: 0à 1
– The trajectory is completed.
The signal is reset under the following conditions: 1à 0
– A new command is started.
Tab. 434 Status signals - Trajectory completed
Parameters and diagnostic messages

ID Dx. Name Description

07 | 02 | 00132 Trajectory completed Trajectory completed (setpoint value reached)

(117571716)
Tab. 435 Diagnostic messages - Trajectory completed

5.14 Reference switch activated

5.14.1 Function
Reference switch REFS
The monitoring function indicates when the reference switch is activated.
Timing

Status signal REFS

Initial state =0
The signal is set under the following conditions: 0à 1
– The configuration of the reference switch is not equal to 0
– AND the status of the reference switch is active.
The signal is reset under the following conditions: 1à 0
– The configuration of the reference switch = 0
– OR the status of the reference switch is inactive.
Tab. 436 Status signals - Reference switch

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Parameters and diagnostic messages

ID Px. Parameters Description

101200 Reference switch con- Determines the configuration of the reference switch.
figuration 0: Deactivated
1: N/O contact
2: N/C contact
Access read/write
Update effective immediately
Unit −
101201 Reference switch Specifies whether the reference switch is active.
status 0: inactive
1: active
Access read/−
Update effective immediately
Unit −
Tab. 437 Parameters - Reference switch
Diagnostic messages
No specific diagnostic messages are allocated to the function.

5.14.2 CiA 402

Objects - Reference switch

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
101200 0x218A.01 Reference switch configuration UINT32
101201 0x218A.02 Reference switch status BOOL
Tab. 438 Objects

5.14.3 PROFIdrive
Reference switch PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

101200 11947.0 Reference switch configuration Unsigned32
101201 11948.0 Reference switch status Boolean
Tab. 439 PNUs

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5.15 Directional lock

5.15.1 Function
The directional lock function blocks the movement of the drive in one or both directions. The direction-
al lock is triggered automatically in the following cases:

Directional lock trigger Description

The actual position value has Movement in the corresponding direction is automatically
reached or exceeded the para- blocked. The closed-loop controller only allows movements in the
meterised software end posi- opposite direction.
tion. The directional lock remains active until the actual position value
A hardware limit switch has is in the valid range again or the directional lock is deactivated via
been triggered. parameter Px.10351.

Tab. 440 Directional lock

If a directional lock is requested during an error response (stop ramp), for example to monitor the soft-
ware limit position, it is only activated once the stop ramp has been terminated.
Parameters and diagnostic messages

ID Px. Parameter Description

10351 Request directional A directional lock can be triggered via this parameter.
lock Access read/write
Update effective immediately
Unit −
10352 Active directional lock Indicates whether a directional lock has been requested by
parameter Px.10351 or the motion monitoring function (soft-
ware limit position or hardware limit switch reached).
Access read/−
Update effective immediately
Unit −
10353 Status directional lock Indicates whether the directional lock requested in Px.10352 is
active. The values of parameters Px.10352 and Px.10353 are
almost always identical. Exception: If, for example, an error stop
ramp is completed in the blocked area, Px.10352 displays the
request for a directional lock. Only once the stop ramp has been
completed and the drive is at a standstill will Px.10353 indicate
that the directional lock is active.
Access read/−
Update effective immediately

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ID Px. Parameter Description

10353 Status directional lock Unit −

Tab. 441 Parameter

ID Dx. Name Description

05 | 02 | 00080 Simultaneous negative/positive Simultaneous negative/positive directional

(84017232) directional lock lock
Tab. 442 Diagnostic messages

5.15.2 CiA 402

Directional lock objects

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
10351 0x218F.01 Request directional lock SINT32
10352 0x218F.02 Active directional lock SINT32
10353 0x218F.03 Status directional lock SINT32
Tab. 443 Objects

5.15.3 PROFIdrive
Directional lock PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

10351 11807.0 Request directional lock Integer32
10352 11808.0 Active directional lock Integer32
10353 11809.0 Status directional lock Integer32
Tab. 444 PNUs

6 Control
6.1 Cascade Controller
6.1.1 Function
The movement of the drive systems is controlled via the cascade controller. The basic structure of the
cascade controller consists of a position controller, a velocity controller and a current regulator. The
active control loop of the cascade control depends on the selected operating mode. The respective
input variables of the individual control loops are controlled to the set values. The actual values are

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created out of the data of the transducer and the measured current. A better control behaviour can be
obtained via a pilot control. Also, limitations for the current and velocity controller can be activated.
Aside from the active control parameter set, 3 additional control parameter sets are available for the
parameterisation of the cascade controller.

Fig. 79 Block diagram of cascade controller

Name Parameter ID Px.

i_in Feed forward control current output 95

The current value is used as a pilot control value for the current regulator.
The resulting setpoint value is dependent on the parameterised upstream
variables of the pilot control è 6.3 Pilot control (Setpoint value control).
Between i_in and M_in, there is the relationship i_in = M_in/(torque con-
stant x gear unit factor).
id_act Actual reactive current value 813
id_ref Setpoint value reactive current 87
iq_act Actual active current value 814
iq_ref Setpoint value active current 86
M_in Setpoint value torque 94
The setpoint value torque is used as a pilot control value for the current
regulator and refers to the output side (motor + gear unit). The resulting
setpoint value is dependent on the parameterised upstream variables of
the pilot control è 6.3 Pilot control (Setpoint value control).
M_refM_r- Setpoint value torque 2220
ef
v_act Actual velocity value 1210
v_in Setpoint value velocity 91
The setpoint value velocity is used as a pilot control value for the velocity
regulator è 6.3 Pilot control (Setpoint value control).

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Name Parameter ID Px.

v_ref Setpoint value velocity controller 2216

x_act Actual position value 128
x_in Setpoint value position 90
Tab. 445 Legend for the Block Diagram of the Cascade Controller

6.1.2 Position Controller

The position controller is designed as P-controller which calculates the velocity specification for the
secondary velocity control circuit from the control difference (setpoint position - actual position). A
dead zone member suppresses all control differences with the value "0" if it lies within the paramet-
erised symmetrical dead zone. The P-member generates the setpoint velocity from the control differ-
ence and position controller amplification factor. This can be asymmetrically limited via the minimum
and maximum correction velocity. At active velocity pilot control (default setting), values "Setpoint
velocity" and "Velocity pilot control" are added and issued as velocity specification to the secondary
velocity controller. The velocity controller setpoint value can be asymmetrically limited via the result-
ing lower and upper limit value velocity. If the setpoint value reaches the limit, this can be requested
via a status.

Fig. 80 Block diagram of position controller

Name Parameter ID Px.

x_act Actual position value 128

x_deadzone Dead zone position controller 221
x_diff Position control error 2217
x_in Setpoint value position 90
x_kp Position controller amplification gain 220

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Name Parameter ID Px.

v_in Setpoint value velocity 91

The setpoint value velocity is used as a pilot control value for
the velocity regulator
è 6.3 Pilot control (Setpoint value control).

v_ref Setpoint value velocity controller 2216

–LIM1 Minimum correction velocity 222
+LIM1 Maximum correction velocity 223
–LIM2 Resulting lower limit value velocity (closed loop controller) 6100
+LIM2 Resulting upper limit value velocity (closed loop controller) 6101
Tab. 446 Legend for the Block Diagram of the Position Controller
Parameters and Diagnostic Messages

ID Px. Parameter Description

220 Position controller Specifies the amplification gain for the P-element in the position
amplification gain controller.
Access read/write
Update effective immediately
Unit −
221 Dead zone position Specifies the value (relative to the zero point) of the dead zone
controller in the position controller. If the control deviation value is in the
range of the dead zone, the value "0" is output on the output of
the element.
Access read/write
Update effective immediately
Unit user defined
222 Minimum correction Specifies the limit value "Minimum correction velocity" for the
velocity velocity limitation on the output of the P-element in the position
controller.
Access read/write
Update effective immediately
Unit user defined

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ID Px. Parameter Description

223 Maximum correction Specifies the limit value "Maximum correction velocity" for the
velocity velocity limitation on the output of the P-element in the position
controller.
Access read/write
Update effective immediately
Unit user defined
2216 Setpoint value velo- Specifies the setpoint velocity for the velocity controller at the
city controller output of the position controller including the feed forward con-
trol value for the velocity.
Access read/−
Update effective immediately
Unit user defined
2217 Position control error Specifies the control difference of input variables "Feed forward
control output position" and "Actual position" on the output of
the setpoint-actual comparator in the position controller.
Access read/−
Update effective immediately
Unit user defined
6100 Resulting lower limit Specifies the limit value "Lower limit value of velocity" for velo-
value velocity (closed city limiting.
loop controller) Access read/−
Update effective immediately
Unit user defined
6101 Resulting upper limit Specifies the limit value "Upper limit value of velocity" for velo-
value velocity (closed city limiting.
loop controller) Access read/−
Update effective immediately
Unit user defined
52675 Velocity limiting act- Specifies the monitoring status of "Velocity limiting is active"
ive for the setpoint value for the velocity controller in the position
controller.
Access read/−
Update effective immediately
Unit −

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ID Px. Parameter Description

526794 Filter time constant Specifies the filter time constant for reaching a limit in the velo-
controller limitation city or current control circuit
Access read/write
Update effective immediately
Unit s
Tab. 447 Parameter

ID Dx. Name Description

07 | 03 | 00135 Limit for velocity or current active A limit for the velocity or current is active
(117637255)
Tab. 448 Diagnostic Messages

6.1.2.1 CiA 402

Position controller PNUs

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
220 0x215B.01 Position controller amplification gain FLOAT32
221 0x215B.02 Dead zone position controller SINT64
222 0x215B.03 Minimum correction velocity FLOAT32
223 0x215B.04 Maximum correction velocity FLOAT32
2216 0x215B.08 Setpoint value velocity controller FLOAT32
2217 0x215B.09 Position control error SINT64
6100 0x2168.08 Resulting lower limit value velocity (closed FLOAT32
loop controller)
6101 0x2168.09 Resulting upper limit value velocity (closed FLOAT32
loop controller)
52675 0x2152.09 Velocity limiting active BOOL
526794 0x2152.0D Filter time constant controller limitation FLOAT32
Tab. 449 Objects

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6.1.2.2 PROFIdrive
Position controller PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

220 11080.0 Position controller amplification gain FloatingPoint
221 11081.0 Dead zone position controller Integer64
222 11082.0 Minimum correction velocity FloatingPoint
223 11083.0 Maximum correction velocity FloatingPoint
2216 11412.0 Setpoint value velocity controller FloatingPoint
2217 11413.0 Position control error Integer64
6100 11640.0 Resulting lower limit value velocity (closed FloatingPoint
loop controller)
6101 11641.0 Resulting upper limit value velocity (closed FloatingPoint
loop controller)
52675 11889.0 Velocity limiting active Boolean
526794 12165.0 Filter time constant controller limitation FloatingPoint
Tab. 450 PNUs

6.1.3 Velocity Controller

The velocity controller is designed as a PI controller (with anti-windup function) which calculates the
torque specifications for the secondary current control circuit from the control difference (setpoint
velocity - actual velocity). At active torque pilot control (default setting) the values "Setpoint torque"
and "Torque pilot control" are added and issued to the secondary current regulator as torque specific-
ation. The torque setpoint value can be asymmetrically limited via the minimum and maximum torque.
A torque current converter converts the torque setpoint value into an active current setpoint value by
means of the torque constant and the gear unit factor. If the setpoint value reaches the limit, this can
be requested via a status. For use with the Ci402 protocol, the torque setpoint value is asymmetrically
limited by means of a further limitation.

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Fig. 81 Block diagram of velocity controller

Name Parameter ID Px.

i_in Feed forward control current output 95

The current value is used as a pilot control value for the
current regulator. The resulting setpoint value is dependent
on the parameterised upstream variables of the pilot con-
trol è 6.3 Pilot control (Setpoint value control). Between
i_in and M_in, there is the relationship i_in = M_in/(torque
constant x gear unit factor).
iq_ref Setpoint value active current 86
M_in Setpoint value torque 94
The setpoint value torque is used as a pilot control value
for the velocity regulator. The resulting setpoint value is
dependent on the parameterised upstream variables of the
pilot control è 6.3 Pilot control (Setpoint value control).
M_refM_ref Setpoint value torque 2220
v_kp Velocity controller amplification gain 224
v_ki Velocity controller integration constant 225
v_act Actual velocity value 1210
v_diff Velocity control error 2215
v_ref Setpoint value velocity controller 2216
–LIM1 Minimum torque 2218
+LIM1 Maximum torque 2219
LIM2 Maximum torque symmetrical) 526796

Tab. 451 Legend for the Block Diagram of the Velocity Controller

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Recommendation: Before changing controller parameters, check the signal of the encoder. If required,
optimise signal noises using a suitable filter time constant.

Parameters and Diagnostic Messages

ID Px. Parameter Description

224 Velocity controller Specifies the amplification gain for the PI-element in the velocity
amplification gain controller.
Access read/write
Update effective immediately
Unit −
225 Velocity controller Specifies the integration constant for the PI-element in the velo-
integration constant city controller.
Access read/write
Update effective immediately
Unit −
1210 Actual velocity value Specifies the velocity measured by the primary encoder.
Access read/−
Update effective immediately
Unit user defined
2215 Velocity control error Specifies the control difference of input variables "Velocity con-
troller setpoint value" and "Actual value of velocity transducer
interface 1" on the output of the setpoint-actual comparator in
the velocity controller.
Access read/−
Update effective immediately
Unit user defined
2216 Setpoint value velo- Specifies the setpoint velocity for the velocity controller at the
city controller output of the position controller including the feed forward con-
trol value for the velocity.
Access read/−
Update effective immediately
Unit user defined

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ID Px. Parameter Description

2218 Minimum torque Specifies the minimum torque for torque limitation.
Access read/−
Update effective immediately
Unit Nm
2219 Maximum torque Specifies the maximum torque for torque limitation.
Access read/−
Update effective immediately
Unit Nm
2220 Setpoint value torque Specifies the torque setpoint for the current regulator in the
velocity controller.
Access read/−
Update effective immediately
Unit Nm
52676 Current limitation act- Specifies the monitoring status of "Current limiting is active" for
ive the setpoint value of the active current in the velocity controller.
Access read/−
Update effective immediately
Unit −
526796 Maximum torque sym- Specifies the limit value "maximum torque" for the symmetrical
metrical torque limitation at the output of the velocity controller.
Access read/write
Update effective immediately
Unit Nm
Tab. 452 Parameter

ID Dx. Name Description

06 | 02 | 00086 Sign limits The target torque and the velocity limit are
(100794454) uncorrelated.
Tab. 453 Diagnostic Messages

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6.1.3.1 CiA 402

Velocity controller objects

Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

1210 0x606C.00 Actual velocity value SINT32
526796 0x6072.00 Maximum torque symmetrical UINT16
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
224 0x215B.05 Velocity controller amplification gain FLOAT32
225 0x215B.06 Velocity controller integration constant FLOAT32
1210 0x2155.0B Actual velocity value FLOAT32
2215 0x215B.07 Velocity control error FLOAT32
2216 0x215B.08 Setpoint value velocity controller FLOAT32
2218 0x215B.0A Minimum torque FLOAT32
2219 0x215B.0B Maximum torque FLOAT32
2220 0x215B.0C Setpoint value torque FLOAT32
52676 0x2152.0A Current limitation active BOOL
526796 0x2168.17 Maximum torque symmetrical FLOAT32
Tab. 454 Objects

6.1.3.2 PROFIdrive
Velocity controller PNUs

Parameters PNU Name Data type

Px. Profile-specific parameters

1210 6.0 Actual velocity value FloatingPoint
Px. Manufacturer-specific parameters
224 11084.0 Velocity controller amplification gain FloatingPoint
225 11085.0 Velocity controller integration constant FloatingPoint
1210 11311.0 Actual velocity value FloatingPoint
2215 11411.0 Velocity control error FloatingPoint
2216 11412.0 Setpoint value velocity controller FloatingPoint
2218 11414.0 Minimum torque FloatingPoint
2219 11415.0 Maximum torque FloatingPoint

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Parameters PNU Name Data type

2220 11416.0 Setpoint value torque FloatingPoint

52676 11890.0 Current limitation active Boolean
526796 12166.0 Maximum torque symmetrical FloatingPoint
Tab. 455 PNUs

6.1.4 Current Regulator

The current regulator consists of an active current regulator and a reactive current regulator which
specify the voltage setpoint values for the secondary power output stages.
The CMMT-ST plug-in synchronises the parameters of active current regulator and reactive current
regulator if the parameter Px.819 is set (default setting) and a calculation of the controller parameters
is carried out by the plug-in. The calculation can be initiated, for example, via page "Closed loop".
Active Current Regulator:
The active current regulator is designed as a PI controller (with anti-windup functionality), which calcu-
lates (Setpoint value active current – Actual active current value) the voltage specification Uq_ref for the
secondary voltage transformation from the control difference.
Reactive Current Regulator:
The reactive current regulator is designed as a PI controller (with anti-windup functionality), which cal-
culates (Setpoint value reactive current – Actual reactive current value) the voltage specification Ud_ref
for the secondary voltage transformation from the control difference.
Voltage Limitation:
The voltages Uq_ref and Ud_ref are evaluated jointly. The voltage phasor calculated from Uq_ref and Ud_ref
is limited to the maximum output voltage. The status of the respective limitation for Uq_ref and Ud_ref
can be requested.
Voltage Transformation:
The voltage transformation generates the setpoint value specifications for the secondary power out-
put stage from input variables "Voltage setpoint value". This prioritises the voltage Ud as default
against voltage Uq.

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Fig. 82 Block diagram of current regulator

Name Parameter ID Px.

id_act Actual reactive current value 813

id_diff Reactive current control error 824
id_ki Integration constant current regulator (reactive current) 81
id_kp Amplification gain current regulator (reactive current) 80
id_ref Setpoint value reactive current 87
iq_act Actual active current value 814
iq_diff Active current control error 825
iq_ki Integration constant current regulator (active current) 83
iq_kp Amplification gain current regulator (active current) 82
iq_ref Setpoint value active current 86
iu_act Actual phase U current value 39
iv_act Actual phase V current value 310
Ud_ref Setpoint value voltage Ud 84
Uq_ref Setpoint value voltage Uq 85
U_max Maximum output voltage 88
Uu Setpoint value of motor voltage phase U −

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Name Parameter ID Px.

Uv Setpoint value of motor voltage phase V −

Uw Setpoint value of motor voltage phase W −

Tab. 456 Legend for the Block Diagram of the Current Regulator
Parameters and Diagnostic Messages

ID Px. Parameter Description

39 Actual phase U cur- Specifies the actual value of the phase U current.
rent value Access read/−
Update effective immediately
Unit A
80 Amplification gain Specifies the amplification gain for the P-element in the reactive
current regulator current regulator.
(reactive current) Access read/write
Update effective immediately
Unit −
81 Integration constant Specifies the integration constant for the I-element in the react-
current regulator ive current regulator.
(reactive current) Access read/write
Update effective immediately
Unit −
82 Amplification gain Specifies the amplification gain for the P-element in the effective
current regulator (act- current regulator.
ive current) Access read/write
Update effective immediately
Unit −
83 Integration constant Specifies the integration constant for the I-element in the effect-
current regulator (act- ive current regulator.
ive current) Access read/write
Update effective immediately
Unit −

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ID Px. Parameter Description

84 Setpoint value Specifies the setpoint voltage Ud at the output of the reactive
voltage Ud current regulator.
Access read/−
Update effective immediately
Unit V
85 Setpoint value Specifies the setpoint voltage Uq at the output of the active cur-
voltage Uq rent regulator.
Access read/−
Update effective immediately
Unit V
86 Setpoint value active Specifies the active current setpoint for the current regulator.
current Access read/−
Update effective immediately
Unit Arms
87 Setpoint value react- Specifies the reactive current setpoint for the current regulator.
ive current Access read/−
Update effective immediately
Unit Arms
88 Maximum output Specifies the limit value "Maximum output voltage" for the out-
voltage puts of the PI-elements (reactive current/active current) in the
current regulator.
Access read/−
Update effective immediately
Unit V
310 Actual phase V cur- Specifies the actual value of the phase V current.
rent value Access read/−
Update effective immediately
Unit A
813 Actual reactive cur- Specifies the actual reactive current at the output of the current
rent value transformation.
Access read/−
Update effective immediately
Unit Arms

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ID Px. Parameter Description

814 Actual active current Specifies the actual active current at the output of the current
value transformation.
Access read/−
Update effective immediately
Unit Arms
819 Control parameter Activate equalisation of the control parameters of the current
equalisation for active regulator for active current and reactive current
and reactive current – 0: inactive; for the calculation of the controller parameters,
regulators the plug-in only calculates the active current regulator. The
reactive current regulator remains unaffected.
– 1: active; for the calculation of the controller parameters,
the plug-in synchronises the parameters for the active cur-
rent and the reactive current
Access read/write
Update effective immediately
Unit −
824 Reactive current con- Specifies the control difference of input variables "Reactive cur-
trol error rent setpoint value" and "Actual value of reactive current" on
the output of the setpoint-actual comparator in the current regu-
lator.
Access read/−
Update effective immediately
Unit Arms
825 Active current control Specifies the control difference of input variables "Active cur-
error rent setpoint value" and "Actual value of active current" on the
output of the setpoint-actual comparator in the current regulat-
or.
Access read/−
Update effective immediately
Unit Arms
1206 Length motor cable Determines the length of the motor cable. The length of the
motor cable is required for controller sizing.
Access read/write
Update effective immediately
Unit mCable

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ID Px. Parameter Description

1208 Cable cross section Defines the cable cross-section in mm². The cable cross-section
is required for controller sizing.
Access read/write
Update effective immediately
Unit mm²
52679 Voltage limiting filter Specifies the filter time constant for reaching the voltage limit.
time constant Access read/write
Update effective immediately
Unit s
52680 Voltage limiting Ud Specifies the monitoring status of "Voltage limiting Ud active"
active for the voltage Ud setpoint value in the current regulator.
Access read/−
Update effective immediately
Unit −
52681 Voltage limiting Uq Specifies the monitoring status of "Voltage limiting Uq active"
active for the voltage Uq setpoint value in the current regulator.
Access read/−
Update effective immediately
Unit −
Tab. 457 Parameter

ID Dx. Name Description

07 | 03 | 00134 Voltage limiting active Voltage limiting active

(117637254)
Tab. 458 Diagnostic Messages

6.1.4.1 CiA 402

Current regulator objects

Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

814 0x6078.00 Actual active current value SINT16

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Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
39 0x2151.0A Actual phase U current value FLOAT32
80 0x2153.01 Amplification gain current regulator (reactive FLOAT32
current)
81 0x2153.02 Integration constant current regulator (react- FLOAT32
ive current)
82 0x2153.03 Amplification gain current regulator (active FLOAT32
current)
83 0x2153.04 Integration constant current regulator (active FLOAT32
current)
84 0x2153.05 Setpoint value voltage Ud FLOAT32
85 0x2153.06 Setpoint value voltage Uq FLOAT32
86 0x2153.07 Setpoint value active current FLOAT32
87 0x2153.08 Setpoint value reactive current FLOAT32
88 0x2153.09 Maximum output voltage FLOAT32
310 0x2151.0B Actual phase V current value FLOAT32
813 0x2153.0E Actual reactive current value FLOAT32
814 0x2153.0F Actual active current value FLOAT32
819 0x2153.14 Control parameter equalisation for active and BOOL
reactive current regulators
824 0x2153.15 Reactive current control error FLOAT32
825 0x2153.16 Active current control error FLOAT32
1206 0x217F.07 Length motor cable FLOAT32
1208 0x217F.09 Cable cross section FLOAT32
52679 0x2151.0C Voltage limiting filter time constant FLOAT32
52680 0x2151.0D Voltage limiting Ud active BOOL
52681 0x2151.0E Voltage limiting Uq active BOOL
Tab. 459 Objects

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6.1.4.2 PROFIdrive
Current regulator PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

39 11021.0 Actual phase U current value FloatingPoint
80 11035.0 Amplification gain current regulator (reactive FloatingPoint
current)
81 11036.0 Integration constant current regulator (react- FloatingPoint
ive current)
82 11037.0 Amplification gain current regulator (active FloatingPoint
current)
83 11038.0 Integration constant current regulator (active FloatingPoint
current)
84 11039.0 Setpoint value voltage Ud FloatingPoint
85 11040.0 Setpoint value voltage Uq FloatingPoint
86 11041.0 Setpoint value active current FloatingPoint
87 11042.0 Setpoint value reactive current FloatingPoint
88 11043.0 Maximum output voltage FloatingPoint
310 11113.0 Actual phase V current value FloatingPoint
813 11189.0 Actual reactive current value FloatingPoint
814 11190.0 Actual active current value FloatingPoint
819 11195.0 Control parameter equalisation for active and Boolean
reactive current regulators
824 11200.0 Reactive current control error FloatingPoint
825 11201.0 Active current control error FloatingPoint
1206 11308.0 Length motor cable FloatingPoint
1208 11310.0 Cable cross section FloatingPoint
52679 11893.0 Voltage limiting filter time constant FloatingPoint
52680 11894.0 Voltage limiting Ud active Boolean
52681 11895.0 Voltage limiting Uq active Boolean
Tab. 460 PNUs

6.1.5 Control parameter sets

Aside from the active control parameter set, 3 additional control parameter sets are available for the
parameterisation of the cascade controller. A control parameter set contains all control parameters for

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position and velocity controllers and current regulators, the total inertia for the torque pilot control
and the filter time constant for the actual velocity value filter. When a control parameter set is
changed, the total inertia and the velocity filter is also changed.
The individual control parameter sets can be activated via the set table or via the device profile. The
switchover duration into another control parameter set can be influenced by the transition time. There
is a linear interpolation of all values during the switchover.
Parameters and diagnostic messages

ID Px. Parameters Description

44 Controller parameter Specifies the status of the activated control parameter set in the
set switchover status control parameter set switchover.
Access read/−
Update effective immediately
Unit −
226 Amplification gain Specifies the amplification gain in the parameter sets for the P-
position controller element in the position controller.
Access read/write
Update effective immediately
Unit −
2210 Velocity controller Specifies the amplification gain in the parameter sets for the PI-
amplification gain element in the velocity controller.
Access read/write
Update effective immediately
Unit −
2211 Velocity controller Specifies the integration constant in the parameter sets for the
integration constant PI-element in the velocity controller.
Access read/write
Update effective immediately
Unit −
2223 Amplification gain Specifies the amplification gain "Active current" in the paramet-
current regulator (act- er sets for the PI-element in the current regulator.
ive current) Access read/write
Update effective immediately
Unit −

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ID Px. Parameters Description

2224 Integration constant Specifies the integration constant "Active current" in the para-
current regulator (act- meter sets for the PI-element in the current regulator.
ive current) Access read/write
Update effective immediately
Unit −
2225 Amplification gain Specifies the amplification gain "Reactive current" in the para-
current regulator meter sets for the PI-element in the current regulator.
(reactive current) Access read/write
Update effective immediately
Unit −
2227 Total inertia Specifies the total inertia torque of the drive train (axis, gear
unit, motor, load). A value input by the user is overwritten with
the total of all inertias from the configured drive train, including
the load, by calculation of the control parameters.
Access read/write
Update effective immediately
Unit kgm²
2228 Velocity filter filter Specifies the filter time constant for the actual velocity value fil-
time constant ter for the parameter sets.
Access read/write
Update effective immediately
Unit s
Tab. 461 Parameters
Diagnostic messages
No specific diagnostic messages are allocated to the function.

6.1.5.1 CiA 402

Control parameter sets objects

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
44 0x2156.01 Controller parameter set switchover status BOOL
226 0x2227.01 ... 03 Amplification gain position controller FLOAT32
2210 0x2228.01 ... 03 Velocity controller amplification gain FLOAT32

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Parameters Index.Subindex Name Data type

2211 0x2229.01 ... 03 Velocity controller integration constant FLOAT32

2223 0x222A.01 ... 03 Amplification gain current regulator (active FLOAT32
current)
2224 0x222B.01 ... 03 Integration constant current regulator (active FLOAT32
current)
2225 0x222C.01 ... 03 Amplification gain current regulator (reactive FLOAT32
current)
2227 0x222E.01 ... 03 Total inertia FLOAT32
2228 0x222F.01 ... 03 Velocity filter filter time constant FLOAT32
Tab. 462 Objects
Controlling the controller parameter set switchover
Object 0x2001.01: Starting the controller parameter set switchover
The start of the controller parameter set switchover is controlled via the object:

Bit1) Description

0à1 Controller parameter set switchover started on parameterised

1) signal status: 0à1 = rising edge
Tab. 463 Starting the controller parameter set switchover
Monitoring controller parameter set switchover
Object 0x2001.02: Status of the controller parameter set switchover
The status of the controller parameter set switchover is issued via the object:

Bit1) Description

0 Controller parameter set switchover not active

1 Controller parameter set switchover active
1) Signal status: 0 = low; 1 = high
Tab. 464 Status of the controller parameter set switchover
Object 0x2001.05: Return value of device access
The status of the device access is issued via the object:

Bit1) Description

0 Device access successful

1 Device access was aborted with an internal error
1) Signal status: 0 = low; 1 = high
Tab. 465 Return value of device access

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6.1.5.2 PROFIdrive
Control parameter sets PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

44 11026.0 Controller parameter set switchover status Boolean
226 11086.0 ... 2 Amplification gain position controller FloatingPoint
2210 11409.0 ... 2 Velocity controller amplification gain FloatingPoint
2211 11410.0 ... 2 Velocity controller integration constant FloatingPoint
2223 11419.0 ... 2 Amplification gain current regulator (active FloatingPoint
current)
2224 11420.0 ... 2 Integration constant current regulator (active FloatingPoint
current)
2225 11421.0 ... 2 Amplification gain current regulator (reactive FloatingPoint
current)
2227 11423.0 ... 2 Total inertia FloatingPoint
2228 11424.0 ... 2 Velocity filter filter time constant FloatingPoint
Tab. 466 PNUs

6.2 Limitations
6.2.1 Limitation of Application
The setpoint specifications for the trajectory generator are limited via the application limitation, which
are prescribed by the active set table or profile operating mode (positioning, velocity or force/torque).
During the test, the variables of movement "velocity (v), acceleration (a), deceleration (d) and torque
(M)" are compared with the specified limitations (jerk is not limited). If all setpoint values lie within
the specified limitations, the trajectory generator calculates the path course for the specified setpoint
values. If the setpoint values lie outside the limitation, the setpoint values are limited to the respect-
ive value and a corrected trajectory is calculated. The torque can be asymmetrically limited via the
minimum and maximum torque. If one of the setpoint values reaches the limit, this can be requested
via a status.
The parameter velocity override Px.1309 can be used to influence the parameterised target velocity in
the range of 0 … 200 %. The value for the velocity override can be selected in the range from 0 ... 2.
The scaling for 100 % corresponds to the value 1. The setting affects the following movement types:
– Positioning records
– Jogging
– Homing
– Target value specification

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Setpoint specification

v a d M

Application
limit
LIM1 LIM2 LIM3 +LIM4
–LIM4

v a d M

Trajectory generator

Fig. 83 Structure of the application limit

Name Parameter ID Px.

LIM1 Limit value velocity limiting 1304

LIM2 Limit value acceleration limiting 1305
LIM3 Limit value deceleration limiting 1306
+LIM4 Upper limit torque limitation 1307
–LIM4 Lower limit torque limitation 1308
Tab. 467 Legend of the Block Diagram for the Application Limitation
Parameters and Diagnostic Messages

ID Px. Parameter Description

1301 Velocity limiting Specifies the velocity limiting status starting from the applica-
status tion limitation.
Access read/−
Update effective immediately
Unit −
1302 Acceleration limiting Specifies the acceleration limitation of the application limitation.
status Access read/−
Update effective immediately
Unit −

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ID Px. Parameter Description

1303 Torque limiting status Specifies the torque limitation starting from the application lim-
itation.
Access read/−
Update effective immediately
Unit −
1304 Limit value velocity Specifies the limit value for velocity limiting in the application
limiting limitation.
Access read/write
Update effective immediately
Unit user defined
1305 Limit value accelera- Specifies the limit value for the acceleration limitation in the
tion limiting application limitation.
Access read/write
Update effective immediately
Unit user defined
1306 Limit value decelera- Specifies the limit value for the deceleration limitation in the
tion limiting application limitation.
Access read/write
Update effective immediately
Unit user defined
1307 Upper limit torque Specifies the upper limit value for the torque limitation in the
limitation application limitation.
Access read/write
Update effective immediately
Unit Nm
1308 Lower limit torque Specifies the lower limit value for the torque limitation in the
limitation application limitation.
Access read/write
Update effective immediately
Unit Nm

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ID Px. Parameter Description

1309 Velocity override Specifies the velocity override in positioning and velocity mode.
The override can be set in the range from 0 ... 2. The normaliza-
tion for 100 % corresponds to the value of 1.
Access read/write
Update effective immediately
Unit −
11280611 Velocity override Specifies the velocity override in positioning and velocity mode.
The override can be set in the range 0 ... 200 %. The scaling for
100 % corresponds to the value of 0x4000.
Access read/write
Update effective immediately
Unit −
Tab. 468 Parameter
Diagnostic messages
No specific diagnostic messages are allocated to the function.

6.2.1.1 CiA 402

Application limit objects

Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

1304 0x607F.00 Limit value velocity limiting UINT32
1305 0x60C5.00 Limit value acceleration limiting UINT32
1306 0x60C6.00 Limit value deceleration limiting UINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1301 0x2183.01 Velocity limiting status BOOL
1302 0x2183.02 Acceleration limiting status BOOL
1303 0x2183.03 Torque limiting status BOOL
1304 0x2183.04 Limit value velocity limiting FLOAT32
1305 0x2183.05 Limit value acceleration limiting FLOAT32
1306 0x2183.06 Limit value deceleration limiting FLOAT32
1307 0x2183.07 Upper limit torque limitation FLOAT32
1308 0x2183.08 Lower limit torque limitation FLOAT32

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Parameter Index.Subindex Name Data type

1309 0x2183.09 Velocity override FLOAT32

Tab. 469 Objects

6.2.1.2 PROFIdrive
Application Limit PNUs

Parameter PNU Name Data type

Px. Profile-specific parameters

11280611 205.0 Velocity override Integer16
è 12.4.7.18 MDI Velocity (MDI_VELOCITY)

Px. Manufacturer-specific parameters

1301 11331.0 Velocity limiting status Boolean
1302 11332.0 Acceleration limiting status Boolean
1303 11333.0 Torque limiting status Boolean
1304 11334.0 Limit value velocity limiting FloatingPoint
1305 11335.0 Limit value acceleration limiting FloatingPoint
1306 11336.0 Limit value deceleration limiting FloatingPoint
1307 11337.0 Upper limit torque limitation FloatingPoint
1308 11338.0 Lower limit torque limitation FloatingPoint
1309 12482.0 Velocity override FloatingPoint
11280611 12534.0 Velocity override Integer16
è 12.4.7.18 MDI Velocity (MDI_VELOCITY)

Tab. 470 PNUs

6.2.2 Control limitation

The cascade controller has two limitations, one limiter for the velocity setpoint and one for the torque
setpoint and the active current setpoint. Here the critical limits for the respective limiters are com-
posed of static and dynamic data. Static data are values that are composed of the configuration of the
drive system, the size of the servo drive controller and the motor used. Dynamic data () are composed
of the specifications of the user and the data from the I²t monitoring. The values can be adjusted by
the user at any time.

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Dynamic data
I 2t
iq_in5/iq_in6

User User User

v_in1 v_in2 M_in1 M_in2 iq_in1 iq_in2

Static data CMMT Motor

i_max1 i_max2

Min

System System System

v_in3 M_in3 M_in4 iq_in3 iq_in4

–1 –1 –1 –1

Control limit
manager
Max Min Max Min Ma x Min

–LIM2 +LIM2 –M +M –iq +iq

Cascade control

Fig. 84 Structure of control limitation

Name Parameter ID Px.

i_max1 Maximum current servo drive 622

i_max2 Maximum current motor 620
iq_in1 Lower limit value active current (closed loop controller) 854
iq_in2 Upper limit value active current (closed loop controller) 855
iq_in3 Resulting minimum current 625
iq_in4 Resulting maximum current 624
iq_in5 When the limit value is reached, the current of the motor is limited to the −
resulting rated current (ID Px.621).
iq_in6 When the limit value is reached, the current of the power output stage is −
limited to the resulting rated current (ID Px.623).
–iq Resulting lower limit value active current (closed loop controller) 6108

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Name Parameter ID Px.

+iq Resulting upper limit value active current (closed loop controller) 6109
M_in1 Lower limit value torque (closed loop controller) 852
M_in2 Upper limit value torque (closed loop controller) 853
M_in3 Maximum motor or servo drive torque 381
M_in4 Maximum driving torque axis 1199
–M Resulting lower limit value torque (closed loop controller) 6104
+M Resulting upper limit value torque (closed loop controller) 6105
v_in1 Lower limit value velocity (closed loop controller) 850
v_in2 Upper limit value velocity (closed loop controller) 851
v_in3 Maximum motor or servo drive velocity 382
–LIM2 Resulting lower limit value velocity (closed loop controller) 6100
+LIM2 Resulting upper limit value velocity (closed loop controller) 6101
Tab. 471 Legend for the block diagram of the control limitation

The resulting critical limit LIM2 affects the output of the position controllers
è 6.1.2 Position Controller.

Parameters and diagnostic messages

ID Px. Parameter Description

381 Maximum motor or Specifies the maximum torque of the servo drive for transfer to
servo drive torque the configuration tool. The maximum torque must always be set
the same on the side of the controller and the servo drive.
Access read/−
Update effective immediately
Unit Nm
382 Maximum motor or Specifies the static critical limit "Maximum velocity" created
servo drive velocity from the minimum of the maximum values of the motor or servo
drive.
Access read/−
Update effective immediately
Unit user defined

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ID Px. Parameter Description

624 Resulting maximum Specifies the static limit value "Maximum current" created from
current the minimum of the maximum values of the motor or servo
drive.
Access read/−
Update effective immediately
Unit Arms
625 Resulting minimum Specifies the static limit value "Minimum current" created from
current the minimum of the maximum values of the motor or servo drive
with negative signs.
Access read/−
Update effective immediately
Unit Arms
850 Lower limit value Specifies the dynamic limit value "Lower limit value of velocity"
velocity (closed loop specified by the user.
controller) Access read/write
Update effective immediately
Unit user defined
851 Upper limit value Specifies the dynamic limit value "Upper limit value of velocity"
velocity (closed loop specified by the user.
controller) Access read/write
Update effective immediately
Unit user defined
852 Lower limit value Specifies the dynamic limit value "Lower limit value of the
torque (closed loop torque" specified by the user.
controller) Access read/write
Update effective immediately
Unit Nm
853 Upper limit value Specifies the dynamic limit value "Upper limit value of the
torque (closed loop torque" specified by the user.
controller) Access read/write
Update effective immediately
Unit Nm

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ID Px. Parameter Description

854 Lower limit value act- Specifies the dynamic limit value "Lower limit value of the active
ive current (closed current" specified by the user.
loop controller) Access read/write
Update effective immediately
Unit Arms
855 Upper limit value act- Specifies the dynamic limit value "Upper limit value of the active
ive current (closed current" specified by the user.
loop controller) Access read/write
Update effective immediately
Unit Arms
1199 Maximum driving Specifies the maximum driving torque of the axis.
torque axis Access read/write
Update reinitialization
Unit Nm
6100 Resulting lower limit Specifies the limit value "Lower limit value of velocity" for velo-
value velocity (closed city limiting.
loop controller) Access read/−
Update effective immediately
Unit user defined
6101 Resulting upper limit Specifies the limit value "Upper limit value of velocity" for velo-
value velocity (closed city limiting.
loop controller) Access read/−
Update effective immediately
Unit user defined
6104 Resulting lower limit Specifies the resulting minimum torque for torque limitation.
value torque (closed Access read/−
loop controller)
Update effective immediately
Unit Nm
6105 Resulting upper limit Specifies the resulting maximum torque for torque limitation.
value torque (closed Access read/−
loop controller)
Update effective immediately
Unit Nm

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ID Px. Parameter Description

6108 Resulting lower limit Specifies the limit value "Lower limit value of the active cur-
value active current rent". (Conversion to the output-side torque is an internal calcu-
(closed loop control- lation)
ler) Access read/−
Update effective immediately
Unit Arms
6109 Resulting upper limit Specifies the limit value "Upper limit value of the active cur-
value active current rent". (Conversion to the output-side torque is an internal calcu-
(closed loop control- lation)
ler) Access read/−
Update effective immediately
Unit Arms
Tab. 472 Parameter

ID Dx. Name Description

06 | 02 | 00087 Velocity control limitation invalid Velocity control limitation invalid

(100794455)
06 | 02 | 00088 Torque control limitation invalid Torque control limitation invalid
(100794456)
06 | 02 | 00089 Current control limitation invalid Current control limitation invalid
(100794457)
06 | 02 | 00090 Maximum peak current control Maximum peak current control limitation
(100794458) limitation invalid invalid
Tab. 473 Diagnostic messages

6.2.2.1 CiA 402

Control limitation objects

Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

852 0x60E1.00 Lower limit value torque (closed loop control- UINT16
ler)
853 0x60E0.00 Upper limit value torque (closed loop control- UINT16
ler)

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Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
381 0x2169.01 Maximum motor or servo drive torque FLOAT32
382 0x2169.02 Maximum motor or servo drive velocity FLOAT32
624 0x2169.07 Resulting maximum current FLOAT32
625 0x2169.08 Resulting minimum current FLOAT32
850 0x2168.01 Lower limit value velocity (closed loop control- FLOAT32
ler)
851 0x2168.02 Upper limit value velocity (closed loop control- FLOAT32
ler)
852 0x2168.03 Lower limit value torque (closed loop control- FLOAT32
ler)
853 0x2168.04 Upper limit value torque (closed loop control- FLOAT32
ler)
854 0x2168.05 Lower limit value active current (closed loop FLOAT32
controller)
855 0x2168.06 Upper limit value active current (closed loop FLOAT32
controller)
1199 0x217E.09 Maximum driving torque axis FLOAT32
6100 0x2168.08 Resulting lower limit value velocity (closed FLOAT32
loop controller)
6101 0x2168.09 Resulting upper limit value velocity (closed FLOAT32
loop controller)
6104 0x2168.0C Resulting lower limit value torque (closed loop FLOAT32
controller)
6105 0x2168.0D Resulting upper limit value torque (closed FLOAT32
loop controller)
6108 0x2168.10 Resulting lower limit value active current FLOAT32
(closed loop controller)
6109 0x2168.11 Resulting upper limit value active current FLOAT32
(closed loop controller)
Tab. 474 Objects

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6.2.2.2 PROFIdrive
Control limitation PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

381 11122.0 Maximum motor or servo drive torque FloatingPoint
382 11123.0 Maximum motor or servo drive velocity FloatingPoint
624 11163.0 Resulting maximum current FloatingPoint
625 11164.0 Resulting minimum current FloatingPoint
850 11212.0 Lower limit value velocity (closed loop control- FloatingPoint
ler)
851 11213.0 Upper limit value velocity (closed loop control- FloatingPoint
ler)
852 11214.0 Lower limit value torque (closed loop control- FloatingPoint
ler)
853 11215.0 Upper limit value torque (closed loop control- FloatingPoint
ler)
854 11216.0 Lower limit value active current (closed loop FloatingPoint
controller)
855 11217.0 Upper limit value active current (closed loop FloatingPoint
controller)
1199 11301.0 Maximum driving torque axis FloatingPoint
6100 11640.0 Resulting lower limit value velocity (closed FloatingPoint
loop controller)
6101 11641.0 Resulting upper limit value velocity (closed FloatingPoint
loop controller)
6104 11644.0 Resulting lower limit value torque (closed loop FloatingPoint
controller)
6105 11645.0 Resulting upper limit value torque (closed FloatingPoint
loop controller)
6108 11648.0 Resulting lower limit value active current FloatingPoint
(closed loop controller)
6109 11649.0 Resulting upper limit value active current FloatingPoint
(closed loop controller)
Tab. 475 PNUs

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6.2.3 Torque limitation

The torque limitation limits the torque related to the drive output shaft end directly at the output of
the velocity controller. For drive systems with gear unit the shaft end of the gear unit output is on the
drive output side. Current critical limits from the configuration of the servo drive, the motor and the
specifications of the user are converted internally to a resulting torque related to the shaft end on the
drive output side. The resulting limit values form the lower and upper limit value for the limitation.

CMMT Motor User

i_max1 i_max2 i_max3 id_ref
(= 0)

Min
–M –iq +M +iq
itotal_max

Torque
limitation
i i

M M

M
–1 iq_max

Max Min id_ref

i

–LIM1 +LIM1 id_ref

Fig. 85 Structure of current limiter

Name Parameter ID Px.

i_max1 Maximum current servo drive 622

i_max2 Maximum current motor 620
i_max3 Limit value total current (closed loop controller) 856
id_ref Setpoint value reactive current 87
itotal_max Resulting upper limit value total current (closed loop controller) 6112
–iq Resulting lower limit value active current (closed loop controller) 6108
+iq Resulting upper limit value active current (closed loop controller) 6109
–M Resulting lower limit value torque (closed loop controller) 6104

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Name Parameter ID Px.

+M Resulting upper limit value torque (closed loop controller) 6105

–LIM1 Minimum torque 2218
+LIM1 Maximum torque 2219
Tab. 476 Legend for the block diagram of the current limiter

The resulting critical limits iq and are the result of the control limitation è 6.2.2 Control limitation.
The minimum and maximum torque affects the output of the velocity controller
è 6.1.3 Velocity Controller.

Inertia compensations
The acceleration (a) of the motor, gear unit and coupling inertia reduces the effective torque at the
output shaft end, whereby the specified value for the torque limitation is not completely available for
accelerating the load. This can be compensated by the following parameters:
– Inertia Gear (Px.124321)
– Inertia coupling (Px.124322)
– Dynamic losses (Px.124323)

Fig. 86 Inertia compensation

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Parameters and diagnostic messages

ID Px. Parameter Description

87 Setpoint value react- Specifies the reactive current setpoint for the current regulator.
ive current Access read/−
Update effective immediately
Unit Arms
856 Limit value total cur- Specifies the limit value of the total current for the servo drive.
rent (closed loop con- Access read/write
troller)
Update effective immediately
Unit Arms
2218 Minimum torque Specifies the minimum torque for torque limitation.
Access read/−
Update effective immediately
Unit Nm
2219 Maximum torque Specifies the maximum torque for torque limitation.
Access read/−
Update effective immediately
Unit Nm
6104 Resulting lower limit Specifies the resulting minimum torque for torque limitation.
value torque (closed Access read/−
loop controller)
Update effective immediately
Unit Nm
6105 Resulting upper limit Specifies the resulting maximum torque for torque limitation.
value torque (closed Access read/−
loop controller)
Update effective immediately
Unit Nm
6108 Resulting lower limit Specifies the limit value "Lower limit value of the active cur-
value active current rent". (Conversion to the output-side torque is an internal calcu-
(closed loop control- lation)
ler) Access read/−
Update effective immediately
Unit Arms

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ID Px. Parameter Description

6109 Resulting upper limit Specifies the limit value "Upper limit value of the active cur-
value active current rent". (Conversion to the output-side torque is an internal calcu-
(closed loop control- lation)
ler) Access read/−
Update effective immediately
Unit Arms
6112 Resulting upper limit Specifies the limit value of the total current.
value total current Access read/−
(closed loop control-
Update effective immediately
ler)
Unit Arms
124321 Inertia Gear Indicates the total inertia of all gears in the drive train. The value
is required for increasing the torque limitation during the accel-
eration and deceleration phase.
Access read/write
Update reinitialization
Unit kgm²
124322 Inertia coupling Indicates the inertia of the clutch in the drive train. The value is
required for increasing the torque limitation during the accelera-
tion and deceleration phase.
Access read/write
Update reinitialization
Unit kgm²
124323 Dynamic losses Indicates the static dynamic losses in Nm related to the drive
side. The value is required for increasing the torque limitation
during the acceleration phase.
Access read/write
Update reinitialization
Unit Nm
Tab. 477 Parameter
Diagnostic messages
No specific diagnostic messages are allocated to the function.

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6.2.3.1 CiA 402

Torque limitation objects

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
87 0x2153.08 Setpoint value reactive current FLOAT32
856 0x2168.07 Limit value total current (closed loop control- FLOAT32
ler)
2218 0x215B.0A Minimum torque FLOAT32
2219 0x215B.0B Maximum torque FLOAT32
6104 0x2168.0C Resulting lower limit value torque (closed loop FLOAT32
controller)
6105 0x2168.0D Resulting upper limit value torque (closed FLOAT32
loop controller)
6108 0x2168.10 Resulting lower limit value active current FLOAT32
(closed loop controller)
6109 0x2168.11 Resulting upper limit value active current FLOAT32
(closed loop controller)
6112 0x2168.14 Resulting upper limit value total current FLOAT32
(closed loop controller)
124321 0x2182.0F Inertia Gear FLOAT32
124322 0x217F.0A Inertia coupling FLOAT32
124323 0x217E.0B Dynamic losses FLOAT32
Tab. 478 Objects

6.2.3.2 PROFIdrive
Torque limitation PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

87 11042.0 Setpoint value reactive current FloatingPoint
856 11218.0 Limit value total current (closed loop control- FloatingPoint
ler)
2218 11414.0 Minimum torque FloatingPoint
2219 11415.0 Maximum torque FloatingPoint

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Parameter PNU Name Data type

6104 11644.0 Resulting lower limit value torque (closed loop FloatingPoint
controller)
6105 11645.0 Resulting upper limit value torque (closed FloatingPoint
loop controller)
6108 11648.0 Resulting lower limit value active current FloatingPoint
(closed loop controller)
6109 11649.0 Resulting upper limit value active current FloatingPoint
(closed loop controller)
6112 11652.0 Resulting upper limit value total current FloatingPoint
(closed loop controller)
124321 12448.0 Inertia Gear FloatingPoint
124322 12449.0 Inertia coupling FloatingPoint
124323 12450.0 Dynamic losses FloatingPoint
Tab. 479 PNUs

6.3 Pilot control (Setpoint value control)

6.3.1 Setpoint value connection
The pilot control (FFC feed forward control) creates the setpoint values for the cascade controller, e. g.
from
– the timely diversions of the set values
– a constant value (offset)
This ensures that the positioning behaviour of the drive is greatly improved, e. g. a reduction of the
contouring error or improved run-in behaviour to the target position.
The input variables for the pilot control are directly connected to the output variable or are adjusted
using a mathematical operation:
– Output variables with the same physical meaning are added within the pilot control component.
The respective added value can additionally be influenced by a weighting factor (gain).
– Each mathematical operation with the input variables v (velocity) and a (acceleration) has a decel-
eration member of the first order connected in series. An inactive time member is connected in
series for the position.
A constant value can be stipulated for the weight force compensation.
The following pilot control values are valid for the individual operating modes of the cascade control-
ler. The pilot control also acts in the interpolating operating modes via a fieldbus.

Input variable Output variable Pilot control Operating

mode1)
P V T

v v Velocity (default) · – –

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Input variable Output variable Pilot control Operating

mode1)
P V T

a M Torque (inertia) · · –

v M Torque (friction) · · –

– M Torque (constant value) · · ·

1) P = positioning mode, V = velocity mode, T = torque mode

Tab. 480 Pilot control

Fig. 87 Pilot control

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Name Description ID Px.

x_in, v_in, a_in Set values position, velocity and acceleration as input variables of the pilot con-
trol
Setpoint management output position 290
Setpoint management output velocity 291
Setpoint management output acceleration 292
x_out, v_out, Setpoint values for the cascade controller
T_out Setpoint value position 90
Setpoint value velocity 91
Setpoint value torque 94
t_x <- Time_x Inactive time position setpoint value (integer multiple of 957
the device-specific scanning time of the closed-loop con-
troller)
t_v <- Filter_v Time constant velocity setpoint value filter 958
t_a <- Filter_a Time constant acceleration setpoint value filter 959
Factor_v Amplification gain velocity feed forward control 967
Factor_T Amplification gain torque feed forward control 968
Offset Offset torque 969
Inertia Total inertia 973
Comp_F Setpoint value friction compensation 974
The parameter can be used, for example, to assess the
component of the feed forward control from the friction
compensation by means of measured data recording
(trace).
Comp_T Setpoint value inertia compensation 975
The parameter can be used, for example, to assess the
component of the feed forward control from the inertia
compensation by means of measured data recording
(trace).
Node_v Support point velocity [rad/s] 976
Node_T Support point torque [Nm] 977
Tab. 481 Legend for the block diagram of pilot control
Certain parameters of the pilot control are not entered in user units, but in Nm or rad/s and their
respective diversions, for example. The conversion of the user unit to rad/s is carried automatically
by the device.
The inertia for the inertia compensation is stipulated in kgm² (Px.973) and the support points of the
table for the friction compensation Node_T (Px.976) in Nm and Node_v in rad/s (Px.977).

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Parameter

ID Px. Parameter Description

90 Setpoint value posi- Position output from feed forward control as setpoint value for
tion the closed-loop controller
Access read/−
Update effective immediately
Unit user defined
91 Setpoint value velo- Velocity output from feed forward control as setpoint value for
city the closed-loop controller
Access read/−
Update effective immediately
Unit user defined
92 Setpoint value accel- Acceleration output from feed forward control as setpoint value
eration for the closed-loop controller
Access read/−
Update effective immediately
Unit user defined
93 Setpoint value jerk Jerk output from feed forward control as setpoint value for the
closed-loop controller
Access read/−
Update effective immediately
Unit user defined
94 Setpoint value torque Torque output from feed forward control as setpoint value for
the closed-loop controller
Access read/−
Update effective immediately
Unit Nm
95 Feed forward control Current output from feed forward control
current output Access read/−
Update effective immediately
Unit Arms

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ID Px. Parameter Description

957 Inactive time position Indicates the dead time of the position setpoint in integer
setpoint value samples of the position control loop.
Access read/write
Update effective immediately
Unit −
958 Time constant velocity Time constant velocity setpoint value filter
setpoint value filter Access read/write
Update effective immediately
Unit s
959 Time constant accel- Time constant acceleration setpoint value filter
eration setpoint value Access read/write
filter
Update effective immediately
Unit s
967 Amplification gain Amplification gain velocity feed forward control
velocity feed forward Access read/write
control
Update effective immediately
Unit −
968 Amplification gain Amplification gain torque feed forward control
torque feed forward Access read/write
control
Update effective immediately
Unit −
969 Offset torque Offset torque
Access read/write
Update effective immediately
Unit Nm
973 Total inertia Specifies the total inertia torque of the drive train (axis, gear
unit, motor, load). A value input by the user is overwritten with
the total of all inertias from the configured drive train, including
the load, by calculation of the control parameters.
Access read/write
Update effective immediately
Unit kgm²

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ID Px. Parameter Description

974 Setpoint value friction The parameter can be used, for example, to assess the compon-
compensation ent of the feed forward control from the friction compensation
by means of measured data recording (trace).
Access read/−
Update effective immediately
Unit Nm
975 Setpoint value inertia The parameter can be used, for example, to assess the compon-
compensation ent of the feed forward control from the inertia compensation by
means of measured data recording (trace).
Access read/−
Update effective immediately
Unit Nm
976 Support point velocity Maximum of 16 support points via Index 0 ... 15. Velocity [rad/s]
[rad/s] of the drive train (axis, gear unit, motor, load) based on the gear
unit output.
Access read/write
Update effective immediately
Unit −
977 Support point torque Maximum of 16 support points via Index 0 ... 15. Torque [Nm] of
[Nm] the drive train (axis, gear unit, motor, load) based on the gear
unit output.
Access read/write
Update effective immediately
Unit Nm
978 Number of support Number of support points for which the look-up table friction
points compensation is to be used.
Access read/write
Update effective immediately
Unit −
Tab. 482 Parameter

6.3.2 Inertia and friction compensation

For the inertia compensation it is multiplied with the setpoint acceleration. The value for the inertia is
the total inertia of the drive system. If the switchover is carried out on a different control parameter
set, also the respective inertia is superimposed from the control parameter set.

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The friction is compensated via a look-up table. In the table torque is plotted via support points via
angular velocity. Linear interpolation is performed between the support points. The input variable is
always the angular velocity independent of the selected user unit. The output variable is the torque. If
the input variable is larger or smaller than the last value of the support point of the angular velocity,
the last value of the torque support point is used as output variable.
The use of an offset can, for example, be practical for a vertical mounting position of an axis.
The ouput variables for the velocity and torque control can be weighted via separate factors.
Example for inertia compensation
With the inertia compensation a torque can be pilot controlled in dependence of the total inertia in the
drive system. The torque is composed of the total inertia multiplied by the set value velocity.
Example of the drive system:
– EMMS-ST-57-M-SEB-G2
– EMGA-60-P-G3-SST-57
– ELGR-TB-55-1000-0H
– Load mass 5 kg
Excerpt data sheet ELGR axis:

Mass moment of inertia

Size 55

JO [kg mm2] 360

JH per meter stroke [kg mm2/m] 1.88
JL per kg payload [kg mm2/kg] 205.21
JW for additional slide [kg mm2] 301.92
Tab. 483 Mass moments of inertia for ELGR axis
Mass moment of inertia JA of the entire axis:
JA = JO + K * JW + JH x work stroke [m] + JL * mpayload [kg]
K = Number of the additional slides
Excerpt of data sheet EMMS-ST motor:

Technical data
Size 57-M

Motor
…

Total output inertia moment

Without brake [kgcm2] 0.48
With brake [kgcm2] 0.50
…

Tab. 484 Technical data of the EMMS-ST motor

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Calculation of total inertia Px.973:

JTotal = JELGR + JEMMS-ST* i² = 3.6 kgcm² + 0,0188 kgcm² / m * 1 m + 2.0521 kgcm² / kg * 5 kg +
0.5 kgcm² * 3² = 18.3793 kgcm² = 0.00183793 kgm²
(i = gear ratio)
Calculation of torque:
M = Jtotal * a
(a = angular acceleration)

Example for friction compensation

There is the option of pilot controlling a velocity-dependent torque, for which a look-up table is avail-
able. The torque is composed of the support points of the look-up table in dependence of the angular
velocity.
Example of the drive system:
– EMMS-ST-57-M-SEB-G2
– ELGR-TB-55-1000-0H
– Load mass 5 kg
– Maximum velocity vmax = 3 m/s
– Feed 0.09 m
– Cohesive friction MStick = 0.2 Nm
– Velocity-dependent friction Mv = 0.005 Nm * s/rad
Calculation of torque:
M = Mstick + Mv * w
(w = angular velocity)

Support point Velocity [rad/s] Support point Torque [Nm]

P1.976.0.0 –209.4395 P1.977.0.0 –1.2472

P1.976.0.1 –34.9066 P1.977.0.1 –0.3745
P1.976.0.2 –6.9813 P1.977.0.2 –0.2349
P1.976.0.3 –3.4907 P1.977.0.3 –0.2175
P1.976.0.4 –0.6981 P1.977.0.4 –0.2035
P1.976.0.5 –0.3491 P1.977.0.5 –0.2017
P1.976.0.6 –0.0698 P1.977.0.6 –0.2003
P1.976.0.7 0 P1.977.0.7 0
P1.976.0.8 0.0698 P1.977.0.8 0.2003
P1.976.0.9 0.3491 P1.977.0.9 0.2017
P1.976.0.10 0.6981 P1.977.0.10 0.2035
P1.976.0.11 3.4907 P1.977.0.11 0.2175
P1.976.0.12 6.9813 P1.977.0.12 0.2349

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Support point Velocity [rad/s] Support point Torque [Nm]

P1.976.0.13 34.9066 P1.977.0.13 0.3745

P1.976.0.14 209.4395 P1.977.0.14 1.2472
Tab. 485 Look-up table

Parameter Value

P1.978.0.0 15
Tab. 486 Number of support points

Fig. 88 Representation of look-up table

6.3.3 CiA 402

Pilot control objects

Parameters Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

90 0x6062.00 Setpoint value position SINT32
91 0x606B.00 Setpoint value velocity SINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
90 0x2154.01 Setpoint value position SINT64
91 0x2154.02 Setpoint value velocity FLOAT32
92 0x2154.03 Setpoint value acceleration FLOAT32
93 0x2154.04 Setpoint value jerk FLOAT32
94 0x2154.05 Setpoint value torque FLOAT32
95 0x2154.06 Feed forward control current output FLOAT32
957 0x2154.07 Inactive time position setpoint value UINT32

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Parameters Index.Subindex Name Data type

958 0x2154.08 Time constant velocity setpoint value filter FLOAT32

959 0x2154.09 Time constant acceleration setpoint value fil- FLOAT32
ter
967 0x2154.0A Amplification gain velocity feed forward con- FLOAT32
trol
968 0x2154.0B Amplification gain torque feed forward control FLOAT32
969 0x2154.0C Offset torque FLOAT32
973 0x2154.0D Total inertia FLOAT32
974 0x2154.0E Setpoint value friction compensation FLOAT32
975 0x2154.0F Setpoint value inertia compensation FLOAT32
976 0x2225.01 ... 10 Support point velocity [rad/s] FLOAT32
977 0x2226.01 ... 10 Support point torque [Nm] FLOAT32
978 0x2154.10 Number of support points UINT32
Tab. 487 Objects

6.3.4 PROFIdrive
Pilot control PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

90 11045.0 Setpoint value position Integer64
91 11046.0 Setpoint value velocity FloatingPoint
92 11047.0 Setpoint value acceleration FloatingPoint
93 11048.0 Setpoint value jerk FloatingPoint
94 11049.0 Setpoint value torque FloatingPoint
95 11050.0 Feed forward control current output FloatingPoint
957 11246.0 Inactive time position setpoint value Unsigned32
958 11247.0 Time constant velocity setpoint value filter FloatingPoint
959 11248.0 Time constant acceleration setpoint value fil- FloatingPoint
ter
967 11249.0 Amplification gain velocity feed forward con- FloatingPoint
trol
968 11250.0 Amplification gain torque feed forward control FloatingPoint
969 11251.0 Offset torque FloatingPoint

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Parameters PNU Name Data type

973 11252.0 Total inertia FloatingPoint

974 11253.0 Setpoint value friction compensation FloatingPoint
975 11254.0 Setpoint value inertia compensation FloatingPoint
976 11255.0 ... 15 Support point velocity [rad/s] FloatingPoint
977 11256.0 ... 15 Support point torque [Nm] FloatingPoint
978 11257.0 Number of support points Unsigned32
Tab. 488 PNUs

6.4 Notch Filter

6.4.1 Function
Internal notch filters are provided to suppress oscillations. Notch filters can be used to filter out inter-
fering frequencies from the active current calculated from the control loop. The notch filters are wired
in series. The number of implemented notch filters is device-specific. The notch filters are arranged
before the input of the current regulator and filter the complete setpoint signal including the pilot con-
trol values. The characteristics of the filter can be parameterised and are determined by the filter fre-
quency and filter band width.

Damping
dB

Bandwith

Hz
FFilter
Fig. 89 Filter band width and filter frequency

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Name Description ID Px.

Band with Band width of notch filter 49

Damping Cushioning –
FFilter Filter frequency notch filter 40
Tab. 489 Legend for the Filter Band Width and Filter Frequency Diagram
Parameters and Diagnostic Messages
Parameter allocation:
– Index 0: notch filter 1
– Index 1: notch filter 2
– Index 2: notch filter 3

ID Px. Parameter Description

40 Filter frequency notch Fixes the filter frequency of the notch filter.
filter Access read/write
Update effective immediately
Unit Hz
49 Band width of notch Fixes the filter band width of the notch filter.
filter Access read/write
Update effective immediately
Unit Hz
50 Notch filter output Specifies the filtered setpoint value of the active current.
active current Access read/−
Update effective immediately
Unit Arms
51 Activation of notch fil- Fixes whether the notch filter is active or inactive.
ter – 1: active
– 0: inactive
Access read/write
Update effective immediately
Unit −
52 Setpoint value active Specifies the unfiltered setpoint value of the active current.
current unfiltered Access read/−
Update effective immediately
Unit Arms
Tab. 490 Parameter

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ID Dx. Name Description

06 | 00 | 00082 Notch filter frequency invalid The parameterisation of the notch filter fre-
(100663378) quency is invalid
Tab. 491 Diagnostic Messages

6.4.2 CiA 402

Notch filter objects

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
40 0x2221.01 ... 03 Filter frequency notch filter FLOAT32
49 0x2222.01 ... 03 Band width of notch filter FLOAT32
50 0x2223.01 ... 03 Notch filter output active current FLOAT32
51 0x2224.01 ... 03 Activation of notch filter BOOL
52 0x2152.06 Setpoint value active current unfiltered FLOAT32
Tab. 492 Objects

6.4.3 PROFIdrive
Notch filter PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

40 11022.0 ... 2 Filter frequency notch filter FloatingPoint
49 11031.0 ... 2 Band width of notch filter FloatingPoint
50 11032.0 ... 2 Notch filter output active current FloatingPoint
51 11033.0 ... 2 Activation of notch filter Boolean
52 11034.0 Setpoint value active current unfiltered FloatingPoint
Tab. 493 PNUs

6.5 Auto-tuning
6.5.1 Function
Auto tuning can be used to determine the control parameters for position and velocity controllers. The
basis for this is a current regulator that has already been designed and suitable start parameters for
position controllers and velocity controllers, as well as the amplitude of the excitation signal. The start
parameters are determined automatically on the basis of the drive configuration. Measurements are
necessary as basis for the layout. The number of measurements can be adjusted. The measurements
can be carried out during the standstill or during a movement command.

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Festo Automation Suite

CMMT Plug-in

Start auto
tuning

System stimulation
Traversing task

Repeat the procedure Measurement

System response

Calculation

Averaging

Controller layout

Auto tuning finished

Fig. 90

Precondition for auto-tuning

The following conditions must be fulfilled before the start of auto-tuning:
– The plug-in is connected to the device
– The plug-in has the master control
– Controller enable is activated
Parameterisation of auto tuning
The following parameters are defined by the plug-in before the start of auto-tuning:
Servo controller start values:
– Start value position controller amplification gain
– Start value velocity controller amplification gain
– Start value velocity controller integration constant
– Filter time constant velocity controller

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Mean value calculation:

– Number of identifications for averaging

The use of the default setting "8 identification cycles" is recommended for averaging.

System excitation:
– Amplification gain noise signal generator
Drive movement (option):
– Drive is moving during identification (activate)
– Movement stroke during the identification
– Maximum velocity during the identification
– Maximum acceleration during the identification
– Maximum deceleration during the identification
– Maximum jerk during the identification

Recommendation: For drives with high friction (e. g. plain-bearing guide) activate parameter "Move
drive ...".

With the 1st identification cycle the axis moves in the positive direction up to the target of the move-
ment stroke. At the 2nd identification cycle the axis moves back again to the starting point. The move-
ment is repeated with each further double cycle.

• Plan a sufficient movement distance.

Controlling auto tuning
NOTICE!
In case of vertically installed axes a sagging of the load is possible at the start of auto tuning.
• Keep the range of movement of the connected actuators unobstructed.

Monitoring auto tuning

The current status is displayed in the status data during auto-tuning.
The new values "Results of tuning" are displayed in the plug-in after the auto-tuning.
A test run can be carried out with the determined values or the values can applied directly in the con-
troller data as active control parameters.

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Parameters and diagnostic messages

ID Px. Parameter Description

860 Status auto tuning Specifies the status of auto tuning.

– 0: Inactive
– 1: Test run
– 2: Start measurement
– 3: Measurement active
– 4: FFT calculation active
– 5: FFT calculation finished
– 6: Controller calculation active
– 7: Controller calculation finished
– 8: Error, stroke too short
– 9: Auto tuning aborted
– 10: Error, invalid controller parameters
Access read/−
Update effective immediately
Unit −
8601 Result amplification Specifies the results of auto tuning for the amplification gain in
gain of position con- the position controller.
troller Access read/write
Update effective immediately
Unit −
8602 Result integration Specifies the result of auto tuning for the integration constant of
constant of velocity the velocity controller.
controller Access read/write
Update effective immediately
Unit −
8603 Result amplification Specifies the result of auto tuning for the amplification gain of
gain of velocity con- the velocity controller.
troller Access read/write
Update effective immediately
Unit −
8611 Start value position Specifies the start value of auto tuning for the amplification gain
controller amplifica- of the position controller.
tion gain Access read/write
Update effective immediately

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ID Px. Parameter Description

8611 Start value position Unit −

controller amplifica-
tion gain
8612 Start value velocity Specifies the start value of auto tuning for the amplification gain
controller amplifica- of the velocity controller.
tion gain Access read/write
Update effective immediately
Unit −
8613 Start value velocity Specifies the start value of auto tuning for the integration con-
controller integration stant of the velocity controller.
constant Access read/write
Update effective immediately
Unit −
8614 Filter time constant Specifies the filter time constant of the velocity controller for the
velocity controller layout of the controller parameters.
Access read/write
Update effective immediately
Unit s
8615 Filter time constant Specifies the filter time constant of the noise signal generator.
noise signal generator Access read/write
Update effective immediately
Unit s
8616 Amplification gain Specifies the amplification gain of the noise signal generator.
noise signal generator Access read/write
Update effective immediately
Unit user defined
8617 Signal selection noise Specifies the signal selection of the noise signal generator. 1
signal generator uniform noise and 2 normally distributed noise
Access read/write
Update effective immediately
Unit −

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ID Px. Parameter Description

8618 Time delay noise sig- Specifies the time delay noise signal for the start of the identific-
nal for the start identi- ation.
fication Access read/write
Update effective immediately
Unit s
8619 Identification with Specifies the activation for the drive moving during the identific-
movement ation.
Access read/write
Update effective immediately
Unit −
8620 Number of identifica- Specifies the number of identifications for averaging.
tions for averaging Access read/write
Update effective immediately
Unit −
8621 Maximum movement Specifies the movement stroke during the identification.
stroke during the Access read/write
identification
Update effective immediately
Unit user defined
8622 Maximum velocity Specifies the maximum velocity during the identification.
during the identifica- Access read/write
tion
Update effective immediately
Unit user defined
8623 Maximum accelera- Specifies the maximum acceleration during the identification.
tion during the identi- Access read/write
fication
Update effective immediately
Unit user defined
8624 Maximum decelera- Specifies the maximum deceleration during the identification.
tion during the identi- Access read/write
fication
Update effective immediately
Unit user defined

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ID Px. Parameter Description

8625 Maximum jerk during Specifies the maximum jerk during the identification.
the identification Access read/write
Update effective immediately
Unit user defined
Tab. 494 Parameter

ID Dx. Name Description

13 | 02 | 00217 Auto-tuning aborted Auto-tuning aborted

218235097
13 | 02 | 00218 Auto-tuning travel inadequate or Auto-tuning travel inadequate
218235098 synchronization phase too short
13 | 02 | 00219 Auto-tuning controller parameters The auto-tuning function could not identify
218235099 invalid any controller parameters
13 | 02 | 00220 Transmission of auto-tuning Transmission of auto-tuning measured values
(218235100) measured values failed failed
Tab. 495 Diagnostic messages

6.5.1.1 CiA 402

Objects Auto Tuning

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
860 0x2173.01 Status auto tuning UINT8
8601 0x2173.02 Result amplification gain of position controller FLOAT32
8602 0x2173.03 Result integration constant of velocity control- FLOAT32
ler
8603 0x2173.04 Result amplification gain of velocity controller FLOAT32
8611 0x2174.01 Start value position controller amplification FLOAT32
gain
8612 0x2174.02 Start value velocity controller amplification FLOAT32
gain
8613 0x2174.03 Start value velocity controller integration con- FLOAT32
stant
8614 0x2174.04 Filter time constant velocity controller FLOAT32

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Parameter Index.Subindex Name Data type

8615 0x2171.01 Filter time constant noise signal generator FLOAT32

8616 0x2171.02 Amplification gain noise signal generator FLOAT32
8617 0x2171.03 Signal selection noise signal generator UINT8
8618 0x2174.05 Time delay noise signal for the start identifica- FLOAT32
tion
8619 0x2174.06 Identification with movement BOOL
8620 0x2174.07 Number of identifications for averaging UINT8
8621 0x2174.08 Maximum movement stroke during the identi- SINT64
fication
8622 0x2174.09 Maximum velocity during the identification FLOAT32
8623 0x2174.0A Maximum acceleration during the identifica- FLOAT32
tion
8624 0x2174.0B Maximum deceleration during the identifica- FLOAT32
tion
8625 0x2174.0C Maximum jerk during the identification FLOAT32
Tab. 496 Objects

6.5.1.2 PROFIdrive
Auto-tuning PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

860 11219.0 Status auto tuning Unsigned8
8601 11748.0 Result amplification gain of position controller FloatingPoint
8602 11749.0 Result integration constant of velocity control- FloatingPoint
ler
8603 11750.0 Result amplification gain of velocity controller FloatingPoint
8611 11753.0 Start value position controller amplification FloatingPoint
gain
8612 11754.0 Start value velocity controller amplification FloatingPoint
gain
8613 11755.0 Start value velocity controller integration con- FloatingPoint
stant
8614 11756.0 Filter time constant velocity controller FloatingPoint
8615 11757.0 Filter time constant noise signal generator FloatingPoint

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Parameter PNU Name Data type

8616 11758.0 Amplification gain noise signal generator FloatingPoint

8617 11759.0 Signal selection noise signal generator Unsigned8
8618 11760.0 Time delay noise signal for the start identifica- FloatingPoint
tion
8619 11761.0 Identification with movement Boolean
8620 11762.0 Number of identifications for averaging Unsigned8
8621 11763.0 Maximum movement stroke during the identi- Integer64
fication
8622 11764.0 Maximum velocity during the identification FloatingPoint
8623 11765.0 Maximum acceleration during the identifica- FloatingPoint
tion
8624 11766.0 Maximum deceleration during the identifica- FloatingPoint
tion
8625 11767.0 Maximum jerk during the identification FloatingPoint
Tab. 497 PNUs

6.5.2 Test run

The test run can be used to test the behaviour of the drive system with the new results of tuning.
With the execution of the test run the drive is moved in the specified stroke range according to the
number of validation movements (simple stroke path).

A test run can no longer be performed after the parameters have been taken over.

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Festo Automation Suite

CMMT Plug-in

Execute
Testmode

Execute validation movement

Validation completed

Fig. 91

Parameterisation of test run

Before the test run the following values are to be adjusted in the parameters of the plug-in:
– Number of validation movements
– Movement stroke during validation movement
– Maximum velocity during validation movement
– Maximum acceleration during validation movement
– Maximum deceleration during validation movement
– Maximum jerk during validation movement

The parameters resulting from auto tuning can be changed manually, and an optional test run can be
started with them.

Controlling a test run

The test run is started via the plug-in of the Festo Automation Suite.
If the controller parameters have not been optimally set, unusual noises could occur in the test run. In
this case, stop the test run, perform the auto-tuning again or adjust the controller parameters manu-
ally.
Monitoring the test run
The current status is displayed in the status data during the test run.

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Parameters and diagnostic messages

ID Px. Parameter Description

8630 Number of validation Specifies the number of validation movements.

movements Access read/write
Update effective immediately
Unit −
8631 Movement stroke dur- Specifies the movement stroke during the validation movement.
ing validation move- Access read/write
ment
Update effective immediately
Unit user defined
8632 Maximum velocity Specifies the maximum velocity during the validation move-
during validation ment.
movement Access read/write
Update effective immediately
Unit user defined
8633 Maximum accelera- Specifies the maximum acceleration during the validation move-
tion during validation ment.
movement Access read/write
Update effective immediately
Unit user defined
8634 Maximum decelera- Specifies the maximum deceleration during the validation move-
tion during validation ment.
movement Access read/write
Update effective immediately
Unit user defined
8635 Maximum jerk during Specifies the maximum jerk during the validation movement.
validation movement Access read/write
Update effective immediately
Unit user defined
Tab. 498 Parameter

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ID Dx. Name Description

13 | 02 | 00220 Transmission of auto-tuning Transmission of auto-tuning measured values

(218235100) measured values failed failed
Tab. 499 Diagnostic messages

6.5.2.1 CiA 402

Test run objects

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
8630 0x2174.0D Number of validation movements UINT8
8631 0x2174.0E Movement stroke during validation movement SINT64
8632 0x2174.0F Maximum velocity during validation movement FLOAT32
8633 0x2174.10 Maximum acceleration during validation FLOAT32
movement
8634 0x2174.11 Maximum deceleration during validation FLOAT32
movement
8635 0x2174.12 Maximum jerk during validation movement FLOAT32
Tab. 500 Objects

6.5.2.2 PROFIdrive
Test run PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

8630 11768.0 Number of validation movements Unsigned8
8631 11769.0 Movement stroke during validation movement Integer64
8632 11770.0 Maximum velocity during validation movement FloatingPoint
8633 11771.0 Maximum acceleration during validation FloatingPoint
movement
8634 11772.0 Maximum deceleration during validation FloatingPoint
movement
8635 11773.0 Maximum jerk during validation movement FloatingPoint
Tab. 501 PNUs

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Technology functions

7 Technology functions
7.1 Cam controller (position trigger)
7.1.1 Function
When parameterised positions (x1, x2) are reached, the cam controller function generates trigger sig-
nals at the trigger output (TRG). The position switch and rotor position switch, for example, can be
simulated using this function.
The cam controller can be activated using the record table è 4.5 Command for record selection. This
activation applies the parameterised values (Px.112700 … …Px.112712) as currently valid parameters
(Px.112713 … Px.112725).
Example: the value of parameter Px.112700 (Cam controller mode) is applied as the value for paramet-
er Px.112713 (current cam controller mode).
The desired trigger output must be parameterised for the function (parameters Px.11303 and
Px.11304). The source (Source ...) of the positions can be selected (e.g. primary encoder). The posi-
tions (x1, x2) can be freely defined within the modulo limits (+Mod, –Mod).
Using the index of the pertinent parameters, several switching points per trigger output can be con-
figured within the modulo range. Various modes are available for the function
(è Tab. 505 Possible modes of the cam controller function). The switching duration (t1, t2) of the trig-
ger output, for example, can be parameterised or depend on the defined switching limit values (x1,
x2).

Tt1

+Mod Mode x1 t1

Tt*V
Set

ON Logic TRG
-

Source

Tt2 –Mod Dir Hy

Source 1
Source 2
Source ...
+Mod Mode X2 t2

Tt*V
Reset

OFF Logic TRG

-

–Mod Dir Hy

Fig. 92 Block diagram of the cam controller

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Technology functions

Name Description ID Px.

Source 1, 2, ... Source of the position, e.g. primary encoder, secondary encoder; –

the possible sources depend on the device or firmware.

Source Selection: Cam controller source 112701
Tt1 Inactive time compensation of first switching point 112704
Tt2 Inactive time compensation of second switching point 112705
+Mod Upper limit value modulo 112702
–Mod Lower limit value modulo 112703
Mode Cam controller mode 112700
ON logic Switch-on logic –

OFF logic Switch-off logic –

Dir Selection of switching function (negative/positive direction) 112708

Hy Hysteresis 112706
x1 First switching point 112710
x2 Second switching point 112711
t1, t2 Switching time (manual) 112707
Switching time (automatic) 112712
TRG Trigger output of device (TRG...) –

Tab. 502 Legend for the block diagram of the cam controller
Timing
Hysteresis
The hysteresis suppresses undesired switching procedures around the switching point during fluctu-
ations. The hysteresis refers to the switching point, including the offset due to the delay compensa-
tion.
An example is shown in the diagram below: All additional timing diagrams do not depict the hyster-
esis.

+Dir
v * Tt1 v * Tt2

1
TRG
0
–Mod x1 x2 +Mod

Hy Hy

Fig. 93 Timing diagram: hysteresis (example: positive direction)

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Technology functions

Signal curve depending on the switching function, delay compensation and hysteresis in "Automat-
ic" mode (6) – examples
a) Positive direction

+Dir
v * Tt1 v * Tt2

1
TRG
0
–Mod x1 x2 +Mod

Fig. 94 Timing diagram: positive direction

b) Negative direction

–Dir
v * Tt2 v * Tt1

1
TRG
0
–Mod x1 x2 +Mod

Fig. 95 Timing diagram: negative direction

c) Negative/positive direction

v * Tt2 v * Tt1
+/–Dir
v * Tt1 v * Tt2

1
TRG
0
–Mod x1 x2 +Mod

Fig. 96 Timing diagram: negative/positive direction

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Technology functions

Signal curve depending on switching function, delay compensation and hysteresis in automatic
mode (6) with the switching characteristic time-controlled On (2), example - positive direction
After switching point x1 is reached, the trigger output for the duration of the parameterised switch-on
time is activated. The switching time t1 always refers to the switching point x1, independent of the dir-
ection of movement.

v * Tt1 +Dir

1
TRG
0
–Mod x1 +Mod

t1

Fig. 97 Timing diagram: mode 4 (switch-on time) - example: positive direction

If the status of the trigger output is “high” when the next “switch-on point” is reached, the new
switching point is ignored. The new switching points are accepted only if no switching point is active.
The switching duration is not extended.

Name Description ID Px.

TRG Trigger output –

Tt1 Inactive time compensation of first switching point 112704

Tt2 Inactive time compensation of second switching point 112705
+Mod Upper limit value modulo 112702
–Mod Lower limit value modulo 112703
Hy Hysteresis 112706
x1 First switching point 112710
t1 Switching time (automatic) 112712
x2 Second switching point 112711
Tab. 503 Legend for the figures above
Parameters and diagnostic messages
The number of available cam controllers depends on the product design. Each cam controller is organ-
ized in its own instance.
– Instance 0: parameters for cam controller 0
– Instance 1: parameters for cam controller 1
– …
Depending on the device design, several cam switches can be parameterised within a cam controller.
The parameterisation of the cam switches of a cam controller is not tested for overlapping or contra-
dictory switching functions. Overlapping or contradictory switching points are ignored.

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ID Px. Parameter Description

112700 Cam controller mode Determines the mode of the cam controller function.
For detailed information
è Tab. 505 Possible modes of the cam controller function.

Access read/write
Update effective immediately
Unit −
112701 Cam controller source Determines the source of the measured values.
This means:
0: primary encoder
1: secondary encoder (device-specific)
2: set position
Access read/write
Update effective immediately
Unit −
112702 Upper limit value Determines the upper limit value for the modulo calculation.
modulo When the upper limit value is exceeded, the position jumps to
the lower limit value.
Access read/write
Update effective immediately
Unit user defined
112703 Lower limit value Determines the lower limit value for the modulo calculation.
modulo When the lower limit value is undershot, the position jumps to
the upper limit value.
Access read/write
Update effective immediately
Unit user defined
112704 Inactive time com- Determines the inactive time compensation for the signal
pensation of first change for the first switching point. With this parameter, switch-
switching point on delays of external components can be compensated.
Access read/write
Update effective immediately
Unit s

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ID Px. Parameter Description

112705 Inactive time com- Determines the inactive time compensation for the signal
pensation of second change for the second switching point. With this parameter,
switching point switch-on delays of external components can be compensated.
Access read/write
Update effective immediately
Unit s
112706 Hysteresis Through the determination of the hysteresis range, undesired
switching procedures are suppressed around the switching
point during fluctuations.
Access read/write
Update effective immediately
Unit user defined
112707 Switching time Determines the switching time for time-based manual switching
(manual) (mode 4/5).
Access read/write
Update effective immediately
Unit s
112708 Selection of switching Determines the direction of movement at which the cam switch
function shall activate.
– 0: Negative/positive direction
– 1: Positive direction
– 2: Negative direction
Depending on the product design, several cams can be paramet-
erised within the defined modulo range.
Index 0: cam switch 1
Index 1: cam switch 2
Index 2: (depending on the product design)
Index 3: ...
Access read/write
Update effective immediately
Unit −
112709 Selection of switching Determines the switching behaviour of the cam switch. For the
characteristics On to Off switching function, the switching points are specified
in parameters Px.112710 and Px.112711. The time for the time-
controlled switching behaviour is specified via parameter
Px.112712.

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ID Px. Parameter Description

112709 Selection of switching – 0: Inactive

characteristics – 1: Cam switch On/Off
– 2: Cam switch ON, time-controlled
– 3: Cam switch OFF, time-controlled
Depending on the product design, several cams can be paramet-
erised within the defined modulo range.
Index 0: cam switch 1
Index 1: cam switch 2
Index 2: (depending on the product design)
Index 3: ...
Access read/write
Update effective immediately
Unit −
112710 First switching point Defines the first switching point at which the cam switch should
be active.
Index 0: cam switch 1
Index 1: cam switch 2
Index 2: (depending on the product design)
Index 3: …
Access read/write
Update effective immediately
Unit user defined
112711 Second switching Defines the second switching point at which the cam switch
point should be active.
Index 0: cam switch 1
Index 1: cam switch 2
Index 2: (depending on the product design)
Index 3: …
Access read/write
Update effective immediately
Unit user defined
112712 Switching time (auto- Specifies the time for which the cam is active. Slide specified
matic) time refers to the switching point X1, independent of the direc-
tion of movement.
The switching time always refers to the switching point x1, inde-
pendent of the direction of movement.
Index 0: cam switch 1
Index 1: cam switch 2

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ID Px. Parameter Description

112712 Switching time (auto- Index 2: (depending on the product design)

matic) Index 3: …
Access read/write
Update effective immediately
Unit s
112713 Current cam controller Specifies the current mode of the cam controller function.
mode Access read/−
Update effective immediately
Unit −
112714 Current cam controller Specifies the current source of the position values of the cam
source controller.
This means:
– 0: primary encoder (commutation encoder)
– 1: secondary encoder
– 2: ... (depending on the product design)
Access read/−
Update effective immediately
Unit −
112715 Current upper limit Specifies the currently determined upper limit value for the
value modulo modulo calculation.
Access read/−
Update effective immediately
Unit user defined
112716 Current lower limit Specifies the currently determined lower limit value for the mod-
value modulo ulo calculation.
Access read/−
Update effective immediately
Unit user defined
112717 Current inactive time Specifies the current delay compensation of the first switching
first switching point point for the switch-on process.
Access read/−
Update effective immediately
Unit s

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ID Px. Parameter Description

112718 Current inactive time Specifies the current delay compensation of the second switch-
second switching ing point for the switch-on process.
point Access read/−
Update effective immediately
Unit s
112719 Current hysteresis Specifies the current hysteresis. In the hysteresis range, switch-
ing procedures are suppressed around the switching point dur-
ing fluctuations.
Access read/−
Update effective immediately
Unit user defined
112720 Current switching Specifies the current switch-on time for mode 4.
time (manual) Access read/−
Update effective immediately
Unit s
112721 Current selection of Specifies the current direction of movement at which the cam
switching function switch activates.
– 0: Negative/positive direction
– 1: Positive direction
– 2: Negative direction
Index 0: cam switch 1
Index 1: cam switch 2
Index 2: (depending on the product design)
Index 3: …
Access read/−
Update effective immediately
Unit −
112722 Current selection of Specifies the current switching behaviour of the cam switch.
switching character- This means:
istics – 0: Inactive
– 1: Cam switch On/Off
– 2: Cam switch ON, time-controlled
– 3: Cam switch OFF, time-controlled
Index 0: cam switch 1
Index 1: cam switch 2
Index 2: (depending on the product design)

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ID Px. Parameter Description

112722 Current selection of Index 3: ...

switching character- Access read/−
istics
Update effective immediately
Unit −−
112723 Current first switching Specifies the current first switching point at which the cam
point switch is inactive.
Index 0: cam switch 1
Index 1: cam switch 2
Index 2: (depending on the product design)
Index 3: …
Access read/−
Update effective immediately
Unit user defined
112724 Current second Specifies the current second switching point at which the cam
switching point switch is inactive.
Index 0: cam switch 1
Index 1: cam switch 2
Index 2: (depending on the product design)
Index 3: …
Access read/−
Update effective immediately
Unit user defined
112725 Current switching Specifies the current switching time for time-based switching.
time (automatic) Index 0: cam switch 1
Index 1: cam switch 2
Index 2: (depending on the product design)
Index 3: …
Access read/−
Update effective immediately
Unit ss
112726 Modulo position for Specifies the current runtime-compensated module position for
the logic (ON) the logic (On).
Access read/−
Update effective immediately
Unit user defined

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ID Px. Parameter Description

112727 Modulo position for Specifies the current runtime-compensated module position for
the logic (OFF) the logic (Off).
Access read/−
Update effective immediately
Unit user defined
112728 Cam switch status Specifies the status of the trigger output.
ON/OFF Access read/−−
Update effective immediately
Unit −
112729 Status modulo limit Flag that indicates that modulo limits have been reached. The
reached signal duration amounts to 1 ms.
Access read/−
Update effective immediately
Unit −
112730 Status active cam Specifies which cam switch is active.
switch Access read/−
Update effective immediately
Unit −
112731 Counter NO modulo Specifies how often the modulo limits have been not exceeded.
cycles Access −/−
Update effective immediately
Unit −
112732 Offset modulo posi- Offset of the modulo position
tion Access read/write
Update effective immediately
Unit user defined
112733 Initialisation of mod- Default value for the reference position
ulo Access read/write
Update effective immediately
Unit user defined

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ID Px. Parameter Description

112734 Current offset modulo Specifies the currently used offset of the modulo position.
position Access read/−
Update effective immediately
Unit user defined
112735 Counter modulo Counter for the modulo cycles
cycles Access read/−
Update effective immediately
Unit −
112736 Modulo hysteresis Hysteresis for the modulo position for secure detection during a
modulo run
Access read/write
Update effective immediately
Unit user defined
112737 Current modulo hys- Specifies the currently used hysteresis for the modulo position
teresis for secure detection during a modulo run.
Access read/−
Update effective immediately
Unit user defined
Tab. 504 Parameter

Cam controller parameter mode (Px.112700)

Value Meaning Description

0 Inactive The cam controller function is inactive

1 ON (manual) The trigger output is activated when the cam controller
function is activated. The trigger output can therefore
be activated manually for test purposes.
2 OFF (manual) The trigger output is activated when the cam controller
function is deactivated. The trigger output can there-
fore be deactivated manually for test purposes.
3 Force last status The status present at the current point in time remains
permanently.
4 Switch-on time (manual) Activation for the duration of the parameterised
switching time (Px.112707).

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Cam controller parameter mode (Px.112700)

Value Meaning Description

5 Switch-off time (manual) Deactivation for the duration of the parameterised

switching time (Px.112707).
6 Automatic The switching status of the trigger output is controlled
automatically. The switching points depend on the
parameterisation of the individual cams.
7 Set modulo position Sets the modulo position to the value saved in the
Px.112733 parameter.
Tab. 505 Possible modes of the cam controller function
Diagnostic messages
No specific diagnostic messages are allocated to the function.

7.1.2 CiA 402

Cam controller objects

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
112700 0x2192.01 Cam controller mode UINT16
112701 0x2192.03 Cam controller source UINT16
112702 0x2192.05 Upper limit value modulo SINT64
112703 0x2192.07 Lower limit value modulo SINT64
112704 0x2192.09 Inactive time compensation of first switching FLOAT32
point
112705 0x2192.0B Inactive time compensation of second switch- FLOAT32
ing point
112706 0x2192.0D Hysteresis SINT64
112707 0x2192.0F Switching time (manual) FLOAT32
112708 0x226F.01 ... 04 Selection of switching function UINT16
112709 0x2270.01 ... 04 Selection of switching characteristics UINT16
112710 0x2271.01 ... 04 First switching point SINT64
112711 0x2272.01 ... 04 Second switching point SINT64
112712 0x2273.01 ... 04 Switching time (automatic) FLOAT32
112713 0x2192.11 Current cam controller mode UINT16
112714 0x2192.13 Current cam controller source UINT16

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Parameter Index.Subindex Name Data type

112715 0x2192.15 Current upper limit value modulo SINT64

112716 0x2192.17 Current lower limit value modulo SINT64
112717 0x2192.19 Current inactive time first switching point FLOAT32
112718 0x2192.1B Current inactive time second switching point FLOAT32
112719 0x2192.1D Current hysteresis SINT64
112720 0x2192.1F Current switching time (manual) FLOAT32
112721 0x2274.01 ... 04 Current selection of switching function UINT16
112722 0x2275.01 ... 04 Current selection of switching characteristics UINT16
112723 0x2276.01 ... 04 Current first switching point SINT64
112724 0x2277.01 ... 04 Current second switching point SINT64
112725 0x2278.01 ... 04 Current switching time (automatic) FLOAT32
112726 0x2192.21 Modulo position for the logic (ON) SINT64
112727 0x2192.23 Modulo position for the logic (OFF) SINT64
112728 0x2192.25 Cam switch status ON/OFF BOOL
112729 0x2192.27 Status modulo limit reached BOOL
112730 0x2192.29 Status active cam switch UINT8
112732 0x2192.2D Offset modulo position SINT64
112733 0x2192.2F Initialisation of modulo SINT64
112734 0x2192.31 Current offset modulo position SINT64
112735 0x2192.33 Counter modulo cycles UINT32
112736 0x2192.35 Modulo hysteresis SINT64
112737 0x2192.37 Current modulo hysteresis SINT64
Tab. 506 Objects

7.1.3 PROFIdrive
Cam controller PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

112700 11960.0 Cam controller mode Unsigned16
112701 11962.0 Cam controller source Unsigned16
112702 11964.0 Upper limit value modulo Integer64
112703 11966.0 Lower limit value modulo Integer64

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Parameter PNU Name Data type

112704 11968.0 Inactive time compensation of first switching FloatingPoint

point
112705 11970.0 Inactive time compensation of second switch- FloatingPoint
ing point
112706 11972.0 Hysteresis Integer64
112707 11974.0 Switching time (manual) FloatingPoint
112708 11976.0 ... 3 Selection of switching function Unsigned16
112709 11978.0 ... 3 Selection of switching characteristics Unsigned16
112710 11980.0 ... 3 First switching point Integer64
112711 11982.0 ... 3 Second switching point Integer64
112712 11984.0 ... 3 Switching time (automatic) FloatingPoint
112713 11986.0 Current cam controller mode Unsigned16
112714 11988.0 Current cam controller source Unsigned16
112715 11990.0 Current upper limit value modulo Integer64
112716 11992.0 Current lower limit value modulo Integer64
112717 11994.0 Current inactive time first switching point FloatingPoint
112718 11996.0 Current inactive time second switching point FloatingPoint
112719 11998.0 Current hysteresis Integer64
112720 12000.0 Current switching time (manual) FloatingPoint
112721 12002.0 ... 3 Current selection of switching function Unsigned16
112722 12004.0 ... 3 Current selection of switching characteristics Unsigned16
112723 12006.0 ... 3 Current first switching point Integer64
112724 12008.0 ... 3 Current second switching point Integer64
112725 12010.0 ... 3 Current switching time (automatic) FloatingPoint
112726 12012.0 Modulo position for the logic (ON) Integer64
112727 12014.0 Modulo position for the logic (OFF) Integer64
112728 12016.0 Cam switch status ON/OFF Boolean
112729 12018.0 Status modulo limit reached Boolean
112730 12020.0 Status active cam switch Unsigned8
112732 12024.0 Offset modulo position Integer64
112733 12026.0 Initialisation of modulo Integer64
112734 12028.0 Current offset modulo position Integer64

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Parameter PNU Name Data type

112735 12030.0 Counter modulo cycles Unsigned32

112736 12032.0 Modulo hysteresis Integer64
112737 12034.0 Current modulo hysteresis Integer64
Tab. 507 PNUs

7.2 Position detection (touch probe)

7.2.1 Function
The device enables the exact detection of current positions during the processing of commands. In the
process, the position detection function is triggered by the trigger signals at a trigger input (CAP
input). For this purpose, the corresponding input must be activated for the touch probe function. The
signal edge of the trigger event is parameterisable (edge). The typical internal signal runtimes of the
trigger signals are compensated by the firmware of the device. The positions can therefore be detec-
ted with high precision.
The source (Source ...) of the positions can be selected (e.g. primary encoder). The modulo limit val-
ues can be freely parameterised within the positioning range (+Mod/–Mod).
The touch probe function provides various modes
è Tab. 511 Possible modes of the touch probe function. The position detection can take place once or
cyclically, for example. Within the modulo range, the range in which trigger signals shall be accepted
can also be limited (+LIM/–LIM).
The detected position and detection time are saved in one parameter each (X_out, T_out). The para-
meters can be evaluated during the record selection mode and read out through the device provide is
necessary.
If a CiA 402 specific mode is executed, the acquired position is provided without module over-calcula-
tion (mode 8 or 9, current value of source è Tab. 511 Possible modes of the touch probe function).

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Mode
Enable

& CAP
+Mod
Select
Edge –LIM

Source ...
DONE
Source ...

+LIM
–Mod
x_out

t_out

Fig. 98 Touch probe block diagram

Name Description ID Px.

Source ... Source of the position, e.g. primary encoder, sec- –

ondary encoder; the possible sources depend on
the device design
Mode Touch probe mode 113000
Select Touch probe source 113001
+Mod Upper limit value modulo 113003
–Mod Lower limit value modulo 113004
Enable Activation/deactivation of the touch probe func- –

tion using the record table or device profile

Edge Selection trigger event 113002
CAP Trigger input CAPx –

–LIM Lower limit value trigger event 113005

+LIM Upper limit value trigger event 113006
DONE Trigger event initiated 113016
x_out Touch probe position 113014
t_out Time stamp touch probe position 113015
Tab. 508 Legend for the touch probe block diagram (example)

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Timing
The timing diagram shows an example of position detection in mode 2 (once with window). Trigger
signals outside of the window are not accepted.

Fig. 99 Touch probe timing diagram (example of “Once with window” touch probe mode)

Name Description ID Px.

+LIM Upper limit value trigger event 113006

–LIM Lower limit value trigger event 113005
X_out Touch probe position 113014

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Name Description ID Px.

Enable Activation/deactivation of the touch probe function using –

the record table or device profile

CAP Trigger input CAPx –

DONE Trigger event initiated 113016

MODE 2, 4 Touch probe mode, modus 2 or mode 4 (with window) 113000
Tab. 509 Legend for the touch probe timing (example) figure
Parameter
The parameters of the available trigger outputs are organised into various instances:
– Instance 0: trigger input CAP0
– Instance ...: trigger input CAP... (depending on the product design)
The touch probe function can be activated using the record table. Through this activation, the para-
meterised values (Px.113000 through Px.113006) are assumed as currently value parameters
(Px.113007 … Px.113013).

ID Px. Parameter Description

113000 Touch probe mode Determines the mode of the touch probe function. The specified
mode is effective on activation of the touch probe function.
For detailed information
è Tab. 511 Possible modes of the touch probe function.

Access read/write
Update effective immediately
Unit −
113001 Touch probe source Determines the source of the measured values.
This means:
– 0: primary encoder
– 1: secondary encoder (device-specific)
– 2: ... (depending on the product design)
Access read/write
Update effective immediately
Unit −
113002 Selection trigger Determines the type of signal edge with which the measurement
event shall be triggered.
This means:
– 0: inactive
– 1: positive edge
– 2: negative edge
– 3: positive or negative edge

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ID Px. Parameter Description

113002 Selection trigger Access read/write

event Update effective immediately
Unit −
113003 Upper limit value Determines the upper limit value for the modulo calculation.
modulo When the upper limit value is exceeded, the position jumps to
the lower limit value.
Access read/write
Update effective immediately
Unit user defined
113004 Lower limit value Determines the lower limit value for the modulo calculation.
modulo When the lower limit value is undershot, the position jumps to
the upper limit value.
Access read/write
Update effective immediately
Unit user defined
113005 Lower limit value trig- Determines the lower limit for trigger signals within the modulo
ger event range. Trigger signals at positions below the limit are ignored.
Only relevant in the following modes: once with window and
cyclic with window
Access read/write
Update effective immediately
Unit user defined
113006 Upper limit value trig- Determines the upper limit for trigger signals within the modulo
ger event range. Trigger signals at positions above the limit are ignored.
Only relevant in the following modes: once with window and
cyclic with window
Access read/write
Update effective immediately
Unit user defined
113007 Current touch probe Specifies the current mode of the touch probe function.
mode Possible modes
è Tab. 511 Possible modes of the touch probe function.

Access read/−
Update effective immediately

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ID Px. Parameter Description

113007 Current touch probe Unit −

mode
113008 Current touch probe Specifies the current sources of the measured values.
source This means:
– 0: primary encoder (commutation encoder)
– 1: secondary encoder
– 2: ... (depending on the product design)
Access read/−
Update effective immediately
Unit −
113009 Current selection trig- Specifies the currently defined signal edge of the trigger event.
ger event This means:
– 0: inactive
– 1: positive edge
– 2: negative edge 3: positive or negative edge
Access read/−
Update effective immediately
Unit −
113010 Current upper limit Specifies the currently determined upper limit value for the
value modulo modulo calculation.
Access read/−
Update effective immediately
Unit user defined
113011 Current lower limit Specifies the currently determined lower limit value for the mod-
value modulo ulo calculation.
Access read/−
Update effective immediately
Unit user defined
113012 Current lower limit Specifies the lower limit for trigger signals within the modulo
value trigger event range. Trigger signals at positions below the limit are ignored.
Access read/−
Update effective immediately
Unit user defined

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ID Px. Parameter Description

113013 Current upper limit Specifies the upper limit for trigger signals within the modulo
value trigger event range. Trigger signals at positions above the limit are ignored.
Access read/−
Update effective immediately
Unit user defined
113014 Touch probe position Specifies the position of the last measurement.
Access read/−
Update effective immediately
Unit user defined
113015 Time stamp touch Specifies the time of the last measurement based on the system
probe position time of the device.
Access read/−
Update effective immediately
Unit −
113016 Trigger event initiated Indicates whether the trigger signal was triggered within the
specified range. With cyclic acquisition, the signal is set up to
the transition of the modulo limit and is reset at the transition.
This means:
– 0: no valid trigger signal
– 1: valid trigger signal was triggered
Access read/−
Update effective immediately
Unit −
113017 Trigger event NOT ini- Specifies whether a trigger signal has been triggered within the
tiated defined range if the module limit is exceeded. 1 means that the
trigger signal has not been triggered
Access read/−
Update effective immediately
Unit −
113018 Trigger events Specifies the number of valid measurements. The parameter
counter triggered value increases at every valid measurement.
Access read/−
Update effective immediately
Unit −

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ID Px. Parameter Description

113019 Trigger events Specifies the number of invalid measurements. The parameter
counter NOT triggered value increases at every invalid measurement.
Access read/−
Update effective immediately
Unit −
113020 Counter modulo Specifies how often the modulo limits have been exceeded.
cycles Access read/−
Update effective immediately
Unit −
113021 Status touch probe Specifies the status of the CAPx input.
input This means:
– 0: low level
– 1: high level
Access read/−
Update effective immediately
Unit −
113022 Status modulo limit Flag that indicates that modulo limits have been exceeded. The
reached signal duration amounts to 1 ms.
Access read/−
Update effective immediately
Unit −
113023 Modulo position Modulo of the reference position
Access read/−
Update effective immediately
Unit user defined
113024 Offset modulo posi- Offset of the modulo position
tion Access read/write
Update effective immediately
Unit user defined
113025 Initialisation of mod- Default value for the reference position
ulo Access read/write
Update effective immediately
Unit user defined

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ID Px. Parameter Description

113026 Current offset modulo Specifies the currently used offset of the modulo position.
position Access read/−
Update effective immediately
Unit user defined
113027 Time stamp touch Time stamp for the last recorded touch probe position positive
probe position posit- edge CiA402
ive CiA402 Access read/−
Update effective immediately
Unit −
113028 Time stamp touch Time stamp for the last recorded touch probe position negative
probe position negat- edge CiA402
ive CiA402 Access read/−
Update effective immediately
Unit −
113029 Touch probe position Position detected by touch probe positive edge CiA402. The cap-
positive CiA402 tured position refers to the current value of the source without
considering the modulo setting.
Access read/−
Update effective immediately
Unit user defined
113030 Touch probe position Position detected by touch probe negative edge CiA402. The
negative CiA402 captured position refers to the current value of the source
without considering the modulo setting.
Access read/−
Update effective immediately
Unit user defined
113031 Counter initiated trig- Counter of initiated trigger events for the positive edge CiA402
ger events positive Access read/−
edge CiA402
Update effective immediately
Unit −

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ID Px. Parameter Description

113032 Counter initiated trig- Counter of initiated trigger events for the negative edge CiA402
ger events negative Access read/−
edge CiA402
Update effective immediately
Unit −
113033 Touch probe status Touch probe status CiA402
CiA402 Access read/−
Update effective immediately
Unit −
113034 Modulo hysteresis Hysteresis for the modulo position for secure detection during a
modulo run
Access read/write
Update effective immediately
Unit user defined
113035 Current modulo hys- Specifies the currently used hysteresis for the modulo position
teresis for secure detection during a modulo run.
Access read/−
Update effective immediately
Unit user defined
113036 Delay time Specifies the delay time during which the digital input signal is
delayed
Access read/write
Update effective immediately
Unit s
113037 Current delay time Specifies the currently used delay time during which the digital
input signal is delayed
Access read/−
Update effective immediately
Unit s
Tab. 510 Parameter

Parameters of the touch probe mode (Px.113000 and Px.113007)

Value Mode Description

0 Inactive The position detection is inactive.

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Parameters of the touch probe mode (Px.113000 and Px.113007)

Value Mode Description

1 Once One-time position detection without limiting the trig-

ger range; after the measurement has been performed,
the function is deactivated automatically.
2 Once with window One-time position detection with limitation of the trig-
ger range; trigger signals outside of the window are
ignored. After the measurement has been performed,
the function is deactivated automatically.
3 Cyclic Cyclic position detection: the next time a valid trigger
signal is received, the current measured value is over-
written. The position value is always overwritten cyclic-
ally. The validity can be evaluated through Px.113016.
4 Cyclic with window Cyclic position detection with limitation to one win-
dow: the next time a valid trigger signal is received, the
current measured value is overwritten.
7 Preset position Setting of the modulo position
8 Once (CiA 402) Behaviour as in mode 1, but differentiation of the res-
ult according to the trigger event (separate parameters
for positive and negative trigger edge). The captured
position refers to the current value of the source
without considering the modulo setting.
9 Cyclic (CiA 402) Behaviour as in mode 3, but differentiation of the res-
ult according to the trigger event (separate parameters
for positive and negative trigger edge). The captured
position refers to the current value of the source
without considering the modulo setting.
Tab. 511 Possible modes of the touch probe function
Lower and upper limit value of trigger event
The valid trigger range depends on the size ratio of both limit values (è Fig.100).

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–LIM < +LIM

+LIM –LIM
+LIM

accepted accepted

–LIM

+LIM < –LIM

accepted
–LIM –LIM +LIM

accepted

+LIM
Fig. 100 Diagram of trigger ranges (example)

Name Description ID Px.

Accepted Valid trigger range –

–LIM Lower limit value trigger event 113005

+LIM Upper limit value trigger event 113006
Tab. 512 Legend for the diagram of trigger ranges (example)
Diagnostic messages
No specific diagnostic messages are allocated to the function.

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7.2.2 CiA 402

Fig. 101 Touch probe timing graph via CiA402

No. Touch probe behaviour

(1) 0x60B8, bit 0 = 1 Enable touch probe 1

0x60B8, bit 1 = 0 Trigger first event (1 = continous)
0x60B8, bit 4, 5 Configure and enable touch probe 1 positive and negative edge
(2) à 0x60B9, bit 0 = 1 Status "Touch probe 1 enabled" is set
(3) External touch probe signal has positive edge
(4) à 0x60B9, bit 1 = 1 Status "Touch probe 1 positve edge stored" is set
(4a) à 0x60BA Touch probe position 1 positive value is stored
(5) External touch probe signal has negative edge

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No. Touch probe behaviour

(6) à 0x60B9, bit 2 = 1 Status "Touch probe 1 negative edge stored" is set
(6a) à 0x60BB Touch probe position 1 negative value is stored
(7) 0x60B8, bit 4 = 0 Sample positive edge is disabled
(8) à 0x60B9, bit 0 = 0 Status "Touch probe 1 positve edge stored" is reset
(8a) 0x60BA Touch probe position 1 positive value is not changed
(9) 0x60B8, bit 4 = 1 Sample positive edge is enabled
(10) à 0x60BA Touch probe position 1 positive value is not changed
(11) External touch probe signal has positive edge
(12) à 0x60B9, bit 1 = 1 Status "Touch probe 1 positve edge stored" is set
(12a) à 0x60BA Touch probe position 1 positive value is stored
(13) 0x60B8, bit 0 = 0 Touch probe 1 is disabled
(14) à0x60B9, bit 0, 1, Status bits are reset
2=0
(14a) à 0x60BA, 0x60BB Touch probe position 1 positive/negative value are not changed
Tab. 513 Legend for touch probe timing graph via CiA402
For objects 0x60B8 and 0x60B9, the second instance starts with bit 8 (e. g. 0x60B8: bit 8 = 1; Enable
touch probe 2; bit 9 = 0; Trigger first event).
Object 0x60B8
Object 0x60B8 enables the configuration of the Touch Probe function.

Bit Value Description

0 0 Switch 0 off touch probe 1

1 Enable touch probe 1
1 0 Trigger first event
1 continous
3, 2 00 Trigger with touch probe 1 input (fix)
4 0 Switch off sampling at positive edge of touch probe 1
1 Enable sampling at positive edge of touch probe 1
5 0 Switch off sampling at negative edge of touch probe 1
1 Enable sampling at negative edge of touch probe 1
6, 7 – reserved
8 0 Switch off touch probe 2
1 Enable touch probe 2

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Bit Value Description

9 0 Trigger first event

1 continous
11, 10 00 Trigger with touch probe 2 input (fix)
12 0 Switch off sampling at positive edge of touch probe 2
1 Enable sampling at positive edge of touch probe 2
13 0 Switch off sampling at negative edge of touch probe 2
1 Enable sampling at negative edge of touch probe 2
14, 15 – reserved
Tab. 514 Value definition of the object 0x60B8
Object 0x60B9
Object 0x60B9 returns the status of the Touch Probe function.

Bit Value Description

0 0 Touch probe 1 is switched off

1 Touch probe 1 is enabled
1 0 Touch probe 1 no positive edge value stored
1 Touch probe 1 positive edge position stored
2 0 Touch probe 1 no negative edge value stored
1 Touch probe 1 negative edge position stored
3 to 7 0 reserved
8 0 Touch probe 2 is Switched off
1 Touch probe 2 is enabled
9 0 Touch probe 2 no positive edge value stored
1 Touch probe 2 positive edge position stored
10 0 Touch probe 2 no negative edge value stored
1 Touch probe 2 negative edge position stored
11 to 15 0 reserved
Tab. 515 Value definition of the object 0x60B9
Position sensing objects

Parameter Index.Subindex Name Data type

Px. CiA402: The factor group is effective.

1128060 0x60B8.00 Touch probe function CiA402 UINT16

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Parameter Index.Subindex Name Data type

1128061 0x60B9.00 Touch probe status as per CiA402 UINT16

113027 0x60D1.00 Time stamp touch probe position positive UINT32
CiA402
113028 0x60D2.00 Time stamp touch probe position negative UINT32
CiA402
113029 0x60BA.00 Touch probe position positive CiA402 SINT32
113030 0x60BB.00 Touch probe position negative CiA402 SINT32
113031 0x60D5.00 Counter initiated trigger events positive edge UINT16
CiA402
113032 0x60D6.00 Counter initiated trigger events negative edge UINT16
CiA402
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1128060 0x2195.06 Touch probe function CiA402 UINT16
1128061 0x2195.07 Touch probe status as per CiA402 UINT16
113000 0x2193.01 Touch probe mode UINT16
113001 0x2193.03 Touch probe source UINT16
113002 0x2193.05 Selection trigger event UINT16
113003 0x2193.07 Upper limit value modulo SINT64
113004 0x2193.09 Lower limit value modulo SINT64
113005 0x2193.0B Lower limit value trigger event SINT64
113006 0x2193.0D Upper limit value trigger event SINT64
113007 0x2193.0F Current touch probe mode UINT16
113008 0x2193.11 Current touch probe source UINT16
113009 0x2193.13 Current selection trigger event UINT16
113010 0x2193.15 Current upper limit value modulo SINT64
113011 0x2193.17 Current lower limit value modulo SINT64
113012 0x2193.19 Current lower limit value trigger event SINT64
113013 0x2193.1B Current upper limit value trigger event SINT64
113014 0x2193.1D Touch probe position SINT64
113015 0x2193.1F Time stamp touch probe position UINT64
113016 0x2193.21 Trigger event initiated BOOL
113017 0x2193.23 Trigger event NOT initiated BOOL

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Parameter Index.Subindex Name Data type

113018 0x2193.25 Trigger events counter triggered UINT32

113019 0x2193.27 Trigger events counter NOT triggered UINT32
113020 0x2193.29 Counter modulo cycles UINT32
113021 0x2193.2B Status touch probe input BOOL
113022 0x2193.2D Status modulo limit reached BOOL
113023 0x2193.2F Modulo position SINT64
113024 0x2193.31 Offset modulo position SINT64
113025 0x2193.33 Initialisation of modulo SINT64
113026 0x2193.35 Current offset modulo position SINT64
113027 0x2193.37 Time stamp touch probe position positive UINT64
CiA402
113028 0x2193.39 Time stamp touch probe position negative UINT64
CiA402
113029 0x2193.3B Touch probe position positive CiA402 SINT64
113030 0x2193.3D Touch probe position negative CiA402 SINT64
113031 0x2193.3F Counter initiated trigger events positive edge UINT32
CiA402
113032 0x2193.41 Counter initiated trigger events negative edge UINT32
CiA402
113033 0x2193.43 Touch probe status CiA402 UINT16
113034 0x2193.45 Modulo hysteresis SINT64
113035 0x2193.47 Current modulo hysteresis SINT64
113036 0x2193.49 Delay time FLOAT32
113037 0x2193.4B Current delay time FLOAT32
Tab. 516 Objects

7.2.3 PROFIdrive
Position sensing PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

113000 12037.0 Touch probe mode Unsigned16
113001 12039.0 Touch probe source Unsigned16
113002 12041.0 Selection trigger event Unsigned16

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Parameters PNU Name Data type

113003 12043.0 Upper limit value modulo Integer64

113004 12045.0 Lower limit value modulo Integer64
113005 12047.0 Lower limit value trigger event Integer64
113006 12049.0 Upper limit value trigger event Integer64
113007 12051.0 Current touch probe mode Unsigned16
113008 12053.0 Current touch probe source Unsigned16
113009 12055.0 Current selection trigger event Unsigned16
113010 12057.0 Current upper limit value modulo Integer64
113011 12059.0 Current lower limit value modulo Integer64
113012 12061.0 Current lower limit value trigger event Integer64
113013 12063.0 Current upper limit value trigger event Integer64
113014 12065.0 Touch probe position Integer64
113015 12067.0 Time stamp touch probe position Unsigned64
113016 12069.0 Trigger event initiated Boolean
113017 12071.0 Trigger event NOT initiated Boolean
113018 12073.0 Trigger events counter triggered Unsigned32
113019 12075.0 Trigger events counter NOT triggered Unsigned32
113020 12077.0 Counter modulo cycles Unsigned32
113021 12079.0 Status touch probe input Boolean
113022 12081.0 Status modulo limit reached Boolean
113023 12083.0 Modulo position Integer64
113024 12085.0 Offset modulo position Integer64
113025 12087.0 Initialisation of modulo Integer64
113026 12089.0 Current offset modulo position Integer64
113027 12091.0 Time stamp touch probe position positive Unsigned64
CiA402
113028 12093.0 Time stamp touch probe position negative Unsigned64
CiA402
113029 12095.0 Touch probe position positive CiA402 Integer64
113030 12097.0 Touch probe position negative CiA402 Integer64
113031 12099.0 Counter initiated trigger events positive edge Unsigned32
CiA402

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Parameters PNU Name Data type

113032 12101.0 Counter initiated trigger events negative edge Unsigned32

CiA402
113033 12103.0 Touch probe status CiA402 Unsigned16
113034 12105.0 Modulo hysteresis Integer64
113035 12107.0 Current modulo hysteresis Integer64
113036 12109.0 Delay time FloatingPoint
113037 12111.0 Current delay time FloatingPoint
Tab. 517 PNUs

7.3 Open-loop operation

Function
In open-loop operation the motor is actuated with constant currents. This type of actuation is particu-
larly suited for reduction of vibration at low rotational speeds. In closed-loop operation the servo drive
controls the motor current (closed loop) and tries to compensate for deviations as closely as possible
depending on the closed-loop parameterisation.
Open-loop operation is possible with and without an encoder. If an encoder is used, the device can
switch automatically between closed-loop operation and open-loop operation. If closed-loop opera-
tion is requested without the presence of a valid commutation angle in the current data record, an
error message is output. The following modes of open-loop operation are supported:

Modes Description

Open-loop opera- The motor is actuated with constant currents only.

tion without If functions require an encoder or closed-loop operation, they are rejected with
encoder an error message. Deviations cannot be detected.
– Motion monitoring functions are inactive.
– Force mode is not supported.
– Homing methods that require an encoder are not supported (homing meth-
ods with zero pulse detection).
– Homing methods that require force mode are not supported (homing meth-
ods with stop detection).
Open-loop opera- The motor is operated in open-loop or closed-loop operation with constant cur-
tion with encoder rents depending on the function call. Deviations can be detected.
– Motion monitoring functions are supported as configured.
– If functions require closed-loop operation, they are automatically run in
closed-loop operation. If force mode is requested, it is automatically run in
closed-loop operation.
– All homing methods can be triggered. Homing methods with stop detection
are automatically run in closed-loop operation.

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Modes Description

Automatic opera- If the velocity falls below the parameterised target velocity, the servo drive
tion automatically switches to open-loop operation. If the parameterised target velo-
city is exceeded, the servo drive switches back to closed-loop operation. Motion
monitoring functions are supported as configured.
– Motion monitoring functions are supported as configured.
– If functions require closed-loop operation, they are automatically run in
closed-loop operation. If force mode is requested, it is automatically run in
closed-loop operation.
Tab. 518 Modes of open-loop operation
Parameters and diagnostic messages
The desired operating mode can be specified with the Px.4005 parameter. If open-loop operation
without encoder is required even though the motor has an encoder, the parameter Px.4001.0.0 (pure
Open-Loop) must be activated and the commutation-angle detection set to deactivated (Px.668.0.0).
The holding current of the motor can be reduced in open-loop operation after standstill detection. The
current reduction can be switched on and off with the Px.4026 parameter. The deceleration time and
the magnitude of the current reduction can be specified by parameterisation.

ID Px. Parameters Description

270 Setpoint value react- Setpoint value of the reactive current

ive current Access read/write
Update effective immediately
Unit Arms
662 Time current increase Determines the time duration of the current rise ramp for the
commutation-angle detection.
Access read/write
Update effective immediately
Unit s
4001 Activation of open Activates the open loop operation
loop operation Access read/write
Update reinitialization
Unit −
4004 Active control struc- Displays the active control structure
ture Access read/−
Update effective immediately
Unit −

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ID Px. Parameters Description

4005 Selection of mode of Specifies the mode of operation for the open loop or closed loop
operation open operation used when starting the device.
loop/closed loop Access read/write
Update effective immediately
Unit −
4006 Selection of mode of Specifies the mode of operation for the open-loop or closed-
operation loop operation.
This means:
0: Automatic operation
1: Open loop operation
2: closed loop operation
Access read/write
Update effective immediately
Unit −
4007 Active mode of opera- Displays the active mode of operation for the open-loop or
tion closed-loop operation
This means:
0: Automatic operation
1: Open loop operation
2: closed loop operation
Access read/−
Update effective immediately
Unit −
4008 Velocity switching Specifies the switching threshold from which velocity can be
threshold automatically switched from open-loop operation to closed-loop
operation.
Access read/write
Update effective immediately
Unit user defined
4010 Current rise time Specifies the time with which mode of operation is open loop
and switched to closed-loop in automatic mode.
Access read/write
Update effective immediately
Unit s

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ID Px. Parameters Description

4026 Current reduction Activates the current reduction after detection of standstill
activation Access read/write
Update effective immediately
Unit −
4027 Current reduction Specifies the delay time with which current reduction is effective
delay time after reaching standstill detection.
Access read/write
Update effective immediately
Unit s
4028 Current reduction Specifies the scaling factor for current reduction based on the
scaling factor nominal current
Access read/write
Update effective immediately
Unit −
6694 Factor current set- Defines the factor for the current setpoint used for the commut-
point value ation angle determination.
Access read/write
Update effective immediately
Unit −
Tab. 519 Parameters

ID Dx. Name Description

06 | 02 | 00273 Change of control structure not The change of the control structure is not per-
(100794641) permissible missible
06 | 02 | 00274 Motion command not permissible The motion command is not permissible in
(100794642) controlled operation
06 | 02 | 00275 Change to closed loop operation Change to closed loop operation not permiss-
(100794643) not permissible ible because the commutation angle is not
valid
Tab. 520 Diagnostic messages

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7.3.1 CiA 402

Open-loop operation objects

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
270 0x219C.02 Setpoint value reactive current FLOAT32
662 0x219C.03 Time current increase FLOAT32
4001 0x219C.04 Activation of open loop operation BOOL
4004 0x219C.07 Active control structure UINT32
4005 0x219C.08 Selection of mode of operation open UINT32
loop/closed loop
4006 0x219C.09 Selection of mode of operation UINT32
4007 0x219C.0A Active mode of operation UINT32
4008 0x219C.0B Velocity switching threshold FLOAT32
4010 0x219C.0D Current rise time FLOAT32
4026 0x219C.15 Current reduction activation BOOL
4027 0x219C.16 Current reduction delay time FLOAT32
4028 0x219C.17 Current reduction scaling factor FLOAT32
6694 0x219C.14 Factor current setpoint value FLOAT32
Tab. 521 Objects

7.3.2 PROFIdrive
Open-loop operation PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

270 11094.0 Setpoint value reactive current FloatingPoint
662 11179.0 Time current increase FloatingPoint
4001 11542.0 Activation of open loop operation Boolean
4004 11545.0 Active control structure Unsigned32
4005 11546.0 Selection of mode of operation open Unsigned32
loop/closed loop
4006 11547.0 Selection of mode of operation Unsigned32
4007 11548.0 Active mode of operation Unsigned32

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Parameters PNU Name Data type

4008 11549.0 Velocity switching threshold FloatingPoint

4010 11551.0 Current rise time FloatingPoint
4026 11558.0 Current reduction activation Boolean
4027 11559.0 Current reduction delay time FloatingPoint
4028 11560.0 Current reduction scaling factor FloatingPoint
6694 11685.0 Factor current setpoint value FloatingPoint
Tab. 522 PNUs

7.4 Field weakening

Function
Synchronous motors can only be operated at a specific rotational speed. If the induced motor voltage
reaches the level of the DC link voltage, the torque rapidly decreases.
The objective of field weakening is to reach higher rotational speeds. In field weakening the motor
negative field voltage is reduced by a negative reactive current. This enables the motor to be operated
above the nominal rotary speed. The negative reactive current must be limited for some motors.
Parameters and diagnostic messages

ID Px. Parameter Description

102201 Activation of field Specifies whether the field weakening is active or inactive.
weakening Access read/write
Update effective immediately
Unit −
102202 Field weakening Displays whether the field weakening is active or inactive.
status Access read/−
Update effective immediately
Unit −
102203 Field weakening Displays the current reactive current of the field weakening
reactive current Access read/−
Update effective immediately
Unit Arms

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ID Px. Parameter Description

102207 Current maximum Specifies the currently available maximum reactive current.
reactive current Access read/−
Update effective immediately
Unit Arms
Tab. 523 Parameter

7.4.1 CiA 402

Field weakening objects

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
102201 0x219F.01 Activation of field weakening BOOL
102202 0x219F.02 Field weakening status BOOL
102203 0x219F.03 Field weakening reactive current FLOAT32
102207 0x219F.07 Current maximum reactive current FLOAT32
Tab. 524 Objects

7.4.2 PROFIdrive
Field weakening PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

102201 11949.0 Activation of field weakening Boolean
102202 11950.0 Field weakening status Boolean
102203 11951.0 Field weakening reactive current FloatingPoint
102207 11955.0 Current maximum reactive current FloatingPoint
Tab. 525 PNUs

8 Safety signals
8.1 Function
The device continuously monitors the plausibility of its own feedback signals for the STO safety sub-
function. The monitoring checks that the feedback signals are available within the tolerance period for
triggering the safety sub-function. If the monitoring detects a fault, a message is triggered and the
parametrised fault response is initiated. The following feedback signals are monitored:

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Feedback signal Safety sub-function Control ports

STA STO (safe torque off acknow- #STO-A, #STO-B

ledge)
Tab. 526 Feedback signals for safety sub-functions

Detailed information on the safety sub-functions of the product can be found in the Description Safety
sub-function è 1.1 Applicable documents.

The status of the feedback signal for the STO safety sub-function can be functionally monitored by
parameters.
Parameters and diagnostic messages

ID Px. Parameters Description

950 SFB error status Shows what feedback signal was not received on time in case of
fault. The following allocation applies:
Bit 0: STA feedback signal
This means:
– 0: no fault
– 1: fault in time monitoring
All other bits have the value 0.
Access read/−
Update effective immediately
Unit –

951 Feedback signals Shows the status of the feedback signals.

The following allocation applies:
Signals as they are pending at the pin
Bit 0: STA feedback signal
Signals are filtering
Bit 16: STA feedback signal
This means:
– 0: low signal
– 1: high signal
Access read/−
Update effective immediately
Unit –

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ID Px. Parameters Description

952 STA hysteresis time Shows the tolerance time for the STA feedback signal.
Access read/−
Update effective immediately
Unit s
Tab. 527 Parameters

ID Dx. Name Description

09 | 00 | 00146 Safety function requested Safety function requested

(150995090)
09 | 00 | 00147 Plausibility check of safety feed- Error during plausibility check of safety feed-
(150995091) back signals back signals
09 | 01 | 00148 STO: Discrepancy time exceeded Discrepancy time for #STO-A/B exceeded
(151060628)
09 | 01 | 00149 Plausibility check #STO-A/B Plausibility check of #STO-A/B input
(151060629)
09 | 01 | 00150 Sequence monitoring #STO-A/B Sequence monitoring, #STO-A/B inputs
(151060630)
Tab. 528 Diagnostic messages

8.2 CiA402
Objects

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: saved base unit for the object is effective.
950 0x2178.1 SFB error status UINT32
951 0x2178.2 Feedback signals UINT32
952 0x2178.3 STA hysteresis time FLOAT32
Tab. 529 Objects

9 Diagnostics and Fault Clearance

9.1 Diagnostics options
The servo drive provides comprehensive diagnostics options.
The status LEDs of the device display the current status information.
The web server and the plug-in of the Festo Automation Suite provide access to diagnostic messages
in plain text format.
Fieldbus-specific diagnostic functions are available via the fieldbus.

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The device saves all of the messages in the volatile message directory. The device also has a non-
volatile error memory. Messages, for which the history should be traceable at a later date, are recor-
ded in the error memory. The classification of errors ensures that the response to the error by the
device can be adjusted to individual requirements. The device provides the trace function to analyse
errors and for optimisation purposes. The trace function can, for example, be used to simultaneously
record various measuring data for a diagnostic event.

Diagnostics options Brief description

On-site via LEDs The LEDs, for example, display the following:
– Device status
– Status of the power supply
– Status of the device interfaces
– Status of the safety equipment
For additional information see "Description, assembly and install-
ation" è 1.1 Applicable documents.
Diagnostics via the commission- The plug-in of the Festo Automation Suite, for example, provides
ing software the following functions è 2 CMMT-ST Plug-in:
– Access to the message directory (current messages)
– Access to the error history (message history)
– Error acknowledgment
– Error classification to categorise diagnostic events
– Recording measuring data (trace function)
Diagnostics via web server The web server offers, for example, the following functions
è 10 Web server:
– Access to the message directory (current messages)
– Access to the error history (message history)
– Error acknowledgment
Diagnostics via fieldbus Special diagnostic functions and communication services are
– Request diagnostic status available, depending on the fieldbus used.
– Fieldbus-specific diagnostic
functions
Tab. 530 Diagnostics options

9.2 Classification of Diagnostic Events

If a diagnostic event occurs, the device issues a message and reacts according to the parameterised
severity of the diagnostic event.
The firmware, for example, cyclically monitors the temperature of the power unit in the device. If a lim-
it value is exceeded, the firmware initially triggers the "High temperature in power unit" warning and
then triggers the "Power unit overtemperature" error message when the next limit value is exceeded.
Further reactions to a diagnostic event are dependent on the severity of the diagnostic event. For
many of the messages, the severity of a diagnostic event can be specified within certain limits by para-
meterising the classification.

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The following levels are available:

– Ignore
– Information
– Warning
– Error, stop category 2
– Error, stop category 1
– Error, stop category 0

Classification (level) Severity Reactions

Ignore Diagnostic event of – Generation of the message and entry in the

minor importance message directory; the event has no further
influence.
No entry is added to the error memory as
standard
Tab. 531 Ignore Level

Classification (level) Severity Reactions

Information Diagnostic event with – Generation of the message and entry in the
low degree of severity message directory; the event has no further
influence.
No entry is added to the error memory as
standard
Tab. 532 Information Level

Classification (level) Severity Reactions

Warning Diagnostic event with – Generation of the message and entry in the
medium degree of message directory
severity to inform – The status LED indicates the warning.
about impending error – No change to the operating status
states – No change to the ready signal
– Depending on the configuration, an entry is
added to the error memory.
Tab. 533 Warning Level

Classification (level) Severity Reactions

Error, stop category 2 Diagnostic event with Stop category 2

high degree of severity General error response
and execution of a gen- – Generation of the message and entry in the
eral and a specific error message directory
response – The device switches to the error status.
– Status LED indicates the error (flashing red).

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Classification (level) Severity Reactions

– The normally open contact RDY-C1/2 is

opened (ready = open).
– Depending on the configuration, an entry is
added to the error memory
Specific error response of category 2
– The drive is decelerated using the paramet-
erised stop ramp as soon as the error occurs.
– When the drive has reached velocity 0, the
closed-loop controller maintains the drive at
the position achieved upon completion of
the stop ramp.
Tab. 534 Error Level, Stop Category 2

Classification (level) Severity Reactions

Error, stop category 1 Diagnostic event with Stop category 1

high degree of severity General error response
and execution of a gen- – The same as with stop category 2
eral and a specific error Specific error response of category 1
response – The drive is decelerated using the defined
stop ramp as soon as the error occurs. When
the drive is at a standstill, the brake engages
and the closed-loop controller is switched off
upon expiry of the deceleration delay. The
drive is switched off directly at standstill
without brake.
Tab. 535 Error Level, Stop Category 1

Classification (level) Severity Reactions

Error, stop category 0 Diagnostic event with Stop category 0

high degree of severity General response
and execution of a gen- – The same as with stop category 2
eral and a specific error Specific error response of category 0
response – The output stage is switched off immediately
after the error has occurred. The brake locks
on drives with brake. Without a brake the
drive runs down.
Tab. 536 Error Level, Stop Category 0

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9.3 Diagnostic status

The device determines the diagnostic status from the severity of the active messages. The diagnostic
status is a bit mask that represents the severity of all of the triggered messages in the device. The fol-
lowing can be determined by requesting the diagnostic status:
– If active messages are pending (diagnostic status parameter > 0)
– If errors are pending (diagnostic status parameter ³ 64)
– level of severity (e. g. diagnostic status ³ 4096 corresponds to stop category 0)

Diagnostic status

Bit Value Description Priority

1 2 1 = Ignore Lowest
2 4 1 = Information …

4 16 1 = Warning
Error limit
6 64 1 = Error stop category 2
8 256 1 = Error stop category 1
12 4096 1 = Error stop category 0 Highest
Tab. 537 Diagnostic status
The diagnostic status parameter can be requested via the device profile of the fieldbus being used.
Parameters and diagnostic messages

ID Px. Parameters Description

300 Diagnostic device Diagnostic status of the device

status Access read/−
Update effective immediately
Unit −
112819 Error active Displays whether an error is pending
Access read/−
Update effective immediately
Unit −
Tab. 538 Parameters
Diagnostic messages
No specific diagnostic messages are allocated to the function.

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9.3.1 CiA 402

Diagnostic status objects

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
300 0x210D.01 Diagnostic device status UINT16
112819 0x218E.09 Error active BOOL
Tab. 539 Objects

9.3.2 PROFIdrive
Diagnostic status PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

300 2081.0 Diagnostic device status Unsigned16
112819 12036.0 Error active Boolean
Tab. 540 PNUs

9.4 Servo Drive Messages

9.4.1 Status of messages
Messages can have the following statuses:

Status Description

Active The triggering diagnostic event is still active.

Cancelled The triggering diagnostic event is no longer active. The message was therefore
cancelled internally.
Acknowledged The triggering diagnostic event is no longer active. The message was therefore
cancelled internally. The message was then acknowledged by an external com-
mand or an external signal.
Tab. 541 Status of messages
The messages remain active as long as the diagnostic event is active (e. g. high temperature of power
unit). Once the diagnostic event is no longer active, the message is cancelled by the firmware and can
be acknowledged. The acknowledgement resets the error response of the device again (e. g. LED dis-
play). The device switches to the error status when errors occur. The error status remains active until
all of the errors have been cancelled by the firmware and have then been acknowledged by an external
command or an external signal. The error status is quit again once all of the error messages have been
acknowledged.

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9.4.2 Structure of Messages

All of the messages have the following uniform design:

Characteristics Brief description

ID (message ID) Unique identification of the diagnostic event consisting of:

– System (0) or axis label (1, …)
– Diagnostic number displayed as followed:
– Ungrouped (total number)
– Groupedè Grouping and Overview of the Diagnostic Messages
– Instance (identification of the instance to differentiate between similar
parameters of different components, e.g. position capture 1 and position
capture 2).
Name (message Brief description of the diagnostic event
text)
Status The following message statuses are possible:
– Active (diagnostic event is still active)
– Cancelled (diagnostic event is no longer active)
– Acknowledged (the cancelled message has been acknowledged)
Classification Level:
– Ignore
– Information
– Warning
– Error stop category 0, 1 or 2
Time stamp Time of the occurrence in operating hours
Tab. 542 Structure of Messages
Complete list of all diagnostic messages
è 9.4.6 Diagnostic messages with information for fault clearance.
Grouping and Overview of the Diagnostic Messages
The diagnostic messages are grouped according to their cause.
This grouping is visible in the corresponding overview, e. g. in the plug-in.
– Grouped overview:
D[system or axis identification].[main group | sub-group | error number].[instance]
e. g. "D0.01 | 01 | 00011.0"
– Ungrouped overview:
D[system or axis number].[diagnostic number].[instance]
e. g. "D0.16842763.0"
If the device profile only allows 16 bit, only the unique error number is transferred (e. g. 11).
The diagnostic number of the ungrouped overview is determined from the grouped overview as fol-
lows:

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1. Combine main group, sub-group and error number byte by byte as a hexadecimal 4-byte value:
Main group = byte 4
Sub-group = byte 3
Error number = byte 1 and 2
2. The resultant hexadecimal 4-byte number displayed as a decimal number equals the diagnostic
number in the ungrouped overview.

Main group Sub-group

1 Current 1 Short circuit

2 I²t
2 Voltage 1 Supply
2 Intermediate circuit
3 Principal voltage
4 Encoder supply
3 Temperature 1 Device
2 Output stage
3 Motor
5 Motion 1 Homing
2 Motion Control
6 Configuration/parameterisation 0 No allocation
2 Limit values
5 Parameter set
7 Monitoring 1 Limitations
2 Motion monitoring
3 Limit values
4 Zero angle detection
8 Communication 0 No allocation
4 EtherCAT
9 Safety engineering 0 No allocation
1 STO
10 Internal hardware 1 Module error
11 Software 1 Exception
2 Task
3 File system

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Main group Sub-group

11 Software 4 Firmware update

5 Device configuration
6 LibRTE
7 Warm start
8 Version management
12 Maintenance 1 Operating time
13 Various 1 Diagnostics
2 Auto-tuning
17 Security (data) 1 User login
18 Encoder 0 No allocation
3 Quadrature (incremental encoder)
5 BiSS C
Tab. 543 Grouping of the Diagnostic Messages

9.4.3 Message Directory

All of the messages are stored in the volatile message directory of the device. The sequence of the
entries is determined by the time when they occurred and the severity. The sorting of the message dir-
ectory is as follow:
– Severity in descending order (messages with a higher degree of severity come first)
– Time stamp in ascending order (older messages come first)
The message directory is accessed via the plug-in è menu "Diagnosis", diagnostic panel "Device
state".

9.4.4 Error memory

Messages, for which the history should be traceable at a later date, are recorded in the error memory.
These are usually error messages. The plug-in can be used to determine whether warnings should also
be recorded è 2.5.5. The recording of other select messages can also be set
è 9.4.6 Diagnostic messages with information for fault clearance.
The error memory is designed as a non-volatile ring memory. The relevant messages are written con-
secutively to the ring memory. Whenever the ring memory is full, the oldest message is overwritten
when a new message arrives (FIFO principle).
The error memory can be accessed via:
– The plug-in è 2 CMMT-ST Plug-in
The sequence of the entries is determined by the time when they occurred. The latest message is in
first position of the error memory, ready to be read out.

9.4.5 Acknowledging messages and errors

Acknowledging messages initiates the following:
– All cancelled messages switch to the "acknowledged" status è 9.4.1 Status of messages.

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Diagnostics and Fault Clearance

– All active messages remain active (cannot be acknowledged).

– If acknowledged successfully, the reaction of the corresponding message is retracted (e. g. status
LED off).
– The error status is closed again if all of the errors have been acknowledged successfully.
If messages remain active, the cause must first be eliminated so that they can be cancelled internally.
Only cancelled messages can be acknowledged.

Serious errors cannot be acknowledged. In this case, the error status may be able to be closed by
switching the device on again (power OFF/ON). If the serious error immediately occurs again, please
contact Festo Service team (service required).

Information on troubleshooting è 9.4.6 Diagnostic messages with information for fault clearance.
Messages and errors are acknowledged via:
– The CTRL-EN digital input (trailing edge)
– The device profile of the fieldbus being used
– The plug-in è 2 CMMT-ST Plug-in
– The web server è 10 Web server

Event Cancelled Acknowledge

Error
No Error

Error reaction

Acknowledge signal

Fig. 102 Acknowledgment

Name Description

Error/No error Error/no error

Error reaction Reaction of the device
Acknowledge sig- Signal or command for acknowledgment (for acknowledgment with the digital
nal input CTRL-EN, a trailing edge is required.)
Event Diagnostic event, e. g. error

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Name Description

Cancelled Message cancelled internally

Acknowledge Acknowledgment
Tab. 544 Legend for acknowledgement timing diagram

9.4.6 Diagnostic messages with information for fault clearance

Structure of reference list for the diagnostic messages
The reference list for the diagnostic messages is structured as follows:

ID Dx. Message Description

01 | 02 | 00012 I²t monitoring: I²t monitoring: motor warning limit 3

(16908300) motor warning limit Remedy - Reduce dynamic response of tasks 4

1 2
- Motor/mechanical system blocked or
sluggish?
Classific- Default: Warning (16) 5

ation Can be parameterised: Px.6319 6

Value list:
Warning (16)
Information (4)
Ignore (2)
Error Default: Save (1) 7

memory Can be parameterised: Px.6320 8

Tab. 545 Sample diagnostic message

Cell Content/description
1 Diagnostic number in grouped overview.
Followed by the diagnostic number in brackets in the ungrouped overview.
2 Name of the message
3 Description of the diagnostic event
4 Remedy: Remedial measures
5 Classification: Default error response (factory setting)
6 Specification of whether classification can be parameterised:
– No: Error response cannot be parameterised
– Parameter ID Px... = Error response can be parameterised
Value list: List of error responses that can be parameterised
7 Error memory: Default setting of whether message is added to the error memory

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Cell Content/description
8 Specification of whether addition to the error memory can be parameterised:
– Can be parameterised: No = addition cannot be parameterised
– Parameter ID Px... = Addition can be parameterised
The value list always applies:
– Do not save (0)
– Save (1)
Tab. 546 Legend for sample diagnostic message
The following reference list for the diagnostic messages is sorted by the ID in the grouped overview.

ID Dx. Message Description

01 | 01 | 00010 Short circuit motor Short circuit motor phases/braking resistor

(16842762) phases/braking res- Remedy – Check wiring and repair short circuit
istor
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
01 | 01 | 00011 Over-current monitor- Error on over-current monitoring
(16842763) ing Remedy – Check STO wiring and reference switch
– Is there too much current there (short cir-
cuit?)
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
01 | 02 | 00012 I²t monitoring: motor I²t monitoring: motor warning limit
(16908300) warning limit Remedy – Reduce dynamic response of tasks
– Motor/mechanical system blocked or
sluggish?
Classifica- Default: ignore (2)
tion Can be parameterised: Px.6319, value list:
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.6320

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ID Dx. Message Description

01 | 02 | 00013 I²t monitoring: motor I²t monitoring: motor error limit

(16908301) error limit Remedy – Motor/mechanical system blocked or
sluggish?
– Motor undersized?
– Check performance rating of drive pack-
age
Classifica- Default: ignore (2)
tion Can be parameterised: Px.6321, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.6322
01 | 02 | 00014 I²t monitoring: output I²t monitoring: output stage warning limit
(16908302) stage warning limit Remedy – Reduce dynamic response of tasks
– Motor/mechanical system blocked or
sluggish?
Classifica- Default: ignore (2)
tion Can be parameterised: Px.6323, value list:
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.6324
01 | 02 | 00015 I²t monitoring: output I²t monitoring: output stage error limit
(16908303) stage error limit Remedy – Motor/mechanical system blocked or
sluggish?
– Motor undersized?
– Check performance rating of drive pack-
age
Classifica- Default: ignore (2)

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ID Dx. Message Description

01 | 02 | 00015 I²t monitoring: output tion Can be parameterised: Px.6325, value list:
(16908303) stage error limit Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.6326

01 | 02 | 00016 I²t monitoring: output I²t monitoring: output stage in standstill warning limit
(16908304) stage v0 warning limit Remedy – Reduce target current/setpoint torque
– Reduce standstill time
– Allow minimal movement >5 Hz electrical
rotational frequency
Classifica- Default: ignore (2)
tion Can be parameterised: Px.6327, value list:
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.6328
01 | 02 | 00017 I²t monitoring: output I²t monitoring: output stage in standstill error limit
(16908305) stage v0 error limit Remedy – Reduce target current/setpoint torque
– Reduce standstill time
– Allow minimal movement >5 Hz electrical
rotational frequency
Classifica- Default: ignore (2)
tion Can be parameterised: Px.6329, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.6330

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ID Dx. Message Description

01 | 02 | 00018 Parameterisation: I²t Parameterisation: I²t monitoring of motor invalid

(16908306) monitoring of motor Remedy – Check parameterisation for I²t critical limit
invalid – Nominal and maximum current of motor
plausible?
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
01 | 02 | 00258 I²T monitoring: motor I²T monitoring: motor model warning limit
(16908546) model warning limit Remedy – Reduce dynamic response of tasks
– Motor/mechanical system blocked or
sluggish?
Classifica- Default: Warning (16)
tion Can be parameterised: Px.63019, value list:
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.63020
01 | 02 | 00259 I²t monitoring: motor I²t monitoring: motor model error limit
(16908547) model error limit Remedy – Motor/mechanical system blocked or
sluggish?
– Motor undersized?
– Check performance rating of drive pack-
age
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.63021, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.63022

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ID Dx. Message Description

02 | 01 | 00022 Undervoltage in logic Undervoltage in logic supply 24V

(33619990) supply 24V Remedy – Check the power supply (logic)
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
02 | 01 | 00023 Overvoltage in logic Overvoltage in logic supply 24V
(33619991) supply 24V Remedy – Check the power supply (logic)
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
02 | 01 | 00024 Undervoltage in logic Undervoltage in logic supply 5V internal
(33619992) supply 5V Remedy – Checking the power supply
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
02 | 01 | 00025 Overvoltage in logic Overvoltage in logic supply 5V internal
(33619993) supply 5V Remedy – Checking the power supply
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
02 | 01 | 00026 Undervoltage in logic Undervoltage in logic supply 3.3V internal
(33619994) supply 3.3V Remedy – Checking the power supply
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

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ID Dx. Message Description

02 | 01 | 00027 Overvoltage in logic Overvoltage in logic supply 3.3V internal

(33619995) supply 3.3V internal Remedy – Checking the power supply
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
02 | 02 | 00030 Overvoltage in DC link Overvoltage in DC link
(33685534) Remedy – Check sizing of braking resistor
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
02 | 02 | 00031 Undervoltage in DC Undervoltage in DC link
(33685535) link Remedy – Check power supply
– Couple intermediate circuits where tech-
nically possible
– Check DC link voltage (measure)
– Check undervoltage monitor (threshold
value)
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.487, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.488
02 | 02 | 00032 DC link warning DC link warning threshold reached
(33685536) threshold reached Remedy – none (info only)
Classifica- Default: Warning (16)

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ID Dx. Message Description

02 | 02 | 00032 DC link warning tion Can be parameterised: Px.489, value list:

(33685536) threshold reached Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.4890

02 | 03 | 00038 Undervoltage in Undervoltage in mains voltage

(33751078) mains voltage Remedy – Checking the power supply
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.519, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.5180
02 | 03 | 00039 Overvoltage in mains Overvoltage in mains voltage
(33751079) voltage Remedy – Checking the power supply
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
02 | 03 | 00251 The critical limit for The limit value for the energy recovery has been exceeded
(33751291) the energy recovery Remedy – Checking the power supply
has been exceeded
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

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ID Dx. Message Description

03 | 01 | 00044 Warning threshold: Warning threshold: Temperature in device too low

(50397228) Temperature in device Remedy – Check ambient conditions
too low
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.933
03 | 01 | 00045 Temperature in device Temperature in device too low
(50397229) too low Remedy – Check ambient conditions
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
03 | 01 | 00046 Warning threshold: Warning threshold: Device overtemperature
(50397230) Device overtemperat- Remedy – Temperature display plausible?
ure – Device fan defective?
– Device overloaded?
– Check installation conditions; control cab-
inet fan filter dirty?
– Check drive layout (possible overloading
during continuous operation)
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.937
03 | 01 | 00047 Device overtemperat- Device overtemperature
(50397231) ure Remedy – Temperature display plausible?
– Device fan defective?
– Device overloaded?
– Check installation conditions; control cab-
inet fan filter dirty?
– Check drive layout (possible overloading
during continuous operation)
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No

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ID Dx. Message Description

03 | 01 | 00047 Device overtemperat- Error Default: save (1)

(50397231) ure memory Can be parameterised: No

03 | 02 | 00048 Warning threshold: Warning threshold: Temperature in power unit too low
(50462768) Temperature in power Remedy – Check ambient conditions
unit too low
Classifica- Default: Warning (16)
tion Can be parameterised: Px.922, value list:
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.923
03 | 02 | 00049 Temperature in power Temperature in output stage too low
(50462769) unit too low Remedy – Check ambient conditions
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
03 | 02 | 00050 Warning threshold: Warning threshold: Power unit overtemperature
(50462770) Power unit overtem- Remedy – Temperature display plausible?
perature – Device fan defective?
– Device overloaded?
– Check installation conditions; control cab-
inet fan filter dirty?
– Check drive layout (possible overloading
during continuous operation)
Classifica- Default: Warning (16)
tion Can be parameterised: Px.926, value list:
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.927

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ID Dx. Message Description

03 | 02 | 00051 Power unit overtem- Output stage overtemperature

(50462771) perature Remedy – Temperature display plausible?
– Device fan defective?
– Device overloaded?
– Check installation conditions; control cab-
inet fan filter dirty?
– Check drive layout (possible overloading
during continuous operation)
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 01 | 00056 Configuration of hom- Parameterisation of homing run invalid
(83951672) ing run invalid Remedy – Travel to hardware limit switch (limit
switch configured)
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.8450, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Error Default: save (1)
memory Can be parameterised: Px.8451
05 | 01 | 00057 Homing: Timeout Homing: Timeout
(83951673) Remedy – Check configuration of homing run
(timeout, type)
– At end stop: check parameters for stand-
still window and limiting current
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.8452, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Error Default: save (1)
memory Can be parameterised: Px.8453

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ID Dx. Message Description

05 | 01 | 00058 Homing: Search path Homing: Search path exceeded

(83951674) exceeded Remedy – Check arrangement of slide in relation to
limit switch/end stop
– Configuration of search path
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.8454, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Error Default: save (1)
memory Can be parameterised: Px.8455
05 | 02 | 00059 Positioning task inval- Task invalid
(84017211) id Remedy – Check parameterisation of task or set
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00060 Motion task not Unknown motion task pending
(84017212) known Remedy – Check task, record number or step
enabling condition
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00061 Task ignored, control- Task could not be executed as controller enable for the
(84017213) ler enable missing drive is missing
Remedy – Set enable CTRL-EN
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

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ID Dx. Message Description

05 | 02 | 00062 Task ignored as safety Task could not be executed as a safety function is reques-
(84017214) function requested ted
Remedy – Check that logic level of safety function
inputs is correct
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00064 Task ignored as DC- Task could not be executed as no DC link voltage is
(84017216) Link coupling not present or it was not yet detected
ready Remedy – Check mains voltage is present
– Check braking resistor is present, if
required
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00065 Task ignored due to The motion task was rejected in the current status
(84017217) motion task error Remedy – Cancel current motion command with a
stop
– Wait for MC for current motion command
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.1733
05 | 02 | 00066 Task ignored as Task could not be executed as the encoder is not ready
(84017218) encoder not ready Remedy – Check encoder cable
– Check power supply for the encoder
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

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ID Dx. Message Description

05 | 02 | 00067 Task ignored as refer- Task could not be executed as the drive is not referenced
(84017219) encing missing Remedy – Home drive
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00068 Task ignored as reini- Task could not be executed as a reinitialisation is required
(84017220) tialisation is required due to a parameter change
Remedy – Run reinitialisation
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00069 Task ignored as Task could not be executed as a restart is required due to
(84017221) restart is required a parameter change
Remedy – Restart the device
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00071 Trajectory generator An error occurred in the trajectory generator when calcu-
(84017223) error lating a movement profile
Remedy – Check parameterisation task or set (com-
plete? unrealistic values?)
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.30127, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Error Default: save (1)
memory Can be parameterised: Px.30128

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ID Dx. Message Description

05 | 02 | 00072 Invalid position spe- The position specified for the trajectory generator is inval-
(84017224) cification of trajectory id
generator Remedy – Change specified position to valid range
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00073 Invalid speed value of The speed specified for the trajectory generator is invalid
(84017225) trajectory generator Remedy – Change specified velocity to valid range
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00074 Invalid acceleration The acceleration specified for the trajectory generator is
(84017226) value of trajectory invalid
generator Remedy – Change specified acceleration to valid
range
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00075 Invalid deceleration The deceleration specified for the trajectory generator is
(84017227) value of trajectory invalid
generator Remedy – Change specified deceleration to valid
range
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00076 Invalid jerk value of The jerk specified for the trajectory generator is invalid
(84017228) trajectory generator Remedy – Change specified jerk to valid range
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No

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Diagnostics and Fault Clearance

ID Dx. Message Description

05 | 02 | 00076 Invalid jerk value of Error Default: save (1)

(84017228) trajectory generator memory Can be parameterised: No

05 | 02 | 00077 Trajectory generator An error occurred in the trajectory generator when calcu-
(84017229) error lating a movement profile
Remedy – Adjust dynamic values for the motion task
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00078 Stop ramp: Timeout Stop ramp: Timeout
(84017230) Remedy – Check value for stop ramp timeout (fric-
tion?).
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00079 Torque increase ramp The torque increase ramp is invalid
(84017231) invalid Remedy – Change torque increase ramp parameter
to valid range
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.1130225, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.1130226
05 | 02 | 00080 Simultaneous negat- Simultaneous negative/positive directional lock
(84017232) ive/positive direction- Remedy – Check HW limit switch logic
al lock
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No

530 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

05 | 02 | 00080 Simultaneous negat- Error Default: save (1)

(84017232) ive/positive direction- memory Can be parameterised: No
al lock

05 | 02 | 00278 Job ignored because Task could not be executed because a directional lock is
(84017430) direction lock active active
Remedy – Note additional diagnostic messages and
eliminate the cause of the directional lock
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
05 | 02 | 00279 Fixed stop not detec- Fixed stop was not detected
(84017431) ted Remedy – Check that the workpiece is in front of the
target position
Classifica- Default: Info (4)
tion Can be parameterised: Px.4647, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.4648
05 | 02 | 00280 Monitoring window of Monitoring window of fixed stop left
(84017432) fixed stop left Remedy – Check that workpiece was not lost
Classifica- Default: Info (4)
tion Can be parameterised: Px.4649, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)

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Diagnostics and Fault Clearance

ID Dx. Message Description

05 | 02 | 00280 Monitoring window of memory Can be parameterised: Px.4650

(84017432) fixed stop left
05 | 02 | 00364 Profile velocity = 0 The preset profile velocity is 0. The drive does not move
(84017516) and does not reach its target position.
Remedy – Check profile velocity (block table / direct
operation)
– Check velocity override
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
06 | 00 | 00070 Invalid record table A record table parameter is invalid
(100663366) parameter Remedy – Check record table parameter
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.1852, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Error Default: save (1)
memory Can be parameterised: Px.1853
06 | 00 | 00081 Closed-loop controller The operating mode of the closed-loop controller (posi-
(100663377) operating mode inval- tion, speed, force, stop) does not match the parameterisa-
id tion
Remedy – Check parameterisation of the closed-
loop controller
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
06 | 00 | 00082 Notch filter frequency The parameterisation of the notch filter frequency is inval-
(100663378) invalid id
Remedy – Check parameterisation of notch filter fre-
quency; notch filter frequency is greater
than half the scanning frequency

532 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

06 | 00 | 00082 Notch filter frequency Classifica- Default: Stop category 1 (256)

(100663378) invalid tion Can be parameterised: No

Error Default: save (1)

memory Can be parameterised: No

06 | 00 | 00083 Record table incorrect Record table incorrect

(100663379) Remedy – Check positioning record number
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.1850, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Error Default: save (1)
memory Can be parameterised: Px.1851
06 | 00 | 00084 Parameterisation Parameterisation of switching frequency invalid
(100663380) switching frequency Remedy – Check parameter set: matches device?
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
06 | 00 | 00085 Digital I/O configura- The configuration of the digital inputs or outputs is invalid
(100663381) tion invalid Remedy – Check configuration of digital inputs/out-
puts for double function assignment
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
06 | 00 | 00248 Motor type is not sup- The parameterised motor type (servo, stepper etc.) is not
(100663544) ported supported
Remedy – See manual to determine whether motor
is actually supported
– Check motor configuration data
Classifica- Default: Stop category 2 (64)

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Diagnostics and Fault Clearance

ID Dx. Message Description

06 | 00 | 00248 Motor type is not sup- tion Can be parameterised: Px.71429, value list:
(100663544) ported Stop category 0 (4096)
Stop category 1a (1024)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Error Default: save (1)
memory Can be parameterised: Px.71433

06 | 00 | 00252 Incorrect paramet- The start and end voltages for reactive current braking are
(100663548) erisation of reactive incompatible
current braking Remedy – Check parameterisation of reactive cur-
rent braking
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
06 | 00 | 00313 Invalid parameterisa- The variable signaling function is incorrectly paramet-
(100663609) tion, variable mes- erised.
sage function Remedy – Check input parameters for data triggers
(axis assignment, instance selection)
Classifica- Default: Warning (16)
tion Can be parameterised: Px.1174230, value list:
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.1174231
06 | 02 | 00086 Sign limits Setpoint torque and velocity limit do not match.
(100794454) Remedy – Check limits for torque and current; signs
and limits must match (symmetrical?)
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)

534 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

06 | 02 | 00086 Sign limits memory Can be parameterised: No

(100794454)
06 | 02 | 00087 Velocity control limit- Velocity control limitation invalid
(100794455) ation invalid Remedy – Check configuration of control limitation
(consistency)
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
06 | 02 | 00088 Torque control limita- Torque control limitation invalid
(100794456) tion invalid Remedy – Check configuration of control limitation
(consistency)
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
06 | 02 | 00089 Current control limita- Current control limitation invalid
(100794457) tion invalid Remedy – Check configuration of control limitation
(consistency)
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
06 | 02 | 00090 Maximum current Maximum current control limitation invalid
(100794458) control limitation Remedy – Check configuration of control limitation
invalid (consistency)
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

Festo — CMMT-ST-SW — 2019-08b 535

Diagnostics and Fault Clearance

ID Dx. Message Description

06 | 02 | 00091 Parameterisation of Parameterisation of nominal current/maximum current of

(100794459) currents motor invalid
Remedy – Check parameterisation of nominal cur-
rent and maximum current (consistency)
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
06 | 02 | 00273 Change of control The change of the control structure is not permissible
(100794641) structure not permiss- Remedy – Wait until the current task is complete
ible – Check task
Classifica- Default: Warning (16)
tion Can be parameterised: Px.4020, value list:
Stop category 0 (4096)
Stop category 1a (1024)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.4021
06 | 02 | 00274 Motion command not The motion command is not permissible in controlled
(100794642) permissible operation
Remedy – Check task
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
06 | 02 | 00275 Change to closed-loop Change to closed-loop operation not permissible because
(100794643) operation not per- the commutation angle is not valid
missible Remedy – Check task
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No

536 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

06 | 02 | 00275 Change to closed-loop Error Default: save (1)

(100794643) operation not per- memory Can be parameterised: No
missible

06 | 05 | 00097 Parameter set not Parameter set not found

(100991073) found Remedy – Check parameter set selection
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
06 | 05 | 00098 Parameter set invalid Parameter set invalid
(100991074) Remedy – Delete parameter set
– Overwrite parameter set (save)
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
06 | 05 | 00099 Parameter set incom- Parameter set incompatible
(100991075) patible Remedy – Delete parameter set
– Overwrite parameter set (save)
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
06 | 05 | 00100 Parameter not found Parameter not found
(100991076) Remedy – Delete parameter set
– Overwrite parameter set (save)
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

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Diagnostics and Fault Clearance

ID Dx. Message Description

06 | 05 | 00101 Parameter read-only Parameter read-only

(100991077) Remedy – Delete parameter set
– Overwrite parameter set (save)
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.5709
06 | 05 | 00102 Transmission error in Transmission error in parameter set
(100991078) parameter set Remedy – Repeat transmission
– Check connection
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.5711
06 | 05 | 00103 Parameter set: save Parameter set: save failed
(100991079) failed Remedy – Repeat save process
– Format file system if necessary
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.5713
06 | 05 | 00104 Parameter set: delete Parameter set: delete failed
(100991080) failed Remedy – Parameter set available?
– Repeat delete process
– Format file system if necessary
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.5715
06 | 05 | 00105 Factory parameter not A factory parameter was not found
(100991081) found Remedy – none (info only)
Classifica- Default: Warning (16)
tion Can be parameterised: No

538 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

06 | 05 | 00105 Factory parameter not Error Default: save (1)

(100991081) found memory Can be parameterised: Px.5727

06 | 05 | 00106 Factory parameter set The factory parameter set is invalid

(100991082) invalid Remedy – none (info only)
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.5723
06 | 05 | 00107 Factory parameter set The factory parameter set was not found
(100991083) not found Remedy – none (info only)
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.5721
06 | 05 | 00108 Factory parameter set The factory parameter set is incompatible
(100991084) incompatible Remedy – none (info only)
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.5725
06 | 05 | 00290 Parameter set with Parameter set was created with an older firmware version
(100991266) older version Remedy – Save the parameter set again
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.5781
06 | 05 | 00291 Parameter set with Parameter set was created with a newer firmware version
(100991267) newer version Remedy – Save the parameter set again
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)

Festo — CMMT-ST-SW — 2019-08b 539

Diagnostics and Fault Clearance

ID Dx. Message Description

06 | 05 | 00291 Parameter set with memory Can be parameterised: Px.5783

(100991267) newer version
07 | 01 | 00109 Negative software Negative software limit position reached
(117506157) limit position Remedy – Check movement trajectory (close to end
position)?
– Check values for software limit positions
– Check that automatic braking is enabled
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.4632, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.4633
07 | 01 | 00110 Positive software limit Positive software limit position reached
(117506158) position Remedy – Check movement trajectory (close to end
position)?
– Check values for software limit positions
– Check that automatic braking is enabled
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.4634, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.4635
07 | 01 | 00111 Limitation negative Limitation of direction of movement owing to negative
(117506159) direction software limit position
Remedy – Check task
Classifica- Default: Warning (16)

540 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

07 | 01 | 00111 Limitation negative tion Can be parameterised: Px.4636, value list:

(117506159) direction Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.4637

07 | 01 | 00112 Limitation positive Limitation of direction of movement owing to positive soft-

(117506160) direction ware limit position
Remedy – Check task
Classifica- Default: Warning (16)
tion Can be parameterised: Px.4638, value list:
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.4639
07 | 01 | 00113 Parameterisation of Parameterisation of software limit positions invalid
(117506161) software limit posi- Remedy – Check values for software limit positions
tions (consistency, negative < positive end posi-
tion)
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
07 | 01 | 00114 Negative hardware Negative hardware limit switch reached
(117506162) limit switch reached Remedy – Check task
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.101102, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)

Festo — CMMT-ST-SW — 2019-08b 541

Diagnostics and Fault Clearance

ID Dx. Message Description

07 | 01 | 00114 Negative hardware Error Default: save (1)

(117506162) limit switch reached memory Can be parameterised: Px.101103

07 | 01 | 00115 Positive hardware lim- Positive hardware limit switch reached

(117506163) it switch reached Remedy – Check task
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.101106, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.101107
07 | 01 | 00116 Limitation by negative Limitation of direction of movement owing to negative
(117506164) hardware limit switch hardware limit switch
Remedy – Check task
Classifica- Default: Warning (16)
tion Can be parameterised: Px.101104, value list:
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.101105
07 | 01 | 00117 Limitation by positive Limitation of direction of movement owing to positive
(117506165) hardware limit switch hardware limit switch
Remedy – Check task
Classifica- Default: Warning (16)
tion Can be parameterised: Px.101108, value list:
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.101109

542 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

07 | 01 | 00118 Error: both hardware Error: both hardware limit switches activated
(117506166) limit switches activ- Remedy – Check parameterisation
ated – Check wiring
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.101110, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.101111
07 | 01 | 00119 Negative stroke limit Negative stroke limit reached
(117506167) reached Remedy – Check task
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.4676, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.4677
07 | 01 | 00120 Positive stroke limit Positive stroke limit reached
(117506168) reached Remedy – Check task
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.4678, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)

Festo — CMMT-ST-SW — 2019-08b 543

Diagnostics and Fault Clearance

ID Dx. Message Description

07 | 01 | 00120 Positive stroke limit memory Can be parameterised: Px.4679

(117506168) reached
07 | 02 | 00121 Target position Target position reached
(117571705) reached Remedy – none (info only)
Classifica- Default: Info (4)
tion Can be parameterised: Px.4612, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.4613
07 | 02 | 00122 Target speed reached Target speed reached
(117571706) Remedy – none (info only)
Classifica- Default: Info (4)
tion Can be parameterised: Px.4614, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.4615
07 | 02 | 00123 Target torque reached Target torque reached
(117571707) Remedy – none (info only)
Classifica- Default: Info (4)
tion Can be parameterised: Px.4616, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)

544 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

07 | 02 | 00123 Target torque reached Error Default: do not save (0)

(117571707) memory Can be parameterised: Px.4617

07 | 02 | 00124 Standstill reached Standstill reached

(117571708) Remedy – none (info only)
Classifica- Default: Info (4)
tion Can be parameterised: Px.4618, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.4619
07 | 02 | 00125 Standstill reached Standstill reached and within standstill window
(117571709) and within standstill Remedy – none (info only)
window
Classifica- Default: Info (4)
tion Can be parameterised: Px.4620, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.4621
07 | 02 | 00126 Following error posi- Following error position
(117571710) tion Remedy – Locate causes of following error (trace)
– Check following error window
Classifica- Default: Stop category 1 (256)
07 | 02 | 00126 Following error posi- tion Can be parameterised: Px.4622, value list:
(117571710) tion Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)

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Diagnostics and Fault Clearance

ID Dx. Message Description

07 | 02 | 00126 Following error posi- Info (4)

(117571710) tion Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.4623

07 | 02 | 00127 Velocity following Velocity following error

(117571711) error Remedy – Locate causes of following error (trace)
– Check following error window
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.4624, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.4625
07 | 02 | 00128 Speed too high Speed monitoring reports speed too high
(117571712) Remedy – Check offset angle, commutation-angle
detection failed
– Check configuration of maximum velocity
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
07 | 02 | 00129 Out of target range Drive has left the target range
(117571713) Remedy – Check target range window and recovery
time
– Application monitoring reasonable? Pos-
sibly deactivate monitoring
Classifica- Default: Warning (16)

546 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

07 | 02 | 00129 Out of target range tion Can be parameterised: Px.4669, value list:
(117571713) Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.4670

07 | 02 | 00130 Pushback monitoring Pushback monitoring reports error

(117571714) Remedy – Check recovery time
– Application monitoring reasonable? Pos-
sibly deactivate monitoring
Classifica- Default: Info (4)
tion Can be parameterised: Px.4671, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.4672
07 | 02 | 00131 Residual distance too Residual distance too low
(117571715) low Remedy – none (info only)
Classifica- Default: Info (4)
tion Can be parameterised: Px.4686, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.4687

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Diagnostics and Fault Clearance

ID Dx. Message Description

07 | 02 | 00132 Trajectory completed Trajectory completed (setpoint value reached)

(117571716) Remedy – none (info only)
Classifica- Default: Info (4)
tion Can be parameterised: Px.4691, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.4692
07 | 02 | 00133 Position difference Position difference encoder 1 to encoder 2 too large
(117571717) encoder 1 to encoder Remedy – Calibrate feed constant encoder 1 to
2 too large encoder 2
– Check error threshold
– Check encoder cable
Classifica- Default: ignore (2)
tion Can be parameterised: No
Error Default: do not save (0)
memory Can be parameterised: No
07 | 03 | 00134 Voltage limiting active Voltage limiting active
(117637254) Remedy – Reduce velocity
– Reduce torque
Classifica- Default: Info (4)
tion Can be parameterised: Px.52682, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.52683

548 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

07 | 03 | 00135 Limit for velocity or A limit for the velocity or current is active
(117637255) current active Remedy – Reduce dynamic values for the motion
command
– Check velocity limiting parameters
– Check current limitation parameters
Classifica- Default: Info (4)
tion Can be parameterised: Px.52677, value list:
Info (4)
Invalid (0)
Error Default: do not save (0)
memory Can be parameterised: Px.52678
07 | 04 | 00136 Commutation finding Commutation finding failed
(117702792) failed Remedy – Check encoder (valid values / connected)
– For vertical axes with load: reduce load
mass
– Check configuration of commutation find-
ing and current regulator according to fric-
tion
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
07 | 04 | 00137 Direction error in com- An error has occurred during the commutation angle
(117702793) mutation finding search, the direction of rotation of the motor does not cor-
relate with the position from the encoder.
Remedy – Freely rotating motor shaft?
– Increase current injection for commuta-
tion angle detection
– Axis blocked?
– Adjust dynamic values for finding the
commutation angle
– Check whether the direction of rotation of
the encoder and the motor are compat-
ible.
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No

Festo — CMMT-ST-SW — 2019-08b 549

Diagnostics and Fault Clearance

ID Dx. Message Description

07 | 04 | 00137 Direction error in com- Error Default: save (1)

(117702793) mutation finding memory Can be parameterised: No

07 | 05 | 00138 Analogue setpoint Limits for analogue setpoint specification exceeded

(117768330) specification limit Remedy – Check critical limits and scaling of set-
exceeded point values
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.9914
08 | 00 | 00139 Fieldbus not suppor- Fieldbus not supported
(134217867) ted Remedy – Install suitable FW package for device
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
08 | 00 | 00140 Failure of fieldbus Failure of fieldbus synchronisation signal
(134217868) synchronisation sig- Remedy – Check wiring
nal – Check controller configuration
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.801, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.802
08 | 00 | 00243 Invalid cycle time Cycle time is not an integral multiple of 1 ms
(134217971) Remedy – Check that cycle time is an integral mul-
tiple of 1 ms
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No

550 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

08 | 00 | 00243 Invalid cycle time Error Default: save (1)

(134217971) memory Can be parameterised: No

08 | 03 | 00141 The process data is The process data is invalid

(134414477) invalid Remedy – Check process data mapping
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
08 | 03 | 00373 Failure of fieldbus The maximum number of failed synchronization signals
(134414709) synchronisation sig- was exceeded.
nal Remedy – Check wiring
– Check controller configuration
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.54545, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.54546
08 | 04 | 00142 EtherCAT process Configuration of process data invalid
(134480014) data invalid Remedy – Check parameterisation of EtherCAT com-
munication
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
08 | 04 | 00143 EtherCAT process EtherCAT process data communication failed
(134480015) data communication Remedy – Check EtherCAT communication (plug,
failed master), etc.
Classifica- Default: Stop category 1 (256)

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Diagnostics and Fault Clearance

ID Dx. Message Description

08 | 04 | 00143 EtherCAT process tion Can be parameterised: No

(134480015) data communication Error Default: save (1)
failed memory Can be parameterised: No

08 | 04 | 00281 Process data not Process data not received at Sync time
(134480153) received at Sync time Remedy – Check interaction between process data
and sync time in open-loop control
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.758, value list:
Stop category 0 (4096)
Stop category 1a (1024)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
internal (1)
Invalid (0)
Error Default: save (1)
memory Can be parameterised: Px.759
08 | 09 | 00144 Required application The required application class is not supported
(134807696) class not supported Remedy – Only request application class supported
by the device (see documentation)
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.11280111
08 | 09 | 00145 The required telegram The required telegram is not supported
(134807697) is not supported Remedy – Only request telegrams supported by the
device (see documentation)
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.3030103

552 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

08 | 09 | 00288 PROFIdrive test error PROFIdrive test error message 1

(134807840) message 1 Remedy – Retract test error message by PNU
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
08 | 09 | 00289 PROFIdrive test error PROFIdrive test error message 2
(134807841) message 2 Remedy – Retract test error message by PNU
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
08 | 09 | 00294 PLC Control is not set The PLC control bit is not set
(134807846) Remedy – Set PLC control bit (STW1.bit10)
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: Px.11280117, value
list:
Stop category 0 (4096)
Stop category 1a (1024)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
internal (1)
Invalid (0)
Error Default: save (1)
memory Can be parameterised: Px.11280118
08 | 09 | 00299 Error life sign The number of failed life sign signals was exceeded.
(134807851) Error life sign Remedy – Check PROFINET communication
– Check whether the life sign is sent cor-
rectly by the controller (e.g. create trace
with STW2.12 ... STW2.15 and trigger sig-
nal ZSW1.3).

Festo — CMMT-ST-SW — 2019-08b 553

Diagnostics and Fault Clearance

ID Dx. Message Description

08 | 09 | 00299 Error life sign – Check the permissible failure rate of the
(134807851) telegrams (PNU 925).
– Check bus or controller for capacity utiliz-
ation
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No

Error Default: save (1)

memory Can be parameterised: No

08 | 09 | 00382 Invalid configuration The extended process data are configured invalid.
(134807934) Extended process Remedy – Check expanded process data mapping
data
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: Px.424201, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Error Default: save (1)
memory Can be parameterised: Px.424202
08 | 12 | 00250 Invalid mode of oper- An invalid mode of operation was requested
(135004410) ation Remedy – Check requested CiA402 operating mode
Classifica- Default: Stop category 2 (64)
tion Can be parameterised: Px.12236, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.12237

554 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

08 | 12 | 00272 Resolution of position The resolution of the position factor group is invalid
(135004432) factor group invalid Remedy – Adjust position factor group paramet-
erisation
Classifica- Default: Warning (16)
tion Can be parameterised: Px.45, value list:
Stop category 0 (4096)
Stop category 1a (1024)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
internal (1)
Invalid (0)
Error Default: save (1)
memory Can be parameterised: Px.46
09 | 00 | 00146 Safety function Safety function requested
(150995090) requested Remedy – none (info only)
Classifica- Default: Info (4)
tion Can be parameterised: Px.821, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: do not save (0)
memory Can be parameterised: Px.822
09 | 00 | 00147 Plausibility check of Error during plausibility check of safety feedback signals
(150995091) safety feedback sig- Remedy – Service required
nals
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

Festo — CMMT-ST-SW — 2019-08b 555

Diagnostics and Fault Clearance

ID Dx. Message Description

09 | 01 | 00148 STO: Discrepancy Discrepancy time for #STO-A/B exceeded

(151060628) time exceeded Remedy – Check timing of STO input signals
– Check configuration of discrepancy time
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
09 | 01 | 00149 Plausibility check Plausibility check of #STO-A/B input
(151060629) #STO-A/B Remedy – Restart
– Return device
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
09 | 01 | 00150 Sequence monitoring Sequence monitoring, #STO-A/B inputs
(151060630) #STO-A/B Remedy – Check timing and sequence of STO input
signals
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
09 | 02 | 00151 Plausibility check Plausibility check of #SBC-A/B input effective
(151126167) #SBC-A/B Remedy – Restart
– Return device
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
09 | 02 | 00152 SBC: Discrepancy Discrepancy time for #SBC-A/B exceeded
(151126168) time exceeded Remedy – Check timing of SBC input signals
– Check configuration of discrepancy time
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No

556 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

09 | 02 | 00152 SBC: Discrepancy Error Default: save (1)

(151126168) time exceeded memory Can be parameterised: No

10 | 01 | 00153 RTE module cannot be RTE module cannot be reached

(167837849) reached Remedy – Restart
– Conduct firmware update
– Service required
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
10 | 01 | 00154 RTE module initialisa- RTE module initialisation failed
(167837850) tion failed Remedy – Restart
– Conduct firmware update
– Service required
Classifica- Default: Stop category 2 (64)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
10 | 01 | 00156 Common error power Error power output stage
(167837852) output stage Remedy – Restart
– Return device
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
10 | 01 | 00249 Watchdog error com- Monitoring function for the communication module has
(167837945) munication module reported an error
Remedy – Restart
– Conduct firmware update
– Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)

Festo — CMMT-ST-SW — 2019-08b 557

Diagnostics and Fault Clearance

ID Dx. Message Description

10 | 01 | 00249 Watchdog error com- memory Can be parameterised: No

(167837945) munication module
11 | 01 | 00159 Data directory Data directory memory full
(184615071) memory full Remedy – Conduct firmware update
– Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 01 | 00160 Data directory Data directory indexed twice
(184615072) indexed twice Remedy – Conduct firmware update
– Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 01 | 00161 Overflow diagnostic Overflow in diagnostic register, messages not currently
(184615073) register acknowledged
Remedy – Acknowledge messages
– Eliminate causes of currently active mes-
sages
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 01 | 00162 Overflow buffer dia- Overflow buffer in diagnostic register, messages currently
(184615074) gnostic register not acknowledged
Remedy – Acknowledge messages
– Eliminate causes of currently active mes-
sages
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

558 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

11 | 01 | 00163 User unit error An error has occurred when changing the user unit
(184615075) Remedy – Run reinitialisation again
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.11590
11 | 01 | 00244 Communication mod- The supply voltage to the communication module dropped
(184615156) ule supply voltage Remedy – Checking the power supply
– Restart device
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 02 | 00164 Process runtime Process runtime exceeded
(184680612) exceeded Remedy – internal error, service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 02 | 00165 Timeout process Timeout has occurred in process level 0
(184680613) level 0 Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 02 | 00166 Timeout process Timeout has occurred in process level 1
(184680614) level 1 Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

Festo — CMMT-ST-SW — 2019-08b 559

Diagnostics and Fault Clearance

ID Dx. Message Description

11 | 02 | 00167 Timeout process Timeout has occurred in process level 2

(184680615) level 2 Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 02 | 00168 Timeout process Timeout has occurred in process level 3
(184680616) level 3 Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 02 | 00169 Timeout process Timeout has occurred in process level 4
(184680617) level 4 Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 02 | 00170 Timeout process Timeout has occurred in process level 5
(184680618) level 5 Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 02 | 00171 Timeout process Timeout has occurred in process level 6
(184680619) level 6 Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

560 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

11 | 02 | 00172 Timeout process Timeout has occurred in process level 7

(184680620) level 7 Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 03 | 00173 File system faulty File system faulty
(184746157) Remedy – Service required
– Reformat file system
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 03 | 00174 File: user file (backup) The user file backup file is invalid
(184746158) invalid Remedy – Restart device
Classifica- Default: Info (4)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 03 | 00175 Creation of user file The creation of a backup file for the user file has failed
(184746159) (backup) not possible Remedy – Restart device
– Service required
Classifica- Default: Info (4)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 03 | 00176 CRC error in user file A CRC error was detected in the user file
(184746160) Remedy – Restart device
– Service required
Classifica- Default: Info (4)
tion Can be parameterised: No
Error Default: save (1)

Festo — CMMT-ST-SW — 2019-08b 561

Diagnostics and Fault Clearance

ID Dx. Message Description

11 | 03 | 00176 CRC error in user file memory Can be parameterised: No

(184746160)
11 | 03 | 00177 File: user file invalid The user file is invalid
(184746161) Remedy – Restart device
Classifica- Default: Info (4)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 03 | 00178 New user file has A new user file has been generated
(184746162) been created Remedy – Information
Classifica- Default: Info (4)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 03 | 00179 Writing to user file not It was not possible to write to the user file
(184746163) possible Remedy – Restart device
– Service required
Classifica- Default: Info (4)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 03 | 00180 Unknown user file An unknown error was triggered for the user file
(184746164) error Remedy – Restart device
– Service required
Classifica- Default: Info (4)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 04 | 00181 Writing of firmware Writing of firmware failed
(184811701) failed Remedy – Repeat transmission of firmware package
Classifica- Default: Warning (16)
tion Can be parameterised: No

562 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

11 | 04 | 00181 Writing of firmware Error Default: save (1)

(184811701) failed memory Can be parameterised: Px.9601

11 | 04 | 00182 Reading of firmware Reading of firmware failed

(184811702) failed Remedy – Read out firmware package again
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.9603
11 | 04 | 00183 Firmware invalid Firmware invalid
(184811703) Remedy – Repeat transmission of firmware package
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.9605
11 | 04 | 00184 Firmware incompat- Firmware incompatible
(184811704) ible Remedy – Check hardware and firmware versions
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.9607
11 | 04 | 00185 Firmware save loca- Firmware save location invalid
(184811705) tion invalid Remedy – Check storage location
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.9609
11 | 04 | 00186 Firmware storage loc- Firmware storage location empty
(184811706) ation empty Remedy – Check storage location
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)

Festo — CMMT-ST-SW — 2019-08b 563

Diagnostics and Fault Clearance

ID Dx. Message Description

11 | 04 | 00186 Firmware storage loc- memory Can be parameterised: Px.9611

(184811706) ation empty
11 | 04 | 00187 Firmware update not Firmware update not allowed
(184811707) allowed Remedy – Output stage switched off?
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.9613
11 | 04 | 00188 Firmware package in Firmware package in use
(184811708) use Remedy – Repeat firmware download
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.9615
11 | 04 | 00189 System error during System error occurred during firmware update
(184811709) firmware update Remedy – Restart firmware update
– Service required
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 04 | 00190 Firmware update Firmware update failed
(184811710) failed Remedy – Restart firmware update
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 05 | 00191 Safety calibration Safety calibration data incorrect
(184877247) data incorrect Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)

564 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

11 | 05 | 00191 Safety calibration memory Can be parameterised: No

(184877247) data incorrect
11 | 05 | 00192 Device data incorrect Device data incorrect
(184877248) Remedy – Conduct firmware update
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 05 | 00193 Device data incorrect: Device data incorrect: Control unit
(184877249) Control unit Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 05 | 00194 Device data incorrect: Device data incorrect: Communication unit
(184877250) Communication unit Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 05 | 00195 Device data incorrect: Device data incorrect: Safety
(184877251) Safety Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 05 | 00196 Calibration data incor- Calibration data incorrect: Control section
(184877252) rect: Control section Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

Festo — CMMT-ST-SW — 2019-08b 565

Diagnostics and Fault Clearance

ID Dx. Message Description

11 | 05 | 00197 Calibration data incor- Calibration data incorrect: Power unit

(184877253) rect: Power unit Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 05 | 00198 Device data incorrect: Device data incorrect: Power section
(184877254) Power section Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 05 | 00200 Current sensor calib- Current sensor calibration invalid
(184877256) ration invalid Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 05 | 00201 Device not configured Device not configured
(184877257) Remedy – If data is missing in the encoder: restart
the device
– Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 05 | 00202 Device data: Saving Device data: Saving failed
(184877258) failed Remedy – Restart device
– If repeated, return for service
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)

566 Festo — CMMT-ST-SW — 2019-08b

Diagnostics and Fault Clearance

ID Dx. Message Description

11 | 05 | 00202 Device data: Saving memory Can be parameterised: Px.5719

(184877258) failed
11 | 06 | 00203 Answer to a read Answer to a read request is missing in LibRTE
(184942795) request is missing in Remedy – Restart device
LibRTE – If repeated, return for service
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 06 | 00285 Error in the commu- Internal software timeout during LibTRE communication
(184942877) nication module mail- Remedy – Restart device
box – If repeated, return for service
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 06 | 00300 COM module fault Error in the communication module
(184942892) Remedy – Restart device
– If repeated, return for service
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 07 | 00204 Device initialisation The initialisation of the device has failed
(185008332) failed Remedy – Check whether additional diagnostic mes-
sages are pending
– Reset device to factory settings
–
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

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Diagnostics and Fault Clearance

ID Dx. Message Description

11 | 07 | 00205 Task ignored as reini- Requested reinitialisation could not be executed

(185008333) tialisation not pos- Remedy – Revoke controller enable
sible
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.10328
11 | 07 | 00271 Reinitialisation failed The reinitialisation failed
(185008399) Remedy – Check whether additional diagnostic mes-
sages are pending
– Reset device to factory settings
–
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
11 | 08 | 00206 Hardware does not Hardware does not correspond to expected revision status
(185073870) correspond to expec- Remedy – Service required
ted revision status
Classifica- Default: Info (4)
tion Can be parameterised: No
Error Default: do not save (0)
memory Can be parameterised: No
11 | 08 | 00207 Hardware does not Hardware does not correspond to expected compatibility
(185073871) correspond to expec- state
ted compatibility Remedy – Service required
state
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
12 | 01 | 00208 Maximum mileage Maximum value for the mileage is reached
(201392336) value reached Remedy – Information
Classifica- Default: Info (4)
tion Can be parameterised: No

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ID Dx. Message Description

12 | 01 | 00208 Maximum mileage Error Default: save (1)

(201392336) value reached memory Can be parameterised: No

12 | 01 | 00209 Mileage warning Threshold value 1 (default: warning threshold) for the
(201392337) threshold reached mileage is reached
Remedy – Information
Classifica- Default: Warning (16)
tion Can be parameterised: Px.1419, value list:
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.14110
12 | 01 | 00210 Mileage error Threshold value 2 (default: error threshold) for the
(201392338) threshold reached mileage is reached
Remedy – Information
Classifica- Default: Warning (16)
tion Can be parameterised: Px.14113, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.14114
12 | 01 | 00211 Maximum load The maximum value for the load change is reached
(201392339) change value reached Remedy – Information
Classifica- Default: Info (4)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

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Diagnostics and Fault Clearance

ID Dx. Message Description

12 | 01 | 00212 Load change warning Threshold value 1 (default: warning threshold) for the
(201392340) threshold reached load change is reached
Remedy – Information
Classifica- Default: Warning (16)
tion Can be parameterised: Px.1429, value list:
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.14210
12 | 01 | 00213 Load change error Threshold value 2 (default: error threshold) for the load
(201392341) threshold reached change is reached
Remedy – Information
Classifica- Default: Warning (16)
tion Can be parameterised: Px.14213, value list:
Stop category 0 (4096)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.14214
13 | 01 | 00214 Message acknowledg- Message acknowledgment completed
(218169558) ment Remedy – none (info only)
Classifica- Default: internal (1)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
13 | 01 | 00215 Diagnostics log file Diagnostic memory invalid
(218169559) has invalid format Remedy – Delete diagnostic memory
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)

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ID Dx. Message Description

13 | 01 | 00215 Diagnostics log file memory Can be parameterised: Px.100505

(218169559) has invalid format
13 | 01 | 00216 Loss of messages Loss of messages from diagnostics log
(218169560) from diagnostics log Remedy – Delete diagnostic memory
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
13 | 02 | 00217 Auto-tuning aborted Auto-tuning aborted
(218235097) Remedy – Check for any further error messages and
eliminate their cause
– Restart auto-tuning
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
13 | 02 | 00218 Auto-tuning travel Auto-tuning travel inadequate
(218235098) inadequate or syn- Remedy – Check position of slide. Too close to the
chronization phase end positions?
too short – Check travel from positioning record
– Check the acceleration and braking
ramps, if required increase the maximum
acceleration and deceleration for the
auto-tuning so that the acceleration and
braking phases become shorter
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
13 | 02 | 00219 Auto-tuning controller The auto-tuning function could not identify any controller
(218235099) parameters invalid parameters

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Diagnostics and Fault Clearance

ID Dx. Message Description

13 | 02 | 00219 Auto-tuning controller Remedy – Restart auto-tuning with changed para-

(218235099) parameters invalid meter Noise Intensity P1.8616.0.0
– Start auto-tuning with motion
P1.8619.0.0
– Evaluate frequency response analysis
Classifica- Default: Stop category 1 (256)
tion Can be parameterised: No

Error Default: save (1)

memory Can be parameterised: No

13 | 02 | 00220 Transmission of auto- Transmission of auto-tuning measured values failed

(218235100) tuning measured val- Remedy – Check whether there is a connection
ues failed – Restart transmission
Classifica- Default: Warning (16)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: Px.8605
17 | 01 | 00224 Login completed Login to access the device at a specific authorisation level
(285278432) has been completed.
Remedy – none (info)
Classifica- Default: Info (4)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
17 | 01 | 00225 Logout completed Logout of the device at a specific authorisation level has
(285278433) been completed.
Remedy – none (info)
Classifica- Default: Info (4)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

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ID Dx. Message Description

17 | 01 | 00226 Login error An error occurred during user login

(285278434) Remedy – Check password
Classifica- Default: Info (4)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
18 | 00 | 00092 Motor change detec- Motor change detected, commutation angle invalid
(301989980) ted, commutation Remedy – Run commutation-angle detection and
angle invalid homing and save
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
18 | 00 | 00093 Motor change detec- Motor change detected, zero point offset invalid
(301989981) ted, zero point offset Remedy – Carry out homing again and save
invalid
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
18 | 00 | 00094 Commutation angle in Commutation angle in encoder invalid
(301989982) encoder invalid Remedy – Run commutation-angle detection
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
18 | 00 | 00095 Encoder type plate Encoder type plate invalid
(301989983) invalid Remedy – Service required
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

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Diagnostics and Fault Clearance

ID Dx. Message Description

18 | 00 | 00096 Encoder type plate Encoder type plate (user-defined) invalid

(301989984) (user-defined) invalid Remedy – Complete new configuration using the
commissioning tool
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
18 | 00 | 00227 Encoder identification Encoder identification reports incorrect encoder type
(301990115) reports incorrect Remedy – Check configuration
encoder type
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
18 | 00 | 00318 Status transition fault The requested state transition is not supported.
(301990206) Remedy – Remove PROFIdrive command from con-
trol sequence
Classifica- Default: Stop category 2 (64)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
18 | 03 | 00235 Incremental encoder Common error quadrature encoder
(302186731) analysis invalid Remedy – Check encoder cable
– Restart device
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
18 | 03 | 00301 Number of increments Incorrect zero pulse or incorrect number of increments per
(302186797) between two zero revolution
pulses invalid Remedy – Check encoder cable
– Check encoder
Classifica- Default: Warning (16)

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Diagnostics and Fault Clearance

ID Dx. Message Description

18 | 03 | 00301 Number of increments tion Can be parameterised: Px.10061, value list:

(302186797) between two zero Stop category 0 (4096)
pulses invalid Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: Px.10060

18 | 05 | 00239 BiSS-C encoder ana- Check the wiring of the encoder and the position resolu-
(302317807) lysis invalid tion of the BiSS-C protocol.
Remedy – Check encoder cable
– Restart device
Classifica- Default: Stop category 0 (4096)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
18 | 07 | 00365 Invalid request Invalid request for the control word Gn_STW1.4...7, bits
(302449005) Gn_STW1.4...7 are reserved.
Remedy – Control word Check PROFIdrive encoder
Classifica- Default: Stop category 2 (64)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
18 | 07 | 00366 Function not suppor- An unsupported function in the control word Gn_STW1 is
(302449006) ted Gn_STW1 requested.
Remedy – Control word Check PROFIdrive encoder
Classifica- Default: Stop category 2 (64)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No

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Diagnostics and Fault Clearance

ID Dx. Message Description

18 | 07 | 00367 Axis parking not pos- Axis parking request cannot be executed because the axis
(302449007) sible is moving.
Remedy – Revoke controller enable before parking
Classifica- Default: Stop category 2 (64)
tion Can be parameterised: Px.34241, value list:
Stop category 0 (4096)
Stop category 1a (1024)
Stop category 1 (256)
Stop category 2 (64)
Warning (16)
Info (4)
Ignore (2)
Error Default: save (1)
memory Can be parameterised: No
18 | 07 | 00368 Error reference marks Error when searching for the reference marks because the
(302449008) for search requested function is not completely configured.
Remedy – Control word Check PROFIdrive encoder
Classifica- Default: Stop category 2 (64)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
18 | 07 | 00369 Error read position Error when reading the position of the reference mark
(302449009) reference mark because the function is not completely configured.
Remedy – Control word Check PROFIdrive encoder
Classifica- Default: Stop category 2 (64)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
18 | 07 | 00370 Error measuring on Error when measuring the reference mark on the fly
(302449010) the fly because the function is not completely configured.
Remedy – Control word Check PROFIdrive encoder
Classifica- Default: Stop category 2 (64)
tion Can be parameterised: No
Error Default: save (1)

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ID Dx. Message Description

18 | 07 | 00370 Error measuring on memory Can be parameterised: No

(302449010) the fly
18 | 07 | 00371 Error read position Error when reading the position "Measure on the fly" of
(302449011) measure on the fly the reference mark because the function is not completely
configured.
Remedy – Control word Check PROFIdrive encoder
Classifica- Default: Stop category 2 (64)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
18 | 07 | 00372 Error transfer abso- Error when transferring the absolute position to Gn_XIST2.
(302449012) lute position to Remedy – Control word Check PROFIdrive encoder
Gn_XIST2 – Using absolute encoders
Classifica- Default: Stop category 2 (64)
tion Can be parameterised: No
Error Default: save (1)
memory Can be parameterised: No
Tab. 547 Diagnostic messages

9.5 Recording measuring data (trace)

Recording measuring data is a proven means of helping with the diagnostics. The device firmware sup-
ports the recording of all of the data in the parameters directory of the device. Various measuring data
can be recorded simultaneously. The device firmware supplies several channels for this purpose. The
number of available channels and amount of data to be recorded is dependent on the firmware and
software being used. The plug-in, for example, enables the configuration of measuring data and dis-
play of 8 channels.
In addition to selecting the measured values, the sampling interval, trigger signal, trigger event and
trigger type can be configured. By saving the parameter set, the measuring data configuration is saved
in the parameter directory of the device. The device then waits for a trigger event and records the data
independently. Once a connection has been established with the plug-in, there is an option to read out
the data. The implemented configuration applies equally to all channels. A distinction is made
between the following trigger types:

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Trigger types Description

Data trigger Trigger type that can use all of the data in the parameter directory of the
device as a trigger signal. For example, a data trigger on the "Setpoint
value speed controller" parameter can start creating a record when the cal-
culated setpoint exceeds a certain value.
Diagnostics trigger Trigger type that can use a diagnostic event as a trigger signal thus
enabling data before and after a diagnostic event to be recorded. Often,
only the period of time just before and just after the error has occurred are
important for the diagnostics.
Tab. 548 Trigger types
After a recording has started, the measuring data is recorded in the trace memory (ring memory).
When the trigger event occurs, the measuring data is not retained on the device upon expiry of the
recording. The data is lost when a new recording is started and when the power supply is switched off.
Parameter

ID Px. Parameter Description

5500 Trace channel Determines whether the channel is activated or not. If the chan-
nel is activated, the assigned measured value is permanently
recorded in the ring memory after the recording has been star-
ted. The array ID is used for the channel assignment.
This means:
– 1 = Channel activated
– 0 = Channel not activated
5500.0.0: channel 0 …
5500.0.n: channel n
Access read/write
Update effective immediately
Unit −
5501 Axis ID trace data Specifies the axis ID of the signal that should be recorded. The
array ID is used for the channel assignment.
5501.0.0: channel 0 …
5501.0.n: channel n
Access read/write
Update effective immediately
Unit −

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Diagnostics and Fault Clearance

ID Px. Parameter Description

5502 Data ID trace data Specifies the data ID of the signal to be recorded. The array ID is
used for the channel assignment.
5502.0.0: channel 0 …
5502.0.n: channel n
Access read/write
Update effective immediately
Unit −
5503 Data instance ID trace Contains the instance number of the signal to be recorded. The
data array ID is used for the channel assignment.
5503.0.0: channel 0 …
5503.0.n: channel n
Access read/write
Update effective immediately
Unit −
5504 Array ID trace data Contains the array ID of the signal to be recorded. The array ID is
used for the channel assignment.
5504.0.0: channel 0 …
5504.0.n: channel n
Access read/write
Update effective immediately
Unit −
Tab. 549 Parameter
Example
The following measured values of axis 1 should be recorded at the same time:
– Storage option in error log (P1.4682.0.0) to channel 0
– Actual position value (P1.128.0.0) to channel 1

Parameter settings (example)

Parameter Value Comments

Selection of the axis ID trace data: Axis 1
P0.5501.0.0 1 Channel 0: Axis 1
P0.5501.0.1 1 Channel 1: Axis 1
Selection of the data ID trace data
P0.5502.0.0 4682 Channel 0, current position: following error
P0.5502.0.1 128 Channel 1, actual position value

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Diagnostics and Fault Clearance

Parameter settings (example)

Selection of the data instance ID trace data

P0.5503.0.0 0 Instance = 0
P0.5503.0.1 0 Instance = 0
Selection of the array ID trace data
5504.0.0 0 ArrayID = 0
5504.0.1 0 ArrayID = 0
Selection of the trace channels
5500.0.0 1 Activate trace channel 0
5500.0.1 1 Activate trace channel 1
Tab. 550 Parameter settings (example)
Trace and trigger configuration parameters

ID Px. Parameter Description

341 Trigger type Specifies the trigger type.

This means:
– 0 = after start, immediate recording without trigger
– 1 = Data trigger (parameter as trigger signal)
– 2 = Diagnostic trigger (diagnostic event as trigger signal)
Access read/write
Update effective immediately
Unit −
556 Data trace status Specifies the status of the measuring data recording.
This means:
– 0 = Recording inactive (idle)
– 1 = Recording active, wait for trigger signal
– 2 = Recording started
Access read/−
Update effective immediately
Unit −
557 Trace delay Specifies the lead and follow-up time relating to the trigger
event (specified in samples) A positive value (pre-trigger) refers
to a lead time during which measured values before the trigger
event are recorded in the trace memory. A negative value (post-
trigger) refers to follow-up time during which measured values
after the trigger event are recorded in the trace memory.

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ID Px. Parameter Description

557 Trace delay Access read/write

Update effective immediately
Unit −
558 Recording length Number of samples per channel. The value is calculated based
on the duration and resolution and applies to all of the chan-
nels.
Access read/write
Update effective immediately
Unit −
559 Down sampling factor Factor for influencing the sampling interval. With a factor of 2,
for example, only every 2nd sample is recorded. Sampling inter-
val = downsampling factor (Px.559) * Basic sampling interval
per sample in [µs] (Px.5517)
Access read/write
Update effective immediately
Unit −
5516 Maximum recording Specifies the maximum recording capacity of the trace memory
length in bytes.
Access read/−
Update effective immediately
Unit −
5517 Basic sampling inter- Sampling interval in [s]. The sampling frequency depends on the
val device. The frequency of the CMMT-AS is 16 Khz. This results in
a sampling interval of 62.5 µs (1/16000 s). The frequency of the
CMMT-ST is 20 Khz. This results in a sampling interval of 50 µs
(1/20000 s).
Access read/−
Update effective immediately
Unit −
Tab. 551 Parameter
Example
The recording should be started via a data trigger. The recording should start 0.5 s before the trigger
signal (pre-trigger). Only every second measured value should be recorded in the trace memory.

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Parameter settings (example)

Parameter Value Comments

Selection of the trigger type
P0.341.0.0 1 Data trigger
Selection of recording delay in the samples
P0.557.0.0 5000 Number of samples before the trigger (5000 * 0.0001 s =
0.5 s)
Selection of down sampling factor
P0.559.0.0 2 Sampling interval should be 100 µs (2 * base time per
sample)
Tab. 552 Parameter settings (example)
Parameters for configuring the trigger event for data triggers

ID Px. Parameter Description

6000 Axis ID data trigger Specifies the axis ID of the trigger signal.
0 = System
1 = axis 1 … n = axis n
Access read/write
Update effective immediately
Unit −
6001 Data ID data trigger Specifies the data ID of the trigger signal.
Access read/write
Update effective immediately
Unit −
6002 Data instance ID data Specifies the data instance ID of the trigger signal.
trigger Access read/write
Update effective immediately
Unit −
6003 Array ID data trigger Specifies the array ID of the trigger signal.
Access read/write
Update effective immediately
Unit −

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ID Px. Parameter Description

6004 Trigger event Specifies the trigger event.

The following is possible:
– 0 = Trailing edge (signal changes from 1 to 0); for numerical
trigger signals, exceeding the threshold value in a negative
direction will initiate the trigger.
– 1 = Rising edge (signal changes from 0 to 1); for numerical
trigger signals, exceeding the threshold value in a positive
direction will initiate the trigger.
– 2 = Any edge (any signal change); for numerical trigger sig-
nals, exceeding the threshold value in any direction will ini-
tiate the trigger.
– 3 = Value change (any signal change or value change); at
the start of a recording, the value of the signal for the trig-
ger condition is stored. The Trigger level Forms a symmetric-
al monitoring window around the stored value. If the signal
for the trigger condition leaves the monitoring window, the
value change triggers the trigger.
– 4 = Comparison (value is the same)
Access read/write
Update effective immediately
Unit −
60012 Trigger level Specifies the trigger level value. The value is applied as the act-
ive trigger level at the start of the recording (Px.6013).
Access read/write
Update effective immediately
Unit −
60013 Bit mask data trigger Bit mask for data trigger AND link
Access read/write
Update effective immediately
Unit −
Tab. 553 Parameter
Example data trigger, threshold value exceeded
The recording should be started when the value of the following parameter exceeds 0.5 user units:
– Setpoint value speed controller (ID P1.2216.0.0)

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Parameter settings (example)

Parameter Value Value

Selection of the axis ID data trigger
P0.6000.0.0 1 1 = Axis 1
Selection of the data ID data trigger
P0.6001.0.0 2216 "Setpoint value speed controller" parameter as trigger sig-
nal
Selection of the data instance ID data trigger
P0.6002.0.0 0 Instance 0
Selection of the array ID data trigger
P0.6003.0.0 0 Array ID = 0
Selection of the trigger event configuration
P0.6004.0.0 1 1 = Rising edge
(exceeding the threshold value in a positive direction)
Selection of the trigger level
P0.60012.0.0 0.5 Threshold value = 0.5 user units
Bit mask data trigger
P0.60013.0.0 0xFFFFFFFFFFFFFF- Delete bit mask
FF
Tab. 554 Parameter settings (example)
Example: Bit mask data trigger
The recording is to be started when the motion monitor reports that the trajectory calculation has
been completed (Motion complete). The status (MCMotion complete) is signaled via bit 24 of the
motion monitoring status word (parameter Px.460).
– Motion complete (ID Px.460.0.0, bit 24)

Parameter settings (example)

Parameter Value Value

Selection of the axis ID data trigger
P0.6000.0.0 1 1 = Axis 1
Selection of the data ID data trigger
P0.6001.0.0 460 Parameter "Status of movement monitoring" as trigger sig-
nal
Selection of the data instance ID data trigger
P0.6002.0.0 0 Instance 0

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Parameter settings (example)

Selection of the array ID data trigger

P0.6003.0.0 0 Array ID = 0
Selection of the trigger event configuration
P0.6004.0.0 1 1 = Rising edge
Selection of the trigger level
P0.60012.0.0 1 Threshold value = 1
Bit mask data trigger
P0.60013.0.0 16777216 16777216 (Bit 24 = 1)
... 0001 0000 0000 0000 0000 0000 0000
Tab. 555 Parameter settings (example)
Parameters for configuring the trigger event for diagnostic triggers

ID Px. Parameter Description

103100 Axis ID diagnostic Specifies the axis ID of the diagnostic event.

trace Access read/write
Update effective immediately
Unit −
103101 Diagnostics ID dia- Specifies the diagnostics ID of the diagnostic event.
gnostic trace Access read/write
Update effective immediately
Unit −
103102 Data instance ID dia- Specifies the data instance ID of the diagnostic event.
gnostic trace Access read/write
Update effective immediately
Unit −
103103 Current axis ID dia- Specifies the current axis ID of the current recording.
gnostic trace Access read/−
Update effective immediately
Unit −

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Diagnostics and Fault Clearance

ID Px. Parameter Description

103104 Current diagnostics ID Specifies the current diagnostics ID of the current recording.
diagnostic trace Access read/−
Update effective immediately
Unit −
103105 Current data instance Specifies the current data instance ID of the current recording.
ID diagnostic trace Access read/−
Update effective immediately
Unit −
103106 Diagnostics trigger Specifies the trigger event.
The following is possible:
– 0 = Trigger the message
– 1 = Reset the message
– 2 = Trigger or reset the message
Access read/write
Update effective immediately
Unit −
103107 Current diagnostics Specifies the currently used diagnostics trigger.
trigger The following is possible:
– 0 = Trigger the message
– 1 = Reset the message
– 2 = Trigger or reset the message
Access read/−
Update effective immediately
Unit −
Tab. 556 Parameter
Diagnostics trigger example
The recording should be started when the following diagnostic event occurs for axis 0:
– Following error position (Dx.117571710)

Parameter settings (example)

Parameter Value Value

Selection of the axis ID diagnostic trace
P0.103100.0.0 1 Axis 1
Selection of the diagnostics ID diagnostic trace

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Parameter settings (example)

P0.103101.0.0 117571710 Diagnostic event following error position

Selection of the data instance ID diagnostic trace
P0.103102.0.0 0 Instance 0
Selection of diagnostics trigger
P0.103106.0.0 0 0 = Trigger the message
Tab. 557 Parameter settings (example)
Diagnostic messages
No specific diagnostic messages are allocated to the function.

9.5.1 CiA 402

Channel configuration objects

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
5500 0x2207.01 ... 08 Trace channel BOOL
5501 0x2208.01 ... 08 Axis ID trace data UINT16
5502 0x2209.01 ... 08 Data ID trace data UINT32
5503 0x220A.01 ... 08 Data instance ID trace data UINT16
5504 0x220B.01 ... 08 Array ID trace data UINT16
Tab. 558 Objects
Trace and trigger configuration objects

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
341 0x210F.02 Trigger type UINT32
556 0x2117.01 Data trace status UINT32
557 0x2117.02 Trace delay SINT32
558 0x2117.03 Recording length UINT32
559 0x2117.04 Down sampling factor UINT32
5516 0x2117.08 Maximum recording length UINT32
5517 0x2117.09 Basic sampling interval FLOAT32
Tab. 559 Objects

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Objects for configuring the trigger event for data triggers

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
6000 0x211B.01 Axis ID data trigger UINT16
6001 0x211B.02 Data ID data trigger UINT32
6002 0x211B.03 Data instance ID data trigger UINT16
6003 0x211B.04 Array ID data trigger UINT16
6004 0x211B.05 Trigger event UINT32
60012 0x211B.0C Trigger level SINT64
60013 0x211B.0D Bit mask data trigger UINT64
Tab. 560 Objects
Objects for configuring the trigger event for diagnostic triggers

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
103100 0x2142.01 Axis ID diagnostic trace UINT16
103101 0x2142.02 Diagnostics ID diagnostic trace UINT32
103102 0x2142.03 Data instance ID diagnostic trace UINT16
103103 0x2142.04 Current axis ID diagnostic trace UINT16
103104 0x2142.05 Current diagnostics ID diagnostic trace UINT32
103105 0x2142.06 Current data instance ID diagnostic trace UINT16
103106 0x2142.07 Diagnostics trigger UINT32
103107 0x2142.08 Current diagnostics trigger UINT32
Tab. 561 Objects

9.5.2 PROFIdrive
Channel configuration PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

5500 2578.0 ... 7 Trace channel Boolean
5501 2579.0 ... 7 Axis ID trace data Unsigned16
5502 2580.0 ... 7 Data ID trace data Unsigned32

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Parameter PNU Name Data type

5503 2581.0 ... 7 Data instance ID trace data Unsigned16

5504 2582.0 ... 7 Array ID trace data Unsigned16
Tab. 562 PNUs
Trace and trigger configuration PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

341 2114.0 Trigger type Unsigned32
556 2173.0 Data trace status Unsigned32
557 2174.0 Trace delay Integer32
558 2175.0 Recording length Unsigned32
559 2176.0 Down sampling factor Unsigned32
5516 2591.0 Maximum recording length Unsigned32
5517 2592.0 Basic sampling interval FloatingPoint
Tab. 563 PNUs
PNUs for configuring the trigger event for data triggers

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

6000 2646.0 Axis ID data trigger Unsigned16
6001 2647.0 Data ID data trigger Unsigned32
6002 2648.0 Data instance ID data trigger Unsigned16
6003 2649.0 Array ID data trigger Unsigned16
6004 2650.0 Trigger event Unsigned32
60012 3071.0 Trigger level Integer64
60013 3072.0 Bit mask data trigger Unsigned64
Tab. 564 PNUs
PNUs for configuring the trigger event for diagnostic triggers

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

103100 3140.0 Axis ID diagnostic trace Unsigned16
103101 3141.0 Diagnostics ID diagnostic trace Unsigned32

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Diagnostics and Fault Clearance

Parameter PNU Name Data type

103102 3142.0 Data instance ID diagnostic trace Unsigned16

103103 3143.0 Current axis ID diagnostic trace Unsigned16
103104 3144.0 Current diagnostics ID diagnostic trace Unsigned32
103105 3145.0 Current data instance ID diagnostic trace Unsigned16
103106 3146.0 Diagnostics trigger Unsigned32
103107 3147.0 Current diagnostics trigger Unsigned32
Tab. 565 PNUs

9.6 Condition monitoring

The condition monitoring function records the following data of the servo drive and axis over the
entire service life:
– Mileage of the drive
– Drive load change
– Number servo drive operating hours
The data is recorded with separate counters and stored as a remanent value approx. every
15 minutes. When the device is switched on again, the last stored values are restored and recording is
continued.

9.6.1 Mileage counter

The mileage counter records the distance completed by the connected axis. The unwanted recording
of small positioning differences is suppressed by a hysteresis function (random noise). Two threshold
values can be specified per parameterisation. A diagnostic message is issued if they are exceeded.
The reaction of the servo drive when the threshold value is exceeded can be influenced by specifying
the error category.
Parameters and diagnostic messages

ID Px. Parameter Description

1411 Mileage 1 Specifies the current mileage of the corresponding axis.

Access read/write
Update effective immediately
Unit user defined
1417 Mileage warning Specifies the first threshold value when the device should gen-
threshold erate the first configured message.
Warning threshold is deactivated at 0.
Access read/write
Update effective immediately
Unit user defined

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Diagnostics and Fault Clearance

ID Px. Parameter Description

14111 Mileage error Specifies the second threshold value when the device should
threshold generate the second configured message.
Error threshold is deactivated at 0.
Access read/write
Update effective immediately
Unit user defined
Tab. 566 Parameter

ID Dx. Name Description

12 | 01 | 00208 Maximum mileage value reached Maximum value for the mileage is reached
(201392336)
12 | 01 | 00209 Mileage warning threshold Threshold value 1 (default: warning
(201392337) reached threshold) for the mileage is reached
12 | 01 | 00210 Mileage error threshold reached Threshold value 2 (default: error threshold)
(201392338) for the mileage is reached
Tab. 567 Diagnostic messages
Example
The mileage counter should be reset to 0 and the following threshold values should be parameterised:
– Warning threshold for mileage recording of axis 1: 90000000 user units
– Error threshold for mileage recording of axis 1: 100000000 user units

Parameter settings (example)

Parameter Value Comments

Mileage
P1.1411.0.0 0 Mileage of axis 1 in user units
Warning threshold for mileage recording
P1.1417.0.0 90000000 Mileage warning threshold axis 1
Error threshold for mileage recording
P1.14111.0.0 100000000 Mileage error threshold axis 1
Tab. 568 Parameter settings (example)

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Diagnostics and Fault Clearance

9.6.1.1 CiA 402

Mileage counter objects

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1411 0x2184.01 Mileage 1 SINT64
1417 0x2184.05 Mileage warning threshold SINT64
14111 0x2184.08 Mileage error threshold SINT64
Tab. 569 Objects

9.6.1.2 PROFIdrive
Mileage counter PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

1411 11339.0 Mileage 1 Integer64
1417 11343.0 Mileage warning threshold Integer64
14111 11844.0 Mileage error threshold Integer64
Tab. 570 PNUs

9.6.2 Load change counter

The load change counter records how many backlashes the drive completes. The unwanted recording
of small positioning differences is suppressed by a hysteresis function (random noise). Two threshold
values can be specified per parameterisation. A diagnostic message is issued if they are exceeded.
The reaction of the servo drive when the threshold value is exceeded can be influenced by specifying
the error category.
Parameters and diagnostic messages

ID Px. Parameter Description

1421 Load change counter Specifies the current number of load changes for the corres-
1 ponding axis.
Access read/write
Update effective immediately
Unit −

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ID Px. Parameter Description

1427 Warning threshold Specifies the first threshold value when the device should gen-
load change counter erate the first configured message.
Access read/write
Update effective immediately
Unit −
14211 Error threshold load Specifies the second threshold value when the device should
change counter generate the second configured message.
Access read/write
Update effective immediately
Unit −
Tab. 571 Parameter

ID Dx. Name Description

12 | 01 | 00211 Maximum load change value The maximum value for the load change is
(201392339) reached reached
12 | 01 | 00212 Load change warning threshold Threshold value 1 (default: warning
(201392340) reached threshold) for the load change is reached
12 | 01 | 00213 Load change error threshold Threshold value 2 (default: error threshold)
(201392341) reached for the load change is reached
Tab. 572 Diagnostic messages
Example
The load change counter should be reset to 0 and the following threshold values should be paramet-
erised:
– Warning threshold for the load change counter of axis 1: 4500000 user units
– Error threshold for the load change counter of axis 1: 90000000 user units

Parameter settings (example)

Parameter Value Comments

Load change
P1.1421.0.0 0 Rest axis load change to 0
Warning threshold for the load change counter
P1.1427.0.0 4500000 Load change warning threshold of axis 1
Error threshold for the load change counter
P1.14211.0.0 90000000 Load change error threshold of axis 1
Tab. 573 Parameter settings (example)

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Diagnostics and Fault Clearance

9.6.2.1 CiA402
Load change counter objects

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1421 0x2185.01 Load change counter 1 SINT64
1427 0x2185.05 Warning threshold load change counter SINT64
14211 0x2185.08 Error threshold load change counter SINT64
Tab. 574 Objects

9.6.2.2 PROFIdrive
Load change counter PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

1421 11345.0 Load change counter 1 Integer64
1427 11349.0 Warning threshold load change counter Integer64
14211 11848.0 Error threshold load change counter Integer64
Tab. 575 PNUs

9.6.3 Operating hour counter

The operating hour counter records how long the 24 V logic supply of the servo drive was switched on.
Parameters and diagnostic messages

ID Px. Parameters Description

1423 Operating hour Specifies the number servo drive operating hours.
counter Access read/−
Update effective immediately
Unit s
Tab. 576 Parameters
Example
The operating hours counter should be read.

Parameter settings (example)

Parameters Value Comment

Operating hour counter

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Web server

Parameter settings (example)

P0.1423.0.0 ... Number servo drive operating hours

Tab. 577 Parameter settings (example)
Diagnostic messages
No specific diagnostic messages are allocated to the function.

9.6.3.1 CiA402
Operating hour counter objects

Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1423 0x2133.02 Operating hour counter FLOAT32
Tab. 578 Objects

9.6.3.2 PROFIdrive
Operating hour counter PNUs

Parameters PNU Name Data type

Px. Manufacturer-specific parameters

1423 2318.0 Operating hour counter FloatingPoint
Tab. 579 PNUs

10 Web server
10.1 Function
A web server is integrated into the device. The web server provides access to a dynamic English-lan-
guage website for the device. If access is prevented via web server, the web server can be deactivated
with the parameter Px.11280051. The website of the web server enables, for example, the following:
– Setting the IP configuration
– Diagnostics of servo drive
– Transfer of parameter files and firmware (upload and download)
Prerequisites for online connection with the web server
– The power supply of the device is switched on.
– The IP configuration of the device including subnet mask is set correctly.
– Device and PC are connected via the Ethernet interface (direct connection or connection over a
network).
IP address of the device
In the factory setting, the device has the following IP address:
192.168.0.1

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Web server

If the IP configuration of the device has been changed, the current IP address can be determined with
the CMMT plug-in.
Call the web server
1. Open the Internet browser.
2. Enter the IP address of the device in the address line of the Internet browser.
Ä Then the website of the device appears.

Fig. 103 Website of the web server

The website of the web server has the following register:

Register Description

Info Shows the following information:

– Status information of the device (e. g. order reference and hardware ver-
sion)
– Dynamic measurement values (e. g. temperature of output stage, logic
power supply, current position of drive)
– Signal statuses of digital inputs and outputs, active signals are marked with
a blue dot. Inactive signals are marked with a grey dot.

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Web server

Register Description

Parametersation Offers the following commands:

– Commands to set the IP configuration
– Activation of identification sequence (for visual identification of the device
in a network)
– Upload and download of firmware
– Upload and download of parameter sets
– Reset of all parameters to factory settings
Diagnosis Enables the diagnostics of the servo drive
– Access to the error history
– Display of current messages from the device
– Acknowledgement of all cancelled messages
Tab. 580 Register of the website of the web server
Parameter

ID Px. Parameter Description

11280051 Web server activation Activation of the web server

– 0: inactive
– 1: active
Access read/write
Update restart
Unit −
Tab. 581 Parameter

10.2 CiA 402

Web server objects

Parameter Index.Subindex Name Data type

Px. Manufacturer-specific objects: saved basic unit for the object is effective.
11280051 0x21A4.01 Web server activation BOOL
Tab. 582 Objects

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EtherCAT

10.3 PROFIdrive
Web server PNUs

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

11280051 3371.0 Web server activation Boolean
Tab. 583 PNUs

11 EtherCAT
11.1 General
This part of the documentation describes the implemented standards and the communications of the
CMMT in an EtherCAT network. It is targeted at people who are already familiar with the bus protocol.
EtherCAT (Ethernet for Controller and Automation Technology) is a standard developed by the "Ether-
CAT Technology Group (ETG)" association. Numerous device manufacturers are members of this user
organisation. EtherCAT is an open, real-time-capable Ethernet technology that has been standardised
by the International Electrotechnical Commission (IEC).
The firmware package includes an ESI file and it is also available as a separate file in the support
portal è www.festo.com/sp.

11.2 ETG standards

The following specifications, among others, can be obtained from this user organisation:
– ETG.1000.5: EtherCAT Application Layer Services Definition
– ETG.1000.6: EtherCAT Application Layer Protocol Specification
– ETG.1020:EtherCAT Protocol Enhancements
– ETG.1300:EtherCAT Indicator and Labeling Specification
– ETG.2000:EtherCAT Slave Information Specification
– ETG.2200:EtherCAT Slave Implementation Guide
– ETG.6010:EtherCAT Implementation Directive for CiA402 Drive Profile
User organisation:
For additional information on the user organisation "EtherCAT Technology Group (ETG)"
è www.ethercat.org
EtherCAT implementation
The EtherCAT implementation of the CMMT is based on the following standards:

ETG Draft Standard Version Edition

1000.6 EtherCAT Application Layer Protocol Specification S (R) V1.0.3 2013-01-03

6010 EtherCAT Implementation Directive for CiA402 Drive Pro- V1.1.0 2014-11-19
file D (R)
Tab. 584 EtherCAT implementation

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EtherCAT

11.3 EtherCAT communication

11.3.1 Overview of EtherCAT communication and synchronisation
The graph illustrates EtherCAT communication and synchronisation of the CMMT with other network
devices (e.g. controller (Controller) and Clock Master) a the advanced "CANopen over EtherCAT (CoE)"
and "Ethernet over EtherCAT (EoE)" protocols.

Controller CMMT
(Master) (Slave)
ESC
EtherCAT communication Sync manager
Process
Process data communication 1) Sync manager 2/3 data 4) CoE
Process data object request
Process data object response

Mailbox communication 2)
Mail-
SDO communication Sync manager 0/1 box5)
Service data object request Sync manager 0/1

Service data object response

Abort SDO transfer request

Emergency communication
Emergency request

SDO Information communication

Get OD list request/Get object description request/Entry descriplion request
Get OD list response/Get object description request/Entry descriplion request/SDO info error request

Ethernet over EtherCAT communication EoE

EoE request
EoE response

Clock Master
(Slave) 3) EtherCAT Synchronisation Distributed clocks
Ref clocks Ref Time DC Time

Fig. 104 Overview: EtherCAT communication and synchronisation

1) cyclical transmission
2) acyclical transmission
3) first DC-capable slave in the EtherCAT network
4) internal memory for process data
5) internal memory for mailbox data

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EtherCAT

EtherCAT communication and synchronisation Information

EtherCAT bus è 11.3.2 EtherCAT bus

Topology è Topology

Ports è Ports

Termination è Termination

Wiring Description of assembly and

installation for the servo drive
è 1.1 Applicable documents

EtherCAT Slave Controller ESC è 11.3.3 EtherCAT Slave

Controller ESC
Protocol (CoE/EoE) è 11.3.4 Protocol
Sync Manager (Sync manager) è 11.5 Sync Manager
Sync Manager communication (Sync manager communic- è 11.5.1 Sync
Manager
ation) communication
Sync Manager communication type (Sync man- è Tab. 590 Communication type
ager communication type)
Sync Manager 0 (Sync manager 0) è Communication type
Sync Manager 1 (Sync manager 1) è Communication type
Sync Manager 2 (Sync manager 2) è Communication type
Sync Manager 3 (Sync manager 3) è Communication type
Sync Manager 3 synchronisation è 11.5.2 Synchronisation
Sync Manager 2 synchronisation (Sync manager è 11.5.2 Synchronisation
2 synchronization)
Sync Manager 3 synchronisation (Sync manager è 11.5.2 Synchronisation
3 synchronization)
Distributed Clocks DC è 11.6 Distributed clocks DC
(Distributed Clocks)
Process data communication (Process data communication) è 11.8
Process data
communication
Process data mapping è 11.8.1 PDO Mapping
Object 0x1600: 1st receive PDO mapping (1st è Configuring object 0x1600
receive PDO mapping)
Object 0x1A00: 1st send PDO mapping (1st trans- è 11.8.1.2 Function: TxPDO1
mit PDO mapping) mapping, axis 1
Mailbox communication (Mailbox communication) è 11.9 Mailbox Communication

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EtherCAT

EtherCAT communication and synchronisation Information

SDO communication (SDO communication) è 11.9.1 SDO Communication

SDO read command (SDO upload/Upload SDO) è 11.9.1.2
SDO Read
Command (SDO Upload/Upload
SDO)
SDO write command (SDO download/Download è 11.9.1.1
SDO Write
SDO) Command (SDO
Download/Download SDO)
SDO error message (Abort SDO transfer) è 11.9.1.3SDO Error Message
(Abort SDO transfer request)
Emergency communication (Emergency communication) è 11.9.2
Emergency
Communication
1)
SDO information communication (SDO information com-
munication)
Ethernet over EtherCAT communication (Ethernet over è 11.9.3Ethernet over
EtherCAT communication) EtherCAT Communication (EoE)
File access over EtherCAT è 11.9.4File Access over
EtherCAT (FoE)
1) The CMMT supports SDO information communication for the transmission of "Get OD list/Get object description/Entry descrip-
tion/SDO info error".
Tab. 585 Overview of EtherCAT communication and synchronisation

11.3.2 EtherCAT bus

Topology
The CMMT can be integrated into an EtherCAT network string with ring, star or line topology
Ports
The CMMT is integrated into an EtherCAT network through the following connections.
– Port XF1 IN: EtherCAT input
– Port XF2 IN: EtherCAT output
Termination
The EtherCAT Slave Controller (ESC) monitors the two EtherCAT ports (XF1 IN/XF2 OUT) of the CMMT.
An open XF2 OUT port is automatically closed by the EtherCAT Slave Controller by the loopback func-
tion.
Wiring
For additional information see the description, assembly and installation of the servo drive
è 1.1 Applicable documents.

11.3.3 EtherCAT Slave Controller ESC

Der EtherCAT Slave Controller ESC forms the central communication unit for the CMMT for the
exchange of data between the control unit and the EtherCAT devices. Via the Distributed Clock DC the

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EtherCAT

EtherCAT Slave Controller controls the cyclical synchronous processing and transmission of process
data.

11.3.4 Protocol
The CMMT supports the following protocols for exchanging communication data:

Protocol Description

CANopen over EtherCAT CoE Data transmission in accordance with CANopen, CiA301
Ethernet over EtherCAT EoE Data transmission in accordance with IEEE 802.3
File access over EtherCAT File transfer according to ETG specification
Tab. 586 Overview: protocol
Byte format
With EtherCAT, the 16-bit values (word) and the 32-bit values (double word) are presented as follows.

Byte format Data type Byte order1)

Little endian Word (LSB) (MSB) – –

(0xCDEF) 0xEF 0xCD – –

Double word (LSB) … (MSB)

(0x89ABCDEF) 0xEF 0xCD 0xAB 0x89
1) LSB: least significant byte, MSB: most significant byte
Tab. 587 Byte order
Layout of the Ethernet and EtherCAT frame
The graph shows the layout of the Ethernet and EtherCAT frame with the embedded "CANopen over
EtherCAT (CoE)" and "Ethernet over EtherCAT (EoE)" protocols.

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EtherCAT

Ethernet Frame [IEEE 802.3]

EtherCAT Frame [ETG]

Ethernet Header EtherCAT Frame Header EtherCAT Protocol Data Ethernet FCS
14 Byte 2 Byte … Byte 4 Byte
Ether type: Type:
0x88A4 =EtherCAT 4= Process data communication
5= Mailbox communication

Process Data Frame

Process Data Object Frame

Standard CANopen PDO Frame

Process Data Frame Header 1st Process Data

12 Byte … Byte
PDO Header PDO (PDO Mapping: 0x1600/0x1A ...)
8 Byte … Byte

Mailbox Frame
CoE Frame

Mailbox Header CoE Header CoE Data

6 Byte 2 Byte … Byte
Type: Service:
0x03= CoE 0x01= Emergency
0x02= SDO request
0x03= SDO response
0x08= SDO Information

Emergency Frame
Standard CANopen Emergency Frame

Error Code Error Register Data

2 Byte 1 Byte 1 … 5 | 6 … n Byte
SDO Request Frame/SDO Response Frame
Standard CANopen SDO Frame

SDO control Index Subindex Data

1 Byte 2 Byte 4 Byte 1 … 4 | 5 … n Byte
SDO Information Frame

SDO Info Header SDO Info Service Data

2 Byte … Byte
EoE Frame

Mailbox Header EoE Header EoE Data

6 Byte 3 Byte … Byte
Type:
0x02= EoE

Fig. 105 Layout of the Ethernet and EtherCAT frame

11.4 EtherCAT final state machine

The EtherCAT final state machine contains all statuses needed to establish CMMT communication in
an EtherCAT network. After a reboot (Power ON or Reset), the CMMT is initialized by the controller
(Master). In the following sequence, communication is established for mailbox data and process data.

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EtherCAT

By enabling communication, data can be exchanged between the CMMT and the other network
devices. All status transitions are controlled by the commands from the higher-order controller. The
CMMT does not perform autonomous status changes.
The graph shows all statuses and status transitions of the EtherCAT finite state machine.

(Power ON)
(Reset)

Init

(IP) (IB) (IB)

(PI)

Pre-Operational (PreOp) (SI) Bootstrap (Boot)

(PS)
(OI) (SP)

(OP) Safe-Operational (SafeOp)

(SO) (OS)

Operational (Op)

Fig. 106 EtherCAT final state machine

The table describes all statuses of the EtherCAT final state machine.

Status Status

Init – Status after Power ON or Reset.

– acyclical mailbox communication (SDO) is not possible.
– cyclical process data communication (PDO) is not possible.
– the controller initialises Sync Manager channels 0 and 1 for mailbox
communication.
Pre-Operational – acyclical mailbox communication (SDO) is possible.
(PreOp) – cyclical process data communication (PDO) is not possible.
– the controller initialises Sync Manager 2 and 3 and PDO mapping for
process data communication.

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EtherCAT

Status Status

Safe-Operational – acyclical mailbox communication (SDO) is possible.

(SafeOp) – cyclical process data communication (PDO) is possible.
– the controller does not transmit any setpoint values to the CMMT
(RxPDO). The CMMT is in a secure condition.
– the CMMT transmits current actual values to the controller (TxP-
DO).
Operational – acyclical mailbox communication (SDO) is possible.
(Op) – cyclical process data communication (PDO) is possible.
– the controller transmits new setpoint values to the CMMT (RxP-
DO). Setpoint values are processed by the CMMT.
– the CMMT transmits current actual values to the controller (TxP-
DO).
Bootstrap Supported in conjunction with FoE for activating the transferred files.
(Boot)
Tab. 588 Statuses of the EtherCAT final state machine
The table describes all status transitions of the EtherCAT final state machine.

Status transition Status

Power ON/RESET The CMMT was switched on, or a Reset was triggered.
The CMMT initialises itself and switches directly into the 'Init' status.
IP Mailbox communication (SDO) is started.
(Init è PreOp) The controller reads the device information from the EtherCAT Slave Con-
troller (ESC) and configures:
– Station address
– Sync Manager register for mailbox communication
PI Mailbox communication (PDO) is stopped.
(PreOp è Init)
PS Process data communication (PDO) is started.
(PreOp è SafeOp) The controller configures:
– Sync Manager register for process data communication
– PDO mapping and Distributed Clocks (DC)
SP Process data communication (PDO) is stopped.
(SafeOp è PreOp)
SO The controller transmits valid output data.
(SafeOp è Op)
OS The controller actively requests a change to the "Safe-Operational
(Op è SafeOp) (SafeOp)" status. The CMMT triggers a diagnostic message in accordance
with the configured response.

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EtherCAT

Status transition Status

OP Process data communication (PDO) is stopped.

(Op è PreOp)
SI Mailbox communication (PDO) is stopped.
(SafeOp è Init) Process data communication (PDO) is stopped.
OI Mailbox communication (PDO) is stopped.
(Op è Init) Process data communication (PDO) is stopped.
IB Supported in conjunction with FoE for activating the transferred files.
(Init è Boot)
BI Supported in conjunction with FoE for activating the transferred files.
(Boot è Init)
Tab. 589 Status transitions of the EtherCAT finite state machine

11.5 Sync Manager

The sync manager supports the following functions:
– Sync Manager communication (network communication) è 11.5.1 Sync Manager communication
– synchronisation (network synchronisation) è 11.5.2 Synchronisation

11.5.1 Sync Manager communication

Der Sync Manager steuert die Mailbox und Prozessdaten-Kommunikation des CMMT zu den anderen
Netzwerkteilnehmern (z.B. Steuerung).The Sync Manager controls the CMMT mailbox and process
data communication to the other network devices (e.g. controller).
The following table describes the fixed assignment of communication type and transmission type to
the Sync Manager.

Sync Manager Communication type Transmission type

0 Mailbox communication Receive service data objects SDO

1 Transmit service data objects SDO
2 Process data communication Receive process data objects RxPDO
3 Transmit process data objects TxPDO
Tab. 590 Communication type

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EtherCAT

Sync manager communication

Sync manager 0

Sync channel 0 Mailbox receive è SDO

Sync manager 1
Sync channel 1 Mailbox send ç SDO

EtherCAT Bus Sync manager 2

Sync channel 2 Process data output è RxPDO

Sync manager 3
Sync channel 3 Process data input ç TxPDO

Fig. 107 Parameters and diagnostic messages

Parameters and diagnostic messages

ID Px. Parameters Description

750 Sync manager com- Shows the communication types of the synchronisation man-
munication type Eth- ager for the EtherCAT communication.
erCAT Access read/write
Update effective immediately
Unit −
770 Sync manager x num- Shows the number of assigned PDOs in the synchronisation
ber of assigned PDOs managers 2/3 of the EtherCAT communication.
EtherCAT Access read/write
Update effective immediately
Unit −
771 PDO mapping object Shows the PDO Mapping object index of the assigned PDO of
index of assigned the EtherCAT communication
PDO EtherCAT Access read/write
Update effective immediately
Unit −
Tab. 591 Parameters

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EtherCAT

ID Dx. Name Description

08 | 04 | 00142 EtherCAT process data invalid Parameterisation of process data invalid

(134480014)
08 | 04 | 00143 EtherCAT process data communic- EtherCAT process data communication failed
(134480015) ation failed
Tab. 592 Diagnostic messages

11.5.1.1 CiA 402

Sync Manager objects

Parameters Index.Subindex Name Data type

Px. CiA301: Communication profile

750.0.0 … 4 0x1C00.00 … 04 Sync manager communication type EtherCAT UINT8
770.0.0 0x1C12.00 Sync manager x number of assigned PDOs Eth- UINT8
erCAT
770.1.0 0x1C13.00 Sync manager x number of assigned PDOs Eth- UINT8
erCAT
771.0.0 0x1C12.01 PDO mapping object index of assigned PDO UINT16
EtherCAT
771.1.0 … 2 0x1C13.01 … 03 PDO mapping object index of assigned PDO UINT16
EtherCAT
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
750 0x2213.01 ... 05 Sync manager communication type EtherCAT UINT8
770 0x2124.01 Sync manager x number of assigned PDOs Eth- UINT8
erCAT
771 0x2215.01 ... 03 PDO mapping object index of assigned PDO UINT16
EtherCAT
Tab. 593 Objects

11.5.2 Synchronisation
Transmission and processing of cyclical process data is specified by the Sync Manager synchronisa-
tion process. The synchronisation is controlled by the Distributed Clocks DC
è 11.6 Distributed clocks DC (Distributed Clocks).
The CMMT supports the following synchronisation mode:
– Free Run (no synchronisation)
– Process data (synchronisation to SM2 event)
– Sync (synchronisation with DC Sync 0 event)

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Timing of EtherCAT DC

Fig. 108 Timing of EtherCAT DC

Parameters and diagnostic messages

ID Px. Parameters Description

1050 Synchronisation Shows the synchronisation mode.

mode – 0: FreeRun
– 1: Sync with process data
– 2: DC Sync0
Access read/write
Update effective immediately
Unit −
1051 Synchronisation pro- Shows the cycle time [ns] for the synchronisation processes.
cess repetition time – Sync with process data: cycle time of the master
– DC Sync0: time between two Sync 0 events
(Value range: 1,000,000 − 20,000,000 ns in 1,000,000 ns
steps)
Access read/write
Update effective immediately
Unit −

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EtherCAT

ID Px. Parameters Description

1053 Sync mode supported Shows the supported synchronisation mode.

– Bit 0 = 1: Free Run is supported
– Bit 1 = 1: Sync with process data is supported
– Bit 2-4 = 001: DC Sync0 is supported
– Bit 5-15 = reserved
Access read/−
Update effective immediately
Unit −
1054 Sync Minimum Cycle Specifies the minimum cycle time [l.v.] (fixed value: 1,000,000
Time l.v.).
Access read/−
Update effective immediately
Unit −
1055 Sync Calc And Copy Shows the minimum time [ns] between frame and SYNC0 event
Time in Sync synchronisation mode.
Access read/−
Update effective immediately
Unit −
1056 Sync Get Cycle Time Shows the status of the "local cycle time DC Sync0" measure-
ment and the reset of the error counter.
– Bit 0:
– = 0: the measurement of the local cycle time is stopped.
– = 1: the measurement of the local cycle time is restar-
ted and measured again.
– Bit 1:
– = 0: -
– = 1: error counter is reset
– Bit 2-15: reserved
The value is only up to date in the CiA object via EtherCAT, not
with access to the parameter Px.1056 via the plug-inn.
Access read/write
Update effective immediately
Unit −

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ID Px. Parameters Description

1057 Sync Delay Time Shows the maximum time [ns] between Sync 0 event and issue
of the output in Sync synchronisation mode.
The value is fixed = 0
Access read/−
Update effective immediately
Unit −
1058 Sync0 Cycle Time Shows the time [ns] between two Sync 0 events in Sync syn-
chronisation mode.
Access read/write
Update effective immediately
Unit −
1059 Sync SM Event Shows the number of failed SM2 events in the Operational
Missed status in the Sync synchronisation mode.
The value is only up to date in the CiA object via EtherCAT, not
with access to the parameter Px.1059 via the plug-in.
Access read/−
Update effective immediately
Unit −
1060 Sync cycle time too Shows the number of cycle time violations in the Operational
small status (cycle was not finished on time or the following cycle star-
ted too early).
The value is only up to date in the CiA object via EtherCAT, not
with access to the parameter Px.1060 via the plug-in.
Access read/−
Update effective immediately
Unit −
1061 Sync Error Shows the faulty synchronisation of the last cycle in Sync syn-
chronisation mode.
The value is only up to date in the CiA object via EtherCAT, not
with access to the parameter Px.1061 via the plug-in.
Access read/−
Update effective immediately
Unit −
Tab. 594 Parameters

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EtherCAT

ID Dx. Name Description

08 | 00 | 00140 Failure of fieldbus synchronisation Failure of fieldbus synchronisation signal

(134217868) signal
08 | 00 | 00243 Invalid cycle time Cycle time is not an integral multiple of 1 ms
(134217971)
Tab. 595 Diagnostic messages

11.5.2.1 CiA 402

Synchronisation objects

Parameters Index.Subindex Name Data type

Px. CiA301: Communication profile

1050.0.0 0x1C32.01 Synchronisation mode UINT16
1050.0.0 0x1C33.01 Synchronisation mode UINT16
1051.0.0 0x1C32.02 Synchronisation process repetition time UINT32
1051.0.0 0x1C33.02 Synchronisation process repetition time UINT32
1053.0.0 0x1C32.04 Sync mode supported UINT16
1053.0.0 0x1C33.04 Sync mode supported UINT16
1054.0.0 0x1C32.05 Sync Minimum Cycle Time UINT32
1054.0.0 0x1C33.05 Sync Minimum Cycle Time UINT32
1055.0.0 0x1C32.06 Sync Calc And Copy Time UINT32
1055.0.0 0x1C33.06 Sync Calc And Copy Time UINT32
1056.0.0 0x1C32.08 Sync Get Cycle Time UINT16
1056.0.0 0x1C33.08 Sync Get Cycle Time UINT16
1057.0.0 0x1C32.09 Sync Delay Time UINT32
1057.0.0 0x1C33.09 Sync Delay Time UINT32
1058.0.0 0x1C32.0A Sync0 Cycle Time UINT32
1058.0.0 0x1C33.0A Sync0 Cycle Time UINT32
1059.0.0 0x1C32.0B Sync SM Event Missed UINT16
1059.0.0 0x1C33.0B Sync SM Event Missed UINT16
1060.0.0 0x1C32.0C Sync cycle time too small UINT16
1060.0.0 0x1C33.0C Sync cycle time too small UINT16
1061.0.0 0x1C32.20 Sync Error BOOL
1061.0.0 0x1C33.20 Sync Error BOOL

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Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
1050 0x212E.01 Synchronisation mode UINT16
1051 0x212E.02 Synchronisation process repetition time FLOAT32
1053 0x212E.04 Sync mode supported UINT16
1054 0x212E.05 Sync Minimum Cycle Time FLOAT32
1055 0x212E.06 Sync Calc And Copy Time FLOAT32
1056 0x212E.07 Sync Get Cycle Time UINT16
1057 0x212E.08 Sync Delay Time FLOAT32
1058 0x212E.09 Sync0 Cycle Time FLOAT32
1059 0x212E.0A Sync SM Event Missed UINT16
1060 0x212E.0B Sync cycle time too small UINT16
1061 0x212E.0C Sync Error BOOL
Tab. 596 Objects

11.6 Distributed clocks DC (Distributed Clocks)

All real-time clocks in the EtherCAT Slave Controller ESC of all DC-capable network devices of an Ether-
CAT network array can be synchronised by the mechanism of the distributed clocks DC. The first DC-
capable slave in the EtherCAT network by default controls the task of Clock Master with reference
clock (Ref Clock). At cyclical intervals, master transmits a synchronisation datagram in which the Clock
Master writes the current reference time (Ref Time) to the reference clock. All downstream slaves read
out this value. The EtherCAT Slave Controller ASC calculates the time from the reference time (Ref
Time) and the DC time from the run-time (Offset) calculated by the controller.
The DC distributed clocks are continuously synchronised with every subsequent synchronisation data-
gram. With the Distributed Clocks DC cyclic synchronous processes can be executed (e.g. chronologic-
ally synchronous adoption of setpoint value from process data or cyclical synchronous operation of
several axes). Transmission and processing of cyclical process data is controlled by the Sync Manager
synchronisation è 11.5.2 Synchronisation.
In the IP status transition (Init è PreOp) all Distributed Clocks DC in an EtherCAT network are con-
figured by the controller. In the status transitions (PreOp è SafeOp) the DC synchronisation is estab-
lished in an EtherCAT network. Then the Clock Slave are restored to the Operational status (Op).
The graph shows the DC-topology and synchronisation of the EtherCAT network.

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EtherCAT

Master 1 st Slave 2 nd Slave 3 rd Slave ... Slave

Clock Slave Clock Master Clock Slave Clock Slave

DC Time DC Time DC Time DC Time

Offset Offset Offset Offset

Ref Clock
Ref Time Ref Time Ref Time Ref Time

1) Ref Time Ref Time

Ref Time

Fig. 109 DC-topology and synchronisation of the EtherCAT network

11.7 CiA 402 Finite State Machine

After switching on, the servo drive automatically changes to the "Not ready to switch on" state.

Fig. 110 CiA 402 finite state machine of the servo drive

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EtherCAT

The states shown in bold in the diagram are stable states of the servo drive and are changed and quer-
ied by a higher-level controller.
The states shown in the diagram in normal font can also be changed by the servo drive itself.
Transitions 3 and 4 can only be triggered by the higher-level controller via the control word. These two
transitions can be triggered via a single command by simultaneously setting bits 0, 1 and 3 in the con-
trol word together in one step.
Commands, State Coding and Transitions

Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Transition

Shutdown 0 x 1 1 0 2,6,8
Switch on 0 0 1 1 1 3
Switch on + enable 0 1 1 1 1 3 + 41)
operation
Disable voltage 0 x x 0 x 7,9,10,12
Quick stop 0 x 0 1 x 7,10,11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4.16
Fault reset 0à1 x x x x 15
0à1 = positive edge; x = arbitrary
1) Automatic transition to the "Operation enabled" state after execution of the functionality in the "Switched On" state.
Tab. 597 Control Word Commands
Status Transitions

Transition Event Action

0 Automatic transition after switching on or The self-test and the initialisation of the
resetting the application servo drive are carried out.
1 Automatic transition Communication can be activated.
2 Shutdown command from the higher-level None
controller or local signal
3 Switch on command received from the The load voltage supply should be
higher-level controller or local signal switched on, if possible.
4 Enable operation command received from The drive function is activated and all
the higher-level controller or local signal internal setpoint values are deleted.
5 Disable operation command received The drive function is deactivated.
from the higher-level controller or local
signal

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EtherCAT

Transition Event Action

6 Shutdown command received from the The load voltage supply can be switched
higher-level controller or local signal off if possible.
7 Quick stop or disable voltage command None
from the higher-level controller or local
signal
8 Shutdown command from the higher-level The drive function is deactivated. The
controller or local signal load voltage supply can be switched off if
possible.
9 Disable voltage command from the The drive function is deactivated. The
higher-level controller or local signal load voltage supply can be switched off if
possible.
10 Disable voltage or quick stop command The load voltage supply can be switched
from the higher-level controller or local off if possible.
signal
11 Quick stop command from the higher- Quick stop is executed.
level controller or local signal
12 Disable voltage command from the The drive function is deactivated. The
higher-level controller or local signal load voltage supply can be switched off if
possible.
13 Error (see IEC 61800-7-301) The configured error reaction is executed.
14 Automatic transition The drive function is deactivated. The
load voltage supply can be switched off if
possible.
15 Fault reset command from the higher- The error state is reset if there is no active
level controller or local signal error at the servo drive. After leaving the
error state, the error reset bit in the con-
trol word should be deleted by the higher-
level controller.
16 Enable operation command from the high- The drive function is deactivated.
er-order controller
Tab. 598 Transitions

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Coding of the Status Word

Status word Status of the servo drive

xxxx xxxx x0xx 0000 Not ready to switch on

xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switched on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault
Tab. 599 Coding

11.8 Process data communication

With process data communication (Process data communication), process data (e.g. setpoint and
actual values) are exchanged cyclically between the CMMT and the network devices (e.g. controller
(Controller)). With every process data frame that is run through the output process data (Process data
output) are read from the frame and the input process data (Process data input) are written to the
frame. In the CMMT the controller for process data communication is assigned permanently to Sync
Managers 2 and 3 for transmission of mapped process data objects (PDO) (Process data objects). Max.
16 output/input objects (Sub: 0x01 … …0x10) with 64 bytes user data each can be assigned to the
process data objects (RxPDO/TxPDO).
Process data communication is active from the "Safe Operational" status. The CMMT transmits the
current actual values (TxPDO) to the controller from this status. After the "Operational" status is
reached, incoming setpoint values (RxPDO) are processed and executed by the CMMT.
Synchronisation of the CMMT can be controlled by the Distributed Clocks DC
è 11.6 Distributed clocks DC (Distributed Clocks).

Controller CMMT
RxPDO Mapping
RxPDO
Process data output Object 0x1600

CoE
cyclical Object directory

TxPDO Mapping
TxPDO
Process data input Object 0x1A00

Fig. 111 Access procedure via process data objects PDO

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EtherCAT

11.8.1 PDO Mapping

PDO mapping can be used to create application-specific output and input data sets for data exchange.

11.8.1.1 Function: RxPDO1 mapping

The graph shows the default setting (factory setting) for the 1st receive PDO mapping RxPDO1 in
object 0x1600.

RxPDO1 (Outputs)

Header 0x1600.01 0x1600.02 0x1600.03 0x1600.04 0x1600.05 0x1600.06 0x1600.07 0x1600.08 0x1600.09

CoE object dictionary

Index Sub Mapping
0x1600 0x00 0x09
Index Sub Length
0x1600 0x01 0x6040 0x00 0x10
0x1600 0x02 0x6060 0x00 0x08
0x1600 0x03 0x607A 0x00 0x20
0x1600 0x04 0x6081 0x00 0x20
0x1600 0x05 0x60FF 0x00 0x20
0x1600 0x06 0x6071 0x00 0x10
0x1600 0x07 0x60B1 0x00 0x20
0x1600 0x08 0x60B2 0x00 0x10
0x1600 0x09 0x0000 0x00 0x08

Index Sub Value

Controlword 0x6040 0x00 0xXXXX (UINT)
Modes of operation 0x6060 0x00 0xXX (SINT)
Target position 0x607A 0x00 0xXXXX XXXX (DINT)
Profile velocity 0x6081 0x00 0xXXXX XXXX (UDINT)
Target velocity 0x60FF 0x00 0xXXXX XXXX (DINT)
Target torque 0x6071 0x00 0xXXXX (INT)
Velocity offset 0x60B1 0x00 0xXXXX XXXX (DINT)
Torque offset 0x60B2 0x00 0xXXXX (INT)

Fig. 112 Overview: default RxPDO1 mapping

Configuring object 0x1600

The following steps are required to configure object 0x1600 (only if the "complete access" function is
not enabled):
– Switch CMMT to the "Pre-Operational status (PreOp)".
– Set subindex 0x00 to value 0.
– Configure subindex 0x01 … …0x10.
– Set subindex 0x00 to the value of the assigned PDOs.
– Switch CMMT to the "Safe-Operational (SafeOp) and Operational (Op)" status.

11.8.1.2 Function: TxPDO1 mapping, axis 1

The graph shows the default setting (factory setting) for the 1st send PDO mapping TxPDO1 in object
0x1A00.

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TxPDO1 (Inputs)

Header 0x1A00.01 0x1A00.02 0x1A00.03 0x1A00.04 0x1A00.05 0x1A00.06

CoE object dictionary

Index Sub Mapping
0x1A00 0x00 0x06
Index Sub Length
0x1A00 0x01 0x6041 0x00 0x10
0x1A00 0x02 0x6061 0x00 0x08
0x1A00 0x03 0x6064 0x00 0x20
0x1A00 0x04 0x606C 0x00 0x20
0x1A00 0x05 0x6077 0x00 0x10
0x1A00 0x06 0x0000 0x00 0x08

Index Sub Value

Statusword 0x6041 0x00 0xXXXX (UINT)
Modes of operation display 0x6061 0x00 0xXX (SINT)
Position actual value 0x6064 0x00 0xXXXX XXXX (DINT)
Velocity actual value 0x606C 0x00 0xXXXX XXXX (DINT)
Torque actual value 0x6077 0x00 0xXXXX (INT)

Fig. 113 Overview: default TxPDO1 mapping

Configuring object 0x1A00

The following steps are required to configure object 0x1A00 (only if the "complete access" function is
not enabled):
– Switch CMMT to the "Pre-Operational status (PreOp)".
– Set subindex 0x00 to value 0.
– Configure subindex 0x01 … …0x10.
– Set subindex 0x00 to the value of the assigned PDOs.
– Switch CMMT to the "Safe-Operational (SafeOp) and Operational (Op)" status.

11.8.1.3 Function: TxPDO2 mapping, EtherCAT, diagnostic history

The graph shows the fixed setting for the 2rd send PDO mapping TxPDO2 in object 0x1AF0.

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EtherCAT

TxPDO2 (Inputs)

Header 0x1AF0.01 0x1AF0.02

CoE object dictionary

Index Sub Mapping
0x1AF0 0x00 0x02
Index Sub Length
0x1AF0 0x01 0x10F3 0x04 0x01
0x1AF0 0x02 0x0000 0x00 0x0F

Index Sub Value

New message available 0x10F3 0x04 (BOOL)

Fig. 114 Overview: default TxPDO2 mapping

11.8.1.4 Function: TxPDO3 mapping, EtherCAT, DC time stamp

The graph shows the fixed setting for the 3rd send PDO mapping TxPDO3 in object 0x1AF1.

TxPDO3 (Inputs)

Header 0x1AF1.01

CoE object dictionary

Index Sub Mapping
0x1AF1 0x00 0x01
Index Sub Length
0x1AF1 0x01 0x10F8 0x00 0x40

Index Sub Value

Timestamp 0x10F8 0x00 0xXXXX ... (ULINT)

Fig. 115 Overview: default TxPDO3 mapping

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11.8.1.5 Parameters and diagnostic messages

ID Px. Parameters Description

760 Receive PDO number Shows the number of objects in the RxPDO.
of objects EtherCAT Access read/write
Update effective immediately
Unit −
761 Receive PDO Mapped Specifies the mapping of objects in the RxPDO
Objects EtherCAT è 11.8 Process data communication

Access read/write
Update effective immediately
Unit −
880 Transmit PDO number Shows the number of objects in the TxPDO.
of objects EtherCAT – 1A00: TxPDO1 mapping, axis 1
– 1AF0: TxPDO2 mapping, EtherCAT, diagnostic history
– 1AF1: TxPDO3 mapping, EtherCAT, DC time stamp
Access read/write
Update effective immediately
Unit −
881 Transmit PDO Shows the mapping of objects in the TxPDO.
mapped objects Eth- – 1A00: TxPDO1 mapping, axis 1
erCAT è 11.8 Process data communication.
– 1AF0: TxPDO2 mapping, EtherCAT, diagnostic history
è 11.8 Process data communication.
– 1AF1: TxPDO3 mapping, EtherCAT, DC time stamp
è 11.8 Process data communication.

Access read/write
Update effective immediately
Unit −
Tab. 600 Parameters
Diagnostic messages
No specific diagnostic messages are allocated to the function.

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11.8.1.6 CiA 402

PDO Mapping objects

Parameters Index.Subindex Name Data type

Px. CiA301: Communication profile

760.0.0 0x1600.00 Receive PDO number of objects EtherCAT UINT8
761.0.0 … 15 0x1600.01 … 10 Receive PDO Mapped Objects EtherCAT UINT32
880.0.0 0x1A00.00 Transmit PDO number of objects EtherCAT UINT8
880.1.0 0x1AF0.00 Transmit PDO number of objects EtherCAT UINT8
880.2.0 0x1AF1.00 Transmit PDO number of objects EtherCAT UINT8
881.0.0 … 15 0x1A00.01 … 10 Transmit PDO mapped objects EtherCAT UINT32
881.1.0 0x1AF0.01 … 02 Transmit PDO mapped objects EtherCAT UINT32
881.2.0 0x1AF1.01 Transmit PDO mapped objects EtherCAT UINT32
Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
760 0x2123.01 Receive PDO number of objects EtherCAT UINT8
761 0x2214.01 ... 10 Receive PDO Mapped Objects EtherCAT UINT32
880 0x2126.01 Transmit PDO number of objects EtherCAT UINT8
881 0x2216.01 ... 10 Transmit PDO mapped objects EtherCAT UINT32
Tab. 601 Objects

11.9 Mailbox Communication

Mailbox communication (Mailbox communication) is used to exchange service data (e.g. parameter
values) or error messages acyclically between the controller and CMMT. In the CMMT the controller for
mailbox communication is assigned permanently to Sync Managers 0 and 1 for transmission of service
data objects (SDO) (Service data objects), emergency messages and SDO information.
Mailbox communication is enabled from the "Pre-Operational" status.
Mailbox communication supports the following communication services:
– Via CANopen over EtherCAT (CoE)
– SDO communication (acyclical transmission of service data objects)
è 11.9.1 SDO Communication
The "Complete Access" function is supported.
– Emergency communication (event-controlled transmission of emergency error messages
(Error codes)) è 11.9.2 Emergency Communication
– SDO information communication (acyclical transmission of object data)
è Tab. 585 Overview of EtherCAT communication and synchronisation
– Via Ethernet over EtherCAT (EoE)
– Ethernet communication (acyclical transmission of service data objects via EtherCAT over Eth-
ernet EoE)è 11.9.3 Ethernet over EtherCAT Communication (EoE)

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11.9.1 SDO Communication

SDO communication supports the following SDO services:
– SDO read command (SDO upload/Upload SDO): acyclic reading of parameter data
è 11.9.1.2 SDO Read Command (SDO Upload/Upload SDO)
– SDO write command (SDO download/Download SDO): acyclic writing to parameter data
è 11.9.1.1 SDO Write Command (SDO Download/Download SDO)
– SDO error transmission: event-controlled transmission of SDO error code
è 11.9.1.3 SDO Error Message (Abort SDO transfer request)

11.9.1.1 SDO Write Command (SDO Download/Download SDO)

Via the SDO write command (SDO write command) the controller (Controller) can acyclically access the
CoE object directory CoE OD in the CMMT to write the data of an object (Value). After processing the
write command, the CMMT sends an acknowledgement (Acknowledgment) to the controller.

Controller CMMT
CoE OD
Object
SDO download/Download SDO ... request Value
Request (SDO write command)

SDO ownload/Download SDO ... response

Acknowledgment

Fig. 116 Write access to object data

The SDO service supports the following SDO write commands:

SDO service Description

SDO download expedited request Write command request for 1 … 4 bytes user data
SDO download expedited response Write command acknowledgement with 1 … 4 bytes user
data
SDO download normal request Write command request for 5 … 1,406 bytes user data
SDO download normal response Write command acknowledgement with 5 … 1,406 bytes
user data
Download SDO segmented request Write command request for 1,407 … n bytes user data
Download SDO segmented response Write command acknowledgement with 1,407 … n bytes
user data
Tab. 602 Supported SDO Read Commands
NOTICE!
The controller must not send the next request (request) until the acknowledgement of the write com-
mand (download … response) has been received by the controller.

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EtherCAT

NOTICE!
The request of the write command (download … request) must not use an object that is mapped in the
"receive PDO mapping (0x1600)" object. The alternating transmission of process data objects PDO
and service data objects SDO would overwrite the data of the object (Value) in an undefined time
sequence.

11.9.1.2 SDO Read Command (SDO Upload/Upload SDO)

Via the SDO read command (SDO read command) the controller (Controller) can acyclically access the
CoE object directory CoE OD in the CMMT to read the data of an object (Value). After processing the
read command, the CMMT sends a response (Answer) to the controller with the requested data.

Controller CMMT
CoE OD
Object
SDO upload/Upload SDO ... request Value
Request (SDO read command)

SDO upload/Upload SDO ... response

Answer

Fig. 117 Read access to object data

The SDO service supports the following SDO write commands:

SDO service Description

SDO upload expedited request Read command request for 1 … 4 bytes user data
SDO upload expedited response Read command response with 1 … 4 bytes user data
SDO upload normal request Read command request for 5 … 1,406 bytes user data
SDO upload normal response Read command response with 5 … 1,406 bytes user data
Upload SDO segmented request Read command request for 1,407 … n bytes user data
Upload SDO segmented response Read command response 1,407 … n bytes user data
Tab. 603 Supported SDO Read Commands
NOTICE!
The controller must not send the next request (request) until the response to the read command
(upload … response) has been received by the controller.

11.9.1.3 SDO Error Message (Abort SDO transfer request)

In the case of an error (SDO Error) when reading, writing or transmitting the SDO the CMMT responds
with a SDO error message (Abort SDO transfer request). The cause of error is transmitted as an abort
code (Abort codes) in the data (Data) of the error message to the controller (Controller).

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EtherCAT

Controller CMMT
Abort SDO transfer request SDO Error

Fig. 118 Transmit error message

Example:
A write command is transmitted to the object "Statusword (0x6041h)" that only has read access. The
abort code "0x06 01 00 02" is returned in the error message.
SDO Abort Codes (SDO abort codes)
The following table describes all the SDO abort codes for SDO communication:

Abort code Description

F3 F2 F1 F0

0x05 03 00 00 Protocol error: toggle bit was not revised with segmented SDO transfer.
0x05 04 00 00 SDO protocol time violation
0x05 04 00 01 Protocol error: client/server command specifier invalid or unknown
0x05 04 00 05 Outside the memory range
0x06 01 00 00 Access type is not supported
0x06 01 00 01 Read access to an object that can only be written
0x06 01 00 02 Write access to an object that can only be read
0x06 01 00 03 Subindex cannot be written to, subindex 0 must be 0 for write access
0x06 01 00 04 SDO complete access is not supported for objects with variable length, e.g. with
ENUM object types
0x06 01 00 05 Length of object exceeds size of mailbox
0x06 01 00 06 Object is assigned to RxPDO, SDO download is blocked
0x06 02 00 00 The addressed object does not exist in the object directory.
0x06 04 00 41 The object must not be entered into a PDO (e.g. ro object in RPDO).
0x06 04 00 42 The length of the objects entered in the PDO exceeds the PDO length
0x06 04 00 43 General parameter error
0x06 04 00 47 Overflow of an internal variable/general error
0x06 06 00 00 Access faulty due to a hardware problem
0x06 07 00 10 Protocol error: length of the service parameter does not agree.
0x06 07 00 12 Protocol error: length of the service parameter is too large.
0x06 07 00 13 Protocol error: length of the service parameter is too small.
0x06 09 00 11 The addressed subindex does not exist.
0x06 09 00 30 Value range for parameters was exceeded (only for write access)

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Abort code Description

F3 F2 F1 F0

0x06 09 00 31 Parameter value is too big

0x06 09 00 32 Parameter value is too small
0x06 09 00 36 Maximum value is smaller than the minimum value
0x08 00 00 00 General error
0x08 00 00 20 Data cannot be transmitted to the device or saved
0x08 00 00 21 Data cannot be transmitted to the device or saved due to absence of master control
0x08 00 00 22 Data cannot be transmitted to the device or saved due to the current status of the
device
0x08 00 00 23 Dynamic generation of the object directory failed, or no object directory is available
Tab. 604 SDO Abort Codes

11.9.2 Emergency Communication

The CMMT monitors the function of internal modules (e.g. output stage). Whenever an error occurs,
the configured error reaction is initiated, and the corresponding emergency message is transmitted to
the controller.
The CMMT also sends an emergency message when an error acknowledgment has been executed.
Parameters and Diagnostic Messages

ID Px. Parameter Description

7602 Error register CiA402 Shows the error code in accordance with the error register
(CiA402).
Access read/write
Update effective immediately
Unit −
Tab. 605 Parameter
Diagnostic messages
No specific diagnostic messages are allocated to the function.

11.9.2.1 CiA 402

Emergency communication objects

Parameters Index.Subindex Name Data type

Px. CiA301: Communication profile

7602.0.0 0x1001.00 Error register CiA402 UINT8

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Parameters Index.Subindex Name Data type

Px. Manufacturer-specific objects: The user or basic unit defined for the parameter is
effective.
7602 0x2196.01 Error register CiA402 UINT8
Tab. 606 Objects

11.9.2.2 Error Finite State Machine

Start

Error free

1 2
4

Error occured

Fig. 119 Diagram: Error finite state machine

The following status transitions are possible:

No. Cause Description

0 Initialisation completed There is no error.

1 Error occurs No error is present, and a new error occurs.
An emergency message is transmitted with the error code
of the new error.
2 Error acknowledgment not An error acknowledgement was executed but not all causes
successful of the error are remedied
è 9.4.5 Acknowledging messages and errors.

3 New error occurs An error is present, and a new error occurs.

An emergency message is transmitted with the error code
of the new error.
4 Error acknowledgment suc- All causes of error are remedied, and an error acknowledge-
cessful ment was executed è 9.4 Servo Drive Messages. The emer-
gency message is transmitted with the error code 0x0000
(No error/Error reset).
Tab. 607 Error Status Transitions
Error Messages (Error codes)
The following table lists all error messages that can occur in EtherCAT operation.

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EtherCAT

For additional information on the error messages (e.g. error response, cause and measures)
è 9.4.6 Diagnostic messages with information for fault clearance.

Error code Name Error register Festo Automation Suite

E0 E1 Bit ID Dx.

0x2081 Current 0x03 01 | 01 | 00010,

01 | 01 | 00011,
01 | 02 | 00012,
01 | 02 | 00013,
01 | 02 | 00014,
01 | 02 | 00015,
01 | 02 | 00016,
01 | 02 | 00017,
01 | 02 | 00018,
01 | 02 | 00258,
01 | 02 | 00259
0x3082 Voltage 0x05 02 | 01 | 00022,
02 | 01 | 00023,
02 | 01 | 00024,
02 | 01 | 00025,
02 | 01 | 00026,
02 | 01 | 00027,
02 | 02 | 00030,
02 | 02 | 00031,
02 | 02 | 00032,
02 | 03 | 00038,
02 | 03 | 00039,
02 | 03 | 00251
0x4083 Temperature 0x09 03 | 01 | 00044,
03 | 01 | 00045,
03 | 01 | 00046,
03 | 01 | 00047,
03 | 02 | 00048,
03 | 02 | 00049,
03 | 02 | 00050,
03 | 02 | 00051
0x508A Device Hardware 0x21 10 | 01 | 00153,
10 | 01 | 00154,
10 | 01 | 00156,
10 | 01 | 00249

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Error code Name Error register Festo Automation Suite

E0 E1 Bit ID Dx.

0x608B Device Software 0x21 11 | 01 | 00159,

11 | 01 | 00160,
11 | 01 | 00161,
11 | 01 | 00162,
11 | 01 | 00163,
11 | 01 | 00244,
11 | 02 | 00164,
11 | 02 | 00165,
11 | 02 | 00166,
11 | 02 | 00167,
11 | 02 | 00168,
11 | 02 | 00169,
11 | 02 | 00170,
11 | 02 | 00171,
11 | 02 | 00172,
11 | 03 | 00173,
11 | 03 | 00174,
11 | 03 | 00175,
11 | 03 | 00176,
11 | 03 | 00177,
11 | 03 | 00178,
11 | 03 | 00179,
11 | 03 | 00180,
11 | 04 | 00181,
11 | 04 | 00182,
11 | 04 | 00183,
11 | 04 | 00184,
11 | 04 | 00185,
11 | 04 | 00186,
11 | 04 | 00187,
11 | 04 | 00188,
11 | 04 | 00189,
11 | 04 | 00190,
11 | 05 | 00191,
11 | 05 | 00192,
11 | 05 | 00193,
11 | 05 | 00194,
11 | 05 | 00195,
11 | 05 | 00196,
11 | 05 | 00197,

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EtherCAT

Error code Name Error register Festo Automation Suite

E0 E1 Bit ID Dx.

11 | 05 | 00198,
11 | 05 | 00200,
11 | 05 | 00201,
11 | 05 | 00202,
11 | 06 | 00203,
11 | 06 | 00285,
11 | 06 | 00300,
11 | 07 | 00204,
11 | 07 | 00205,
11 | 07 | 00271,
11 | 08 | 00206,
11 | 08 | 00207
0x6386 Device Software - Data Set 0x81 06 | 00 | 00070,
06 | 00 | 00081,
06 | 00 | 00082,
06 | 00 | 00083,
06 | 00 | 00084,
06 | 00 | 00085,
06 | 00 | 00248,
06 | 00 | 00252,
06 | 00 | 00313,
06 | 02 | 00086,
06 | 02 | 00087,
06 | 02 | 00088,
06 | 02 | 00089,
06 | 02 | 00090,
06 | 02 | 00091,
06 | 02 | 00273,
06 | 02 | 00274,
06 | 02 | 00275,
06 | 05 | 00097,
06 | 05 | 00098,
06 | 05 | 00099,
06 | 05 | 00100,
06 | 05 | 00101,
06 | 05 | 00102,
06 | 05 | 00103,
06 | 05 | 00104,
06 | 05 | 00105,
06 | 05 | 00106,

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Error code Name Error register Festo Automation Suite

E0 E1 Bit ID Dx.

06 | 05 | 00107,
06 | 05 | 00108,
06 | 05 | 00290,
06 | 05 | 00291
0x7092 Additional Modules 0x21 18 | 00 | 00092,
18 | 00 | 00093,
18 | 00 | 00094,
18 | 00 | 00095,
18 | 00 | 00096,
18 | 00 | 00227,
18 | 00 | 00318,
18 | 03 | 00235,
18 | 03 | 00301,
18 | 05 | 00239,
18 | 07 | 00365,
18 | 07 | 00366,
18 | 07 | 00367,
18 | 07 | 00368,
18 | 07 | 00369,
18 | 07 | 00370,
18 | 07 | 00371,
18 | 07 | 00372
0x8087 Monitoring 0x81 07 | 01 | 00109,
07 | 01 | 00110,
07 | 01 | 00111,
07 | 01 | 00112,
07 | 01 | 00113,
07 | 01 | 00114,
07 | 01 | 00115,
07 | 01 | 00116,
07 | 01 | 00117,
07 | 01 | 00118,
07 | 01 | 00119,
07 | 01 | 00120,
07 | 02 | 00121,
07 | 02 | 00122,
07 | 02 | 00123,
07 | 02 | 00124,
07 | 02 | 00125,
07 | 02 | 00126,

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EtherCAT

Error code Name Error register Festo Automation Suite

E0 E1 Bit ID Dx.

07 | 02 | 00127,
07 | 02 | 00128,
07 | 02 | 00129,
07 | 02 | 00130,
07 | 02 | 00131,
07 | 02 | 00132,
07 | 02 | 00133,
07 | 03 | 00134,
07 | 03 | 00135,
07 | 04 | 00136,
07 | 04 | 00137,
07 | 05 | 00138
0x8188 Monitoring - Communication 0x11 08 | 00 | 00139,
08 | 00 | 00140,
08 | 00 | 00243,
08 | 03 | 00141,
08 | 03 | 00373,
08 | 04 | 00142,
08 | 04 | 00143,
08 | 04 | 00281,
08 | 09 | 00144,
08 | 09 | 00145,
08 | 09 | 00288,
08 | 09 | 00289,
08 | 09 | 00294,
08 | 09 | 00299,
08 | 09 | 00382,
08 | 12 | 00250,
08 | 12 | 00272
0xF085 Additional Function 0x81 05 | 01 | 00056,
05 | 01 | 00057,
05 | 01 | 00058,
05 | 02 | 00059,
05 | 02 | 00060,
05 | 02 | 00061,
05 | 02 | 00062,
05 | 02 | 00064,
05 | 02 | 00065,
05 | 02 | 00066,
05 | 02 | 00067,

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Error code Name Error register Festo Automation Suite

E0 E1 Bit ID Dx.

05 | 02 | 00068,
05 | 02 | 00069,
05 | 02 | 00071,
05 | 02 | 00072,
05 | 02 | 00073,
05 | 02 | 00074,
05 | 02 | 00075,
05 | 02 | 00076,
05 | 02 | 00077,
05 | 02 | 00078,
05 | 02 | 00079,
05 | 02 | 00080,
05 | 02 | 00278,
05 | 02 | 00279,
05 | 02 | 00280,
05 | 02 | 00364
0xF089 Additional Function 0x21 09 | 00 | 00146,
09 | 00 | 00147,
09 | 01 | 00148,
09 | 01 | 00149,
09 | 01 | 00150,
09 | 02 | 00151,
09 | 02 | 00152
0xF08C Additional Function 0x81 12 | 01 | 00208,
12 | 01 | 00209,
12 | 01 | 00210,
12 | 01 | 00211,
12 | 01 | 00212,
12 | 01 | 00213
0xF091 Additional Functions 0x21 17 | 01 | 00224,
17 | 01 | 00225,
17 | 01 | 00226
Tab. 608 Emergency error messages

11.9.3 Ethernet over EtherCAT Communication (EoE)

The CMMT supports Ethernet communication within mailbox communication via the EtherCAT inter-
faces (XF1 IN). The Ethernet data are transmitted via the Ethernet over EtherCAT protocol (EoE). The
real-time properties of the EtherCAT network are not affected by this. If the controller (master) has a
separate Ethernet port, this port can be used to connect a PC with the Festo Automation Suite. The
data of the Festo Automation Suite are incorporated in the Ethernet frame and are tunnelled between

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EtherCAT

controller and CMMT for transmission via EtherCAT communication. The IP address of the CMMT must
be configured in the controller to enable the Ethernet data to be routed to the CMMT.

Communication via the Ethernet over EtherCAT EoE protocol runs parallel to the acyclic SDO commu-
nication and cyclical process data communication in EtherCAT.

The graph illustrates Ethernet communication between a PC and the CMMT via the "Ethernet over Eth-
erCAT EoE" protocol.

PC Contr ol l er CM MT

Festo Automation Suite Ethernet Ethernet EtherCAT EtherCAT Mailbox EoE

EtherCAT communication XF1 IN
Device data
Firmware file Mailbox communication
Ethernet over EtherCAT communication
Ethernet communication

Fig. 120 Communication via the "Ethernet over EtherCAT EoE" protocol

11.9.4 File Access over EtherCAT (FoE)

FoE is a protocol based on TFTP that allows the transfer of any files.
Only the download of files is supported by the CMMT.
FoE specifications are contained in the following ETG documents:
– ETG.1000.5: EtherCAT Application Layer Services Definition
– ETG.1000.6: EtherCAT Application Layer Protocol Specification
The file transfer via FoE works in all states of the EtherCAT state machine, except in the state Init. The
actual firmware update or the loading of the parameter set with a previously transferred firmware or a
parameter set is carried out with the state transition from Bootstrap to Init.
The download via FoE allows any file format. Only the following check determines whether it is a valid
file for the CMMT servo drive.
The CMMT supports the download of firmware files and parameter sets. This check is not based on the
file name or file extension because the file name is not always fully used for transfer by the software
tools on the control side. Therefore, the header of the file in the CMMT is checked for file compatibility.
The download of a file via FoE starts with the following information:
– File name (without directory, depending on the controller also without file extension); the string
length is limited by the FoE mailbox size.
– Password (UINT32) (0: Password not used; 1 … 0xFFFFFFFF: Password); the password is ignored
because the password is not sufficient for current and future security requirements.
Time of File Evaluation
The file header is checked with the first received telegram to avoid having to store invalid files in the
file system. Invalid files are acknowledged with an error.
Firmware Package
The actual firmware update is executed with the change of state from Bootstrapto Initthe EtherCAT
state machine.

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Parameter Package
The parameter package is loaded with the change of state from Bootstrap to Init of the EtherCAT state
machine.

11.10 Objects Reference List

Index. Name Data type Access PDO map- Parameter
Subindex ping

CiA301: communication profile

0x1000.00 Device type CiA402 UINT32 rw − P0.7601.0.0
0x1001.00 Error register CiA402 UINT8 rw − P0.7602.0.0
0x1008.00 Device name CiA402 STRING(9) rw − P0.7603.0.0 ... 8
0x1009.00 Hardware version CiA402 STRING(6) rw − P0.7604.0.0 ... 5
0x100A.00 Software version CiA402 STRING(6) rw − P0.7605.0.0 ... 5
0x1100.00 Ethercat address CiA402 UINT16 rw − P0.7606.0.0
0x1018.01 Vendor ID UINT32 rw − P0.7607.0.0
0x1018.02 Product code UINT32 rw − P0.7608.0.0
0x1018.03 Revision number UINT32 rw − P0.7609.0.0
0x1018.04 Serial number UINT32 ro − P0.246.0.0
0x1C32.01 Synchronisation mode UINT16 rw − P0.1050.0.0
0x1C32.02 Synchronisation process UINT32 rw − P0.1051.0.0
repetition time
0x1C32.04 Sync mode supported UINT16 ro − P0.1053.0.0
0x1C32.05 Sync Minimum Cycle Time UINT32 ro − P0.1054.0.0
0x1C32.06 Sync Calc And Copy Time UINT32 ro − P0.1055.0.0
0x1C32.08 Sync Get Cycle Time UINT16 rw − P0.1056.0.0
0x1C32.09 Sync Delay Time UINT32 ro − P0.1057.0.0
0x1C32.0A Sync0 Cycle Time UINT32 rw − P0.1058.0.0
0x1C32.0B Sync SM Event Missed UINT16 ro − P0.1059.0.0
0x1C32.0C Sync cycle time too small UINT16 ro − P0.1060.0.0
0x1C32.20 Sync Error BOOL ro − P0.1061.0.0
0x1C33.01 Synchronisation mode UINT16 rw − P0.1050.0.0
0x1C33.02 Synchronisation process UINT32 rw − P0.1051.0.0
repetition time
0x1C33.04 Sync mode supported UINT16 ro − P0.1053.0.0

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Index. Name Data type Access PDO map- Parameter

Subindex ping

0x1C33.05 Sync Minimum Cycle Time UINT32 ro − P0.1054.0.0

0x1C33.06 Calc and copy time UINT32 ro − P0.1062.0.0
0x1C33.08 Sync Get Cycle Time UINT16 rw − P0.1056.0.0
0x1C33.09 Maximum delay time UINT32 ro − P0.1063.0.0
0x1C33.0A Sync0 Cycle Time UINT32 rw − P0.1058.0.0
0x1C33.0B Sync SM Event Missed UINT16 ro − P0.1059.0.0
0x1C33.0C Sync cycle time too small UINT16 ro − P0.1060.0.0
0x1C33.20 Sync Error BOOL ro − P0.1061.0.0
0x1600.00 Receive PDO number of UINT8 rw − P0.760.0.0
objects EtherCAT
0x1600.01 Receive PDO Mapped UINT32 rw − P0.761.0.0 ... 15
... 10 Objects EtherCAT
0x1A00.00 Transmit PDO number of UINT8 rw − P0.880.0.0
objects EtherCAT
0x1A00.01 Transmit PDO mapped UINT32 rw − P0.881.0.0 ... 15
... 10 objects EtherCAT
0x1AF0.00 Transmit PDO number of UINT8 rw − P0.880.1.0
objects EtherCAT
0x1AF0.01 Transmit PDO mapped UINT32 rw − P0.881.1.0 ... 15
... 10 objects EtherCAT
0x1AF1.00 Transmit PDO number of UINT8 rw − P0.880.2.0
objects EtherCAT
0x1AF1.01 Transmit PDO mapped UINT32 rw − P0.881.2.0 ... 15
... 10 objects EtherCAT
0x1C00.00 Sync manager communica- UINT8 rw − P0.750.0.0 ... 4
... 04 tion type EtherCAT
0x1C12.00 Sync manager x number of UINT8 rw − P0.770.0.0
assigned PDOs EtherCAT
0x1C12.01 PDO mapping object index UINT16 rw − P0.771.0.0 ... 2
... 03 of assigned PDO EtherCAT
0x1C13.00 Sync manager x number of UINT8 rw − P0.770.1.0
assigned PDOs EtherCAT
0x1C13.01 PDO mapping object index UINT16 rw − P0.771.1.0 ... 2
... 03 of assigned PDO EtherCAT

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Index. Name Data type Access PDO map- Parameter

Subindex ping

0x10F1.01 Local error reaction UINT32 rw − P0.43543.0.0

0x10F1.02 Sync error counter limit UINT16 rw − P0.43544.0.0
0x10F3.01 Maximum messages UINT8 rw − P0.43545.0.0
0x10F3.02 Newest message UINT8 rw − P0.43546.0.0
0x10F3.03 Newest ack message UINT8 rw − P0.43547.0.0
0x10F3.04 New message available BOOL rw − P0.43548.0.0
0x10F3.05 Flags UINT16 rw − P0.43549.0.0
0x10F8.00 Timestamp object UINT64 rw Tx P0.43550.0.0
CiA402: the factor group is effective.
0x6007.00 Abort connection option SINT16 rw Rx P0.757.0.0
code
0x603F.00 Currently most serious UINT16 ro − P0.315.1.0
error
0x6040.00 Control word CiA402 UINT16 rw Rx P1.730.0.0
0x6041.00 Status word CiA402 UINT16 ro Tx P1.731.0.0
0x6060.00 Modes of operation CiA402 SINT8 rw Rx P1.12234.0.0
0x6061.00 Modes of operation display SINT8 ro Tx P1.12235.0.0
CiA402
0x6064.00 Actual position value SINT32 ro Tx P1.128.0.0
0x606C.00 Actual velocity value SINT32 ro Tx P1.1210.0.0
0x6071.00 Target torque CiA402 SINT16 rw Rx P1.526795.0.0
0x6072.00 Maximum torque symmet- UINT16 rw Rx P1.526796.0.0
rical
0x6073.00 Limit value total current UINT16 rw Rx P1.856.0.0
(closed loop controller)
0x6074.00 Setpoint generator output SINT16 ro Tx P1.3014.0.0
torque
0x6075.00 Current nominal current UINT32 ro − P1.7118.0.0
0x6076.00 Resulting nominal torque UINT32 ro − P1.7139.0.0
0x6077.00 Actual torque value gear SINT16 ro Tx P1.151.0.0
shaft
0x6078.00 Actual active current value SINT16 ro Tx P1.814.0.0

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Index. Name Data type Access PDO map- Parameter

Subindex ping

0x6079.00 Actual value DC link UINT32 ro Tx P0.480.0.0

voltage
0x607A.00 Target position CiA402 SINT32 rw Rx P1.8130.0.0
0x607C.00 Axis zero point offset SINT32 rw − P1.8416.0.0
0x6081.00 Profile velocity CiA402 UINT32 rw Rx P1.8131.0.0
0x6082.00 End velocity CiA402 UINT32 rw Rx P1.8132.0.0
0x6083.00 Profile acceleration CiA402 UINT32 rw Rx P1.8133.0.0
0x6084.00 Profile deceleration CiA402 UINT32 rw Rx P1.8134.0.0
0x6085.00 Quick stop deceleration UINT32 rw Rx P1.8135.0.0
CiA402
0x6087.00 Torque slope CiA402 UINT32 rw Rx P1.526799.0.0
0x6098.00 Referencing method SINT8 rw Rx P1.8417.0.0
0x6099.01 Search for reference mark UINT32 rw − P1.843.0.0
setpoint velocity
0x6099.02 Setpoint reference mark UINT32 rw − P1.846.0.0
creeping velocity
0x6099.03 Move to axis zero point set- UINT32 rw − P1.849.0.0
point velocity
0x609A.01 Search for reference mark UINT32 rw − P1.844.0.0
setpoint acceleration
0x609A.02 Setpoint reference mark UINT32 rw − P1.847.0.0
creeping acceleration
0x609A.03 Move to axis zero point set- UINT32 rw − P1.8410.0.0
point acceleration
0x60A4.00 Profile jerk CiA402 UINT32 rw Rx P1.8136.0.0
0x60A8.00 SI unit position CiA402 UINT32 rw − P1.7860.0.0
0x60A9.00 SI unit and velocity CiA402 UINT32 rw − P1.7861.0.0
0x60AA.00 SI unit acceleration CiA402 UINT32 rw − P1.7862.0.0
0x60AB.00 SI unit and jerk CiA402 UINT32 rw − P1.7863.0.0
0x60B1.00 Velocity offset CiA402 SINT32 rw Rx P1.8138.0.0
0x60B2.00 Torque offset CiA402 SINT16 rw Rx P1.8111.0.0
0x60E0.00 Upper limit value torque UINT16 rw Rx P1.853.0.0
(closed loop controller)

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Index. Name Data type Access PDO map- Parameter

Subindex ping

0x60E1.00 Lower limit value torque UINT16 rw Rx P1.852.0.0

(closed loop controller)
0x60F2.00 Positioning option code UINT16 rw Rx P1.88817.0.0
CiA402
0x60FD.00 Digital inputs CiA402 UINT32 ro Tx P1.1128052.0.0
0x60FE.01 Digital outputs CiA402 UINT32 rw Rx P1.1128054.0.0
0x60FE.02 Bit mask digital outputs UINT32 rw Rx P1.1128055.0.0
CiA402
0x60FF.00 Target velocity CiA402 SINT32 rw Rx P1.8137.0.0
0x6402.00 Motor type CiA402 UINT16 ro − P1.1128057.0.0
0x6403.00 Current NOC code motor STRING(32) ro − P1.7188.0.0 ... 31
0x6502.00 Supported drive modes UINT32 ro Tx P1.734.0.0
CiA402
0x6503.00 Device name STRING(128) rw − P0.902.0.0 ... 127
0x6505.00 URL address STRING(20) ro − P0.11280052.0.0
... 19
0x6062.00 Setpoint value position SINT32 ro Tx P1.90.0.0
0x6065.00 Monitoring window posi- UINT32 rw Rx P1.463.0.0
tion: following error
0x6066.00 Damping time position: fol- UINT16 rw Rx P1.462.0.0
lowing error
0x6067.00 Monitoring window target UINT32 rw Rx P1.469.0.0
position
0x6068.00 Damping time target UINT16 rw Rx P1.468.0.0
reached
0x60F4.00 Current position: following SINT32 ro Tx P1.4682.0.0
error
0x607D.01 Negative software limit SINT32 rw − P1.4629.0.0
position
0x607D.02 Positive software limit pos- SINT32 rw Rx P1.4630.0.0
ition
0x607E.00 Reversing the direction of UINT8 rw Rx P1.1170.0.0
rotation
0x606B.00 Setpoint value velocity SINT32 ro Tx P1.91.0.0

Festo — CMMT-ST-SW — 2019-08b 639

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x606D.00 Monitoring window target UINT16 rw Rx P1.4610.0.0

speed
0x606E.00 Damping time target UINT16 rw Rx P1.468.0.0
reached
0x606F.00 Monitoring window speed UINT16 rw Rx P1.466.0.0
standstill monitoring
0x6070.00 Standstill damping time UINT16 rw Rx P1.465.0.0
0x60F8.00 Monitoring window speed: SINT32 rw Rx P1.464.0.0
following error
0x607F.00 Limit value velocity limiting UINT32 rw Rx P1.1304.0.0
0x6080.00 Maximum rpm (user UINT32 rw Rx P1.7123.0.0
defined)
0x60C5.00 Limit value acceleration UINT32 rw Rx P1.1305.0.0
limiting
0x60C6.00 Limit value deceleration UINT32 rw Rx P1.1306.0.0
limiting
0x60E4.01 Actual position value SINT32 ro Tx P1.128.0.0
0x60E5.01 Actual velocity value SINT32 ro Tx P1.1210.0.0
0x60E8.01 Total conversion factor UINT32 rw Rx P1.1242.0.0
gear unit numerator
0x60ED.01 Total conversion factor UINT32 rw Rx P1.1243.0.0
gear unit denominator
0x60E9.01 Feed constant numerator UINT32 rw Rx P1.1194.0.0
0x60EE.01 Feed constant denominator UINT32 rw Rx P1.1195.0.0
0x67FE.00 CiA402 version UINT32 ro − P1.1128056.0.0
0x60B8.00 Touch probe function UINT16 rw Rx P1.1128060.0.0
CiA402
0x60B9.00 Touch probe status CiA402 UINT16 ro Tx P1.1128061.0.0
0x60D1.00 Time stamp touch probe UINT32 ro Tx P1.113027.0.0
position positive CiA402
0x60D2.00 Time stamp touch probe UINT32 ro Tx P1.113028.0.0
position negative CiA402

640 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x60D5.00 Counter initiated trigger UINT16 ro Tx P1.113031.0.0

events positive edge
CiA402
0x60D6.00 Counter initiated trigger UINT16 ro Tx P1.113032.0.0
events negative edge
CiA402
0x60BA.00 Touch probe position posit- SINT32 ro Tx P1.113029.0.0
ive CiA402
0x60BB.00 Touch probe position neg- SINT32 ro Tx P1.113030.0.0
ative CiA402
0x60D3.00 Time stamp touch probe UINT32 ro Tx P1.113027.1.0
position positive CiA402
0x60D4.00 Time stamp touch probe UINT32 ro Tx P1.113028.1.0
position negative CiA402
0x60D7.00 Counter initiated trigger UINT16 ro Tx P1.113031.1.0
events positive edge
CiA402
0x60D8.00 Counter initiated trigger UINT16 ro Tx P1.113032.1.0
events negative edge
CiA402
0x60BC.00 Touch probe position posit- SINT32 ro Tx P1.113029.1.0
ive CiA402
0x60BD.00 Touch probe position neg- SINT32 ro Tx P1.113030.1.0
ative CiA402
Manufacturer-specific objects: the user or basic unit defined for the parameter is effective.
0x2100.01 Activate keep-alive-signal BOOL rw Rx P0.12008.0.0
0x2100.02 Keep-alive-signal wait time UINT32 rw Rx P0.12009.0.0
0x2100.03 Keep-alive-signal repeat UINT32 rw Rx P0.12010.0.0
time
0x2100.04 Maximum number of repe- UINT32 rw Rx P0.12011.0.0
titions
0x2103.01 Order number UINT32 ro Tx P0.70.0.0
0x2103.02 NOC code STRING(50) ro Tx P0.71.0.0 ... 49
0x2103.03 Major version servo drive STRING(2) ro Tx P0.73.0.0 ... 1

Festo — CMMT-ST-SW — 2019-08b 641

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2103.05 Control unit data set ID UINT32 ro Tx P0.269.0.0

0x2103.06 Minor version servo drive UINT16 ro Tx P0.739.0.0
0x2103.07 Compatibility index servo UINT16 ro Tx P0.748.0.0
drive
0x2103.08 Test number STRING(9) ro Tx P0.790.0.0 ... 8
0x2103.09 Product key STRING(15) ro Tx P0.791.0.0 ... 14
0x2103.0A Major version device data STRING(2) ro Tx P0.2213.0.0 ... 1
set
0x2103.0B Minor version device data UINT16 ro Tx P0.2214.0.0
set
0x2103.0C Expected major version STRING(2) ro Tx P0.5760.0.0 ... 1
control unit
0x2103.0D Expected minor version UINT16 ro Tx P0.5761.0.0
control unit
0x2103.0E Expected compatibility UINT16 ro Tx P0.5762.0.0
index control unit
0x2103.0F Expected major version STRING(2) ro Tx P0.5763.0.0 ... 1
communication module
0x2103.10 Expected minor version UINT16 ro Tx P0.5764.0.0
communication module
0x2103.11 Expected compatibility UINT16 ro Tx P0.5765.0.0
index communication mod-
ule
0x2103.12 Expected major version STRING(2) ro Tx P0.5766.0.0 ... 1
power output stage
0x2103.13 Expected minor version UINT16 ro Tx P0.5767.0.0
power output stage
0x2103.14 Expected compatibility UINT16 ro Tx P0.5768.0.0
index power output stage
0x2103.15 Expected major version STRING(2) ro Tx P0.5769.0.0 ... 1
safety module
0x2103.16 Expected minor version UINT16 ro Tx P0.5770.0.0
safety module

642 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2103.17 Expected compatibility UINT16 ro Tx P0.5771.0.0

index safety module
0x2103.18 Compatibility index firm- STRING(20) ro Tx P0.5772.0.0 ... 19
ware boot loader
0x2103.19 Compatibility index firm- STRING(20) ro Tx P0.5773.0.0 ... 19
ware
0x2103.1A Compatibility index firm- STRING(20) ro Tx P0.5774.0.0 ... 19
ware EngP
0x2103.1B Compatibility index firm- STRING(20) ro Tx P0.5775.0.0 ... 19
ware FPGA
0x2103.1C Compatibility index firm- STRING(20) ro Tx P0.5776.0.0 ... 19
ware Comm
0x2103.1D Compatibility index firm- STRING(20) ro Tx P0.5777.0.0 ... 19
ware Ext
0x2103.1E URL address STRING(20) ro Tx P0.11280052.0.0
... 19
0x2103.1F Revision STRING(10) ro Tx P0.72.0.0 ... 9
0x2106.01 Product key STRING(15) ro Tx P0.710.0.0 ... 14
0x2106.03 NOC code STRING(32) ro Tx P0.711.0.0 ... 31
0x2106.05 Material number UINT32 ro Tx P0.712.0.0
0x2106.07 Serial number STRING(20) ro Tx P0.713.0.0 ... 19
0x2106.09 Pole pairs UINT32 ro Tx P0.717.0.0
0x2106.0B Motor inertia FLOAT32 ro Tx P0.7110.0.0
0x2106.0D Phase sequence BOOL ro Tx P0.7113.0.0
0x2106.0F Nominal current FLOAT32 ro Tx P0.7116.0.0
0x2106.11 Maximum current FLOAT32 ro Tx P0.7119.0.0
0x2106.13 Maximum rpm FLOAT32 ro Tx P0.7122.0.0
0x2106.15 Nominal rotary speed FLOAT32 ro Tx P0.7125.0.0
0x2106.17 Winding inductance FLOAT32 ro Tx P0.7128.0.0
0x2106.19 Winding resistance FLOAT32 ro Tx P0.7131.0.0
0x2106.1B Torque constant FLOAT32 ro Tx P0.7134.0.0
0x2106.1D Time constant I²t FLOAT32 ro Tx P0.7143.0.0
0x2106.1F Winding temperature FLOAT32 ro Tx P0.7146.0.0

Festo — CMMT-ST-SW — 2019-08b 643

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2106.21 Nominal motor voltage FLOAT32 ro Tx P0.7149.0.0

0x2106.23 Major version hardware STRING(2) ro Tx P0.7150.0.0 ... 1
0x2106.25 Minor version hardware UINT16 ro Tx P0.7151.0.0
0x2106.27 Temperature sensor UINT32 ro Tx P0.7152.0.0
0x2106.29 Holding brake BOOL ro Tx P0.7158.0.0
0x2106.2B Switch-on delay holding FLOAT32 ro Tx P0.7161.0.0
brake
0x2106.2D Switch-off delay holding FLOAT32 ro Tx P0.7164.0.0
brake
0x2106.2F Continuous current FLOAT32 ro Tx P0.7181.0.0
0x2106.31 Encoder data set ID UINT32 ro Tx P0.7183.0.0
0x2106.33 Major version motor data STRING(2) ro Tx P0.7186.0.0 ... 1
set
0x2106.35 Minor version motor data UINT16 ro Tx P0.7187.0.0
set
0x2106.37 Lq inductance FLOAT32 ro Tx P0.7428.0.0
0x2106.39 Ld inductance FLOAT32 ro Tx P0.7429.0.0
0x2106.3B Motor type UINT8 ro Tx P0.7430.0.0
0x2107.01 Status LED UINT16 ro Tx P0.160.0.0
0x2107.02 Power LED UINT16 ro Tx P0.161.0.0
0x2107.03 Safety LED UINT16 ro Tx P0.162.0.0
0x2107.04 Application LED UINT16 ro Tx P0.163.0.0
0x2108.01 Debug variable index 0 FLOAT32 rw Rx P0.190.0.0
0x2108.02 Debug variable index 1 FLOAT32 rw Rx P0.191.0.0
0x2108.03 Debug variable index 2 FLOAT32 rw Rx P0.192.0.0
0x2108.04 Debug variable index 3 FLOAT32 rw Rx P0.193.0.0
0x2108.05 Debug variable index 4 FLOAT32 rw Rx P0.194.0.0
0x2108.06 Debug variable index 5 FLOAT32 rw Rx P0.195.0.0
0x2108.07 Debug variable index 6 FLOAT32 rw Rx P0.196.0.0
0x2108.08 Debug variable index 7 FLOAT32 rw Rx P0.197.0.0
0x2108.09 Debug variable index 8 FLOAT32 rw Rx P0.198.0.0
0x2108.0A Debug variable index 9 FLOAT32 rw Rx P0.199.0.0

644 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x210A.06 Communication module UINT32 ro Tx P0.245.0.0

protocol
0x210A.07 Serial number UINT32 ro Tx P0.246.0.0
0x210A.08 Major version communica- STRING(2) ro Tx P0.2204.0.0 ... 1
tion data set
0x210A.09 Minor version communica- UINT16 ro Tx P0.2205.0.0
tion data set
0x210B.01 Material number control UINT32 ro Tx P0.250.0.0
unit
0x210B.02 NOC code control unit STRING(50) ro Tx P0.251.0.0 ... 49
0x210B.03 Major version control unit STRING(2) ro Tx P0.253.0.0 ... 1
0x210B.04 Compatibility index control UINT16 ro Tx P0.254.0.0
unit
0x210B.0A Serial number control unit STRING(9) ro Tx P0.266.0.0 ... 8
0x210B.0C Major version control unit STRING(2) ro Tx P0.2208.0.0 ... 1
data set
0x210B.0D Minor version control unit UINT16 ro Tx P0.2209.0.0
data set
0x210B.0E Minor version control unit UINT16 ro Tx P0.2212.0.0
0x210D.01 Diagnostic device status UINT16 ro Tx P0.300.0.0
0x210D.02 Maximum number of com- UINT32 ro Tx P0.303.0.0
ponents in the message
buffer
0x210D.03 Actual number of compon- UINT32 ro Tx P0.304.0.0
ents in the message buffer
0x210F.01 Trace type UINT32 ro Tx P0.340.0.0
0x210F.02 Trigger type UINT32 rw Rx P0.341.0.0
0x210F.03 Current trace status UINT32 ro Tx P0.3400.0.0
0x210F.04 Current trigger status UINT32 ro Tx P0.3401.0.0
0x210F.05 Current trace type code UINT32 ro Tx P0.3402.0.0
0x2110.01 Current time without syn- SINT64 ro Tx P0.7534.0.0
chronisation

Festo — CMMT-ST-SW — 2019-08b 645

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2110.02 Current time with syn- SINT64 ro Tx P0.7535.0.0

chronisation
0x2114.01 Actual value DC link FLOAT32 ro Tx P0.480.0.0
voltage
0x2114.06 Diagnostic category UINT16 rw Rx P0.487.0.0
0x2114.07 Storage option in error log UINT8 rw Rx P0.488.0.0
0x2114.08 Diagnostic category UINT16 rw Rx P0.489.0.0
0x2114.0A Warning thresholds DC link FLOAT32 rw Rx P0.4811.0.0
voltage
0x2114.0C Upper limit value DC link FLOAT32 rw Rx P0.4813.0.0
voltage
0x2114.0D Lower limit value DC link FLOAT32 rw Rx P0.4814.0.0
voltage
0x2114.15 Storage option in error log UINT8 rw Rx P0.4890.0.0
0x2114.18 Current warning threshold FLOAT32 ro Tx P0.56799.0.0
DC link voltage
0x2114.19 Current upper limit value FLOAT32 ro Tx P0.56800.0.0
DC link voltage
0x2114.1A Current lower limit value FLOAT32 ro Tx P0.56801.0.0
DC link voltage
0x2115.02 Load voltage root mean FLOAT32 ro Tx P0.491.0.0
square value
0x2115.04 Lower load voltage limit FLOAT32 rw Rx P0.493.0.0
value
0x2115.05 Upper load voltage value FLOAT32 rw Rx P0.494.0.0
0x2115.0D Diagnostic category UINT16 rw Rx P0.519.0.0
0x2115.16 Storage option in error log UINT8 rw Rx P0.5180.0.0
0x2115.19 Current lower limit value FLOAT32 ro Tx P0.28151.0.0
load voltage
0x2115.1A Current upper limit value FLOAT32 ro Tx P0.28152.0.0
load voltage
0x2116.01 Supply voltage 24 V logic FLOAT32 ro Tx P0.520.0.0
0x2117.01 Data trace status UINT32 ro Tx P0.556.0.0

646 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2117.02 Trace delay SINT32 rw Rx P0.557.0.0

0x2117.03 Recording length UINT32 rw Rx P0.558.0.0
0x2117.04 Down sampling factor UINT32 rw Rx P0.559.0.0
0x2117.05 Current pre-trigger SINT32 ro Tx P0.5513.0.0
0x2117.06 Current recording length UINT32 ro Tx P0.5514.0.0
0x2117.07 Current downsampling UINT32 ro Tx P0.5515.0.0
factor
0x2117.08 Maximum recording length UINT32 ro Tx P0.5516.0.0
0x2117.09 Basic sampling interval FLOAT32 ro Tx P0.5517.0.0
0x2117.0A Timestamp End trace SINT64 ro Tx P0.5518.0.0
0x2119.01 Number of parameter sets UINT32 ro Tx P0.571.0.0
0x2119.0B Storage option in error log UINT8 rw Rx P0.5709.0.0
0x2119.0D Storage option in error log UINT8 rw Rx P0.5711.0.0
0x2119.0F Storage option in error log UINT8 rw Rx P0.5713.0.0
0x2119.11 Storage option in error log UINT8 rw Rx P0.5715.0.0
0x2119.15 Storage option in error log UINT8 rw Rx P0.5719.0.0
0x2119.17 Storage option in error log UINT8 rw Rx P0.5721.0.0
0x2119.19 Storage option in error log UINT8 rw Rx P0.5723.0.0
0x2119.1B Storage option in error log UINT8 rw Rx P0.5725.0.0
0x2119.1D Storage option in error log UINT8 rw Rx P0.5727.0.0
0x2119.1E Parameter set status UINT32 ro Tx P0.5728.0.0
0x2119.22 Diagnostic category UINT8 rw Rx P0.5781.0.0
0x2119.24 Diagnostic category UINT8 rw Rx P0.5783.0.0
0x211B.01 Axis ID data trigger UINT16 rw Rx P0.6000.0.0
0x211B.02 Data ID data trigger UINT32 rw Rx P0.6001.0.0
0x211B.03 Data instance ID data trig- UINT16 rw Rx P0.6002.0.0
ger
0x211B.04 Array ID data trigger UINT16 rw Rx P0.6003.0.0
0x211B.05 Trigger event UINT32 rw Rx P0.6004.0.0
0x211B.06 Current axis ID data trigger UINT16 ro Tx P0.6006.0.0
0x211B.07 Current data ID data trigger UINT32 ro Tx P0.6007.0.0

Festo — CMMT-ST-SW — 2019-08b 647

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x211B.08 Current data instance ID UINT16 ro Tx P0.6008.0.0

data trigger
0x211B.09 Current array ID data trig- UINT16 ro Tx P0.6009.0.0
ger
0x211B.0A Current data trigger type UINT32 ro Tx P0.6010.0.0
0x211B.0B Current trigger threshold SINT64 ro Tx P0.6013.0.0
0x211B.0C Trigger level SINT64 rw Rx P0.60012.0.0
0x211B.0D Bit mask data trigger UINT64 rw Rx P0.60013.0.0
0x211E.01 PWM frequency selection UINT32 ro Tx P0.670.0.0
0x2120.01 EtherCAT state machine UINT32 ro Tx P0.720.0.0
state (ESM)
0x2122.01 Sync manager 0 PDO UINT8 ro Tx P0.751.0.0
assignment EtherCAT
0x2122.02 Sync manager 1 PDO UINT8 ro Tx P0.752.0.0
assignment EtherCAT
0x2122.0C Abort connection option SINT16 rw Rx P0.757.0.0
code
0x2122.0D Diagnostic category UINT16 rw Rx P0.758.0.0
0x2122.0E Storage option in error log UINT8 rw Rx P0.759.0.0
0x2122.0F Counter Process data loss UINT32 ro Tx P0.1770.0.0
0x2123.01 Receive PDO number of UINT8 rw Rx P0.760.0.0
objects EtherCAT
0x2124.01 Sync manager x number of UINT8 rw Rx P0.770.0.0
assigned PDOs EtherCAT
0x2124.02 Sync manager x number of UINT8 rw Rx P0.770.1.0
assigned PDOs EtherCAT
0x2125.02 Diagnostic category UINT16 rw Rx P0.801.0.0
0x2125.03 Storage option in error log UINT8 rw Rx P0.802.0.0
0x2126.01 Transmit PDO number of UINT8 rw Rx P0.880.0.0
objects EtherCAT
0x2126.02 Transmit PDO number of UINT8 rw Rx P0.880.1.0
objects EtherCAT

648 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2126.03 Transmit PDO number of UINT8 rw Rx P0.880.2.0

objects EtherCAT
0x2127.01 Project name STRING(41) rw Rx P0.900.0.0 ... 40
0x2127.02 Project description STRING(161) rw Rx P0.901.0.0 ... 160
0x2127.03 Device name STRING(128) rw Rx P0.902.0.0 ... 127
0x2127.04 Device description STRING(161) rw Rx P0.903.0.0 ... 160
0x2128.01 Temperature power output FLOAT32 ro Tx P0.920.0.0
stage
0x2128.02 Temperature status power SINT32 ro Tx P0.921.0.0
output stage
0x2128.03 Diagnostic category UINT16 rw Rx P0.922.0.0
0x2128.04 Storage option in error log UINT8 rw Rx P0.923.0.0
0x2128.07 Diagnostic category UINT16 rw Rx P0.926.0.0
0x2128.08 Storage option in error log UINT8 rw Rx P0.927.0.0
0x2128.0E Storage option in error log UINT8 rw Rx P0.933.0.0
0x2128.12 Storage option in error log UINT8 rw Rx P0.937.0.0
0x2128.19 Upper limit value warning FLOAT32 rw Rx P0.9314.0.0
threshold power output
stage temperature
0x2128.1A Upper limit value power FLOAT32 rw Rx P0.9315.0.0
output stage temperature
0x2128.1B Lower limit value warning FLOAT32 rw Rx P0.9316.0.0
threshold power output
stage temperature
0x2128.1C Lower limit value power FLOAT32 rw Rx P0.9317.0.0
output stage temperature
0x2128.21 Current upper limit value FLOAT32 ro Tx P0.9322.0.0
warning threshold power
output stage temperature
0x2128.22 Current upper limit value FLOAT32 ro Tx P0.9323.0.0
power output stage tem-
perature

Festo — CMMT-ST-SW — 2019-08b 649

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2128.23 Current lower limit value FLOAT32 ro Tx P0.9324.0.0

warning threshold power
output stage temperature
0x2128.24 Current lower limit value FLOAT32 ro Tx P0.9325.0.0
power output stage tem-
perature
0x2129.01 Firmware version STRING(30) ro Tx P0.960.0.0 ... 29
0x2129.02 Major Version Firmware UINT32 ro Tx P0.961.0.0
0x2129.03 Minor Version Firmware UINT32 ro Tx P0.962.0.0
0x2129.04 Patch Version Firmware UINT32 ro Tx P0.963.0.0
0x2129.05 Build Version Firmware UINT32 ro Tx P0.964.0.0
0x2129.06 Firmware status UINT32 ro Tx P0.965.0.0
0x2129.07 Current firmware slot UINT32 ro Tx P0.966.0.0
0x2129.08 Firmware package version STRING(30) ro Tx P0.9550.0.0 ... 29
0x2129.09 Major version firmware UINT32 ro Tx P0.9560.0.0
package
0x2129.0A Minor version firmware UINT32 ro Tx P0.9570.0.0
package
0x2129.0B Patch version firmware UINT32 ro Tx P0.9580.0.0
package
0x2129.0C Build version firmware UINT32 ro Tx P0.9590.0.0
package
0x2129.0E Storage option in error log UINT8 rw Rx P0.9601.0.0
0x2129.10 Storage option in error log UINT8 rw Rx P0.9603.0.0
0x2129.12 Storage option in error log UINT8 rw Rx P0.9605.0.0
0x2129.14 Storage option in error log UINT8 rw Rx P0.9607.0.0
0x2129.16 Storage option in error log UINT8 rw Rx P0.9609.0.0
0x2129.18 Storage option in error log UINT8 rw Rx P0.9611.0.0
0x2129.1A Storage option in error log UINT8 rw Rx P0.9613.0.0
0x2129.1C Storage option in error log UINT8 rw Rx P0.9615.0.0
0x212E.01 Synchronisation mode UINT16 rw Rx P0.1050.0.0
0x212E.02 Synchronisation process FLOAT32 rw Rx P0.1051.0.0
repetition time

650 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x212E.03 Synchronisation process FLOAT32 rw Rx P0.1052.0.0

time shift
0x212E.04 Sync mode supported UINT16 ro Tx P0.1053.0.0
0x212E.05 Sync Minimum Cycle Time FLOAT32 ro Tx P0.1054.0.0
0x212E.06 Sync Calc And Copy Time FLOAT32 ro Tx P0.1055.0.0
0x212E.07 Sync Get Cycle Time UINT16 rw Rx P0.1056.0.0
0x212E.08 Sync Delay Time FLOAT32 ro Tx P0.1057.0.0
0x212E.09 Sync0 Cycle Time FLOAT32 rw Rx P0.1058.0.0
0x212E.0A Sync SM Event Missed UINT16 ro Tx P0.1059.0.0
0x212E.0B Sync cycle time too small UINT16 ro Tx P0.1060.0.0
0x212E.0C Sync Error BOOL ro Tx P0.1061.0.0
0x212E.0D Calc and copy time FLOAT32 ro Tx P0.1062.0.0
0x212E.0E Maximum delay time FLOAT32 ro Tx P0.1063.0.0
0x212F.0A Digital input X1A.7 UINT32 rw Rx P0.11201.0.0
0x212F.0B Digital input X1A.8 UINT32 rw Rx P0.11202.0.0
0x212F.0C Digital output X1A.9 UINT32 rw Rx P0.11203.0.0
0x212F.0D Digital output X1A.10 UINT32 rw Rx P0.11204.0.0
0x212F.0E Digital input X1C.2 UINT32 rw Rx P0.11205.0.0
0x2130.1F Commutation angle from SINT64 rw Rx P0.3219.0.0
user configuration
0x2130.21 Current commutation angle SINT64 ro Tx P0.3220.0.0
0x2130.23 Zero point offset from SINT64 rw Rx P0.3221.0.0
encoder memory
0x2130.25 Zero point offset from user SINT64 rw Rx P0.3223.0.0
configuration
0x2130.27 Current zero point offset SINT64 ro Tx P0.3224.0.0
0x2130.29 Encoder referencing is val- BOOL ro Tx P0.3225.0.0
id
0x2130.2B Referencing in user config- BOOL rw Rx P0.3226.0.0
uration is valid
0x2130.2D Current referencing is valid BOOL ro Tx P0.3227.0.0

Festo — CMMT-ST-SW — 2019-08b 651

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2130.2F Valid commutation angle BOOL ro Tx P0.3228.0.0

from encoder memory
0x2130.31 Valid commutation angle BOOL ro Tx P0.3229.0.0
from user configuration
0x2130.33 Current commutation angle BOOL ro Tx P0.3230.0.0
valid
0x2130.39 Electrical angular fre- FLOAT32 ro Tx P0.3234.0.0
quency filtered
0x2130.3D Deactivation motor change BOOL rw Rx P0.3236.0.0
check
0x2130.3F Encoder permanently BOOL rw Rx P0.3237.0.0
homed
0x2130.41 Material number motor ref- UINT32 rw Rx P0.3238.0.0
erence configuration
0x2130.43 Serial number motor refer- STRING(13) rw Rx P0.3239.0.0 ... 12
ence configuration
0x2130.45 Product key motor refer- STRING(15) rw Rx P0.3240.0.0 ... 14
ence configuration
0x2130.59 Activation automatic BOOL rw Rx P0.3250.0.0
encoder detection
0x2130.5B Selection gear ratio group UINT8 rw Rx P0.3251.0.0
0x2130.5D Standardised encoder pos- SINT64 ro Tx P0.11600.0.0
ition
0x2130.5F Absolute position in user SINT64 ro Tx P0.11601.0.0
units
0x2130.61 Velocity in user units FLOAT32 ro Tx P0.11602.0.0
0x2130.63 Filtered velocity in user FLOAT32 ro Tx P0.11603.0.0
units
0x2130.65 Electrical angle UINT32 ro Tx P0.11604.0.0
0x2130.67 Electrical angular fre- FLOAT32 ro Tx P0.11605.0.0
quency
0x2130.6D Commutation angle from SINT64 rw Rx P0.11608.0.0
encoder memory
0x2130.7B Current position SINT64 ro Tx P0.11615.0.0

652 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2130.7D Encoder selection UINT32 rw Rx P0.11616.0.0

0x2130.7F Active encoder UINT32 ro Tx P0.11617.0.0
0x2130.81 Velocity filter filter time FLOAT32 rw Rx P0.11618.0.0
constant
0x2130.93 Actual acceleration value FLOAT32 ro Tx P0.71500.0.0
unfiltered
0x2130.95 Actual acceleration value FLOAT32 ro Tx P0.71501.0.0
filtered
0x2130.97 Filter time constant accel- FLOAT32 rw Rx P0.71502.0.0
eration filter
0x2133.02 Operating hour counter FLOAT32 ro Tx P0.1423.0.0
0x2136.01 EtherCAT explicit device ID UINT16 rw Rx P0.7600.0.0
0x2136.02 Device type CiA402 UINT32 rw Rx P0.7601.0.0
0x2136.04 Device name CiA402 STRING(9) rw Rx P0.7603.0.0 ... 8
0x2136.05 Hardware version CiA402 STRING(6) rw Rx P0.7604.0.0 ... 5
0x2136.06 Software version CiA402 STRING(6) rw Rx P0.7605.0.0 ... 5
0x2136.07 Ethercat address CiA402 UINT16 rw Rx P0.7606.0.0
0x2136.08 Vendor ID UINT32 rw Rx P0.7607.0.0
0x2136.09 Product code UINT32 rw Rx P0.7608.0.0
0x2136.0A Revision number UINT32 rw Rx P0.7609.0.0
0x2138.01 Encoder resolution UINT16 rw Rx P0.10040.0.0
0x2138.04 Raw value position UINT16 ro Tx P0.10041.0.0
0x2138.07 Raw value number of SINT16 ro Tx P0.10042.0.0
revolutions
0x2138.0A Quadrature evaluation UINT8 rw Rx P0.10043.0.0
0x2138.34 Activation inversion zero BOOL rw Rx P0.10045.0.0
pulse
0x2138.35 Zero pulse monitoring win- UINT16 rw Rx P0.10047.0.0
dow
0x2138.36 Storage option in error log UINT8 rw Rx P0.10060.0.0
0x2138.37 Diagnostic category UINT16 rw Rx P0.10061.0.0
0x2139.02 Message counter UINT32 ro Tx P0.100501.0.0

Festo — CMMT-ST-SW — 2019-08b 653

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2139.03 Current file pointer UINT32 ro Tx P0.100502.0.0

0x2139.04 Current file size UINT32 ro Tx P0.100503.0.0
0x2139.06 Storage option in error log UINT8 rw Rx P0.100505.0.0
0x2139.08 Storage option in error log UINT8 ro Tx P0.100509.0.0
0x2139.09 Current indicator in the UINT32 ro Tx P0.100510.0.0
message buffer
0x213D.01 Device interface x1A status UINT32 ro Tx P0.10151.0.0
0x213D.02 Device interface x1C status UINT32 ro Tx P0.10152.0.0
0x213D.03 Internal interface status UINT32 ro Tx P0.10153.0.0
0x213F.01 DC link recovery deactiva- FLOAT32 ro Tx P0.10181.0.0
tion
0x213F.02 DC link recovery status BOOL ro Tx P0.10182.0.0
0x213F.04 Activation automatic BOOL rw Rx P0.10184.0.0
voltage determination
0x213F.05 Power feedback switch-off FLOAT32 rw Rx P0.10185.0.0
threshold
0x213F.06 Scaling factor offset of FLOAT32 rw Rx P0.10186.0.0
voltage calculation
0x2140.01 Activate PNP input and out- UINT8 rw Rx P0.10191.0.0
put behaviour
0x2140.02 Inversion of the inputs act- BOOL ro Tx P0.10192.0.0
ive
0x2140.03 Inversion of the outputs BOOL ro Tx P0.10193.0.0
active
0x2141.01 ExceptionCount UINT32 ro Tx P0.10300.0.0
0x2141.02 ExceptionType UINT32 ro Tx P0.10301.0.0
0x2141.03 PID UINT32 ro Tx P0.10302.0.0
0x2141.04 ErrorCode UINT32 ro Tx P0.10303.0.0
0x2141.05 UserInfo UINT32 ro Tx P0.10304.0.0
0x2141.06 RegR14ex UINT32 ro Tx P0.10305.0.0
0x2141.07 RegMPU UINT32 ro Tx P0.10306.0.0
0x2141.08 RegState UINT32 ro Tx P0.10307.0.0
0x2141.09 RegIPSR UINT32 ro Tx P0.10308.0.0

654 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2141.0A RegCFSR UINT32 ro Tx P0.10309.0.0

0x2141.0B RegHFSR UINT32 ro Tx P0.10310.0.0
0x2141.0C Bus fault address register UINT32 ro Tx P0.10311.0.0
0x2141.0D MemManage Fault Address UINT32 ro Tx P0.10312.0.0
Register
0x2141.0E Auxiliary Fault Status UINT32 ro Tx P0.10313.0.0
Register
0x2141.0F System Handler Control UINT32 ro Tx P0.10314.0.0
and State Register
0x2141.10 Reset status list UINT32 ro Tx P0.10315.0.0
0x2141.11 Operating system-specific UINT32 ro Tx P0.10316.0.0
0x2142.01 Axis ID diagnostic trace UINT16 rw Rx P0.103100.0.0
0x2142.02 Diagnostics ID diagnostic UINT32 rw Rx P0.103101.0.0
trace
0x2142.03 Data instance ID diagnostic UINT16 rw Rx P0.103102.0.0
trace
0x2142.04 Current axis ID diagnostic UINT16 ro Tx P0.103103.0.0
trace
0x2142.05 Current diagnostics ID dia- UINT32 ro Tx P0.103104.0.0
gnostic trace
0x2142.06 Current data instance ID UINT16 ro Tx P0.103105.0.0
diagnostic trace
0x2142.07 Diagnostics trigger UINT32 rw Rx P0.103106.0.0
0x2142.08 Current diagnostics trigger UINT32 ro Tx P0.103107.0.0
0x2143.01 Status ReInit UINT32 ro Tx P0.10321.0.0
0x2143.02 Status ReInit requested BOOL ro Tx P0.10322.0.0
0x2143.03 Status ReInit active BOOL ro Tx P0.10323.0.0
0x2143.04 Status ReInit device restart BOOL ro Tx P0.10324.0.0
0x2143.08 Storage option in error log UINT8 rw Rx P0.10328.0.0
0x2143.09 Number ReInit requests UINT32 ro Tx P0.10329.0.0
0x2143.0A Number activated ReInit UINT32 ro Tx P0.10330.0.0
0x2143.0B ID reintialisation UINT32 ro Tx P0.11280019.0.0
0x2145.01 Diagnostic axis status UINT16 ro Tx P0.301.0.0

Festo — CMMT-ST-SW — 2019-08b 655

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2145.02 Diagnostic axis status UINT16 ro Tx P0.301.1.0

0x2145.03 Diagnostic response axis UINT16 ro Tx P0.302.0.0
0x2145.04 Diagnostic response axis UINT16 ro Tx P0.302.1.0
0x2145.09 Number diagnostics UINT32 ro Tx P0.103401.0.0
acknowledgements
0x2145.0A Number diagnostics UINT32 ro Tx P0.103401.1.0
acknowledgements
0x2145.0B Currently most serious UINT32 ro Tx P0.315.0.0
error
0x2145.0C Currently most serious UINT32 ro Tx P0.315.1.0
error
0x214C.03 Test user 10 UINT8 rw Rx P0.9303.0.0
0x214C.04 Test user 20 UINT8 rw Rx P0.9304.0.0
0x214C.05 Test user 30 UINT8 rw Rx P0.9305.0.0
0x214D.01 Activate DHCP BOOL rw Rx P0.12000.0.0
0x214D.02 Activate DHCP BOOL rw Rx P0.12000.1.0
0x214D.03 IP address UINT32 rw Rx P0.12001.0.0
0x214D.04 IP address UINT32 rw Rx P0.12001.1.0
0x214D.05 Subnet mask UINT32 rw Rx P0.12002.0.0
0x214D.06 Subnet mask UINT32 rw Rx P0.12002.1.0
0x214D.07 Gateway address UINT32 rw Rx P0.12003.0.0
0x214D.08 Gateway address UINT32 rw Rx P0.12003.1.0
0x214D.09 Active IP address UINT32 ro Tx P0.12004.0.0
0x214D.0A Active IP address UINT32 ro Tx P0.12004.1.0
0x214D.0B Active subnet mask UINT32 ro Tx P0.12005.0.0
0x214D.0C Active subnet mask UINT32 ro Tx P0.12005.1.0
0x214D.0D Active gateway address UINT32 ro Tx P0.12006.0.0
0x214D.0E Active gateway address UINT32 ro Tx P0.12006.1.0
0x214F.01 Major version bootloader UINT32 ro Tx P0.1130121.0.0
0x214F.02 Minor version bootloader UINT32 ro Tx P0.1130122.0.0
0x214F.03 Patch version bootloader UINT32 ro Tx P0.1130123.0.0
0x214F.04 Build version bootloader UINT32 ro Tx P0.1130124.0.0

656 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x214F.05 Version bootloader STRING(32) ro Tx P0.1130125.0.0

... 31
0x2150.01 Switch-on delay holding FLOAT32 ro Tx P1.20.0.0
brake 1
0x2150.02 Switch-off delay holding FLOAT32 ro Tx P1.21.0.0
brake 1
0x2150.05 Status holding brake 1 UINT32 ro Tx P1.24.0.0
0x2150.07 Status holding brakes 1 UINT32 ro Tx P1.26.0.0
and 2
0x2150.09 Selection of holding brake UINT32 ro Tx P1.29.0.0
(manual opening)
0x2151.0A Actual phase U current FLOAT32 ro Tx P1.39.0.0
value
0x2151.0B Actual phase V current FLOAT32 ro Tx P1.310.0.0
value
0x2151.0C Voltage limiting filter time FLOAT32 rw Rx P1.52679.0.0
constant
0x2151.0D Voltage limiting Ud active BOOL ro Tx P1.52680.0.0
0x2151.0E Voltage limiting Uq active BOOL ro Tx P1.52681.0.0
0x2151.0F Diagnostic category UINT16 rw Rx P1.52682.0.0
0x2151.10 Storage option in error log UINT8 rw Rx P1.52683.0.0
0x2152.02 Controller operating status UINT32 ro Tx P1.42.0.0
0x2152.06 Setpoint value active cur- FLOAT32 ro Tx P1.52.0.0
rent unfiltered
0x2152.09 Velocity limiting active BOOL ro Tx P1.52675.0.0
0x2152.0A Current limitation active BOOL ro Tx P1.52676.0.0
0x2152.0B Diagnostic category UINT16 rw Rx P1.52677.0.0
0x2152.0C Storage option in error log UINT8 rw Rx P1.52678.0.0
0x2152.0D Filter time constant con- FLOAT32 rw Rx P1.526794.0.0
troller limitation
0x2153.01 Amplification gain current FLOAT32 rw Rx P1.80.0.0
regulator (reactive current)

Festo — CMMT-ST-SW — 2019-08b 657

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2153.02 Integration constant cur- FLOAT32 rw Rx P1.81.0.0

rent regulator (reactive cur-
rent)
0x2153.03 Amplification gain current FLOAT32 rw Rx P1.82.0.0
regulator (active current)
0x2153.04 Integration constant cur- FLOAT32 rw Rx P1.83.0.0
rent regulator (active cur-
rent)
0x2153.05 Setpoint value voltage Ud FLOAT32 ro Tx P1.84.0.0
0x2153.06 Setpoint value voltage Uq FLOAT32 ro Tx P1.85.0.0
0x2153.07 Setpoint value active cur- FLOAT32 ro Tx P1.86.0.0
rent
0x2153.08 Setpoint value reactive cur- FLOAT32 ro Tx P1.87.0.0
rent
0x2153.09 Maximum output voltage FLOAT32 ro Tx P1.88.0.0
0x2153.0A Actual Clarke-Transforma- FLOAT32 ro Tx P1.89.0.0
tion la current value
0x2153.0B Actual Clarke-Transforma- FLOAT32 ro Tx P1.810.0.0
tion lb current value
0x2153.0E Actual reactive current FLOAT32 ro Tx P1.813.0.0
value
0x2153.0F Actual active current value FLOAT32 ro Tx P1.814.0.0
0x2153.14 Control parameter equal- BOOL rw Rx P1.819.0.0
isation for active and react-
ive current regulators
0x2153.15 Reactive current control FLOAT32 ro Tx P1.824.0.0
error
0x2153.16 Active current control error FLOAT32 ro Tx P1.825.0.0
0x2154.01 Setpoint value position SINT64 ro Tx P1.90.0.0
0x2154.02 Setpoint value velocity FLOAT32 ro Tx P1.91.0.0
0x2154.03 Setpoint value acceleration FLOAT32 ro Tx P1.92.0.0
0x2154.04 Setpoint value jerk FLOAT32 ro Tx P1.93.0.0
0x2154.05 Setpoint value torque FLOAT32 ro Tx P1.94.0.0

658 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2154.06 Feed forward control cur- FLOAT32 ro Tx P1.95.0.0

rent output
0x2154.07 Inactive time position set- UINT32 rw Rx P1.957.0.0
point value
0x2154.08 Time constant velocity set- FLOAT32 rw Rx P1.958.0.0
point value filter
0x2154.09 Time constant acceleration FLOAT32 rw Rx P1.959.0.0
setpoint value filter
0x2154.0A Amplification gain velocity FLOAT32 rw Rx P1.967.0.0
feed forward control
0x2154.0B Amplification gain torque FLOAT32 rw Rx P1.968.0.0
feed forward control
0x2154.0C Offset torque FLOAT32 rw Rx P1.969.0.0
0x2154.0D Total inertia FLOAT32 rw Rx P1.973.0.0
0x2154.0E Setpoint value friction FLOAT32 ro Tx P1.974.0.0
compensation
0x2154.0F Setpoint value inertia com- FLOAT32 ro Tx P1.975.0.0
pensation
0x2154.10 Number of support points UINT32 rw Rx P1.978.0.0
0x2155.03 Encoder channel 1 position UINT32 ro Tx P1.122.0.0
0x2155.09 Actual position value SINT64 ro Tx P1.128.0.0
0x2155.0B Actual velocity value FLOAT32 ro Tx P1.1210.0.0
0x2155.0D Electrical angle UINT32 ro Tx P1.1212.0.0
0x2155.0E Electrical angular fre- FLOAT32 ro Tx P1.1213.0.0
quency
0x2156.01 Controller parameter set BOOL ro Tx P1.44.0.0
switchover status
0x2157.01 Actual torque value motor FLOAT32 ro Tx P1.150.0.0
shaft
0x2157.02 Actual torque value gear FLOAT32 ro Tx P1.151.0.0
shaft
0x2158.01 Motion Manager status UINT32 ro Tx P1.171.0.0
0x2158.02 Active motion task UINT32 ro Tx P1.172.0.0

Festo — CMMT-ST-SW — 2019-08b 659

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2158.03 Active motion task status UINT32 ro Tx P1.173.0.0

0x2158.0F Storage option in error log UINT8 rw Rx P1.1733.0.0
0x2159.01 Current record table index SINT32 ro Tx P1.1837.0.0
0x2159.02 Maximum number record UINT32 ro Tx P1.1839.0.0
links
0x2159.03 Activate Event table BOOL rw Rx P1.1840.0.0
0x2159.04 Status of record table UINT32 ro Tx P1.1846.0.0
0x2159.05 Diagnostic category UINT16 rw Rx P1.1850.0.0
0x2159.06 Storage option in error log UINT8 rw Rx P1.1851.0.0
0x2159.07 Diagnostic category UINT16 rw Rx P1.1852.0.0
0x2159.08 Storage option in error log UINT8 rw Rx P1.1853.0.0
0x2159.09 Record table status SINT32 ro Tx P1.526797.0.0
0x2159.0A Activation background BOOL rw Rx P1.1130224.0.0
mode
0x215B.01 Position controller amplific- FLOAT32 rw Rx P1.220.0.0
ation gain
0x215B.02 Dead zone position con- SINT64 rw Rx P1.221.0.0
troller
0x215B.03 Minimum correction velo- FLOAT32 rw Rx P1.222.0.0
city
0x215B.04 Maximum correction velo- FLOAT32 rw Rx P1.223.0.0
city
0x215B.05 Velocity controller amplific- FLOAT32 rw Rx P1.224.0.0
ation gain
0x215B.06 Velocity controller integra- FLOAT32 rw Rx P1.225.0.0
tion constant
0x215B.07 Velocity control error FLOAT32 ro Tx P1.2215.0.0
0x215B.08 Setpoint value velocity FLOAT32 ro Tx P1.2216.0.0
controller
0x215B.09 Position control error SINT64 ro Tx P1.2217.0.0
0x215B.0A Minimum torque FLOAT32 ro Tx P1.2218.0.0
0x215B.0B Maximum torque FLOAT32 ro Tx P1.2219.0.0
0x215B.0C Setpoint value torque FLOAT32 ro Tx P1.2220.0.0

660 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x215E.0B Power unit dataset major STRING(2) ro Tx P1.2800.0.0 ... 1

version
0x215E.0C Minor version power unit UINT16 ro Tx P1.2801.0.0
dataset
0x215E.13 Lower limit value minimum FLOAT32 ro Tx P1.2818.0.0
DC link voltage
0x215E.14 Upper limit value minimum FLOAT32 ro Tx P1.2819.0.0
DC link voltage
0x215E.25 Upper limit value power FLOAT32 ro Tx P1.2850.0.0
output stage temperature
0x215E.26 Lower limit value power FLOAT32 ro Tx P1.2851.0.0
output stage temperature
0x215E.27 Upper limit value servo FLOAT32 ro Tx P1.2852.0.0
drive temperature
0x215E.28 Lower limit value servo FLOAT32 ro Tx P1.2853.0.0
drive temperature
0x215E.46 Upper limit value minimum FLOAT32 ro Tx P1.28120.0.0
load voltage
0x215E.47 Lower limit value minimum FLOAT32 ro Tx P1.28121.0.0
load voltage
0x215E.48 Upper limit value maximum FLOAT32 ro Tx P1.28130.0.0
load voltage
0x215E.49 Lower limit value maximum FLOAT32 ro Tx P1.28131.0.0
load voltage
0x215E.4A Lower limit value maximum FLOAT32 ro Tx P1.28180.0.0
DC link voltage
0x215E.4B Upper limit value maximum FLOAT32 ro Tx P1.28181.0.0
DC link voltage
0x215E.4C Upper limit value warning FLOAT32 ro Tx P1.28200.0.0
threshold maximum DC link
voltage
0x215E.4D Lower limit value warning FLOAT32 ro Tx P1.28201.0.0
threshold maximum DC link
voltage

Festo — CMMT-ST-SW — 2019-08b 661

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x215F.01 Setpoint management out- SINT64 ro Tx P1.290.0.0

put position
0x215F.02 Setpoint management out- FLOAT32 ro Tx P1.291.0.0
put velocity
0x215F.03 Setpoint management out- FLOAT32 ro Tx P1.292.0.0
put acceleration
0x215F.04 Setpoint management out- FLOAT32 ro Tx P1.293.0.0
put jerk
0x215F.05 Setpoint management out- FLOAT32 ro Tx P1.294.0.0
put torque
0x215F.06 Setpoint management out- FLOAT32 ro Tx P1.295.0.0
put current
0x215F.07 Setpoint management con- UINT32 ro Tx P1.296.0.0
trol structure
0x215F.08 Setpoint management con- UINT32 ro Tx P1.297.0.0
troller operating status
0x2162.01 Use of user specific motor BOOL rw Rx P1.14.0.0
data
0x2162.02 Current pole pairs UINT32 ro Tx P1.719.0.0
0x2162.03 Current motor inertia FLOAT32 ro Tx P1.7112.0.0
0x2162.04 Current phase sequence BOOL ro Tx P1.7115.0.0
0x2162.05 Current nominal current FLOAT32 ro Tx P1.7118.0.0
0x2162.06 Current maximum current FLOAT32 ro Tx P1.7121.0.0
0x2162.07 Current maximum velocity FLOAT32 ro Tx P1.7124.0.0
0x2162.08 Current nominal velocity FLOAT32 ro Tx P1.7127.0.0
0x2162.09 Current winding inductance FLOAT32 ro Tx P1.7130.0.0
0x2162.0A Current winding resistance FLOAT32 ro Tx P1.7133.0.0
0x2162.0B Current torque constant FLOAT32 ro Tx P1.7136.0.0
0x2162.0C Resulting nominal torque FLOAT32 ro Tx P1.7139.0.0
0x2162.0D Resulting maximum torque FLOAT32 ro Tx P1.7142.0.0
0x2162.0E Current time constant I²t FLOAT32 ro Tx P1.7145.0.0
0x2162.0F Current winding temperat- FLOAT32 ro Tx P1.7148.0.0
ure

662 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2162.10 Current temperature UINT32 ro Tx P1.7154.0.0

sensor motor
0x2162.11 Holding brake BOOL ro Tx P1.7160.0.0
0x2162.12 Current switch-on delay FLOAT32 ro Tx P1.7163.0.0
holding brake
0x2162.13 Current switch-off delay FLOAT32 ro Tx P1.7166.0.0
holding brake
0x2162.14 Current NOC code motor STRING(32) ro Tx P1.7188.0.0 ... 31
0x2162.15 Current database ID motor UINT32 ro Tx P1.7189.0.0
0x2162.16 Current nominal motor FLOAT32 ro Tx P1.71422.0.0
voltage
0x2162.17 Current continuous current FLOAT32 ro Tx P1.71425.0.0
0x2162.18 Current Lq inductance FLOAT32 ro Tx P1.71426.0.0
0x2162.19 Current Ld inductance FLOAT32 ro Tx P1.71427.0.0
0x2162.1A Motor type UINT8 ro Tx P1.71428.0.0
0x2162.1B Diagnostic category UINT16 rw Rx P1.71429.0.0
0x2162.1C Storage option in error log UINT8 rw Rx P1.71433.0.0
0x2164.01 STO hysteresis time FLOAT32 rw Rx P1.390.0.0
0x2164.02 STO discrepancy time FLOAT32 rw Rx P1.391.0.0
0x2164.03 STO safety status UINT32 ro Tx P1.392.0.0
0x2164.04 STO error status UINT32 ro Tx P1.393.0.0
0x2164.05 STO signal status UINT32 ro Tx P1.394.0.0
0x2166.01 Movement monitoring UINT32 ro Tx P1.460.0.0
status
0x2166.02 Configuration word move- UINT32 ro Tx P1.461.0.0
ment monitoring
0x2166.03 Damping time position: fol- FLOAT32 rw Rx P1.462.0.0
lowing error
0x2166.04 Monitoring window posi- FLOAT32 rw Rx P1.463.0.0
tion: following error
0x2166.05 Monitoring window speed: FLOAT32 rw Rx P1.464.0.0
following error
0x2166.06 Standstill damping time FLOAT32 rw Rx P1.465.0.0

Festo — CMMT-ST-SW — 2019-08b 663

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2166.07 Monitoring window speed FLOAT32 rw Rx P1.466.0.0

standstill monitoring
0x2166.08 Monitoring window posi- FLOAT32 rw Rx P1.467.0.0
tion standstill
0x2166.09 Damping time target FLOAT32 rw Rx P1.468.0.0
reached
0x2166.0A Monitoring window target FLOAT32 rw Rx P1.469.0.0
position
0x2166.0B Monitoring window target FLOAT32 rw Rx P1.4610.0.0
speed
0x2166.0C Monitoring window target FLOAT32 rw Rx P1.4611.0.0
torque
0x2166.0D Diagnostic category UINT16 rw Rx P1.4612.0.0
0x2166.0E Storage option in error log UINT8 rw Rx P1.4613.0.0
0x2166.0F Diagnostic category UINT16 rw Rx P1.4614.0.0
0x2166.10 Storage option in error log UINT8 rw Rx P1.4615.0.0
0x2166.11 Diagnostic category UINT16 rw Rx P1.4616.0.0
0x2166.12 Storage option in error log UINT8 rw Rx P1.4617.0.0
0x2166.13 Diagnostic category UINT16 rw Rx P1.4618.0.0
0x2166.14 Storage option in error log UINT8 rw Rx P1.4619.0.0
0x2166.15 Diagnostic category UINT16 rw Rx P1.4620.0.0
0x2166.16 Storage option in error log UINT8 rw Rx P1.4621.0.0
0x2166.17 Diagnostic category UINT16 rw Rx P1.4622.0.0
0x2166.18 Storage option in error log UINT8 rw Rx P1.4623.0.0
0x2166.19 Diagnostic category UINT16 rw Rx P1.4624.0.0
0x2166.1A Storage option in error log UINT8 rw Rx P1.4625.0.0
0x2166.1B Stop detection limit value FLOAT32 rw Rx P1.4626.0.0
0x2166.1C Damping time limit detec- FLOAT32 rw Rx P1.4627.0.0
tion
0x2166.1D Software limit positions BOOL rw Rx P1.4628.0.0
active
0x2166.1E Negative software limit SINT64 rw Rx P1.4629.0.0
position

664 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2166.1F Positive software limit pos- SINT64 rw Rx P1.4630.0.0

ition
0x2166.20 Activation of automatic BOOL rw Rx P1.4631.0.0
stop ramp software limit
position
0x2166.21 Diagnostic category UINT16 rw Rx P1.4632.0.0
0x2166.22 Storage option in error log UINT8 rw Rx P1.4633.0.0
0x2166.23 Diagnostic category UINT16 rw Rx P1.4634.0.0
0x2166.24 Storage option in error log UINT8 rw Rx P1.4635.0.0
0x2166.25 Diagnostic category UINT16 rw Rx P1.4636.0.0
0x2166.26 Storage option in error log UINT8 rw Rx P1.4637.0.0
0x2166.27 Diagnostic category UINT16 rw Rx P1.4638.0.0
0x2166.28 Storage option in error log UINT8 rw Rx P1.4639.0.0
0x2166.30 Maximum speed FLOAT32 rw Rx P1.4660.0.0
0x2166.31 Diagnostic category UINT16 ro Tx P1.4661.0.0
0x2166.33 Monitoring window push- FLOAT32 rw Rx P1.4663.0.0
back
0x2166.34 Damping time pushback FLOAT32 rw Rx P1.4664.0.0
0x2166.35 Damping time target range FLOAT32 rw Rx P1.4665.0.0
0x2166.36 Monitoring window posi- FLOAT32 rw Rx P1.4666.0.0
tion
0x2166.37 Monitoring window velo- FLOAT32 rw Rx P1.4667.0.0
city
0x2166.38 Monitoring window torque FLOAT32 rw Rx P1.4668.0.0
0x2166.39 Diagnostic category UINT16 rw Rx P1.4669.0.0
0x2166.3A Storage option in error log UINT8 rw Rx P1.4670.0.0
0x2166.3B Diagnostic category UINT16 rw Rx P1.4671.0.0
0x2166.3C Storage option in error log UINT8 rw Rx P1.4672.0.0
0x2166.3D Activation of automatic BOOL rw Rx P1.4675.0.0
stop ramp stroke limit
0x2166.3E Diagnostic category UINT16 rw Rx P1.4676.0.0
0x2166.3F Storage option in error log UINT8 rw Rx P1.4677.0.0

Festo — CMMT-ST-SW — 2019-08b 665

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2166.40 Diagnostic category UINT16 rw Rx P1.4678.0.0

0x2166.41 Storage option in error log UINT8 rw Rx P1.4679.0.0
0x2166.42 Current position: following FLOAT32 ro Tx P1.4682.0.0
error
0x2166.43 Current velocity: following FLOAT32 ro Tx P1.4683.0.0
error
0x2166.44 Actual stroke value SINT64 ro Tx P1.4684.0.0
0x2166.45 Limit value remaining dis- SINT64 rw Rx P1.4685.0.0
tance monitoring
0x2166.46 Diagnostic category UINT16 rw Rx P1.4686.0.0
0x2166.47 Storage option in error log UINT8 rw Rx P1.4687.0.0
0x2166.48 Bit mask movement monit- UINT32 rw Rx P1.4688.0.0
oring
0x2166.49 Movement monitoring UINT32 ro Tx P1.4689.0.0
(masked)
0x2166.4A Damping time velocity: fol- FLOAT32 rw Rx P1.4690.0.0
lowing error
0x2166.4B Diagnostic category UINT16 rw Rx P1.4691.0.0
0x2166.4C Storage option in error log UINT8 rw Rx P1.4692.0.0
0x2166.4D Diagnostic category UINT16 rw Rx P1.4647.0.0
0x2166.4E Storage option in error log UINT8 rw Rx P1.4648.0.0
0x2166.4F Diagnostic category UINT16 rw Rx P1.4649.0.0
0x2166.50 Storage option in error log UINT8 rw Rx P1.4650.0.0
0x2166.51 Fixed stop detection damp- FLOAT32 rw Rx P1.4693.0.0
ing time
0x2166.52 Limit value following error FLOAT32 rw Rx P1.4694.0.0
0x2166.53 Stroke limit positive for SINT64 rw Rx P1.11280408.0.0
detection of a fixed stop
0x2166.54 Stroke limit negative for SINT64 rw Rx P1.11280409.0.0
detection of a fixed stop
0x2166.55 Threshold value torque FLOAT32 rw Rx P1.11280410.0.0
utilization reached

666 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2166.56 Torque utilization monitor- FLOAT32 rw Rx P1.11280411.0.0

ing window
0x2166.57 Damping time torque utiliz- FLOAT32 rw Rx P1.11280412.0.0
ation
0x2167.01 Device control status UINT32 ro Tx P1.530.0.0
0x2168.01 Lower limit value velocity FLOAT32 rw Rx P1.850.0.0
(closed loop controller)
0x2168.02 Upper limit value velocity FLOAT32 rw Rx P1.851.0.0
(closed loop controller)
0x2168.03 Lower limit value torque FLOAT32 rw Rx P1.852.0.0
(closed loop controller)
0x2168.04 Upper limit value torque FLOAT32 rw Rx P1.853.0.0
(closed loop controller)
0x2168.05 Lower limit value active FLOAT32 rw Rx P1.854.0.0
current (closed loop con-
troller)
0x2168.06 Upper limit value active FLOAT32 rw Rx P1.855.0.0
current (closed loop con-
troller)
0x2168.07 Limit value total current FLOAT32 rw Rx P1.856.0.0
(closed loop controller)
0x2168.08 Resulting lower limit value FLOAT32 ro Tx P1.6100.0.0
velocity (closed loop con-
troller)
0x2168.09 Resulting upper limit value FLOAT32 ro Tx P1.6101.0.0
velocity (closed loop con-
troller)
0x2168.0C Resulting lower limit value FLOAT32 ro Tx P1.6104.0.0
torque (closed loop con-
troller)
0x2168.0D Resulting upper limit value FLOAT32 ro Tx P1.6105.0.0
torque (closed loop con-
troller)
0x2168.10 Resulting lower limit value FLOAT32 ro Tx P1.6108.0.0
active current (closed loop
controller)

Festo — CMMT-ST-SW — 2019-08b 667

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2168.11 Resulting upper limit value FLOAT32 ro Tx P1.6109.0.0

active current (closed loop
controller)
0x2168.14 Resulting upper limit value FLOAT32 ro Tx P1.6112.0.0
total current (closed loop
controller)
0x2168.17 Maximum torque symmet- FLOAT32 rw Rx P1.526796.0.0
rical
0x2168.18 Clamping torque FLOAT32 rw Rx P1.526801.0.0
0x2168.19 Clamping torque offset FLOAT32 rw Rx P1.11280407.0.0
0x2169.01 Maximum motor or servo FLOAT32 ro Tx P1.381.0.0
drive torque
0x2169.02 Maximum motor or servo FLOAT32 ro Tx P1.382.0.0
drive velocity
0x2169.03 Maximum current motor FLOAT32 ro Tx P1.620.0.0
0x2169.04 Motor nominal current FLOAT32 ro Tx P1.621.0.0
0x2169.05 Maximum current servo FLOAT32 ro Tx P1.622.0.0
drive
0x2169.06 Nominal current servo FLOAT32 ro Tx P1.623.0.0
drive
0x2169.07 Resulting maximum current FLOAT32 ro Tx P1.624.0.0
0x2169.08 Resulting minimum current FLOAT32 ro Tx P1.625.0.0
0x2169.09 Resulting nominal current FLOAT32 ro Tx P1.626.0.0
0x216A.01 Scaling factor start value FLOAT32 rw Rx P1.631.0.0
I²t monitoring motor
0x216A.02 Limit value I²t monitoring FLOAT32 ro Tx P1.632.0.0
motor
0x216A.03 Scaling factor maximum FLOAT32 ro Tx P1.633.0.0
value after switching on
0x216A.04 Actual value I²t monitoring FLOAT32 ro Tx P1.634.0.0
motor
0x216A.05 Scaling factor warning limit FLOAT32 rw Rx P1.635.0.0
I²t monitoring motor
0x216A.06 Maximum I²t time FLOAT32 ro Tx P1.636.0.0

668 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x216A.07 Scaling factor start value FLOAT32 ro Tx P1.637.0.0

I²t monitoring power out-
put stage
0x216A.08 Limit value I²t monitoring FLOAT32 ro Tx P1.638.0.0
power output stage
0x216A.09 Scaling factor maximum FLOAT32 ro Tx P1.639.0.0
value after switching on
0x216A.0A Actual value I²t monitoring FLOAT32 ro Tx P1.6310.0.0
power output stage
0x216A.0B Scaling factor warning limit FLOAT32 rw Rx P1.6311.0.0
I²t monitoring power out-
put stage
0x216A.0C Scaling factor start value FLOAT32 ro Tx P1.6313.0.0
I²t monitoring power out-
put stage at standstill
0x216A.0D Limit value I²t monitoring FLOAT32 ro Tx P1.6314.0.0
power output stage at
standstill
0x216A.0E Scaling factor maximum FLOAT32 ro Tx P1.6315.0.0
value after drive at stand-
still
0x216A.0F Actual value I²t monitoring FLOAT32 ro Tx P1.6316.0.0
power output stage at
standstill
0x216A.10 Scaling factor warning limit FLOAT32 rw Rx P1.6317.0.0
I²t monitoring drive at
standstill
0x216A.11 Diagnostic category UINT16 rw Rx P1.6319.0.0
0x216A.12 Storage option in error log UINT8 rw Rx P1.6320.0.0
0x216A.13 Diagnostic category UINT16 rw Rx P1.6321.0.0
0x216A.14 Storage option in error log UINT8 rw Rx P1.6322.0.0
0x216A.15 Diagnostic category UINT16 rw Rx P1.6323.0.0
0x216A.16 Storage option in error log UINT8 rw Rx P1.6324.0.0
0x216A.17 Diagnostic category UINT16 rw Rx P1.6325.0.0
0x216A.18 Storage option in error log UINT8 rw Rx P1.6326.0.0

Festo — CMMT-ST-SW — 2019-08b 669

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x216A.19 Diagnostic category UINT16 rw Rx P1.6327.0.0

0x216A.1A Storage option in error log UINT8 rw Rx P1.6328.0.0
0x216A.1B Diagnostic category UINT16 rw Rx P1.6329.0.0
0x216A.1C Storage option in error log UINT8 rw Rx P1.6330.0.0
0x216A.1D Actual value relative I²t FLOAT32 ro Tx P1.6331.0.0
monitoring of motor to lim-
it
0x216A.1E Actual value relative I²t FLOAT32 ro Tx P1.6332.0.0
monitoring of power out-
put stage to limit
0x216A.1F Actual value relative I²t FLOAT32 ro Tx P1.6333.0.0
monitoring of power out-
put stage at standstill to
limit
0x216A.20 Actual value I²t monitoring FLOAT32 ro Tx P1.6334.0.0
of the total current
0x216B.01 Status of state machine UINT32 ro Tx P1.660.0.0
commutation finding
0x216B.02 Commutation finding UINT32 ro Tx P1.661.0.0
status
0x216B.04 Increments FLOAT32 rw Rx P1.664.0.0
0x216B.06 Mode UINT32 rw Rx P1.668.0.0
0x216B.07 Velocity FLOAT32 rw Rx P1.669.0.0
0x216B.0A Acceleration FLOAT32 rw Rx P1.6691.0.0
0x216B.0B Jerk FLOAT32 rw Rx P1.6692.0.0
0x216B.0C Monitoring window angle FLOAT32 rw Rx P1.6693.0.0
0x216B.10 Commutation-angle detec- FLOAT32 rw Rx P1.545454.0.0
tion damping time
0x216B.11 Commutation angle SINT64 rw Rx P1.545455.0.0
0x216C.01 Pole pairs (user defined) UINT32 rw Rx P1.718.0.0
0x216C.02 Motor inertia (user FLOAT32 rw Rx P1.7111.0.0
defined)
0x216C.03 Phase sequence (user BOOL rw Rx P1.7114.0.0
defined)

670 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x216C.04 Nominal current (user FLOAT32 rw Rx P1.7117.0.0

defined)
0x216C.05 Maximum peak current FLOAT32 rw Rx P1.7120.0.0
(user defined)
0x216C.06 Maximum rpm (user FLOAT32 rw Rx P1.7123.0.0
defined)
0x216C.07 Nominal rotary speed (user FLOAT32 rw Rx P1.7126.0.0
defined)
0x216C.08 Winding inductance (user FLOAT32 rw Rx P1.7129.0.0
defined)
0x216C.09 Winding resistance (user FLOAT32 rw Rx P1.7132.0.0
defined)
0x216C.0A Torque constant (user FLOAT32 rw Rx P1.7135.0.0
defined)
0x216C.0B Time constant I²t (user FLOAT32 rw Rx P1.7144.0.0
defined)
0x216C.0C Winding temperature (user FLOAT32 rw Rx P1.7147.0.0
defined)
0x216C.0D Temperature sensor (user UINT32 rw Rx P1.7153.0.0
defined)
0x216C.0E Holding brake (user BOOL rw Rx P1.7159.0.0
defined)
0x216C.0F Switch-on delay holding FLOAT32 rw Rx P1.7162.0.0
brake (user defined)
0x216C.10 Switch-off delay holding FLOAT32 rw Rx P1.7165.0.0
brake (user defined)
0x216C.11 NOC code motor (user STRING(32) rw Rx P1.7182.0.0 ... 31
defined)
0x216C.12 Database ID motor (user UINT32 rw Rx P1.7184.0.0
defined)
0x216C.13 Nominal motor voltage FLOAT32 rw Rx P1.71421.0.0
(user defined)
0x216C.14 Continuous current (user FLOAT32 rw Rx P1.71424.0.0
defined)

Festo — CMMT-ST-SW — 2019-08b 671

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x216C.15 Lq inductance (user FLOAT32 rw Rx P1.71430.0.0

defined)
0x216C.16 Ld inductance (user FLOAT32 rw Rx P1.71431.0.0
defined)
0x216C.17 Motor type UINT8 rw Rx P1.71432.0.0
0x216D.01 Control word CiA402 UINT16 rw Rx P1.730.0.0
0x216D.02 Status word CiA402 UINT16 ro Tx P1.731.0.0
0x216D.05 Supported drive modes UINT32 ro Tx P1.734.0.0
CiA402
0x216D.06 Internal status state UINT32 ro Tx P1.735.0.0
machine profile CiA402
0x216D.07 Internal status state UINT32 ro Tx P1.736.0.0
machine profile position
mode CiA402
0x216D.08 Internal status state UINT32 ro Tx P1.737.0.0
machine profile velocity
mode CiA402
0x216D.09 Internal status state UINT32 ro Tx P1.738.0.0
machine profile homing
CiA402
0x216D.0A Internal status state UINT32 ro Tx P1.526782.0.0
machine profile torque
mode CiA402
0x216D.0B Status record table CiA402 UINT32 ro Tx P1.11280055.0.0
0x216D.0C Modes of operation CiA402 SINT8 rw Rx P1.12234.0.0
0x216D.0D Modes of operation display SINT8 ro Tx P1.12235.0.0
CiA402
0x216D.0E Diagnostic category UINT16 rw Rx P1.12236.0.0
0x216D.0F Storage option in error log UINT8 rw Rx P1.12237.0.0
0x216E.01 User unit position UINT16 rw Rx P1.7851.0.0
0x216E.02 User unit velocity UINT16 rw Rx P1.7852.0.0
0x216E.03 User unit acceleration UINT16 rw Rx P1.7853.0.0
0x216E.04 User unit jerk UINT16 rw Rx P1.7854.0.0
0x216E.05 SI unit position CiA402 UINT32 rw Rx P1.7860.0.0

672 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x216E.06 SI unit and velocity CiA402 UINT32 rw Rx P1.7861.0.0

0x216E.07 SI unit acceleration CiA402 UINT32 rw Rx P1.7862.0.0
0x216E.08 SI unit and jerk CiA402 UINT32 rw Rx P1.7863.0.0
0x216F.01 Torque offset CiA402 FLOAT32 rw Rx P1.8111.0.0
0x216F.02 Number homing methods UINT8 ro Tx P1.8118.0.0
CiA402
0x216F.03 Target position CiA402 SINT64 rw Rx P1.8130.0.0
0x216F.04 Profile velocity CiA402 FLOAT32 rw Rx P1.8131.0.0
0x216F.05 End velocity CiA402 FLOAT32 rw Rx P1.8132.0.0
0x216F.06 Profile acceleration CiA402 FLOAT32 rw Rx P1.8133.0.0
0x216F.07 Profile deceleration CiA402 FLOAT32 rw Rx P1.8134.0.0
0x216F.08 Quick stop deceleration FLOAT32 rw Rx P1.8135.0.0
CiA402
0x216F.09 Profile jerk CiA402 FLOAT32 rw Rx P1.8136.0.0
0x216F.0A Target velocity CiA402 FLOAT32 rw Rx P1.8137.0.0
0x216F.0B Velocity offset CiA402 FLOAT32 rw Rx P1.8138.0.0
0x216F.0C Positioning option code UINT16 rw Rx P1.88817.0.0
CiA402
0x216F.0D Target torque CiA402 FLOAT32 rw Rx P1.526795.0.0
0x216F.0E Torque slope CiA402 FLOAT32 rw Rx P1.526799.0.0
0x216F.0F Velocity limiting profile FLOAT32 rw Rx P1.526800.0.0
torque mode CiA402
0x216F.10 Positive stroke limitation SINT64 rw Rx P1.526802.0.0
CiA402
0x216F.11 Negative stroke limitation SINT64 rw Rx P1.526803.0.0
CiA402
0x216F.12 Velocity actual value SINT64 rw Rx P1.8140.0.0
CiA402
0x216F.13 Active CSx mode CiA402 UINT32 ro Tx P1.8144.0.0
0x216F.14 Next record table index SINT32 rw Rx P1.11280053.0.0
CiA402
0x216F.15 Activate stroke limit BOOL rw Rx P1.526804.0.0
CiA402

Festo — CMMT-ST-SW — 2019-08b 673

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2170.01 Functional safety status UINT32 ro Tx P1.820.0.0

0x2170.02 Diagnostic category UINT16 rw Rx P1.821.0.0
0x2170.03 Storage option in error log UINT8 rw Rx P1.822.0.0
0x2170.04 Control word Motion Man- UINT32 ro Tx P1.823.0.0
ager
0x2171.01 Filter time constant noise FLOAT32 rw Rx P1.8615.0.0
signal generator
0x2171.02 Amplification gain noise FLOAT32 rw Rx P1.8616.0.0
signal generator
0x2171.03 Signal selection noise sig- UINT8 rw Rx P1.8617.0.0
nal generator
0x2172.01 Referencing status UINT32 ro Tx P1.840.0.0
0x2172.02 Move to axis zero point BOOL rw Rx P1.841.0.0
after homing
0x2172.03 Homing timeout FLOAT32 rw Rx P1.842.0.0
0x2172.04 Search for reference mark FLOAT32 rw Rx P1.843.0.0
setpoint velocity
0x2172.05 Search for reference mark FLOAT32 rw Rx P1.844.0.0
setpoint acceleration
0x2172.06 Search for reference mark FLOAT32 rw Rx P1.845.0.0
setpoint jerk
0x2172.07 Setpoint reference mark FLOAT32 rw Rx P1.846.0.0
creeping velocity
0x2172.08 Setpoint reference mark FLOAT32 rw Rx P1.847.0.0
creeping acceleration
0x2172.09 Setpoint reference mark FLOAT32 rw Rx P1.848.0.0
creeping jerk
0x2172.0A Move to axis zero point set- FLOAT32 rw Rx P1.849.0.0
point velocity
0x2172.0B Move to axis zero point set- FLOAT32 rw Rx P1.8410.0.0
point acceleration
0x2172.0C Search for move to axis FLOAT32 rw Rx P1.8411.0.0
zero point setpoint jerk

674 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2172.0D Maximum search stroke in SINT64 rw Rx P1.8412.0.0

positive direction
0x2172.0E Maximum search stroke in SINT64 rw Rx P1.8413.0.0
negative direction
0x2172.0F Nominal current limit value FLOAT32 rw Rx P1.8414.0.0
scaling factor
0x2172.10 Limit position detection FLOAT32 rw Rx P1.8415.0.0
time monitoring window
0x2172.11 Axis zero point offset SINT64 rw Rx P1.8416.0.0
0x2172.12 Referencing method SINT32 rw Rx P1.8417.0.0
0x2172.13 Status state machine hom- UINT32 ro Tx P1.8418.0.0
ing
0x2172.19 Diagnostic category UINT16 rw Rx P1.8450.0.0
0x2172.1A Storage option in error log UINT8 rw Rx P1.8451.0.0
0x2172.1B Diagnostic category UINT16 rw Rx P1.8452.0.0
0x2172.1C Storage option in error log UINT8 rw Rx P1.8453.0.0
0x2172.1D Diagnostic category UINT16 rw Rx P1.8454.0.0
0x2172.1E Storage option in error log UINT8 rw Rx P1.8455.0.0
0x2173.01 Status auto tuning UINT8 ro Tx P1.860.0.0
0x2173.02 Result amplification gain of FLOAT32 rw Rx P1.8601.0.0
position controller
0x2173.03 Result integration constant FLOAT32 rw Rx P1.8602.0.0
of velocity controller
0x2173.04 Result amplification gain of FLOAT32 rw Rx P1.8603.0.0
velocity controller
0x2173.06 Storage option in error log UINT8 rw Rx P1.8605.0.0
0x2174.01 Start value position con- FLOAT32 rw Rx P1.8611.0.0
troller amplification gain
0x2174.02 Start value velocity control- FLOAT32 rw Rx P1.8612.0.0
ler amplification gain
0x2174.03 Start value velocity control- FLOAT32 rw Rx P1.8613.0.0
ler integration constant

Festo — CMMT-ST-SW — 2019-08b 675

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2174.04 Filter time constant velocity FLOAT32 rw Rx P1.8614.0.0

controller
0x2174.05 Time delay noise signal for FLOAT32 rw Rx P1.8618.0.0
the start identification
0x2174.06 Identification with move- BOOL rw Rx P1.8619.0.0
ment
0x2174.07 Number of identifications UINT8 rw Rx P1.8620.0.0
for averaging
0x2174.08 Maximum movement SINT64 rw Rx P1.8621.0.0
stroke during the identific-
ation
0x2174.09 Maximum velocity during FLOAT32 rw Rx P1.8622.0.0
the identification
0x2174.0A Maximum acceleration dur- FLOAT32 rw Rx P1.8623.0.0
ing the identification
0x2174.0B Maximum deceleration dur- FLOAT32 rw Rx P1.8624.0.0
ing the identification
0x2174.0C Maximum jerk during the FLOAT32 rw Rx P1.8625.0.0
identification
0x2174.0D Number of validation UINT8 rw Rx P1.8630.0.0
movements
0x2174.0E Movement stroke during SINT64 rw Rx P1.8631.0.0
validation movement
0x2174.0F Maximum velocity during FLOAT32 rw Rx P1.8632.0.0
validation movement
0x2174.10 Maximum acceleration dur- FLOAT32 rw Rx P1.8633.0.0
ing validation movement
0x2174.11 Maximum deceleration dur- FLOAT32 rw Rx P1.8634.0.0
ing validation movement
0x2174.12 Maximum jerk during valid- FLOAT32 rw Rx P1.8635.0.0
ation movement
0x2176.02 Interpolator output posi- SINT64 ro Tx P1.911.0.0
tion
0x2176.03 Interpolator output velocity FLOAT32 ro Tx P1.912.0.0

676 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2176.04 Interpolator output accel- FLOAT32 ro Tx P1.913.0.0

eration
0x2176.05 Interpolator output jerk FLOAT32 ro Tx P1.914.0.0
0x2176.06 Interpolator output torque FLOAT32 ro Tx P1.915.0.0
0x2176.07 Interpolator output current FLOAT32 ro Tx P1.916.0.0
0x2176.0A Counter motion task UINT32 ro Tx P1.917.0.0
0x2178.01 SFB error status UINT32 ro Tx P1.950.0.0
0x2178.02 Feedback signals UINT32 ro Tx P1.951.0.0
0x2178.03 STA hysteresis time FLOAT32 ro Tx P1.952.0.0
0x2179.05 Storage option in error log UINT8 rw Rx P1.9914.0.0
0x217A.01 Fine interpolator output SINT64 ro Tx P1.100.0.0
position
0x217A.02 Fine interpolator output FLOAT32 ro Tx P1.101.0.0
velocity
0x217A.03 Fine interpolator output FLOAT32 ro Tx P1.102.0.0
acceleration
0x217A.04 Fine interpolator output FLOAT32 ro Tx P1.103.0.0
jerk
0x217A.05 Fine interpolator output FLOAT32 ro Tx P1.104.0.0
torque
0x217A.06 Fine interpolator output FLOAT32 ro Tx P1.105.0.0
current
0x217A.08 Fine interpolator status UINT32 ro Tx P1.107.0.0
0x217B.01 IPO mode position SINT64 ro Tx P1.1140.0.0
0x217B.02 IPO mode velocity FLOAT32 ro Tx P1.1141.0.0
0x217B.03 IPO mode acceleration FLOAT32 ro Tx P1.1142.0.0
0x217B.04 IPO mode jerk FLOAT32 ro Tx P1.1143.0.0
0x217B.05 IPO mode torque FLOAT32 ro Tx P1.1144.0.0
0x217B.06 IPO mode current FLOAT32 ro Tx P1.1145.0.0
0x217B.07 IPO mode active UINT32 ro Tx P1.1146.0.0
0x217B.08 Next IPO mode UINT32 ro Tx P1.1147.0.0
0x217B.09 Current IPO mode UINT32 ro Tx P1.1148.0.0

Festo — CMMT-ST-SW — 2019-08b 677

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x217B.0A Status next IPO mode UINT32 ro Tx P1.1149.0.0

0x217B.0B IPO mode (status) UINT32 ro Tx P1.11410.0.0
0x217B.0C Interpolation step size UINT32 ro Tx P1.11411.0.0
0x217B.0D Interpolation mode CSP UINT32 rw Rx P1.11412.0.0
0x217B.0E Interpolation mode CSV UINT32 rw Rx P1.11413.0.0
0x217B.0F Interpolation mode CST UINT32 rw Rx P1.11414.0.0
0x217B.12 Timing tolerance SINT32 ro Tx P1.11417.0.0
0x217B.13 Interpolation step loss SINT32 ro Tx P1.11418.0.0
counter
0x217C.01 Current user unit UINT32 ro Tx P1.1150.0.0
0x217C.02 Selection of next user unit UINT32 rw Rx P1.1151.0.0
0x217C.03 User unit status UINT32 ro Tx P1.1152.0.0
0x217C.04 Current torque constant FLOAT32 ro Tx P1.1153.0.0
0x217C.05 Current pole pairs UINT32 ro Tx P1.1154.0.0
0x217C.06 Diagnostic category UINT16 ro Tx P1.1159.0.0
0x217C.07 Storage option in error log UINT8 rw Rx P1.11590.0.0
0x217D.01 Reversing the direction of BOOL rw Rx P1.1170.0.0
rotation
0x217D.02 Phase rotation BOOL rw Rx P1.1172.0.0
0x217D.03 Reversing the direction of BOOL rw Rx P1.1173.0.0
rotation validation status
0x217D.04 Validation status of phase BOOL rw Rx P1.1175.0.0
rotation
0x217E.01 Database ID of axis UINT32 rw Rx P1.1191.0.0
0x217E.02 Axis NOC code STRING(50) rw Rx P1.1192.0.0 ... 49
0x217E.03 Load weight / load inertia FLOAT32 rw Rx P1.1193.0.0
0x217E.04 Feed constant numerator UINT32 rw Rx P1.1194.0.0
0x217E.05 Feed constant denominator UINT32 rw Rx P1.1195.0.0
0x217E.06 Working stroke SINT64 rw Rx P1.1196.0.0
0x217E.07 Design axis UINT32 rw Rx P1.1197.0.0
0x217E.08 Length connecting shaft FLOAT32 rw Rx P1.1198.0.0

678 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x217E.09 Maximum driving torque FLOAT32 rw Rx P1.1199.0.0

axis
0x217E.0A Unlimited axis BOOL rw Rx P1.2424.0.0
0x217E.0B Dynamic losses FLOAT32 rw Rx P1.124323.0.0
0x217F.01 Database ID of mounting UINT32 rw Rx P1.1200.0.0
kit
0x217F.02 NOC code mounting kit STRING(37) rw Rx P1.1201.0.0 ... 36
0x217F.03 Database ID connecting UINT32 rw Rx P1.1202.0.0
shaft / coupling
0x217F.04 NOC code connecting shaft STRING(37) rw Rx P1.1203.0.0 ... 36
/ coupling
0x217F.05 Database ID cable set UINT32 rw Rx P1.1204.0.0
0x217F.06 NOC code cable set STRING(37) rw Rx P1.1205.0.0 ... 36
0x217F.07 Length motor cable FLOAT32 rw Rx P1.1206.0.0
0x217F.08 Status device configured BOOL rw Rx P1.1207.0.0
0x217F.09 Cable cross section FLOAT32 rw Rx P1.1208.0.0
0x217F.0A Inertia coupling FLOAT32 rw Rx P1.124322.0.0
0x2180.01 Stop ramp deceleration FLOAT32 rw Rx P1.12101.0.0
0x2180.02 Stop ramp jerk FLOAT32 rw Rx P1.12111.0.0
0x2180.03 Stop ramp velocity FLOAT32 rw Rx P1.12112.0.0
0x2181.01 Stop position SINT64 ro Tx P1.12201.0.0
0x2181.02 Stop ramp time FLOAT32 ro Tx P1.12202.0.0
0x2181.05 Status Stop ramp UINT32 ro Tx P1.12205.0.0
0x2181.06 Factor extrapolation stop FLOAT32 rw Rx P1.12206.0.0
ramp
0x2182.01 Database ID gear unit 1 UINT32 rw Rx P1.1230.0.0
0x2182.02 NOC code gear unit 1 STRING(37) rw Rx P1.1231.0.0 ... 36
0x2182.03 Conversion factor gear unit UINT32 rw Rx P1.1232.0.0
1 numerator
0x2182.04 Conversion factor gear unit UINT32 rw Rx P1.1233.0.0
1 denominator
0x2182.05 Database ID gear unit 2 UINT32 rw Rx P1.1234.0.0

Festo — CMMT-ST-SW — 2019-08b 679

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2182.06 NOC code gear unit 2 STRING(37) rw Rx P1.1235.0.0 ... 36

0x2182.07 Conversion factor gear unit UINT32 rw Rx P1.1236.0.0
2 numerator
0x2182.08 Conversion factor gear unit UINT32 rw Rx P1.1237.0.0
2 denominator
0x2182.09 Database ID gear unit 3 UINT32 rw Rx P1.1238.0.0
0x2182.0A NOC code gear unit 3 STRING(37) rw Rx P1.1239.0.0 ... 36
0x2182.0B Conversion factor gear unit UINT32 rw Rx P1.1240.0.0
3 numerator
0x2182.0C Conversion factor gear unit UINT32 rw Rx P1.1241.0.0
3 denominator
0x2182.0D Total conversion factor UINT32 rw Rx P1.1242.0.0
gear unit numerator
0x2182.0E Total conversion factor UINT32 rw Rx P1.1243.0.0
gear unit denominator
0x2182.0F Inertia Gear FLOAT32 rw Rx P1.124321.0.0
0x2183.01 Velocity limiting status BOOL ro Tx P1.1301.0.0
0x2183.02 Acceleration limiting status BOOL ro Tx P1.1302.0.0
0x2183.03 Torque limiting status BOOL ro Tx P1.1303.0.0
0x2183.04 Limit value velocity limiting FLOAT32 rw Rx P1.1304.0.0
0x2183.05 Limit value acceleration FLOAT32 rw Rx P1.1305.0.0
limiting
0x2183.06 Limit value deceleration FLOAT32 rw Rx P1.1306.0.0
limiting
0x2183.07 Upper limit torque limita- FLOAT32 rw Rx P1.1307.0.0
tion
0x2183.08 Lower limit torque limita- FLOAT32 rw Rx P1.1308.0.0
tion
0x2183.09 Velocity override FLOAT32 rw Rx P1.1309.0.0
0x2184.01 Mileage 1 SINT64 rw Rx P1.1411.0.0
0x2184.05 Mileage warning threshold SINT64 rw Rx P1.1417.0.0
0x2184.06 Diagnostic category UINT16 rw Rx P1.1419.0.0
0x2184.07 Storage option in error log UINT8 rw Rx P1.14110.0.0

680 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2184.08 Mileage error threshold SINT64 rw Rx P1.14111.0.0

0x2184.09 Diagnostic category UINT16 rw Rx P1.14113.0.0
0x2184.0A Storage option in error log UINT8 rw Rx P1.14114.0.0
0x2185.01 Load change counter 1 SINT64 rw Rx P1.1421.0.0
0x2185.05 Warning threshold load SINT64 rw Rx P1.1427.0.0
change counter
0x2185.06 Diagnostic category UINT16 rw Rx P1.1429.0.0
0x2185.07 Storage option in error log UINT8 rw Rx P1.14210.0.0
0x2185.08 Error threshold load SINT64 rw Rx P1.14211.0.0
change counter
0x2185.09 Diagnostic category UINT16 rw Rx P1.14213.0.0
0x2185.0A Storage option in error log UINT8 rw Rx P1.14214.0.0
0x2186.01 Jog duration 1 movement FLOAT32 rw Rx P1.1510.0.0
0x2186.02 Slow jog 1 velocity FLOAT32 rw Rx P1.1511.0.0
0x2186.03 Slow jog 1 acceleration FLOAT32 rw Rx P1.1512.0.0
0x2186.04 Slow jog 1 jerk FLOAT32 rw Rx P1.1513.0.0
0x2186.05 Fast jog 1 velocity FLOAT32 rw Rx P1.1514.0.0
0x2186.06 Fast jog 1 acceleration FLOAT32 rw Rx P1.1515.0.0
0x2186.07 Fast jog 1 jerk FLOAT32 rw Rx P1.1516.0.0
0x2186.08 Jogging state UINT32 ro Tx P1.526917.0.0
0x2186.09 Activation of symmetrical BOOL rw Rx P1.214526.0.0
jog
0x2186.0D Relative position jog 1 SINT64 rw Rx P1.214530.0.0
0x2186.12 Slow jog 2 velocity FLOAT32 rw Rx P1.214535.0.0
0x2186.13 Slow jog 2 acceleration FLOAT32 rw Rx P1.214536.0.0
0x2186.14 Slow jog 2 jerk FLOAT32 rw Rx P1.214537.0.0
0x2186.15 Relative position jog 2. SINT64 rw Rx P1.214538.0.0
0x2186.16 Jog duration 2 movement FLOAT32 rw Rx P1.214539.0.0
0x2186.17 Fast jog 2 velocity FLOAT32 rw Rx P1.214540.0.0
0x2186.18 Fast jog 2 acceleration FLOAT32 rw Rx P1.214541.0.0
0x2186.19 Fast jog 2 jerk FLOAT32 rw Rx P1.214542.0.0

Festo — CMMT-ST-SW — 2019-08b 681

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2186.1A Currently used slow jog 1 FLOAT32 ro Tx P1.214543.0.0

velocity
0x2186.1B Currently used slow jog 1 FLOAT32 ro Tx P1.214544.0.0
acceleration
0x2186.1C Currently used slow jog 1 FLOAT32 ro Tx P1.214545.0.0
jerk
0x2186.1D Currently used jog 1 move- FLOAT32 ro Tx P1.214546.0.0
ment duration
0x2186.1E Currently used fast jog 1 FLOAT32 ro Tx P1.214547.0.0
velocity
0x2186.1F Currently used fast jog 1 FLOAT32 ro Tx P1.214548.0.0
acceleration
0x2186.20 Currently used fast jog 1 FLOAT32 ro Tx P1.214549.0.0
jerk
0x2186.21 Currently used slow jog 2 FLOAT32 ro Tx P1.214550.0.0
velocity
0x2186.22 Currently used slow jog 2 FLOAT32 ro Tx P1.214551.0.0
acceleration
0x2186.23 Currently used slow jog 2 FLOAT32 ro Tx P1.214552.0.0
jerk
0x2186.24 Currently used jog 2 move- FLOAT32 ro Tx P1.214553.0.0
ment duration
0x2186.25 Currently used fast jog 2 FLOAT32 ro Tx P1.214554.0.0
velocity
0x2186.26 Currently used fast jog 2 FLOAT32 ro Tx P1.214555.0.0
acceleration
0x2186.27 Currently used fast jog 2 FLOAT32 ro Tx P1.214556.0.0
jerk
0x2188.01 Current ramp FLOAT32 rw Rx P1.1555.0.0
0x2188.02 Conversion factor torque FLOAT32 rw Rx P1.1556.0.0
0x2188.03 Setpoint generator output SINT64 ro Tx P1.3010.0.0
position
0x2188.04 Setpoint generator output FLOAT32 ro Tx P1.3011.0.0
velocity

682 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2188.05 Setpoint generator output FLOAT32 ro Tx P1.3012.0.0

acceleration
0x2188.06 Setpoint generator output FLOAT32 ro Tx P1.3013.0.0
jerk
0x2188.07 Setpoint generator output FLOAT32 ro Tx P1.3014.0.0
torque
0x2188.08 Setpoint generator output FLOAT32 ro Tx P1.3015.0.0
current
0x2188.09 Setpoint generator input SINT64 ro Tx P1.3016.0.0
relative target position
0x2188.0A Setpoint generator input FLOAT32 ro Tx P1.3017.0.0
relative target velocity
0x2188.0B Status setpoint generator UINT32 ro Tx P1.3018.0.0
0x2188.0C Diagnostic category UINT16 rw Rx P1.30127.0.0
0x2188.0D Storage option in error log UINT8 rw Rx P1.30128.0.0
0x2188.0E Monitoring window factor FLOAT32 rw Rx P1.30129.0.0
0x2188.1D Diagnostic category UINT16 rw Rx P1.1130225.0.0
0x2188.1E Storage option in error log UINT8 rw Rx P1.1130226.0.0
0x2189.01 Configure negative hard- UINT32 rw Rx P1.101100.0.0
ware limit switch
0x2189.02 Configure positive hard- UINT32 rw Rx P1.101101.0.0
ware limit switch
0x2189.03 Diagnostic category UINT16 rw Rx P1.101102.0.0
0x2189.04 Storage option in error log UINT8 rw Rx P1.101103.0.0
0x2189.05 Diagnostic category UINT16 rw Rx P1.101104.0.0
0x2189.06 Storage option in error log UINT8 rw Rx P1.101105.0.0
0x2189.07 Diagnostic category UINT16 rw Rx P1.101106.0.0
0x2189.08 Storage option in error log UINT8 rw Rx P1.101107.0.0
0x2189.09 Diagnostic category UINT16 rw Rx P1.101108.0.0
0x2189.0A Storage option in error log UINT8 rw Rx P1.101109.0.0
0x2189.0B Diagnostic category UINT16 rw Rx P1.101110.0.0
0x2189.0C Storage option in error log UINT8 rw Rx P1.101111.0.0

Festo — CMMT-ST-SW — 2019-08b 683

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2189.0D Negative hardware limit BOOL ro Tx P1.101112.0.0

switch detected
0x2189.0E Positive hardware limit BOOL ro Tx P1.101113.0.0
switch detected
0x2189.0F Negative limit switch posi- SINT64 ro Tx P1.101114.0.0
tion detected
0x2189.10 Positive limit switch posi- SINT64 ro Tx P1.101115.0.0
tion detected
0x2189.11 Activation of hardware limit BOOL rw Rx P1.101116.0.0
switch monitoring
0x218A.01 Reference switch configur- UINT32 rw Rx P1.101200.0.0
ation
0x218A.02 Reference switch status BOOL ro Tx P1.101201.0.0
0x218D.01 Active switch-on threshold FLOAT32 ro Tx P1.102101.0.0
reactive current braking
0x218D.02 Active end value reactive FLOAT32 ro Tx P1.102102.0.0
current braking
0x218D.03 Status reactive current BOOL ro Tx P1.102103.0.0
braking
0x218D.04 Activate reactive current BOOL rw Rx P1.102104.0.0
braking
0x218D.05 Maximum reactive current FLOAT32 ro Tx P1.102105.0.0
reactive current braking
0x218D.06 Actual value reactive cur- FLOAT32 ro Tx P1.102106.0.0
rent braking
0x218D.07 Activation automatic BOOL rw Rx P1.102107.0.0
voltage determination
0x218D.08 Switch-on threshold react- FLOAT32 rw Rx P1.102108.0.0
ive current braking
0x218D.09 End value reactive current FLOAT32 rw Rx P1.102109.0.0
braking
0x218E.01 Device status UINT32 ro Tx P1.10231.0.0
0x218E.02 Controller enable selection UINT32 rw Rx P1.10232.0.0

684 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x218E.03 Controller enable operating UINT32 rw Rx P1.10234.0.0

mode
0x218E.04 Target velocity for control- FLOAT32 rw Rx P1.10235.0.0
ler enable (velocity opera-
tion)
0x218E.05 Target torque for controller FLOAT32 rw Rx P1.10236.0.0
enable (torque operation)
0x218E.06 Maximum velocity for con- FLOAT32 rw Rx P1.10237.0.0
troller enable (torque oper-
ation)
0x218E.07 Index for controller enable SINT32 rw Rx P1.10238.0.0
0x218E.08 Torque increase for con- FLOAT32 rw Rx P1.11280018.0.0
troller enable
0x218E.09 Error active BOOL ro Tx P1.112819.0.0
0x218F.01 Request directional lock SINT32 rw Rx P1.10351.0.0
0x218F.02 Active directional lock SINT32 ro Tx P1.10352.0.0
0x218F.03 Status directional lock SINT32 ro Tx P1.10353.0.0
0x2190.01 Default value target posi- SINT64 rw Rx P1.10361.0.0
tion
0x2190.02 Default value maximum FLOAT32 rw Rx P1.10362.0.0
velocity
0x2190.03 Default value maximum FLOAT32 rw Rx P1.10363.0.0
acceleration
0x2190.04 Default value maximum FLOAT32 rw Rx P1.10364.0.0
delay
0x2190.05 Default value maximum FLOAT32 rw Rx P1.10365.0.0
jerk
0x2190.06 Default value target velo- FLOAT32 rw Rx P1.10366.0.0
city
0x2190.07 Default value activation BOOL rw Rx P1.10367.0.0
stroke limitation
0x2190.08 Default value negative SINT64 rw Rx P1.10368.0.0
stroke limit

Festo — CMMT-ST-SW — 2019-08b 685

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2190.09 Default value positive SINT64 rw Rx P1.10369.0.0

stroke limit
0x2190.0A Default value target torque FLOAT32 rw Rx P1.10370.0.0
0x2190.0B Default value Torque rise FLOAT32 rw Rx P1.10371.0.0
ramp
0x2191.01 Valid movement monitor- UINT32 rw Rx P1.11280020.0.0
ing position control
0x2191.02 Valid movement monitor- UINT32 rw Rx P1.11280021.0.0
ing velocity control
0x2191.03 Valid movement monitor- UINT32 rw Rx P1.11280022.0.0
ing torque regulation
0x2191.04 Valid movement monitor- UINT32 rw Rx P1.11280023.0.0
ing position control ana-
logue
0x2191.05 Valid movement monitor- UINT32 rw Rx P1.11280024.0.0
ing velocity control ana-
logue
0x2191.06 Valid movement monitor- UINT32 rw Rx P1.11280025.0.0
ing torque regulation ana-
logue
0x2191.07 Valid movement monitor- UINT32 rw Rx P1.11280026.0.0
ing CSP
0x2191.08 Valid movement monitor- UINT32 rw Rx P1.11280027.0.0
ing CSV
0x2191.09 Valid movement monitor- UINT32 rw Rx P1.11280028.0.0
ing CST
0x2191.0A Valid Power Off movement UINT32 rw Rx P1.11280029.0.0
monitoring
0x2191.0B Valid motion monitoring UINT32 rw Rx P1.11280031.0.0
Moving to fixed stop
0x2191.0C Valid motion monitoring UINT32 rw Rx P1.11280032.0.0
AC4 without DSC
0x2192.01 Cam controller mode UINT16 rw Rx P1.112700.0.0
0x2192.02 Cam controller mode UINT16 rw Rx P1.112700.1.0
0x2192.03 Cam controller source UINT16 rw Rx P1.112701.0.0

686 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2192.04 Cam controller source UINT16 rw Rx P1.112701.1.0

0x2192.05 Upper limit value modulo SINT64 rw Rx P1.112702.0.0
0x2192.06 Upper limit value modulo SINT64 rw Rx P1.112702.1.0
0x2192.07 Lower limit value modulo SINT64 rw Rx P1.112703.0.0
0x2192.08 Lower limit value modulo SINT64 rw Rx P1.112703.1.0
0x2192.09 Inactive time compensa- FLOAT32 rw Rx P1.112704.0.0
tion of first switching point
0x2192.0A Inactive time compensa- FLOAT32 rw Rx P1.112704.1.0
tion of first switching point
0x2192.0B Inactive time compensa- FLOAT32 rw Rx P1.112705.0.0
tion of second switching
point
0x2192.0C Inactive time compensa- FLOAT32 rw Rx P1.112705.1.0
tion of second switching
point
0x2192.0D Hysteresis SINT64 rw Rx P1.112706.0.0
0x2192.0E Hysteresis SINT64 rw Rx P1.112706.1.0
0x2192.0F Switching time (manual) FLOAT32 rw Rx P1.112707.0.0
0x2192.10 Switching time (manual) FLOAT32 rw Rx P1.112707.1.0
0x2192.11 Current cam controller UINT16 ro Tx P1.112713.0.0
mode
0x2192.12 Current cam controller UINT16 ro Tx P1.112713.1.0
mode
0x2192.13 Current cam controller UINT16 ro Tx P1.112714.0.0
source
0x2192.14 Current cam controller UINT16 ro Tx P1.112714.1.0
source
0x2192.15 Current upper limit value SINT64 ro Tx P1.112715.0.0
modulo
0x2192.16 Current upper limit value SINT64 ro Tx P1.112715.1.0
modulo
0x2192.17 Current lower limit value SINT64 ro Tx P1.112716.0.0
modulo

Festo — CMMT-ST-SW — 2019-08b 687

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2192.18 Current lower limit value SINT64 ro Tx P1.112716.1.0

modulo
0x2192.19 Current inactive time first FLOAT32 ro Tx P1.112717.0.0
switching point
0x2192.1A Current inactive time first FLOAT32 ro Tx P1.112717.1.0
switching point
0x2192.1B Current inactive time FLOAT32 ro Tx P1.112718.0.0
second switching point
0x2192.1C Current inactive time FLOAT32 ro Tx P1.112718.1.0
second switching point
0x2192.1D Current hysteresis SINT64 ro Tx P1.112719.0.0
0x2192.1E Current hysteresis SINT64 ro Tx P1.112719.1.0
0x2192.1F Current switching time FLOAT32 ro Tx P1.112720.0.0
(manual)
0x2192.20 Current switching time FLOAT32 ro Tx P1.112720.1.0
(manual)
0x2192.21 Modulo position for the SINT64 ro Tx P1.112726.0.0
logic (ON)
0x2192.22 Modulo position for the SINT64 ro Tx P1.112726.1.0
logic (ON)
0x2192.23 Modulo position for the SINT64 ro Tx P1.112727.0.0
logic (OFF)
0x2192.24 Modulo position for the SINT64 ro Tx P1.112727.1.0
logic (OFF)
0x2192.25 Cam switch status ON/OFF BOOL ro Tx P1.112728.0.0
0x2192.26 Cam switch status ON/OFF BOOL ro Tx P1.112728.1.0
0x2192.27 Status modulo limit BOOL ro Tx P1.112729.0.0
reached
0x2192.28 Status modulo limit BOOL ro Tx P1.112729.1.0
reached
0x2192.29 Status active cam switch UINT8 ro Tx P1.112730.0.0
0x2192.2A Status active cam switch UINT8 ro Tx P1.112730.1.0
0x2192.2D Offset modulo position SINT64 rw Rx P1.112732.0.0
0x2192.2E Offset modulo position SINT64 rw Rx P1.112732.1.0

688 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2192.2F Initialisation of modulo SINT64 rw Rx P1.112733.0.0

0x2192.30 Initialisation of modulo SINT64 rw Rx P1.112733.1.0
0x2192.31 Current offset modulo posi- SINT64 ro Tx P1.112734.0.0
tion
0x2192.32 Current offset modulo posi- SINT64 ro Tx P1.112734.1.0
tion
0x2192.33 Counter modulo cycles UINT32 ro Tx P1.112735.0.0
0x2192.34 Counter modulo cycles UINT32 ro Tx P1.112735.1.0
0x2192.35 Modulo hysteresis SINT64 rw Rx P1.112736.0.0
0x2192.36 Modulo hysteresis SINT64 rw Rx P1.112736.1.0
0x2192.37 Current modulo hysteresis SINT64 ro Tx P1.112737.0.0
0x2192.38 Current modulo hysteresis SINT64 ro Tx P1.112737.1.0
0x2193.01 Touch probe mode UINT16 rw Rx P1.113000.0.0
0x2193.02 Touch probe mode UINT16 rw Rx P1.113000.1.0
0x2193.03 Touch probe source UINT16 rw Rx P1.113001.0.0
0x2193.04 Touch probe source UINT16 rw Rx P1.113001.1.0
0x2193.05 Selection trigger event UINT16 rw Rx P1.113002.0.0
0x2193.06 Selection trigger event UINT16 rw Rx P1.113002.1.0
0x2193.07 Upper limit value modulo SINT64 rw Rx P1.113003.0.0
0x2193.08 Upper limit value modulo SINT64 rw Rx P1.113003.1.0
0x2193.09 Lower limit value modulo SINT64 rw Rx P1.113004.0.0
0x2193.0A Lower limit value modulo SINT64 rw Rx P1.113004.1.0
0x2193.0B Lower limit value trigger SINT64 rw Rx P1.113005.0.0
event
0x2193.0C Lower limit value trigger SINT64 rw Rx P1.113005.1.0
event
0x2193.0D Upper limit value trigger SINT64 rw Rx P1.113006.0.0
event
0x2193.0E Upper limit value trigger SINT64 rw Rx P1.113006.1.0
event
0x2193.0F Current touch probe mode UINT16 ro Tx P1.113007.0.0
0x2193.10 Current touch probe mode UINT16 ro Tx P1.113007.1.0

Festo — CMMT-ST-SW — 2019-08b 689

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2193.11 Current touch probe source UINT16 ro Tx P1.113008.0.0

0x2193.12 Current touch probe source UINT16 ro Tx P1.113008.1.0
0x2193.13 Current selection trigger UINT16 ro Tx P1.113009.0.0
event
0x2193.14 Current selection trigger UINT16 ro Tx P1.113009.1.0
event
0x2193.15 Current upper limit value SINT64 ro Tx P1.113010.0.0
modulo
0x2193.16 Current upper limit value SINT64 ro Tx P1.113010.1.0
modulo
0x2193.17 Current lower limit value SINT64 ro Tx P1.113011.0.0
modulo
0x2193.18 Current lower limit value SINT64 ro Tx P1.113011.1.0
modulo
0x2193.19 Current lower limit value SINT64 ro Tx P1.113012.0.0
trigger event
0x2193.1A Current lower limit value SINT64 ro Tx P1.113012.1.0
trigger event
0x2193.1B Current upper limit value SINT64 ro Tx P1.113013.0.0
trigger event
0x2193.1C Current upper limit value SINT64 ro Tx P1.113013.1.0
trigger event
0x2193.1D Touch probe position SINT64 ro Tx P1.113014.0.0
0x2193.1E Touch probe position SINT64 ro Tx P1.113014.1.0
0x2193.1F Time stamp touch probe UINT64 ro Tx P1.113015.0.0
position
0x2193.20 Time stamp touch probe UINT64 ro Tx P1.113015.1.0
position
0x2193.21 Trigger event initiated BOOL ro Tx P1.113016.0.0
0x2193.22 Trigger event initiated BOOL ro Tx P1.113016.1.0
0x2193.23 Trigger event NOT initiated BOOL ro Tx P1.113017.0.0
0x2193.24 Trigger event NOT initiated BOOL ro Tx P1.113017.1.0
0x2193.25 Trigger events counter UINT32 ro Tx P1.113018.0.0
triggered

690 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2193.26 Trigger events counter UINT32 ro Tx P1.113018.1.0

triggered
0x2193.27 Trigger events counter NOT UINT32 ro Tx P1.113019.0.0
triggered
0x2193.28 Trigger events counter NOT UINT32 ro Tx P1.113019.1.0
triggered
0x2193.29 Counter modulo cycles UINT32 ro Tx P1.113020.0.0
0x2193.2A Counter modulo cycles UINT32 ro Tx P1.113020.1.0
0x2193.2B Status touch probe input BOOL ro Tx P1.113021.0.0
0x2193.2C Status touch probe input BOOL ro Tx P1.113021.1.0
0x2193.2D Status modulo limit BOOL ro Tx P1.113022.0.0
reached
0x2193.2E Status modulo limit BOOL ro Tx P1.113022.1.0
reached
0x2193.2F Modulo position SINT64 ro Tx P1.113023.0.0
0x2193.30 Modulo position SINT64 ro Tx P1.113023.1.0
0x2193.31 Offset modulo position SINT64 rw Rx P1.113024.0.0
0x2193.32 Offset modulo position SINT64 rw Rx P1.113024.1.0
0x2193.33 Initialisation of modulo SINT64 rw Rx P1.113025.0.0
0x2193.34 Initialisation of modulo SINT64 rw Rx P1.113025.1.0
0x2193.35 Current offset modulo posi- SINT64 ro Tx P1.113026.0.0
tion
0x2193.36 Current offset modulo posi- SINT64 ro Tx P1.113026.1.0
tion
0x2193.37 Time stamp touch probe UINT64 ro Tx P1.113027.0.0
position positive CiA402
0x2193.38 Time stamp touch probe UINT64 ro Tx P1.113027.1.0
position positive CiA402
0x2193.39 Time stamp touch probe UINT64 ro Tx P1.113028.0.0
position negative CiA402
0x2193.3A Time stamp touch probe UINT64 ro Tx P1.113028.1.0
position negative CiA402

Festo — CMMT-ST-SW — 2019-08b 691

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2193.3B Touch probe position posit- SINT64 ro Tx P1.113029.0.0

ive CiA402
0x2193.3C Touch probe position posit- SINT64 ro Tx P1.113029.1.0
ive CiA402
0x2193.3D Touch probe position neg- SINT64 ro Tx P1.113030.0.0
ative CiA402
0x2193.3E Touch probe position neg- SINT64 ro Tx P1.113030.1.0
ative CiA402
0x2193.3F Counter initiated trigger UINT32 ro Tx P1.113031.0.0
events positive edge
CiA402
0x2193.40 Counter initiated trigger UINT32 ro Tx P1.113031.1.0
events positive edge
CiA402
0x2193.41 Counter initiated trigger UINT32 ro Tx P1.113032.0.0
events negative edge
CiA402
0x2193.42 Counter initiated trigger UINT32 ro Tx P1.113032.1.0
events negative edge
CiA402
0x2193.43 Touch probe status CiA402 UINT16 ro Tx P1.113033.0.0
0x2193.44 Touch probe status CiA402 UINT16 ro Tx P1.113033.1.0
0x2193.45 Modulo hysteresis SINT64 rw Rx P1.113034.0.0
0x2193.46 Modulo hysteresis SINT64 rw Rx P1.113034.1.0
0x2193.47 Current modulo hysteresis SINT64 ro Tx P1.113035.0.0
0x2193.48 Current modulo hysteresis SINT64 ro Tx P1.113035.1.0
0x2193.49 Delay time FLOAT32 rw Rx P1.113036.0.0
0x2193.4A Delay time FLOAT32 rw Rx P1.113036.1.0
0x2193.4B Current delay time FLOAT32 ro Tx P1.113037.0.0
0x2193.4C Current delay time FLOAT32 ro Tx P1.113037.1.0
0x2194.01 Resolution position SINT8 rw Rx P1.7841.0.0
0x2194.02 Resolution velocity SINT8 rw Rx P1.7842.0.0
0x2194.03 Resolution acceleration SINT8 rw Rx P1.7843.0.0

692 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2194.04 Resolution jerk SINT8 rw Rx P1.7844.0.0

0x2194.05 Counter overruns 32-bit SINT32 ro Tx P1.11.0.0
0x2194.06 Diagnostic category UINT16 rw Rx P1.45.0.0
0x2194.07 Storage option in error log UINT8 rw Rx P1.46.0.0
0x2195.01 Digital inputs CiA402 UINT32 ro Tx P1.1128052.0.0
0x2195.02 Digital outputs CiA402 UINT32 rw Rx P1.1128054.0.0
0x2195.03 Bit mask digital outputs UINT32 rw Rx P1.1128055.0.0
CiA402
0x2195.04 CiA402 version UINT32 ro Tx P1.1128056.0.0
0x2195.05 Motor type CiA402 UINT16 ro Tx P1.1128057.0.0
0x2195.06 Touch probe function UINT16 rw Rx P1.1128060.0.0
CiA402
0x2195.07 Touch probe status CiA402 UINT16 ro Tx P1.1128061.0.0
0x2196.01 Error register CiA402 UINT8 rw Rx P0.7602.0.0
0x2196.02 Local error reaction UINT32 rw Rx P0.43543.0.0
0x2196.03 Sync error counter limit UINT16 rw Rx P0.43544.0.0
0x2196.04 Maximum messages UINT8 rw Rx P0.43545.0.0
0x2196.05 Newest message UINT8 rw Rx P0.43546.0.0
0x2196.06 Newest ack message UINT8 rw Rx P0.43547.0.0
0x2196.07 New message available BOOL rw Rx P0.43548.0.0
0x2196.08 Flags UINT16 rw Rx P0.43549.0.0
0x2196.09 Timestamp object UINT64 rw Rx P0.43550.0.0
0x2198.09 Master control connection UINT32 ro Tx P1.10233999.0.0
ID
0x219A.01 Active connection access UINT16 ro Tx P0.12012.0.0
0x219A.02 Maximum connection UINT16 ro Tx P0.12013.0.0
access
0x219B.01 Connection active BOOL ro Tx P0.12014.0.0
0x219B.02 Connection active BOOL ro Tx P0.12014.1.0
0x219B.03 Connection ID UINT32 ro Tx P0.12015.0.0
0x219B.04 Connection ID UINT32 ro Tx P0.12015.1.0
0x219B.05 Host IP address UINT32 ro Tx P0.12016.0.0

Festo — CMMT-ST-SW — 2019-08b 693

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x219B.06 Host IP address UINT32 ro Tx P0.12016.1.0

0x219B.07 Port host UINT16 ro Tx P0.12017.0.0
0x219B.08 Port host UINT16 ro Tx P0.12017.1.0
0x219C.02 Setpoint value reactive cur- FLOAT32 rw Rx P1.270.0.0
rent
0x219C.03 Time current increase FLOAT32 rw Rx P1.662.0.0
0x219C.04 Activation of open loop BOOL rw Rx P1.4001.0.0
operation
0x219C.07 Active control structure UINT32 ro Tx P1.4004.0.0
0x219C.08 Selection of mode of oper- UINT32 rw Rx P1.4005.0.0
ation open loop/closed
loop
0x219C.09 Selection of mode of oper- UINT32 rw Rx P1.4006.0.0
ation
0x219C.0A Active mode of operation UINT32 ro Tx P1.4007.0.0
0x219C.0B Velocity switching FLOAT32 rw Rx P1.4008.0.0
threshold
0x219C.0D Current rise time FLOAT32 rw Rx P1.4010.0.0
0x219C.0E Diagnostic category UINT16 rw Rx P1.4020.0.0
0x219C.0F Storage option in error log UINT8 rw Rx P1.4021.0.0
0x219C.14 Factor current setpoint FLOAT32 rw Rx P1.6694.0.0
value
0x219C.15 Current reduction activa- BOOL rw Rx P1.4026.0.0
tion
0x219C.16 Current reduction delay FLOAT32 rw Rx P1.4027.0.0
time
0x219C.17 Current reduction scaling FLOAT32 rw Rx P1.4028.0.0
factor
0x219F.01 Activation of field weaken- BOOL rw Rx P1.102201.0.0
ing
0x219F.02 Field weakening status BOOL ro Tx P1.102202.0.0
0x219F.03 Field weakening reactive FLOAT32 ro Tx P1.102203.0.0
current

694 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x219F.07 Current maximum reactive FLOAT32 ro Tx P1.102207.0.0

current
0x21A1.01 Activation of variable mes- BOOL rw Rx P0.1174200.0.0
sage function
0x21A1.02 Axis ID data trigger UINT16 rw Rx P0.1174201.0.0
0x21A1.03 Data ID data trigger UINT32 rw Rx P0.1174202.0.0
0x21A1.04 Data instance ID data trig- UINT16 rw Rx P0.1174203.0.0
ger
0x21A1.05 Array ID data trigger UINT16 rw Rx P0.1174204.0.0
0x21A1.06 Trigger level MELDW.5 SINT64 rw Rx P0.1174205.0.0
0x21A1.07 Hysteresis of trigger level SINT64 rw Rx P0.1174206.0.0
0x21A1.08 Data trigger damping time FLOAT32 rw Rx P0.1174207.0.0
0x21A1.09 Variable message function BOOL ro Tx P0.1174210.0.0
status
0x21A1.0A Current axis ID data trigger UINT16 ro Tx P0.1174211.0.0
0x21A1.0B Current data ID data trigger UINT32 ro Tx P0.1174212.0.0
0x21A1.0C Current data instance ID UINT16 ro Tx P0.1174213.0.0
data trigger
0x21A1.0D Current array ID data trig- UINT16 ro Tx P0.1174214.0.0
ger
0x21A1.0E Current trigger level SINT64 ro Tx P0.1174215.0.0
0x21A1.0F Current hysteresis of trig- SINT64 ro Tx P0.1174216.0.0
ger level
0x21A1.10 Current data trigger damp- FLOAT32 ro Tx P0.1174217.0.0
ing time
0x21A1.11 Data trigger status BOOL ro Tx P0.1174220.0.0
0x21A1.12 Diagnostic category UINT16 rw Rx P0.1174230.0.0
0x21A1.13 Storage option in error log UINT8 rw Rx P0.1174231.0.0
0x21A2.01 Resolution single turn UINT32 rw Rx P0.3601.0.0
0x21A2.02 Resolution multiturn UINT32 rw Rx P0.3602.0.0
0x21A2.03 Single-turn position UINT32 ro Tx P0.3603.0.0
0x21A2.04 Multi-turn numerator UINT32 ro Tx P0.3604.0.0
0x21A2.0A CRC BiSS-C UINT8 ro Tx P0.3610.0.0

Festo — CMMT-ST-SW — 2019-08b 695

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x21A2.0C Baud rate UINT32 rw Rx P0.3612.0.0

0x21A2.0D Activation of correction BOOL rw Rx P0.3613.0.0
table
0x21A2.0E Activation read out exten- BOOL rw Rx P0.3618.0.0
ded encoder data
0x21A2.14 unused STRING(20) rw Rx P0.3624.0.0 ... 19
0x21A2.15 Encoder serial number UINT32 ro Tx P0.3625.0.0
0x21A2.16 Manufacturer ID BiSS-C UINT16 ro Tx P0.3626.0.0
0x21A2.17 Current encoder ID UINT64 ro Tx P0.3627.0.0
0x21A4.01 Web server activation BOOL rw Rx P0.11280051.0.0
0x21A5.01 Scaling factor start value FLOAT32 rw Rx P1.6301.0.0
I²t monitoring motor model
0x21A5.02 Actual value I²T monitoring FLOAT32 ro Tx P1.6302.0.0
motor model
0x21A5.03 Maximum start value I²t FLOAT32 ro Tx P1.6303.0.0
monitoring motor model
0x21A5.04 Scaling factor warning limit FLOAT32 rw Rx P1.6305.0.0
I²t monitoring motor model
0x21A5.06 Diagnostic category UINT16 rw Rx P1.63019.0.0
0x21A5.07 Storage option in error log UINT8 rw Rx P1.63020.0.0
0x21A5.08 Diagnostic category UINT16 rw Rx P1.63021.0.0
0x21A5.09 Storage option in error log UINT8 rw Rx P1.63022.0.0
0x21A6.01 Activation of angular feed BOOL rw Rx P1.204801.0.0
forward control
0x21A6.02 Maximum value of the FLOAT32 rw Rx P1.204802.0.0
angular feed forward con-
trol
0x21A6.03 Scaling factor FLOAT32 rw Rx P1.204803.0.0
0x21A7.01 Activation current reduc- BOOL rw Rx P1.40001.0.0
tion holding brake
0x21A7.02 Delay time FLOAT32 rw Rx P1.40002.0.0
0x21A7.03 Supply voltage holding FLOAT32 rw Rx P1.40003.0.0
brake

696 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x21A7.04 Holding voltage FLOAT32 rw Rx P1.40004.0.0

0x21A8.01 Status FoE UINT32 ro Tx P0.44550.0.0
0x21A8.02 File type FoE UINT16 ro Tx P0.44551.0.0
0x21A8.03 Counter FoE UINT32 ro Tx P0.44552.0.0
0x2202.01 Temperature sensor char- FLOAT32 ro − P0.7155.0.0 ... 1
... 02 acteristic
0x2203.01 MAC address UINT8 ro − P0.247.0.0 ... 5
... 06
0x2204.01 MAC address UINT8 ro − P0.248.0.0 ... 5
... 06
0x2205.01 MAC address UINT8 ro − P0.249.0.0 ... 5
... 06
0x2206.01 MAC address UINT8 ro − P0.265.0.0 ... 5
... 06
0x2207.01 Trace channel BOOL rw − P0.5500.0.0 ... 7
... 08
0x2208.01 Axis ID trace data UINT16 rw − P0.5501.0.0 ... 7
... 08
0x2209.01 Data ID trace data UINT32 rw − P0.5502.0.0 ... 7
... 08
0x220A.01 Data instance ID trace data UINT16 rw − P0.5503.0.0 ... 7
... 08
0x220B.01 Array ID trace data UINT16 rw − P0.5504.0.0 ... 7
... 08
0x220C.01 Status Trace channel BOOL ro − P0.5505.0.0 ... 7
... 08
0x220D.01 Current axis ID trace data UINT16 ro − P0.5506.0.0 ... 7
... 08
0x220E.01 Current data ID trace data UINT32 ro − P0.5507.0.0 ... 7
... 08
0x220F.01 ... Current data instance ID UINT16 ro − P0.5508.0.0 ... 7
08 trace data
0x2210.01 Current array ID trace data UINT16 ro − P0.5509.0.0 ... 7
... 08

Festo — CMMT-ST-SW — 2019-08b 697

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2213.01 Sync manager communica- UINT8 rw − P0.750.0.0 ... 4

... 05 tion type EtherCAT
0x2214.01 Receive PDO Mapped UINT32 rw − P0.761.0.0 ... 15
... 10 Objects EtherCAT
0x2215.01 PDO mapping object index UINT16 rw − P0.771.0.0 ... 2
... 03 of assigned PDO EtherCAT
0x2215.02 PDO mapping object index UINT16 rw − P0.771.1.0 ... 2
... 04 of assigned PDO EtherCAT
0x2215.03 PDO mapping object index UINT16 rw − P0.771.0.0 ... 2
... 05 of assigned PDO EtherCAT
0x2215.05 PDO mapping object index UINT16 rw − P0.771.1.0 ... 2
... 07 of assigned PDO EtherCAT
0x2216.01 Transmit PDO mapped UINT32 rw − P0.881.0.0 ... 15
... 10 objects EtherCAT
0x221A.01 Servo drive initialisation UINT32 ro − P0.10320.0.0 ... 3
... 04 status
0x2220.01 MAC address UINT8 ro − P0.12007.0.0 ... 5
... 06
0x2220.07 MAC address UINT8 ro − P0.12007.1.0 ... 5
... 0C
0x2221.01 Filter frequency notch filter FLOAT32 rw − P1.40.0.0 ... 2
... 03
0x2222.01 Band width of notch filter FLOAT32 rw − P1.49.0.0 ... 2
... 03
0x2223.01 Notch filter output active FLOAT32 ro − P1.50.0.0 ... 2
... 03 current
0x2224.01 Activation of notch filter BOOL rw − P1.51.0.0 ... 2
... 03
0x2225.01 Support point velocity FLOAT32 rw − P1.976.0.0 ... 15
... 10 [rad/s]
0x2226.01 Support point torque [Nm] FLOAT32 rw − P1.977.0.0 ... 15
... 10
0x2227.01 Amplification gain position FLOAT32 rw − P1.226.0.0 ... 2
... 03 controller

698 Festo — CMMT-ST-SW — 2019-08b

EtherCAT

Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2228.01 Velocity controller amplific- FLOAT32 rw − P1.2210.0.0 ... 2

... 03 ation gain
0x2229.01 Velocity controller integra- FLOAT32 rw − P1.2211.0.0 ... 2
... 03 tion constant
0x222A.01 Amplification gain current FLOAT32 rw − P1.2223.0.0 ... 2
... 03 regulator (active current)
0x222B.01 Integration constant cur- FLOAT32 rw − P1.2224.0.0 ... 2
... 03 rent regulator (active cur-
rent)
0x222C.01 Amplification gain current FLOAT32 rw − P1.2225.0.0 ... 2
... 03 regulator (reactive current)
0x222D.01 Integration constant cur- FLOAT32 rw − P1.2226.0.0 ... 2
... 03 rent regulator (reactive cur-
rent)
0x222E.01 Total inertia FLOAT32 rw − P1.2227.0.0 ... 2
... 03
0x222F.01 ... Velocity filter filter time FLOAT32 rw − P1.2228.0.0 ... 2
03 constant
0x2230.01 Command record type UINT32 rw − P1.1810.0.0 ...
... 80 127
0x2231.01 Record number SINT32 rw − P1.1811.0.0 ...
... 80 127
0x2232.01 Record table field 1 SINT64 rw − P1.1812.0.0 ...
... 80 127
0x2233.01 Record table field 2 SINT64 rw − P1.1813.0.0 ...
... 80 127
0x2234.01 Record table field 3 SINT64 rw − P1.1814.0.0 ...
... 80 127
0x2235.01 Record table field 4 SINT64 rw − P1.1815.0.0 ...
... 80 127
0x2236.01 Record table field 5 SINT64 rw − P1.1816.0.0 ...
... 80 127
0x2237.01 Record table field 6 SINT64 rw − P1.1817.0.0 ...
... 80 127

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Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2238.01 Record table field 7 SINT64 rw − P1.1818.0.0 ...

... 80 127
0x2239.01 Record step enabling type UINT32 rw − P1.1831.0.0 ...
... 80 127
0x223A.01 Record sequencing record SINT32 rw − P1.1832.0.0 ...
... 80 number start 127
0x223B.01 Record sequencing record SINT32 rw − P1.1833.0.0 ...
... 80 number target 127
0x223C.01 Record sequencing field FLOAT32 rw − P1.1834.0.0 ...
... 80 time 127
0x223D.01 Record sequencing field 1 SINT64 rw − P1.1835.0.0 ...
... 80 127
0x223E.01 Record sequencing field 2 SINT64 rw − P1.1836.0.0 ...
... 80 127
0x223F.01 ... Selection start condition UINT32 rw − P1.1838.0.0 ...
80 record 127
0x2240.01 Event type UINT32 rw − P1.1841.0.0 ... 15
... 10
0x2241.01 Next event target SINT32 rw − P1.1842.0.0 ... 15
... 10
0x2242.01 Next event field time FLOAT32 rw − P1.1843.0.0 ... 15
... 10
0x2243.01 Next event field 1 SINT64 rw − P1.1844.0.0 ... 15
... 10
0x2244.01 Next event field 2 SINT64 rw − P1.1845.0.0 ... 15
... 10
0x2245.01 Record sequencing field 3 SINT64 rw − P1.526778.0.0 ...
... 80 127
0x2246.01 Next event field 3 SINT64 rw − P1.526779.0.0 ...
... 10 15
0x2247.01 Next event field 4 SINT64 rw − P1.526786.0.0 ...
... 10 15
0x2248.01 Next event field 5 SINT64 rw − P1.526787.0.0 ...
... 10 15

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Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2249.01 Next event field 6 SINT64 rw − P1.526788.0.0 ...

... 10 15
0x224A.01 Next event field 7 SINT64 rw − P1.526789.0.0 ...
... 10 15
0x224B.01 Record sequencing field 4 SINT64 rw − P1.526790.0.0 ...
... 80 127
0x224C.01 Record sequencing field 5 SINT64 rw − P1.526791.0.0 ...
... 80 127
0x224D.01 Record sequencing field 6 SINT64 rw − P1.526792.0.0 ...
... 80 127
0x224E.01 Record sequencing field 7 SINT64 rw − P1.526793.0.0 ...
... 80 127
0x2259.01 Status setpoint sources UINT32 ro − P1.298.0.0 ... 4
... 05
0x225A.01 Current temperature FLOAT32 ro − P1.7157.0.0 ... 1
... 02 sensor characteristic motor
0x225B.01 Temperature sensor char- FLOAT32 rw − P1.7156.0.0 ... 1
... 02 acteristic (user defined)
0x225C.01 Supported homing meth- SINT8 ro − P1.8119.0.0 ... 16
... 11 ods CiA402
0x2266.01 Current counter gear unit FLOAT32 ro − P1.1155.0.0 ... 2
... 03
0x2267.01 Current denominator gear FLOAT32 ro − P1.1156.0.0 ... 2
... 03 unit
0x2268.01 Current counter feed con- FLOAT32 ro − P1.1157.0.0 ... 2
... 03 stant
0x2269.01 Current denominator feed FLOAT32 ro − P1.1158.0.0 ... 2
... 03 constant
0x226E.01 Invert encoder signal BOOL rw − P1.1171.0.0 ... 9
... 0A
0x226F.01 ... Selection of switching func- UINT16 rw − P1.112708.0.0 ...
04 tion 3
0x226F.05 ... Selection of switching func- UINT16 rw − P1.112708.1.0 ...
08 tion 3

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Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2270.01 Selection of switching char- UINT16 rw − P1.112709.0.0 ...

... 04 acteristics 3
0x2270.05 Selection of switching char- UINT16 rw − P1.112709.1.0 ...
... 08 acteristics 3
0x2271.01 First switching point SINT64 rw − P1.112710.0.0 ...
... 04 3
0x2271.05 First switching point SINT64 rw − P1.112710.1.0 ...
... 08 3
0x2272.01 Second switching point SINT64 rw − P1.112711.0.0 ...
... 04 3
0x2272.05 Second switching point SINT64 rw − P1.112711.1.0 ...
... 08 3
0x2273.01 Switching time (automatic) FLOAT32 rw − P1.112712.0.0 ...
... 04 3
0x2273.05 Switching time (automatic) FLOAT32 rw − P1.112712.1.0 ...
... 08 3
0x2274.01 Current selection of switch- UINT16 ro − P1.112721.0.0 ...
... 04 ing function 3
0x2274.05 Current selection of switch- UINT16 ro − P1.112721.1.0 ...
... 08 ing function 3
0x2275.01 Current selection of switch- UINT16 ro − P1.112722.0.0 ...
... 04 ing characteristics 3
0x2275.05 Current selection of switch- UINT16 ro − P1.112722.1.0 ...
... 08 ing characteristics 3
0x2276.01 Current first switching SINT64 ro − P1.112723.0.0 ...
... 04 point 3
0x2276.05 Current first switching SINT64 ro − P1.112723.1.0 ...
... 08 point 3
0x2277.01 Current second switching SINT64 ro − P1.112724.0.0 ...
... 04 point 3
0x2277.05 Current second switching SINT64 ro − P1.112724.1.0 ...
... 08 point 3
0x2278.01 Current switching time FLOAT32 ro − P1.112725.0.0 ...
... 04 (automatic) 3

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Index. Name Data type Access PDO map- Parameter

Subindex ping

0x2278.05 Current switching time FLOAT32 ro − P1.112725.1.0 ...

... 08 (automatic) 3
0x2279.01 Transmit PDO mapped UINT32 rw − P0.881.1.0 ... 15
... 10 objects EtherCAT
0x2279.11 Transmit PDO mapped UINT32 rw − P0.881.2.0 ... 15
... 20 objects EtherCAT
0x227A.01 Invert encoder signal valid- BOOL rw − P1.1174.0.0 ... 9
... 0A ation status
0x227B.01 Load weight / load inertia FLOAT32 rw − P1.2229.0.0 ... 2
... 03
0x2281.01 Damping FLOAT32 rw − P1.144316.0.0 ...
... 02 1
0x2282.01 Natural frequency FLOAT32 rw − P1.144317.0.0 ...
... 02 1
0x2283.01 Activation of vibration sup- BOOL rw − P1.144318.0.0 ...
... 02 pression 1
0x2284.01 Vibration suppression act- BOOL ro − P1.144319.0.0 ...
... 02 ive 1
0x2287.01 Memory Value SINT64 ro − P0.34013.0.0 ... 7
... 08
Tab. 609 Referenzliste Objekte

12 PROFINET
12.1 General
The product is intended for operation in a PROFINET IO network. Data is transmitted on the basis of
Industrial Ethernet following the IEEE 802.3 protocol. Communication takes place in real time, using
the Real-Time Protocol (RT) or the Isochronous Real-Time Protocol (IRT). The product has two equival-
ent Ethernet interfaces (RJ45) with integrated switch, and therefore supports both star and line topo-
logy. The network can be divided into segments using additional switches and routers. This makes it
possible to structure the network and extend it further.
PROFIdrive
PROFIdrive is a modular drive profile for electrical drive devices with PROFIBUS or PROFINET connec-
tion.

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12.2 Standards
This part of the documentation describes the implemented standards and the communications of the
CMMT in a PROFINET network and the PROFIdrive device profile. It is targeted at people who are
already familiar with the bus protocol and device profile.
User Organisation:
Information on the PROFIBUS user organisation (PNO) è www.profibus.com.
PROFIdrive Implementation:
The PROFIdrive implementation of the CMMT is based on the following standard:

Standard Version Edition

PROFIdrive Profile 4.2 Oct. 2015

Technical Specification forPROFIBUS and PROFINET
Tab. 610 PROFIdrive Implementation

12.3 PROFINET Communication

12.3.1 Device Description File
A device description file (GSDML file) is used for project engineering in the higher-order controller soft-
ware. This file contains all the information required for operation using control software (such as
SIEMENS TIA Portal or STEP 7). The current device description file is available on the Festo Support
Portal è www.festo.com/sp.

12.3.2 Crossover Detection

The product supports crossover detection (auto MDI/MDI-X), which means that there is the option of
using patch cables or crossover cables. When using patch cables and crossover cables in the same
network, crossover detection must be activated in the higher-order controller.

12.3.3 Identification & Maintenance

The “Identification and Maintenance” (I&M) function serves as an electronic rating plate of the
product and offers uniform, manufacturer-independent access to device-specific online information
over the network.

12.3.4 Connection Parameters

ID Px. Parameter Description

11295001 Name of Station Displays the PROFINET Name of Station.

Access read/−
Update effective immediately
Unit −

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ID Px. Parameter Description

12004 Active IP address Active IP address

Access read/−
Update effective immediately
Unit −
12005 Active subnet mask Active subnet mask
Access read/−
Update effective immediately
Unit −
12006 Active gateway Active gateway address
address Access read/−
Update effective immediately
Unit −
12007 MAC address MAC address
Access read/−
Update effective immediately
Unit −
Tab. 611 Parameter

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

11295001 3320.0 ... 239 Name of Station STRING(240)
12004 2999.0 Active IP address Unsigned32
12005 3001.0 Active subnet mask Unsigned32
12006 3003.0 Active gateway address Unsigned32
12007 3005.0 ... 5 MAC address Unsigned8
Tab. 612 PNUs

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12.3.5 Connection Characteristics

ID Px. Parameter Description

11280109 Current application Displays the current application class.

class Access read/−
Update effective immediately
Unit −
11280201 PZD telegram selec- Specifies the setting of the receive and transmit telegram.
tion Access read/write
Update effective immediately
Unit −
11280204 Extended process Displays which telegram is used for the Extended process data.
data Access read/write
Update effective immediately
Unit −
11280210 Active telegrams Displays the active telegram for the respective connection.
Access read/−
Update effective immediately
Unit −
Tab. 613 Parameter

Parameter PNU Name Data type

Px. Profile-specific parameters

11280201 922.0 PZD telegram selection Unsigned16
11280204 60104.0 Extended process data Unsigned16
11280210 60100.0 ... 3 Active telegrams Unsigned16
Px. Manufacturer-specific parameters
11280201 3314.0 PZD telegram selection Unsigned16
11280109 12317.0 Current application class Unsigned32
11280204 3411.0 Extended process data Unsigned16
11280210 3412.0 ... 3 Active telegrams Unsigned16
Tab. 614 PNUs

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12.3.6 Diagnostics via PROFINET

PROFINET forms the basis for comprehensive diagnostics functions and information over the automa-
tion network, e.g. detailed module-related and channel-related status information and error detection
in the online mode of the configuration software and in the PLC user program. The PROFIdrive-specific
diagnostics over PROFINET can be activated via the "Activate diagnostics" module parameter
described in the GSDML in the controller configuration software (e.g. STEP 7 or TiA Portal). PROFINET
diagnostics is deactivated on delivery. The PROFIdrive-specific diagnostic codes and the mapping are
described in the detailed internal device diagnostics:

Channel Name Festo Automation Suite

error type ID Dx.

0x9000 Microcontroller Hardware 11 | 01 | 00159, 11 | 01 | 00160, 11 | 01 | 00161,

or Software 11 | 01 | 00162, 11 | 01 | 00163, 11 | 01 | 00244,
11 | 02 | 00164, 11 | 02 | 00165, 11 | 02 | 00166,
11 | 02 | 00167, 11 | 02 | 00168, 11 | 02 | 00169,
11 | 02 | 00170, 11 | 02 | 00171, 11 | 02 | 00172,
11 | 03 | 00173, 11 | 03 | 00174, 11 | 03 | 00175,
11 | 03 | 00176, 11 | 03 | 00177, 11 | 03 | 00178,
11 | 03 | 00179, 11 | 03 | 00180, 11 | 04 | 00181,
11 | 04 | 00182, 11 | 04 | 00183, 11 | 04 | 00184,
11 | 04 | 00185, 11 | 04 | 00186, 11 | 04 | 00187,
11 | 04 | 00188, 11 | 04 | 00189, 11 | 04 | 00190,
11 | 05 | 00191, 11 | 05 | 00192, 11 | 05 | 00193,
11 | 05 | 00194, 11 | 05 | 00195, 11 | 05 | 00196,
11 | 05 | 00197, 11 | 05 | 00198, 11 | 05 | 00200,
11 | 05 | 00201, 11 | 05 | 00202, 11 | 07 | 00204,
11 | 08 | 00206, 11 | 08 | 00207, 13 | 01 | 00215,
13 | 01 | 00216
0x9001 Mains Supply 02 | 03 | 00038, 02 | 03 | 00039, 02 | 03 | 00251
0x9002 Low Voltage Supply 02 | 01 | 00022, 02 | 01 | 00023, 02 | 01 | 00024,
02 | 01 | 00025, 02 | 01 | 00026, 02 | 01 | 00027
0x9003 DC Link Overvoltage 02 | 02 | 00030, 02 | 02 | 00032
0x9004 Power Electronics 10 | 01 | 00156
0x9005 Overtemperature Electron- 01 | 02 | 00014, 01 | 02 | 00015, 01 | 02 | 00016,
ic Device 01 | 02 | 00017, 03 | 01 | 00046, 03 | 01 | 00047,
03 | 02 | 00050, 03 | 02 | 00051
0x9006 Isolation Fault 01 | 01 | 00010, 01 | 01 | 00011
0x9007 Motor Overload 01 | 02 | 00012, 01 | 02 | 00013, 01 | 02 | 00258,
01 | 02 | 00259

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Channel Name Festo Automation Suite

error type ID Dx.

0x9008 Fieldbus System 08 | 00 | 00139, 08 | 00 | 00140, 08 | 00 | 00243,

08 | 03 | 00141, 08 | 03 | 00373, 08 | 04 | 00142,
08 | 04 | 00143, 08 | 04 | 00281, 08 | 09 | 00288,
08 | 09 | 00289, 08 | 09 | 00294, 08 | 09 | 00299,
08 | 09 | 00382, 11 | 06 | 00285, 11 | 06 | 00300
0x9009 Safety Channel 09 | 00 | 00146, 09 | 00 | 00147, 09 | 01 | 00148,
09 | 01 | 00149, 09 | 01 | 00150, 09 | 02 | 00151,
09 | 02 | 00152
0x900A Feedback 18 | 00 | 00092, 18 | 00 | 00093, 18 | 00 | 00094,
18 | 00 | 00095, 18 | 00 | 00096, 18 | 00 | 00227,
18 | 00 | 00318, 18 | 03 | 00235, 18 | 03 | 00301,
18 | 05 | 00239, 18 | 07 | 00365, 18 | 07 | 00366,
18 | 07 | 00367, 18 | 07 | 00368, 18 | 07 | 00369,
18 | 07 | 00370, 18 | 07 | 00371, 18 | 07 | 00372
0x900B Internal Communication 10 | 01 | 00153, 10 | 01 | 00154, 10 | 01 | 00249,
11 | 06 | 00203
0x900C Infeed 02 | 02 | 00031
0x9010 Technology 05 | 01 | 00057, 05 | 01 | 00058, 05 | 02 | 00059,
05 | 02 | 00060, 05 | 02 | 00061, 05 | 02 | 00062,
05 | 02 | 00064, 05 | 02 | 00065, 05 | 02 | 00066,
05 | 02 | 00067, 05 | 02 | 00068, 05 | 02 | 00069,
05 | 02 | 00071, 05 | 02 | 00072, 05 | 02 | 00073,
05 | 02 | 00074, 05 | 02 | 00075, 05 | 02 | 00076,
05 | 02 | 00077, 05 | 02 | 00078, 05 | 02 | 00079,
05 | 02 | 00080, 05 | 02 | 00278, 05 | 02 | 00279,
05 | 02 | 00280, 06 | 00 | 00313, 06 | 02 | 00086,
06 | 02 | 00087, 06 | 02 | 00088, 06 | 02 | 00089,
06 | 02 | 00090, 06 | 02 | 00091, 06 | 02 | 00273,
06 | 02 | 00274, 06 | 02 | 00275, 07 | 01 | 00109,
07 | 01 | 00110, 07 | 01 | 00111, 07 | 01 | 00112,
07 | 01 | 00113, 07 | 01 | 00114, 07 | 01 | 00115,
07 | 01 | 00116, 07 | 01 | 00117, 07 | 01 | 00118,
07 | 01 | 00119, 07 | 01 | 00120, 07 | 02 | 00121,
07 | 02 | 00122, 07 | 02 | 00123, 07 | 02 | 00124,
07 | 02 | 00125, 07 | 02 | 00126, 07 | 02 | 00127,
07 | 02 | 00128, 07 | 02 | 00129, 07 | 02 | 00130,
07 | 02 | 00131, 07 | 02 | 00132, 07 | 02 | 00133,
07 | 03 | 00134, 07 | 03 | 00135, 07 | 04 | 00136,

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Channel Name Festo Automation Suite

error type ID Dx.

07 | 04 | 00137, 13 | 02 | 00217, 13 | 02 | 00218,

13 | 02 | 00219, 13 | 02 | 00220
0x9011 Engineering 01 | 02 | 00018, 05 | 01 | 00056, 05 | 02 | 00364,
06 | 00 | 00070, 06 | 00 | 00081, 06 | 00 | 00082,
06 | 00 | 00083, 06 | 00 | 00084, 06 | 00 | 00085,
06 | 00 | 00248, 06 | 00 | 00252, 06 | 05 | 00097,
06 | 05 | 00098, 06 | 05 | 00099, 06 | 05 | 00100,
06 | 05 | 00101, 06 | 05 | 00102, 06 | 05 | 00103,
06 | 05 | 00104, 06 | 05 | 00105, 06 | 05 | 00106,
06 | 05 | 00107, 06 | 05 | 00108, 06 | 05 | 00290,
06 | 05 | 00291, 08 | 09 | 00144, 08 | 09 | 00145,
08 | 12 | 00250, 08 | 12 | 00272, 11 | 07 | 00205,
11 | 07 | 00271
0x9012 Other 03 | 01 | 00044, 03 | 01 | 00045, 03 | 02 | 00048,
03 | 02 | 00049, 12 | 01 | 00208, 12 | 01 | 00209,
12 | 01 | 00210, 12 | 01 | 00211, 12 | 01 | 00212,
12 | 01 | 00213, 13 | 01 | 00214, 17 | 01 | 00224,
17 | 01 | 00225, 17 | 01 | 00226
Tab. 615 PROFINET error codes

12.4 PROFIdrive
12.4.1 General

12.4.1.1 Data types

Standard data types as per IEC 61158-5-10 and profile-specific data types can be used for transmis-
sion of data for PROFIdrive drives (parameters and signal of the I/O data telegrams). We recommend
the use of profile-specific data types for optimal integration of data in PROFIdrive applications.

Standard data types Profile-specific data types

Data type Identifier Data type Identifier

Boolean 1 N2 normalised value (16 bit) 113

Integer8 2 N4 normalised value (32 bit) 114
Integer16 3 V2 bit sequence 115
Integer32 4 L2 nibble 116
Integer64 55 R2 reciprocal time constant 117
Unsigned8 5 T2 time constant (16 bit) 118
Unsigned16 6 T4 time constant (32 bit) 119

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Standard data types Profile-specific data types

Data type Identifier Data type Identifier

Unsigned32 7 D2 time constant 120

Unsigned64 56 E2 fixed point value (16 bit) 121
FloatingPoint 8 C4 fixed point value (32 bit) 122
FloatingPoint64 15 X2 normalised value, variable 123
(16 bit)
VisibleString 9 X4 normalised value, variable 124
(32 bit)
OctetString 10
UNICODEString 39
TimeOfDay (with date indica- 12
tion)
Date 50
TimeOfDay (without date indica- 52
tion)
TimeDifference (with date indic- 53
ation)
TimeDifference (without date 54
indication)
Tab. 616 Data types

12.4.1.2 Base model

Devices
The PROFIdrive base model, regardless of the communication system, is based on the following three
basic components and their relationships with one another:
– Controller
A controller is an programmable logic controller (PLC) that is assigned to one or more axes of a
drive system.
– P device
A P device is a drive device that is assigned to one or more controllers.
– Supervisor
A supervisor is, for example, an engineering tool used to administer the data, parameters and dia-
gnostic data of P devices and controllers.

Functional object
A PROFIdrive device contains one or more functional objects that represent specific functions of the
automation system. In the case of P devices the functional object corresponds to a drive object. The

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PROFINET

drive object represents the actual drive functions, such as a drive axis consisting of motor, output
stage, closed-loop control and IO functions.

Communication services
The following communication services are used with PROFIdrive:
– Process data (cyclic data exchange)
Process data such as setpoint and actual values along with control and status data are transmit-
ted cyclically. Process data are time-critical and must be transmitted under real-time conditions.
– Parameter data (acyclic data exchange)
Parameter data, such as firmware data or parameters, are transmitted acyclically and only as
required.
– Alarms for diagnostic messages
The servo drive sends diagnostic messages to the controller under real-time conditions.
– Time synchronization data (AC4)
All communication services transmit data in the big-endian format.

12.4.1.3 Drive model

The PROFIdrive drive model defines the architecture of a P device more precisely based on the PROFId-
rive base model.
– P device
A P device contains at least one or more drive units (DU) and can also contain other objects.
– Drive Unit
A drive unit contains at least one or more drive objects (DO).
– Drive Object
A drive object is a drive axis.
Potential classes of a P device or a drive unit are derived from it.

Fig. 121 PROFIdrive class single axis

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PROFINET

12.4.1.4 Application model

Application model
A total of 6 application classes (AC) for different applications is defined with PROFIdrive. The following
application classes are supported:

AC Application class

1 Velocity mode (PV)

3 Positioning mode(PP)
4 Central motion control (motion)
Tab. 617 Application classes

12.4.1.5 Finite state machines

The finite state machines describe the statuses that the drive can have and the required handshake of
control and status bits for the status change.

12.4.2 Application Classes

12.4.2.1 Basic Values and Reference Values in the Application Classes

ID Px. Parameter Description

11280701 Base value speed Specifies the base value for the velocity application class. The
(user unit) base value in user units is multiplied by the normalized value in
the process data and then gives the internal speed setpoint.
Access read/write
Update reinitialization
Unit user defined
11280702 Base value accelera- Specifies the base value for acceleration for the Positioning
tion application class in Tel. 111. The base value is multiplied by the
normalized value in the process data and then gives the internal
acceleration setpoint.
Access read/write
Update effective immediately
Unit user defined
11280703 Base value decelera- Specifies the base value for deceleration for the Positioning
tion application class in Tel. 111. The base value is multiplied by the
normalized value in the process data and then gives the internal
deceleration setpoint.
Access read/write
Update effective immediately

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ID Px. Parameter Description

11280703 Base value decelera- Unit user defined

tion
11280402 Acceleration Specifies the acceleration value for the velocity application
class.
Access read/write
Update effective immediately
Unit user defined
11280403 Deceleration Specifies the deceleration value for the velocity application
class.
Access read/write
Update effective immediately
Unit user defined
11280404 Jerk Specifies the value for the jerk for the application speed.
Access read/write
Update effective immediately
Unit user defined
Tab. 618 Parameter

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

11280701 12345.0 Base value speed (user unit) FloatingPoint
11280702 12346.0 Base value acceleration FloatingPoint
11280703 12347.0 Base value deceleration FloatingPoint
11280402 12325.0 Acceleration FloatingPoint
11280403 12326.0 Deceleration FloatingPoint
11280404 12327.0 Jerk FloatingPoint
Tab. 619 PNUs

12.4.2.2 Application Class 1 – Standard Drive (Velocity Mode)

In application class 1 the drive is controlled by a main setpoint, e.g. velocity setpoint. The velocity is
controlled completely in the drive. The bus is simply the transmission medium between the automa-
tion system and the servo drive. The higher-level controller (PLC) contains all technological functions
for the automation task. Process data (setpoint and actual values) are exchanged cyclically. Cyclical
synchronous data transfer can be used, but is typically not necessary for this application class.

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Fig. 122 Application class 1

12.4.2.3 Application Class 3 – Positioning Mode (PtP)

In application class 3 the positioning commands are sent to the drive by the higher-level controller
(PLC). The higher-level controller (PLC) only contains the technological functions required for the auto-
mation task. The drive itself directly controls the interpolation, positioning and velocity and all time-
critical control algorithms. Cyclical synchronous operation is only required for complex tracking tasks
with multiple axes.

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Fig. 123 Application class 3

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Sub-mode Record Mode

Fig. 124 Record mode

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MDI Sub-mode/Target Value Specification

Fig. 125 Target value specification/MDI

12.4.2.4 Application Class 4 - Central Motion Control (Motion)

Application class 4 enables coordinated motion sequences of several drives, as required in robotics
applications, for example.
Coordination and movement control are carried out centrally via a higher-level control system. In addi-
tion to the technology functions required to control the automation process, the controller also
requires functions for interpolation and position control of the drives. The servo drives take over the
velocity control of the drives.
Velocity setpoint values and actual position values are transmitted cyclically via the device profile.
If necessary, the stability and dynamic behaviour of the control can be increased by using the "Dynam-
ic Servo Control" (DSC) functionality. Then the control deviation and the position controller amplifica-
tion factor KPC are also transmitted in the telegram with the setpoint values. The position controller in

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the drive can be used with this data. The position-setpoint value interpolation continues to take place
in the controller.
Since coordination takes place via the device profile, synchronous operation is required to synchron-
ise the position control in the open-loop controller and the velocity control in the servo drives.

Fig. 126 Application class 4

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Basic Controller Structure without DSC

During operation without "Dynamic Servo Control" (DSC), velocity setpoint values and actual position
values are transmitted cyclically via the device profile. The higher-level control takes over the position
control (Position control). The servo drive takes over the velocity and current control ((Speed control).
The quality of the control loop depends strongly on the bus cycle time. A bus cycle time that is too
long worsens the dynamics of the position control loop (poor control behaviour).

Fig. 127 Basic Controller Structure without DSC

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Basic Controller Structure with DSC

Operation with "Dynamic Servo Control" (DSC) significantly increases the dynamic rigidity of the posi-
tion control loop. In addition to the velocity setpoint value and the actual position value, the position
controller amplification factor KPC and the position tracking error XERR are also transmitted. Position
control takes place in the servo drive. The calculation of the position setpoint value path generator is
still carried out in the controller.

Fig. 128 Basic Controller Structure with DSC

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12.4.3 Finite State Machines

12.4.3.1 Basic finite state machine

Fig. 129 Basic finite state machine

Multiple transitions are possible from some states. In this case the transitions with assigned priorities
are specified in the status diagram. Points are used to identify the priority level. The more points a
transition has the higher the priority. A transition with no points has the lowest priority.

No. Condition Target status

T0 Logic voltage supply present =1 S1 Switching On Inhibited

Tab. 620 Transition T0

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Status S1 Switching On Inhibited

Name Description Status

S1 Switching On Inhibited Switch-on lock ZSW1.0 =0

ZSW1.1 =0
ZSW1.2 =0
ZSW1.6 =1
ZSW2.11 =0
Tab. 621 Status S1

No. Conditions Target status

T1 STW1.0 Power stage enable =0 S2 Ready For Switching On

AND
STW1.1 Coast stop =1
AND
STW1.2 Quick stop =1
Tab. 622 Transition from status S1
Status S2 Ready For Switching On

Name Description Status

S2 Ready For Switching On Ready to be switched ZSW1.0 =1

on ZSW1.1 =0
ZSW1.2 =0
ZSW1.4 =1
ZSW1.5 =1
ZSW1.6 =0
ZSW2.11 =0
Tab. 623 Status S2

No. Conditions Target status

T2 STW1.0 Power stage enable =1 S3 Switched On

T6 STW1.1 Coast stop =0 S1 Switching On Inhibited
OR
STW1.2 Quick stop =0
Tab. 624 Transitions from status S2

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Status S3 Switched On

Name Description Status

S3 Switched On Ready for operation ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =0
ZSW1.3 =0
ZSW1.4 =1
ZSW1.5 =1
ZSW1.6 =0
ZSW2.11 =0
Tab. 625 Status S3

No. Conditions Target status

T3 STW1.3 Enable operation =1 S4 Operation

T5 STW1.0 Power stage enable =0 S2 Ready For Switching On
T7 STW1.1 Coast stop =0 S1 Switching On Inhibited
OR
STW1.2 Quick stop =0
Tab. 626 Transitions from status S3
Status S4 Operation

Name Description Status

S4 Operation Operation ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =1
ZSW1.6 =0
ZSW2.11 =1
Tab. 627 Status S4

No. Conditions Target status

T4 STW1.3 Enable operation =0 S3 Switched On

T8 STW1.1 Coast stop =0 S1 Switching On Inhibited
T9 STW1.0 Power stage enable =0 S51 Ramp stop

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No. Conditions Target status

T13 STW1.2 Quick stop =0 S52 Quick stop

Tab. 628 Transitions from status S4
Status S5 Switching off

Name Description Status

S5 Switching off Switching off ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =0
ZSW1.6 =0
ZSW2.10 =1
Tab. 629 Status S5

No. Conditions Target status

T15 STW1.1 Coast stop =0 S1 Switching On Inhibited

Tab. 630 Transitions from status S5
Status S51 Ramp stop

Name Description Status

S51 Ramp stop Switching off ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =0
ZSW1.5 =1
ZSW1.6 =0
ZSW2.10 =1
Tab. 631 Status S51

No. Conditions Target status

T10 Standstill detected – S2 Ready For Switching On

OR
STW1.3 Enable operation =0
T11 STW1.2 Quick stop =0 S52 Quick stop
T12 STW1.0 Power stage enable =1 S4 Operation
Tab. 632 Transitions from status S51

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The "Standstill detected" condition is an internal condition in the process of the stop ramp and is not
triggered by the user.
Status S52 Quick stop

Name Description Status

S52 Quick stop Fast stop ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =0
ZSW1.5 =0
ZSW1.6 =0
ZSW2.10 =1
Tab. 633 Status S52
The value of the status bit is identical to the status S5 Switching off. The status is not from status at
the status bit S51 Ramp stop indistinguishable.

No. Conditions Target status

T10 Standstill detected – S1 Switching On Inhibited

OR
STW1.3 Enable operation =0
Tab. 634 Transitions from status S52
The "Standstill detected" condition is an internal condition in the process of the fast stop and is not
triggered by the user.

12.4.3.2 Finite State Machine Velocity Mode in Application Class 1

The finite state machine velocity mode is a sub-finite state machine of the status S4 Operation of the
basic finite state machine. The same applies to the status messages of the status S4 Operation, they
are not executed here.

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Fig. 130 Finite State Machine Velocity Mode in Application Class 1

Multiple transitions are possible from some states. In this case the transitions with assigned priorities
are specified in the status diagram. Points are used to identify the priority level. The more points a
transition has the higher the priority. A transition with no points has the lowest priority.

No. Condition Target status

T100 STW1.0 Power stage enable =1 S61 RFG inactive

STW1.1 Coast stop =1
STW1.2 Quick stop =1
STW1.3 Enable operation =1
STW1.4 Enable ramp generator =0
STW1.5 Unfreeze ramp generator =0

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No. Condition Target status

T100 STW1.6 Enable setpoint =0 S61 RFG inactive

Tab. 635 Transition T100
Status S61 RFG inactive

Name Description Status Value

S61 RFG inactive RFG reset ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =1
ZSW1.6 =0
Tab. 636 Status S61

No. Conditions Value Target status

T101 STW1.4 Enable ramp generator =1 S62 RFG active

AND
STW1.5 Unfreeze ramp generator =1
AND
STW1.6 Enable setpoint =1
T110 STW1.8 Jogging 1 =1 S65 Jogging AC1
OR
STW1.9 Jogging 2 =1
Tab. 637 Transitions from Status S61
Status S62 RFG active

Name Description Status Value

S62 RFG active RFG active ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =1
ZSW1.6 =0
Tab. 638 Status S62

No. Conditions Value Target status

T103 STW1.4 Enable ramp generator =0 S63

(system stop)

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No. Conditions Value Target status

T104 STW1.6 Enable setpoint =0 S63 Brake ramp

T107 STW1.5 Unfreeze ramp generator =0 S64 Stop ramp (freeze)
Tab. 639 Transitions from Status S62
Status S63 Brake ramp

Name Description Status Value

S63 Brake ramp Braking ramp ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =1
ZSW1.6 =0
Tab. 640 Status S63

No. Conditions Value Target status

T105 STW1.6 Enable setpoint =1 S62 RFG active

T106 STW1.4 Enable ramp generator =0 S61 RFG inactive
OR
STW1.6 Enable setpoint =0
AND
Standstill –

Tab. 641 Transitions from Status S63

Status S64 Stop ramp (freeze)

Name Description Status Value

S64 Stop ramp (freeze) Stop ramp ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =1
ZSW1.6 =0
Tab. 642 Status S64

No. Conditions Value Target status

T108 STW1.5 Unfreeze ramp generator =1 S62 RFG active

T109 STW1.4 Enable ramp generator =0 S63 Brake ramp
Tab. 643 Transitions from Status S64

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Status S65 Jogging AC1

Name Description Status Value

S65 Jogging AC1 Jog Mode ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =1
ZSW1.6 =0
Tab. 644 Status S65

No. Conditions Value Target status

T111 STW1.8 Jogging 1 =0 S61 RFG inactive

AND
STW1.9 Jogging 2 =0
AND
Standstill –

Tab. 645 Transitions from Status S64

12.4.3.3 Finite State Machine Positioning Mode in Application Class 3

The finite state machine positioning mode in application class 3 is a sub-finite state machine of the
status S4 Operation of the basic finite state machine. The same applies to the status messages of the
status S4 Operation.

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Fig. 131 Finite State Machine Positioning Mode in Application Class 3

Multiple transitions are possible from some states. In this case the transitions with assigned priorities
are specified in the status diagram. Points are used to identify the priority level. The more points a
transition has the higher the priority. A transition with no points has the lowest priority.
Further information on the basic state machine è 12.4.3.1 Basic finite state machine.
Status S41 Basic State Positioning Mode

Name Description Status Value

S41 Basic State Positioning Basic state position- ZSW1.10 =1

Mode ing mode ZSW1.13 =1
AKTSATZ, bit 15 = SATZANW, bit 15 –

(target value specification switch)

Tab. 646 Status S41
Switching the MDI selection (SATZANW, bit 15) is only possible in S41 Basic State Positioning Mode
status.

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No. Conditions Value Target status

T301 STW1.4 Reject traversing task =1 S451 Traversing Task Active

AND
STW1.5 Intermediate stop =1
AND
STW1.6 Activate traversing task 0à1
T313 STW1.8 Jogging 1 =1 S42 Jogging
OR
STW1.9 Jogging 2 =1
T315 STW1.11 Start Homing procedure 0à1 S441 Homing Procedure Run-
ning
Tab. 647 Transitions from Status S42
T313 has higher priority than T301.
T315 has higher priority than T301.
T313 has higher priority than T315.
Status S42 Jogging

Name Description Status Value

S42 Jogging Jogging ZSW1.10 Target position reached =0

ZSW1.13 Drive stopped =x
AKTSATZ Bit 15 =0
Tab. 648 Status S42
AKTSATZ Bit 15 is set to 0 independently of SATZANW bit 15, i.e. also if MDI selection is set
(SATZANW.15 = 1).

No. Conditions Value Target status

T314 STW1.8 Jogging 1 =0 S41 Basic State Positioning

AND Mode

STW1.9 Jogging 2 =0
AND
Standstill detected –

Tab. 649 Transitions from Status S42

The "Standstill detected" condition is an internal condition and is not triggered by the user.

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Status S43 Braking With Ramp

Name Description Status Value

S43 Braking With Ramp Braking ramp ZSW1.10 Target position reached =0
ZSW1.13 Drive stopped =0
AKTSATZ Bit 15 = setpoint specification
switch (source for prior setpoint specifica-
tion)
Tab. 650 Status S43

No. Conditions Value Target status

T312 Standstill detected – S41 Basic State Positioning

Mode
Tab. 651 Transitions from Status S43
The "Standstill detected" condition is an internal condition in the process of the braking ramp and is
not triggered by the user.
Status S44 Homing Procedure

Name Description Status Value

S44 Homing Procedure Homing ZSW1.10 Target position reached =x

ZSW1.11 Home position set =x
ZSW1.13 Drive stopped =x
AKTSATZ Bit 15 =0
Tab. 652 Status S44
x = value depends on sub-status

No. Conditions Value Target status

T316 STW1.11 Start Homing procedure =0 S41 Basic State Positioning

AND Mode

Standstill detected
Tab. 653 Transitions from Status S44
The "Standstill detected" condition is an internal condition and is not triggered by the user.

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Status S45 Traversing Task Interpolation

Name Description Status Value

S45 Traversing Task Interpol- Traversing task posi- ZSW1.10 Target position reached =x
ation tioning ZSW1.12 Traversing task acknow- =x
ledgement
ZSW1.13 Drive stopped =x
AKTSATZ Bit 15 = setpoint specification
switch (source for setpoint specification)
Tab. 654 Status S45
x = value depends on sub-status

No. Conditions Value Target status

T311 STW1.4 Reject traversing task =0 S43 Braking With Ramp

OR
SATZANW Bit 15 0à1
AND
AKTSATZ Bit 15 =1
Tab. 655 Transitions from Status S45
Status S451 Traversing Task Active

Name Description Status Value

S451 Traversing Task Active Positioning task act- ZSW1.10 Target position reached =0
ive ZSW1.12 Traversing task acknow- 0à1
ledgement
ZSW1.13 Drive stopped =0
AKTSATZ Bit 15 = setpoint specification
switch (source for setpoint specification)
Tab. 656 Status S451

No. Conditions Value Target status

T302 Positioning task complete S41 Basic State Positioning

Mode
T303 STW1.6 Activate traversing task 0à1 S451 Traversing Task Active
T304 STW1.5 Intermediate stop =0 S452 Intermediate Stop Ramp
Tab. 657 Transitions from Status S451
The "Positioning task complete" condition is an internal condition and is not triggered by the user.

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T303 has higher priority than T302.

T303 has higher priority than T304.
T302 has higher priority than T304.

Status S452 Intermediate Stop Ramp

Name Description Status Value

S452 Intermediate Stop Intermediate stop ZSW1.10 Target position reached =0

Ramp ramp ZSW1.12 Traversing task acknow- =x
ledgement
ZSW1.13 Drive stopped =0
AKTSATZ Bit 15 = setpoint specification
switch (source for setpoint specification)
Tab. 658 Status S452

No. Conditions Value Target status

T305 STW1.6 Activate traversing task 0à1 S452 Intermediate Stop Ramp
T306 Standstill detected S453 Intermediate Stop
Tab. 659 Transitions from Status S452
The "Standstill detected" condition is an internal condition in the process of the intermediate stop
ramp and is not triggered by the user.
T305 has higher priority than T306.
Status S453 Intermediate Stop

Name Description Status Value

S453 Intermediate Stop Intermediate stop ZSW1.10 Target position reached =0

ZSW1.12 Traversing task acknow- =x
ledgement
ZSW1.13 Drive stopped =1
AKTSATZ Bit 15 = setpoint specification
switch (source for setpoint specification)
Tab. 660 Status S453

No. Conditions Value Target status

T307 STW1.5 Intermediate stop 1 S451 Traversing Task Active

T308 STW1.6 Activate traversing task 0à1 S453 Intermediate Stop

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No. Conditions Value Target status

T309 STW1.11 Start Homing procedure 0à1 S441 Homing Procedure Run-
ning
T310 STW1.8 Jogging 1 =1 S42 Jogging
OR
STW1.9 Jogging 2 =1
Tab. 661 Transitions from Status S453
T310 has higher priority than T307.
T309 has higher priority than T307.
T308 has higher priority than T307.
T310 has higher priority than T309.

12.4.3.4 Finite State Machine Homing Application Class 3

The finite state machine homing in application class 3 is a sub-finite state machine of the status S44
Homing Procedure of the finite state machine positioning mode.

Fig. 132 Finite State Machine Homing Application Class 3

Transition T315 is described in the finite state machine positioning mode and is therefore not con-
sidered in detail here.
Transition T316 is described in the finite state machine positioning mode and is therefore not con-
sidered in detail here. The transition is possible from every sub-status.

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Status S441 Homing Procedure Running

Name Description Status Value

S441 Homing Procedure Run- Homing active ZSW1.10 Target position reached =0
ning ZSW1.11 Home position set =0
ZSW1.13 Drive stopped =1
Tab. 662 Status S441

No. Conditions Value Target status

T320 Reference point set – S442 Homing Procedure Ready

Tab. 663 Transitions from Status S441
The condition "Homing point set" is an internal condition in the homing process.
Status S442 Homing Procedure Ready

Name Description Status Value

S442 Homing Procedure Homing complete ZSW1.10 Target position reached =1

Ready ZSW1.11 Home position set =1
ZSW1.13 Drive stopped =1
Tab. 664 Status S442

12.4.3.5 Finite state machine application class 4

In application class 4, there is basically no sub-state machine in the basic state. S4 Operation of the
basic finite state machine required. Only for the optional jog function via the control bits STW1.8 and
STW1.9 (JOG1 and JOG2) are sub-states as in application class 1 necessary.

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Fig. 133 Finite state machine AC4

12.4.4 Process Data

12.4.4.1 Process Data Signals

Defined signals with associated signal numbers are available for configuration of process data
(input/output data).

Signal num- Signal designation Abbrevi- Bit length With prefix

ber/PNU ation (16/32 bit)

Standard telegrams
1 Control word 1 STW1 16 –

2 Status word 1 ZSW1 16 –

3 Control word 2 STW2 16 –

4 Status Word 2 ZSW2 16 –

·
5 Rotational speed setpoint value A NSOLL_A 16
·
6 Rotational speed actual value A NIST_A 16
·
7 Rotational speed setpoint value B NSOLL_B 32
·
8 Rotational speed actual value B NIST_B 32
9 Control word sensor 1 G1_STW 16 –

10 Status word sensor 1 G1_ZSW 16 –

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Signal num- Signal designation Abbrevi- Bit length With prefix

ber/PNU ation (16/32 bit)

11 Encoder 1 position actual value 1 G1_XIST1 32 –

12 Encoder 1 position actual value 2 G1_XIST2 32 –

13 Control word sensor 2 G2_STW 16 –

14 Status word sensor 2 G2_ZSW 16 –

15 Encoder 2 actual position value 1 G2_XIST1 32 –

16 Encoder 2 actual position value 2 G2_XIST2 32 –

·
25 Position deviation XERR 32
·
26 Position controller amplification factor KPC 32
32 Record selection SATZANW 16 –

33 Active record AKTSATZ 16 –

·
34 MDI target position MDI_TARPO- 32
S
35 MDI velocity MDI_VELOC- 32 –

ITY
36 MDI acceleration MDI_ACC 16 –

37 MDI deceleration MDI_DEC 16 –

38 Manual Data Input Mode MDI_MOD 16 –

Manufacturer-specific telegrams
·
28 Actual position value A XIST_A 32
·
101 Torque reduction MOMRED 16
102 Status word messages MELDW 16 –

·
205 Positioning velocity override OVERRIDE 16
220 Positioning control word 1 POS_STW1 16 –

221 Positioning status word 1 POS_ZSW1 16 –

222 Positioning control word 2 POS_STW2 16 –

223 Positioning status word 2 POS_ZSW1 16 –

301 Fault code FAULT_COD- 16 –

E
303 Warning code WARN_COD- 16 –

E
Tab. 665 Process Data Signals

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12.4.4.2 Process Data Configuration

The process data (input/output data) can be configured and defined as individual setpoint and actual
values. Parameters numbers (PNU) are available for configuration of process data (input/output data).

Parameter PNU Meaning Access Data type

Px. Profile-specific parameters

11280201 922.0 PZD telegram selection rw Unsigned16
Tab. 666 Process Data Configuration

12.4.5 Telegrams
Process data (input/output data) such as setpoint and actual values along with control and status
data are transmitted cyclically by telegrams. They are transmitted in the big-endian format. The sup-
ported telegrams and their use in the application classes are listed below.

Telegram Description Supported

number application
classes

Standard telegrams
1 Rotational speed setpoint value 16 bit AC1
2 Rotational speed setpoint value 32 bit AC1
3 Rotational speed setpoint value 32 bit with 1 position encoder AC1 (RT) and
AC4 (IRT)
4 Velocity setpoint value 32 bit with 2 position sensors AC1 (RT) and
AC4 (IRT)
5 Rotational speed setpoint value 32 bit with 1 position encoder and AC4
DSC (Dynamic Servo Control)
6 Rotational speed setpoint value 32 bit with 2 position encoders AC4
and DSC (Dynamic Servo Control)
7 Positioning telegram 7 (single positioning with record selection) AC3
9 Positioning telegram 9 (single positioning with record selection AC3
and direct specification, MDI)
Manufacturer-specific telegrams
102 Rotational speed setpoint value 32 bit with 1 position encoder and AC1 (RT) and
torque reduction AC4 (IRT)
103 Rotational speed setpoint value 32 bit with 2 position encoders AC1 (RT) and
and torque reduction AC4 (IRT)
105 Rotational speed setpoint value 32 bit with 1 position encoder, AC4
torque reduction and DSC (Dynamic Servo Control)

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Telegram Description Supported

number application
classes

106 Velocity setpoint value 32 bit with 2 position encoders, torque AC4
reduction and DSC (Dynamic Servo Control)
111 Single positioning in the operating mode record selection and dir- AC3
ect specification (MDI)
910 Transmission of additional process data (EPD) AC1, AC3 and
è è 12.4.6 Additional Telegram AC4
Tab. 667 Telegrams

Standard Telegrams for the Rotational Speed Control Operating Mode

Telegram
No. 1 2 3

App. 1 1 1, 4
class
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 NSOLL_A NIST_A NSOLL_B NIST_B NSOLL_B NIST_B
PZD3
PZD4 STW2 ZSW2 STW2 ZSW2
PZD5 G1_STW G1_ZSW
PZD6 G1_XIST1
PZD7
PZD8 G1_XIST2
PZD9
PZD10
PZD11
PZD12
PZD13
PZD14
PZD15
Tab. 668 Telegrams for Velocity Control, Standard Telegrams - Part 1

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Telegram
No. 4 5 6

App. 1, 4 4 with DSC 4 with DSC

class
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B
PZD3
PZD4 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2
PZD5 G1_STW G1_ZSW G1_STW G1_ZSW G1_STW G1_ZSW
PZD6 G2_STW G1_XIST1 XERR G1_XIST1 G2_STW G1_XIST1
PZD7 XERR
PZD8 G1_XIST2 KPC G1_XIST2 G1_XIST2
PZD9 KPC
PZD10 G2_ZSW G2_ZSW
PZD11 G2_XIST1 G2_XIST1
PZD12
PZD13 G2_XIST2 G2_XIST2
PZD14
PZD15
Tab. 669 Telegrams for Velocity Control, Standard Telegrams - Part 2

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Manufacturer-specific Telegrams for the Velocity Control Operating Mode

Telegram
No. 102 103 105 106

App. 1, 4 1, 4 4 with DSC 4 with DSC

class
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B
PZD3
PZD4 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2
PZD5 MOMRED MELDW MOMRED MELDW MOMRED MELDW MOMRED MELDW
PZD6 G1_STW G1_ZSW G1_STW G1_ZSW G1_STW G1_ZSW G1_STW G1_ZSW
PZD7 G1_XIST- G2_STW G1_XIST- XERR G1_XIST- G2_STW G1_XIST-
PZD8 1 1 1 XERR 1

PZD9 G1_XIST- G1_XIST- KPC G1_XIST- G1_XIST-

PZD10 2 2 2 KPC 2

PZD11 G2_ZSW G2_ZSW

PZD12 G2_XIST- G2_XIST-
PZD13 1 1

PZD14 G2_XIST- G2_XIST-

PZD15 2 2

Tab. 670 Telegrams for Velocity Control, Manufacturer-specific Telegrams

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Telegrams for the Single Position Control Operating Mode

Telegram
No. 7 9 111

App. 3
class
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 SATZANW AKTSATZ SATZANW AKTSATZ POS_STW1 POS_ZSW1
PZD3 STW2 ZSW2 POS_STW2 POS_ZSW2
PZD4 MDI_TARPOS XIST_A STW2 ZSW2
PZD5 OVERRIDE MELDW
PZD6 MDI_VELOCI- MDI_TARPOS XIST_A
PZD7 TY

PZD8 MDI_ACC MDI_VELOCI- NIST_B

PZD9 MDI_DEC TY

PZD10 MDI_MOD MDI_ACC FAULT_CODE

PZD11 MDI_DEC WARN_CODE
PZD12 Reserved Reserved
Tab. 671 Telegrams for Position Control
Standard Telegram 1
Rotational speed setpoint value 16 bit
Supported application classes: AC1

PZD Setpoint value Actual value

1 STW1 ZSW1
2 NSOLL_A NIST_A
Tab. 672 Standard Telegram 1

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Standard Telegram 2
Rotational speed setpoint value 32 bit
Supported application classes: AC1

PZD Setpoint value Actual value

1 STW1 ZSW1
2 NSOLL_B NIST_B
3
4 STW2 ZSW2
Tab. 673 Standard Telegram 2
Standard Telegram 3
Rotational speed setpoint value 32 bit with 1 position encoder
Supported application classes: AC1 and AC4

PZD Setpoint value Actual value

1 STW1 ZSW1
2 NSOLL_B NIST_B
3
4 STW2 ZSW2
5 G1_STW G1_ZSW
6 G1_XIST1
7
8 G1_XIST2
9
Tab. 674 Standard Telegram 3

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Standard Telegram 4
Rotational speed setpoint value 32 bit with 2 position encoder
Supported application classes: AC1 and AC4

PZD Setpoint value Actual value

1 STW1 ZSW1
2 NSOLL_B NIST_B
3
4 STW2 ZSW2
5 G1_STW G1_ZSW
6 G2_STW G1_XIST1
7
8 G1_XIST2
9
10 G2_ZSW
11 G2_XIST1
12
13 G2_XIST2
14
Tab. 675 Standard Telegram 4
Standard Telegram 5
Rotational speed setpoint value 32 bit with 1 position encoder and DSC
Supported application class: AC4

PZD Setpoint value Actual value

1 STW1 ZSW1
2 NSOLL_B NIST_B
3
4 STW2 ZSW2
5 G1_STW G1_ZSW
6 XERR G1_XIST1
7
8 KPC G1_XIST2
9
Tab. 676 Standard Telegram 5

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Standard Telegram 6
Rotational speed setpoint value 32 bit with 2 position encoder and DSC
Supported application classes: AC4

PZD Setpoint value Actual value

1 STW1 ZSW1
2 NSOLL_B NIST_B
3
4 STW2 ZSW2
5 G1_STW G1_ZSW
6 G2_STW G1_XIST1
7 XERR
8 G1_XIST2
9 KPC
10 G2_ZSW
11 G2_XIST1
12
13 G2_XIST2
14
Tab. 677 Standard Telegram 6
Standard Telegram 7
Single positioning
Supported application class: AC3

PZD Setpoint value Actual value

1 STW1 ZSW1
2 SATZANW AKTSATZ
Tab. 678 Standard Telegram 7

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Standard Telegram 9
Single positioning (with direct specification, only telegram 9)
Supported application class: AC3

PZD Setpoint value Actual value

1 STW1 ZSW1
2 SATZANW AKTSATZ
3 STW2 ZSW2
4 MDI_TARPOS XIST_A
5
6 MDI_VELOCITY
7
8 MDI_ACC
9 MDI_DEC
10 MDI_MOD
Tab. 679 Standard Telegram 9
Standard Telegram 102
Rotational speed setpoint value 32 bit with 1 position encoder and torque reduction
Supported application class: AC1 (RT) and AC4 (RT)

PZD Setpoint value Actual value

1 STW1 ZSW1
2 NSOLL_B NIST_B
3
4 STW2 ZSW2
5 MOMRED MELDW
6 G1_STW G1_ZSW
7 G1_XIST1
8
9 G1_XIST2
10
Tab. 680 Standard Telegram 102

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Standard Telegram 103

Rotational speed setpoint value 32 bit with 2 position encoder and torque reduction
Supported application class: AC1 (RT) and AC4 (RT)

PZD Setpoint value Actual value

1 STW1 ZSW1
2 NSOLL_B NIST_B
3
4 STW2 ZSW2
5 MOMRED MELDW
6 G1_STW G1_ZSW
7 G2_STW G1_XIST1
8
9 G1_XIST2
10
11 G2_ZSW
12 G2_XIST1
13
14 G2_XIST2
15
Tab. 681 Standard Telegram 103

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Standard Telegram 105

Rotational speed setpoint value 32 bit with 2 position encoder, torque reduction and DSC
Supported application class: AC4

PZD Setpoint value Actual value

1 STW1 ZSW1
2 NSOLL_B NIST_B
3
4 STW2 ZSW2
5 MOMRED MELDW
6 G1_STW G1_ZSW
7 XERR G1_XIST1
8
9 KPC G1_XIST2
10
Tab. 682 Standard Telegram 105

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Standard Telegram 106

Rotational speed setpoint value 32 bit with 2 position encoders, torque reduction and DSC
Supported application class: AC4

PZD Setpoint value Actual value

1 STW1 ZSW1
2 NSOLL_B NIST_B
3
4 STW2 ZSW2
5 MOMRED MELDW
6 G1_STW G1_ZSW
7 G2_STW G1_XIST1
8 XERR
9 G1_XIST2
10 KPC
11 G2_ZSW
12 G2_XIST1
13
14 G2_XIST2
15
Tab. 683 Standard Telegram 106

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Standard Telegram 111

Single positioning in the operating mode record selection and MDI
Supported application class: AC3

PZD Setpoint value Actual value

1 STW1 ZSW1
2 POS_STW1 POS_ZSW1
3 POS_STW2 POS_ZSW2
4 STW2 ZSW2
5 OVERRIDE MELDW
6 MDI_TARPOS XIST_A
7
8 MDI_VELOCITY NIST_B
9
10 MDI_ACC FAULT_CODE
11 MDI_DEC WARN_CODE
12 Reserved Reserved
Tab. 684 Standard Telegram 111

12.4.6 Additional Telegram

Additional Telegram 910 (Extended Process Data, EPD)
The manufacturer-specific additional telegram 910 is available for transmitting additional process
data. The additional telegram can be selected during the process data configuration with the configur-
ation software of the master and becomes active after loading the process data configuration.
The extended process data in the additional telegram can be read with the CMMT-ST Plug-in can be
parameterised.

Telegram Description Supported

number application
classes

Additional Telegram
910 Transmission of additional process data (EPD) AC1, AC3 and
AC4
Tab. 685 Additional Telegram
The additional telegram 910 enables the cyclic transmission of additional parameters. All device para-
meters of the servo drive can be transferred.
The additional telegram 910 has a fixed length of 32 bytes for each transmission direction in which up
to 8 parameters can be transmitted.

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Parameters with the access right "read/write" can be sent and received by the servo drive (setpoint
value).
Parameters with the "read" access right can only be sent by the servo drive (actual value).

PZD Setpoint value (Rx data) Actual value (Tx data)

1 Max. 8 parameters (32 bytes) Max. 8 parameters (32 bytes)

2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Tab. 686 Additional Telegram 910

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Parameters for Process Data Configuration

The input/output data of the additional telegram can be configured individually. The following para-
meters are available for configuration.

ID Px. Parameter Description

4242101 Number of objects Rx Displays the actuel number of objects that mapped for Rx data.
Access read/−
Update effective immediately
Unit −
4242102 Number of bytes Rx Displays the actuel number of bytes that mapped for Rx data.
Access read/−
Update effective immediately
Unit −
4242105 Axis ID Rx Specifies the axis ID of the object to be mapped for the extended
process data Rx.
Access read/write
Update reinitialization
Unit −
4242106 Data ID Rx Specifies the data ID of the object to be mapped for the exten-
ded process data Rx.
Access read/write
Update reinitialization
Unit −
4242107 Data instance ID Rx Specifies the instance number of the object to be mapped for
the extended process data Rx.
Access read/write
Update reinitialization
Unit −
4242108 Array ID Rx Specifies the array ID of the object to be mapped for the exten-
ded process data Rx.
Access read/write
Update reinitialization
Unit −

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ID Px. Parameter Description

4242115 Current axis ID Rx Displays the current axis ID of the object mapped for the exten-
ded process data Rx.
Access read/−
Update effective immediately
Unit −
4242116 Current data ID Rx Displays the current data ID of the object mapped Rx for the
extended process data.
Access read/−
Update effective immediately
Unit −
4242117 Current data instance Displays the current instance no. of the object mapped for the
ID Rx extended process data Rx.
Access read/−
Update effective immediately
Unit −
4242118 Current array ID Rx Displays the current array ID of the object mapped for the exten-
ded process data Rx.
Access read/−
Update effective immediately
Unit −
4242119 Current data type Rx Displays the data type of the objects mapped for the extended
process data Rx.
Access read/−
Update effective immediately
Unit −
Tab. 687 Parameter (Rx data)

ID Px. Parameter Description

4242201 Number of objects Tx Displays the actuel number of objects that mapped for Tx data.
Access read/−
Update effective immediately
Unit −

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ID Px. Parameter Description

4242202 Number of bytes Tx Displays the actuel number of bytes that mapped for Tx data.
Access read/−
Update effective immediately
Unit −
4242205 Axis ID Tx Specifies the axis ID of the object to be mapped for the extended
process data Tx.
Access read/write
Update reinitialization
Unit −
4242206 Data ID Tx Specifies the data ID of the object to be mapped for the exten-
ded process data Tx.
Access read/write
Update reinitialization
Unit −
4242207 Data instance ID Tx Specifies the instance no. of the object to be mapped for the
extended process data Tx.
Access read/write
Update reinitialization
Unit −
4242208 Array ID Tx Specifies the array ID of the object to be mapped for the exten-
ded process data Tx.
Access read/write
Update reinitialization
Unit −
4242215 Current axis ID Tx Displays the current axis ID of the object mapped for the exten-
ded process data Tx.
Access read/−
Update effective immediately
Unit −
4242216 Current data ID Tx Displays the current data ID of the object mapped for the exten-
ded process data Tx.
Access read/−
Update effective immediately

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ID Px. Parameter Description

4242216 Current data ID Tx Unit −

4242217 Current data instance Displays the current instance number of the object mapped for
ID Tx the extended process data Tx.
Access read/−
Update effective immediately
Unit −
4242218 Current array ID Tx Displays the current array ID of the object mapped for the exten-
ded process data Tx.
Access read/−
Update effective immediately
Unit −
4242219 Current data type Tx Displays the data type of the objects mapped for the extended
process data Tx.
Access read/−
Update effective immediately
Unit −
Tab. 688 Parameter (Tx data)
Extended Process Data Parameter

ID Px. Parameter Description

424213 Extended process Displays with Extended Process Data = 1 that the extended pro-
data active cess data is active.
Access read/−
Update effective immediately
Unit −
11280204 Extended process Displays which telegram is used for the Extended process data.
data Access read/write
Update effective immediately
Unit −
Tab. 689 Extended Process Data Parameter

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PNUs Rx and Tx data

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

4242101 12540.0 Number of objects Rx Unsigned8
4242102 12541.0 Number of bytes Rx Unsigned8
4242105 12542.0 ... 7 Axis ID Rx Unsigned16
4242106 12543.0 ... 7 Data ID Rx Unsigned32
4242107 12544.0 ... 7 Data instance ID Rx Unsigned16
4242108 12545.0 ... 7 Array ID Rx Unsigned16
4242115 12546.0 ... 7 Current axis ID Rx Unsigned16
4242116 12547.0 ... 7 Current data ID Rx Unsigned32
4242117 12548.0 ... 7 Current data instance ID Rx Unsigned16
4242118 12549.0 ... 7 Current array ID Rx Unsigned16
4242119 12550.0 ... 7 Current data type Rx Unsigned32
4242201 12551.0 Number of objects Tx Unsigned8
4242202 12552.0 Number of bytes Tx Unsigned8
4242205 12553.0 ... 7 Axis ID Tx Unsigned16
4242206 12554.0 ... 7 Data ID Tx Unsigned32
4242207 12555.0 ... 7 Data instance ID Tx Unsigned16
4242208 12556.0 ... 7 Array ID Tx Unsigned16
4242215 12557.0 ... 7 Current axis ID Tx Unsigned16
4242216 12558.0 ... 7 Current data ID Tx Unsigned32
Tab. 690 PNUs
PNUs extended process data

Parameter PNU Name Data type

Px. Profile-specific parameters

11280204 60104.0 Extended process data Unsigned16
Px. Manufacturer-specific parameters
424213 12539.0 Extended process data active Boolean
11280204 3411.0 Extended process data Unsigned16
Tab. 691 PNUs

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Active telegrams

PNU Meaning Access Data type

Profile-specific parameters
60100 Shows an overview of the active telegrams. ro Unsigned16
Array ID = Subslot - 1: Array
– Array 0 = Subslot 1, MAP (Module Access
Point)
– Array 1 = Subslot 2, reserved
– Array 2 = Subslot 3, standard telegram
– Array 3 = Subslot 4, additional telegram
(EPD)
– Array 4 .. n = reserved for future additional
telegrams
Possible values:
– 1: Telegram 1
– 2: Telegram 2
– ...
– 910 (0x038E): Additional telegram (EPD)
– 65534 (0xFFFE): No telegram
– 65535 (0xFFFF): MAP in subslot 1
60104 Indicates whether the additional telegram is act- rw Unsigned16
ive. This parameter is written by the higher-level
controller (master). Here means
– 65534 (0xFFFE): Additional telegram not act-
ive
– 910 (0x038E): Additional telegram 910 is act-
ive
Tab. 692 PNUs

12.4.7 Process Data Signals in Detail

12.4.7.1 Control Word 1 (STW1)

Bit Meaning
Velocity mode Positioning mode

0 Output stage enable (ON/OFF, precondition STW1.3 = 1)

– 0à1: power output stage enabled (ON)
– 0: brake drive to standstill and then deactivate the power output stage (OFF1).
If bit STW1.3 is already active, activation of STW1.0 implements a transition to S4 and
therefore switches on the output stage. As a rule, however, STW1.0 is active and STW1.3
(output stage enable) is activated.

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Bit Meaning
Velocity mode Positioning mode

1 Drive coast (OFF 2)

– 1: no coasting
– 0: coasting. Power output stage is deactivated (OFF2). The drive coasts to a stop.
2 Fast stop (OFF 3)
– 1: no fast stop
– 0: brake drive to standstill with fast stop and then deactivate the power output stage
(OFF3).
3 Enable operation
– 1: enabled
– 0: block
4 Ramp generator enabled Reject positioning task
– 1: enabled – 1: inactive
– 0: block – 0: active
5 Start ramp generator Intermediate stop
– 1: start (precondition STW1.4 = 1) – 1: inactive
– 0: freeze – 0: active
6 Enable rotational speed setpoint value Activate positioning task
– 1: enable – 0à1: active
– 0: block – 0: inactive(no effect)
7 Acknowledge malfunction
– 0à1: active
– 0: inactive(no effect)
8 Jogging 1
– 1: active (jogging with the dynamic values of jogging 1)
– 0: inactive
9 Jogging 2
– 1: active (jogging with the dynamic values of jogging 2)
– 0: inactive
10 PLC master control
– 1: the higher-order controller requests the master control. The signal must be set if
the process data sent are to be applied and effective.
– 0: master control not requested
11 Invert setpoint value Start homing
– 1: active – 0à1: active
– 0: inactive – 0: inactive

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Bit Meaning
Velocity mode Positioning mode

12 Release holding brake Reserved

– 1: active
– 0: inactive
13 Reserved Start record change
– 0à1: active
– 0: inactive
14 … 15 Reserved Reserved
Tab. 693 Control Word 1 (STW1)

Significance of General Bits (STW1)

STW1.0 Power stage enable (ON/OFF)

Value Command Description

0à1 Output stage enable (ON) If bit STW1.3 is already active, activation of STW1.0
implements a transition to S4 and therefore switches
on the output stage. As a rule, however, STW1.0 is act-
ive and STW1.3 (output stage enable) is activated.
0 Output stage block (OFF1) – The drive is braked to standstill and then the
power output stage is switched off (OFF1).
– The drive switches to the status S2 Ready For
Switching On.
– If it is coming from the S4 Operation status, it is
braked with the ramp generator ( S51 Ramp stop).
– After standstill is reached the power output stage
is switched off.
Tab. 694 STW1.0
Braking with the OFF1 command can be interrupted with the following commands that trigger a higher
prioritised stop response:
– Fast stop (OFF3) è bit 2, fast stop
– Block ramp generator or reject positioning task è STW1.4
– Block rotational speed setpoint value or activate positioning task è STW1.6
– Enable power output stage è STW1.0. In this case it switches back to the S4 Operation status.
STW1.1 Coast stop (OFF 2)

Value Command Description

1 No coasting A coasting command is not pending. The motor can be

switched on.

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Value Command Description

0 Coast – Power output stage is switched off.

(OFF2) – The drive coasts to a stop.
– The drive switches to the status S1 Switching On
Inhibited.
Tab. 695 STW1.1
STW1.2 Quick stop (OFF 3)

Value Command Description

1 No fast stop A fast stop command is not pending. The motor can be
switched on.
0 Fast stop – The drive is braked to standstill with fast stop.
(OFF3) Then the power output stage is switched off.
– The drive switches to the status S1 Switching On
Inhibited.
– If it is coming from the S4 Operation status, brak-
ing with fast stop ramp (status S52 Quick stop).
Tab. 696 STW1.2
– The fast stop command cannot be interrupted (OFF3).
– The fast stop command can interrupt braking with the OFF1 command. In this case, braking is con-
tinued to standstill with the fast stop ramp.
– If the block operation command (STW1.3) is applied before reaching standstill, the voltage is dis-
connected without waiting for standstill and switched to the S1 Switching On Inhibited status.
– The controller is not yet active in the S2 Ready For Switching On and S3 Switched On closed-loop
controller is not active. Only the energy is already enabled. Therefore, a fast stop ramp is not gen-
erated. It is immediately switched to the S1 Switching On Inhibited status.
STW1.3 Enable operation

Value Command Description

1 Enable operation If the drive is in the status S3 Switched On:

– Switch to status S4 Operation
The closed-loop controller is activated.
The drive/closed-loop controller is enabled. The set-
point value is only applied after enabling the rotational
speed setpoint value (STW1.6) or by activating the
positioning task (edge 0à1 on STW1.6) (preconditions
STW1.4, STW1.5).

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Value Command Description

0 Disable operation – Closed-loop controller is blocked.

– The drive coasts to a standstill (without ramp).
If it is coming from the S4 Operation coming:
– Switch to status S3 Switched On
Tab. 697 STW1.3
The status is changed immediately. Standstill is not required. The setpoint value is specified as fol-
lows with a rising edge at STW1.3:
– In velocity mode: the setpoint value is effective immediately depending on control bits bit 4 … bit
6. The setpoint rotational speed affects the closed-loop control; a starting edge or other is not
required.
– In positioning mode: setpoint position = current actual position. The current actual position is
retained, a new setpoint position is only activated with rising edge at STW1.6 (activate positioning
task).
STW1.7 Fault acknowledge

Value Command Description

0à1 Acknowledge malfunction – With a positive edge the drive attempts to acknow-
ledge pending errors.
The reaction depends on the pending messages.
If the error reaction caused a shutdown of the output
stage, the drive then switches to the status S1 Switch-
ing On Inhibited.
0 No effect –

Tab. 698 STW1.7

STW1.8 Jogging 1

Value Command Description

1 Jogging 1 on Execute jogging 1

0 Jogging 1 off Stop jogging 1
Tab. 699 STW1.8
STW1.9 Jogging 2

Value Command Description

1 Jogging 2 on Execute jogging 2

0 Jogging 2 off Stop jogging 2
Tab. 700 STW1.9

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STW1.10 Control by PLC

Value Command Description

1 Transfer master control The master control is transferred to the higher-order

open-loop control. The output data of the higher-order
open-loop control are thus valid.
0 Do not transfer master control The output data of the open-loop control are invalid.
The reaction of the removal of the master control of the
higher-order open-loop control depends on the device.
Possible reactions include:
– With velocity control: retain process data, no
status change
– With position control: set PLC output data to 0,
cancel positioning and block closed-loop controller
If the drive is in a status not equal to S1 Switching On
Inhibited an error is reported and it switches to the S1
Switching On Inhibited status. If the power output
stage is active, it is switched off and the drive coasts to
a stop.
Tab. 701 STW1.10
PNUs for the General Bits (STW1)

Parameter PNU Name Data type

Px. Profile-specific parameters

1147990 1.0 STW1 Unsigned16
Px. Manufacturer-specific parameters
1147000 12226.0 STW1.0 Power stage enable Boolean
1147010 12227.0 STW1.1 Coast stop Boolean
1147020 12228.0 STW1.2 Quick stop Boolean
1147030 12229.0 STW1.3 Enable operation Boolean
1147070 12236.0 STW1.7 Fault acknowledge Boolean
1147080 12237.0 STW1.8 Jogging 1 Boolean
1147090 12238.0 STW1.9 Jogging 2 Boolean
1147100 12239.0 STW1.10 Control by PLC Boolean
1147990 12250.0 STW1 Unsigned16
Tab. 702 PNUs

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Significance of the Special Bits for Velocity Mode (STW1)

The commands for velocity mode are also relevant outside the S4 Operation status. This applies par-
ticularly to the commands Block ramp generator (STW1.4) and Block setpoint value (STW1.6). These
commands interrupt braking in the S51 Ramp stopbecause they trigger a stop reaction with a higher
priority.
STW1.4 Enable ramp generator

Value Command Description

1 Ramp generator enabled If enable is possible, the ramp generator is enabled.

0 Block ramp generator – The output of the ramp generator is set to 0.
– The drive remains under power and is braked in
accordance with system stop.
Additional system stop with separate deceleration and
jerk:
– Deceleration stop ramp: Px.11280405.0.0, PNU
12328.0
– Jerk system stop: Px.11280406, PNU 12434.0
Tab. 703 STW1.4
STW1.5 Unfreeze ramp generator

Value Command Description

1 Start ramp generator The ramp generator is started.

0à1 Freeze ramp generator The current setpoint value of the ramp generator is
frozen with falling edge at the current pending actual
value.
Tab. 704 STW1.5
STW1.6 Enable setpoint

Value Command Description

1 Enable rotational speed set- The rotational speed setpoint value is enabled.
point value
0 Block rotational speed setpoint The input of the ramp generator is set to 0.
value
Tab. 705 STW1.6

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STW1.11 Invert setpoint

Value Command Description

1 Inversion of setpoint value The setpoint value is inverted.

0 no inversion of setpoint value The setpoint value is not inverted.
Tab. 706 STW1.11
STW1.12 Open holding brake

Value Command Description

1 Release holding brake The holding brake is released.

0 Do not release holding brake The holding brake is not released.
Tab. 707 STW1.12
PNUs of Special Bits for Velocity Mode (STW1)

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

1147040 12230.0 STW1.4 Enable ramp generator Boolean
1147050 12232.0 STW1.5 Unfreeze ramp generator Boolean
1147060 12234.0 STW1.6 Enable setpoint Boolean
1147110 12240.0 STW1.11 Invert setpoint Boolean
1147120 12242.0 STW1.12 Open holding brake Boolean
1147150 12248.0 STW1.15 Reserved Boolean
Tab. 708 PNUs

Significance of the Special Bits for Positioning Mode (STW1)

The functions defined for positioning mode are relevant only in the S4 Operation status.
STW1.4 Reject traversing task

Value Command Description

1 Do not reject positioning task The current positioning task is not rejected.
0 Reject positioning task – The current positioning task is rejected.
– The drive switches to the status S43 Braking With
Ramp and brakes to standstill with system stop.
– Then the drive switches to the S41 Basic State
Positioning Mode status and remains controlled.
– A new positioning task cannot be started.
Tab. 709 STW1.4

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STW1.5 Intermediate stop

Value Command Description

1 No intermediate stop A new positioning task can be executed or an interrup-

ted positioning task can be resumed.
0 Activate intermediate stop If the drive is in the S451 Traversing Task Active status:
– Switch to status S452 Intermediate Stop Ramp
– The drive is braked with the deceleration of the
current positioning task until standstill, then
switches to the S453 Intermediate Stop status and
remains controlled.
– The current positioning task is not rejected and it
can be resumed by setting the STW1.5 bit.
If in the status S41 Basic State Positioning Mode:
– positioning task cannot be started.
Tab. 710 STW1. 5
STW1.6 Activate traversing task

Value Command Description

0à1 Activate positioning task The setpoint value is enabled.

0 Do not activate positioning task No effect
Tab. 711 STW1.6
If the drive is in the S41 Basic State Positioning Mode status and the commands "Do not reject posi-
tioning task" (STW1.4) and "No intermediate stop" (see STW1.5) are pending, with rising edge at
STW1.6 a positioning task is started (record or direct setpoint value specification).
If the drive is in the S451 Traversing Task Activestatus, with a rising edge a new positioning task is
started. The new positioning task is effective immediately and the currently active positioning task is
rejected.
If the drive is in the S452 Intermediate Stop Ramp or S453 Intermediate Stopstatus, with a rising edge
at STW1.6 a new positioning task is started.
The setpoint values of the new positioning task are applied immediately. The currently active position-
ing task is rejected.
In record mode the returned record number switches to the number of the positioning task (AKTSATZ,
Bit 0 … 6).
With multiple leading edges in the S452 Intermediate Stop Ramp status or the S453 Intermediate Stop
status, the last started positioning task is executed with the command "No intermediate stop"
(STW1.5) (no save effect).
The command "Activate motion task" is confirmed by a handshake with the status "Acknowledge
motion task active".

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Fig. 134 Activate timing positioning task

The start of another new task before acknowledgement or during ZSW1.12 = 1 is ignored.
STW1.11 Start Homing procedure

Value Command Description

0à 1 Start homing If in the status S41 Basic State Positioning Mode

status or the S43 Braking With Ramp:
– Homing is started during rising edge.
0 Stop homing On successful completion of homing (ZSW1.11 = 1,
homing point set):
– The homing is terminated.
– Switch to status S41 Basic State Positioning Mode
With active homing:
– Homing is interrupted.
– The drive is braked to standstill.
– Switch to status S41 Basic State Positioning Mode
Tab. 712 STW1.1
STW1.13 Start block change

Value Command Description

0à 1 external record change The external record change is triggered by a rising

edge.
0 No effect No effect
Tab. 713 STW1.13
PNUs of Special Bits for Positioning Mode (STW1)

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

1147041 12231.0 STW1.4 Reject traversing task Boolean
1147051 12233.0 STW1.5 Intermediate stop Boolean
1147061 12235.0 STW1.6 Activate traversing task Boolean

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Parameter PNU Name Data type

1147111 12241.0 STW1.11 Start Homing procedure Boolean

1147121 12243.0 STW1.12 Reserved Boolean
1147131 12245.0 STW1.13 Start block change Boolean
1147141 12247.0 STW1.14 Reserved Boolean
1147151 12249.0 STW1.15 Reserved Boolean
Tab. 714 PNUs

12.4.7.2 Status Word 1 (ZSW1)

Bit Meaning
Velocity mode Positioning mode

0 Ready to be switched on
– 1: active
– 0: inactive
1 Ready for operation
– 1: active
– 0: inactive
2 Operation enabled
– 1: active
– 0: inactive (blocked)
3 Malfunction effective
– 1: active
– 0: inactive
4 Coasting active
– 1: inactive (OFF2 inactive)
– 0: active (OFF2 active)
5 Fast stop active
– 1: inactive (OFF3 inactive)
– 0: active (OFF3 active)
6 Switch-on lock active
– 1: active
– 0: inactive
7 Warning effective
– 1: active
– 0: inactive

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Bit Meaning
Velocity mode Positioning mode

8 Velocity setpoint/actual deviation within Position setpoint/actual deviation within

tolerance tolerance
– 1: in tolerance range – 1: in tolerance range
– 0: not yet in tolerance range – 0: not yet in tolerance range
9 Guide required
– 1: active
– 0: inactive
10 Velocity comparison value reached Target position reached
– 1: active – 1: active
– 0: inactive – 0: inactive
11 I, M or P limit not reached Reference point set
– 1: active – 1: active
– 0: inactive – 0: inactive
12 Holding brake released Positioning task activated (acknowledge-
– 1: active ment)
– 0: inactive – 0à1: active
– 0: inactive
13 No warning of motor overtemperature Drive is stationary
– 1: motor overtemperature warning not – 1: active
effective – 0: inactive
– 0: motor overtemperature warning
effective
14 Motor direction of rotation Axis accelerated
– 1: actual rotational speed ³ 0 – 1: active
– 0: actual rotational speed < 0 – 0: inactive
15 No power unit overtemperature warning Drive decelerated
– 1: warning of thermal overload not – 1: active
effective – 0: inactive
– 0: warning of thermal overload effect-
ive
Tab. 715 Status Word 1 (ZSW1)

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Significance of General Bits (ZSW1)

ZSW1.0 Ready to switch on

Value Meaning Description

1 active (ready to be switched on) The power supply is switched on. The electronics are
initialised. Output stage is active.
The drive is in one of the following statuses:
– S2 Ready For Switching On
– S3 Switched On
– S4 Operation
– S5 Switching off.
0 inactive (not ready to be The drive is in the status S1 Switching On Inhibited.
switched on)
Tab. 716 ZSW1.0
ZSW1.1 Ready to operation

Value Meaning Description

1 Active (ready for operation) The output stage is in the ready for operation status.
The drive is in one of the following statuses:
– S3 Switched On
– S4 Operation
– S5 Switching off
0 Inactive (not ready for opera- The Output stage enable command is not pending
tion) (STW1.0). The drive is in one of the following statuses:
– S1 Switching On Inhibited
– S2 Ready For Switching On
Tab. 717 ZSW1.1
ZSW1.2 Operation enabled

Value Meaning Description

1 Active The output stage is active. The drive follows the

pending setpoint value.
The drive is in the status S4 Operation.

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Value Meaning Description

0 Inactive The output stage is not active. The drive does not fol-
low the pending setpoint value.
The drive is in one of the following statuses:
– S1 Switching On Inhibited
– S2 Ready For Switching On
– S3 Switched On
– S5 Switching off
Tab. 718 ZSW1.2
ZSW1.3 Fault present

Value Meaning Description

1 Active At least one not acknowledged or not acknowledge-

able error is pending.
The drive is not operational.
The error reaction depends on the actual error (see
error reaction). The pending errors are in the error
memory.
0 Inactive There are no errors in the error memory.
Tab. 719 ZSW1.3
ZSW1.4 Coast stop activated

Value Meaning Description

1 Inactive The coasting command is inactive.

0 Active (OFF2) The coasting command is active (OFF2).
Tab. 720 ZSW1.4
ZSW1.5 Quick stop activated

Value Meaning Description

1 Inactive The fast stop command is inactive.

0 Active (OFF3) The fast stop command is active (OFF3).
Tab. 721 ZSW1.5

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ZSW1.6 Switch on inhibited

Value Meaning Description

1 Active The switch-on lock is active. The drive is in the status

S1 Switching On Inhibited.
Switching on is only possible with the following com-
mand sequence: OFF (OFF1) and no coasting (no OFF2)
and no fast stop (no OFF3) and then ON.
0 Inactive Switching on is possible. The drive is in the status S2
Ready For Switching On, S3 Switched On, S4 Operation
or S5 Switching off.
Tab. 722 ZSW1.6
ZSW1.7 Warning present

Value Meaning Description

1 Active At least one warning is pending. The drive is continuing

in operation. Warnings can be acknowledged if the
cause is remedied.
The pending warnings are in the warning buffer.
0 Inactive There is no warning in the warning buffer.
Tab. 723 ZSW1.7
ZSW1.9 Control requested

Value Meaning Description

1 Active The guide is required by the higher-order controller.

Condition for use with cycle synchronicity: the drive is
synchronous to the automation system.
0 Inactive Control over the automation system (PLC) is not pos-
sible. Control is only possible directly at the device or
by a different interface.
Tab. 724 ZSW1.9
PNUs of General Bits (ZSW1)

Parameter PNU Name Data type

Px. Profile-specific parameters

1145990 2.0 ZSW1 Unsigned16
Px. Manufacturer-specific parameters
1145990 12220.0 ZSW1 Unsigned16

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Parameter PNU Name Data type

1145000 12197.0 ZSW1.0 Ready to switch on Boolean

1145010 12198.0 ZSW1.1 Ready to operation Boolean
1145020 12199.0 ZSW1.2 Operation enabled Boolean
1145030 12200.0 ZSW1.3 Fault present Boolean
1145040 12201.0 ZSW1.4 Coast stop activated Boolean
1145050 12202.0 ZSW1.5 Quick stop activated Boolean
1145060 12203.0 ZSW1.6 Switch on inhibited Boolean
1145070 12204.0 ZSW1.7 Warning present Boolean
1145090 12207.0 ZSW1.9 Control requested Boolean
Tab. 725 PNUs

Significance of the Special Bits for Velocity Mode (STW1)

ZSW1.8 Speed error within tolerance range

Value Meaning Description

1 In tolerance range The rotational speed actual value is within a paramet-

erisable tolerance range.
It can be above or below the tolerance range for time
t < tmax. The tolerance range and the time tmax can be
parameterised:
– Monitoring window speed: following error:
Px.464.0.0, PNU 11148.0
– Damping time velocity: following error:
Px.4690.0.0, PNU 11632.0
0 Not in tolerance range The rotational speed actual value is outside a toler-
ance range.
Tab. 726 ZSW1.8
ZSW1.10 f or n reached or exceeded

Value Meaning Description

1 Active The rotational speed comparison value is reached or

exceeded. The absolute value is considered:
|nactual| ³ nthreshold
The comparison value is defined via a threshold value
nthreshold value and a hysteresis nhyst.

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Value Meaning Description

A switch-on delay time tdel can be parameterised dur-

ing which the rotational speed after falling below
nthreshold must not fall below the value nthreshold - nhyst.
– Threshold value velocity comparator:
Px.11280504, PNU 12435.0
– Hysteresis threshold value velocity comparator:
Px.11280505, PNU 12436.0
– Switch-on delay time speed comparator:
Px.11280506, PNU 12437.0
0 Inactive Rotational speed comparison value not reached or
below setpoint value:
|nact| < (nthreshold - nhyst)
Tab. 727 ZSW1.10

Fig. 135 Rotational speed comparison timing reached

Name Description ID Px.

nAct Actual velocity value (rotational speed) 1210

nthreshold Threshold value velocity comparator 11280504
nhyst Hysteresis threshold value velocity comparator 11280505
tDelay Switch-on delay time speed comparator 11280506
Tab. 728 Legend for Rotational Speed Comparison Timing Reached

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Parameter PNU Name Data type

Px. Profile-specific parameters

1210 6.0 Actual velocity value FloatingPoint
Px. Manufacturer-specific parameters
11280504 12435.0 Threshold value velocity comparator FloatingPoint
11280505 12436.0 Hysteresis threshold value velocity comparat- FloatingPoint
or
11280506 12437.0 Switch-on delay time speed comparator FloatingPoint
Tab. 729 Rotational Speed Comparison Timing Reached PNUs
ZSW1.11 I, M or P limit not reached

Value Meaning Description

1 Active (not reached) Indicates that the I, M or P limit has not yet been
reached.
0 Inactive (reached or exceeded) Indicates that the I, M or P limit has been reached or
exceeded
Tab. 730 ZSW1.11
The motor travels with specified torque and works against the stop when the stop is reached. If the
torque limit is reached, the status change is reported by ZSW1.11.
ZSW1.12 Holding brake open

Value Meaning Description

1 Active Shows the "Holding brake opened" status.

0 Inactive Shows the "Holding brake closed" status.
Tab. 731 ZSW1.12
ZSW1.13 No warning Overtemperature motor

Value Meaning Description

1 Motor overtemperature warning A warning is not output if the defined motor temperat-
not effective ure warning threshold is exceeded.
0 Motor overtemperature warning A warning is output if the defined motor temperature
effective warning threshold is exceeded.
Tab. 732 ZSW1.13

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ZSW1.14 Motor rotation

Value Meaning Description

1 Positive Actual rotational speed value ³ 0

0 negative Actual rotational speed value < 0
Tab. 733 ZSW1.14
ZSW1.15 No warning Overtemperature power section

Value Meaning Description

1 Warning of power unit thermal Shows that a warning or malfunction is not output in
overload not effective case of thermal overload of the power unit.
0 Warning of power unit thermal Shows that an appropriate warning or malfunction is
overload effective output in case of thermal overload of the power unit.
Tab. 734 ZSW1.15
PNUs of Special Bits for Velocity Mode (ZSW1)

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

1145080 12205.0 ZSW1.8 Speed error within tolerance range Boolean
1145100 12208.0 ZSW1.10 f or n reached or exceeded Boolean
1145110 12210.0 ZSW1.11 I, M or P limit not reached Boolean
1145120 12212.0 ZSW1.12 Holding brake open Boolean
1145130 12214.0 ZSW1.13 No warning Overtemperature motor Boolean
1145140 12216.0 ZSW1.14 Motor rotation Boolean
1145150 12218.0 ZSW1.15 No warning Overtemperature power Boolean
section
Tab. 735 PNUs

Significance of the Special Bits for Positioning Mode (ZSW1)

ZSW1.8 Following error within tolerance range

Value Meaning Description

1 Following distance in tolerance The dynamic comparison of the setpoint position with
range the actual position is within the tolerance range. The
tolerance range can be parameterised:
– Damping time position: following error:
Px.462.0.0, PNU 11146.0

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Value Meaning Description

– Monitoring window position: following error:

Px.463.0.0, PNU 11147.0
0 Following distance not yet in tol- The dynamic comparison of the setpoint position with
erance range the actual position is not within the parameterised tol-
erance range.
Tab. 736 ZSW1.8
ZSW1.10 Target position reached

Value Meaning Description

1 Active The actual position value is within the target position

window.
If the target position window is reached once, the bit
remains set until the start of the next task even if the
actual position leaves the target position window
beforehand. The following can be parameterised:
– Damping time target reached: Px.468.0.0, PNU
11152.0
– Monitoring window target position: Px.469.0.0,
PNU 11153.0
0 Inactive The actual position value is not within the target posi-
tion window.
Tab. 737 ZSW1.10
ZSW1.11 Home position set

Value Meaning Description

1 Active A homing was run and a valid homing point is set.

0 Inactive A valid homing point is not set.
Tab. 738 ZSW1.11
ZSW1.12 Traversing task acknowledgement (acknowledgment)

Value Meaning Description

0à 1 Active With a rising edge the import of a new position task

(record or direct setpoint value specification) is
acknowledged. The rising edge at ZSW1.12 is the reac-
tion to a rising edge at STW1.6 in in the following
statuses:
– S41 Basic State Positioning Mode
– S451 Traversing Task Active

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Value Meaning Description

– S452 Intermediate Stop Ramp

– S453 Intermediate Stop
0 Inactive The positioning task acknowledgement is inactive. The
status bi is set to 0 if:
– STW1.6 = 0, regardless of the current status
– the S4 Operation status is left regardless of
STW1.6
Tab. 739 ZSW1.12
ZSW1.13 Drive stopped

Value Meaning Description

1 Active The drive is stationary. A prior task is completed or

standstill after a braking process is reached (brake
ramp, intermediate stop ramp, stop ramp, fast stop).
– Standstill damping time: Px.465.0.0, PNU 11149.0
– Monitoring window speed standstill monitoring:
Px.466.0.0, PNU 11150.0
– Damping time target reached: Px.468.0.0, PNU
11152.0
– Monitoring window target position: Px.469.0.0,
PNU 11153.0
0 Inactive The drive moves.
Tab. 740 ZSW1.13
Standstill means that the actual rotational speed is less than or equal to a parameterisable threshold
value.
|nact| £ nthreshold
The signal is effective in all statuses (powered/non-powered).
ZSW1.14 Drive accelerating

Value Meaning Description

1 Active The axis accelerates. The ramp generator is in the

acceleration phase.
The signal is not set based on external influences (e.g.
malfunction forces acting on the drive).
0 Inactive The axis does not accelerate. The ramp generator is
not in the acceleration phase.
Tab. 741 ZSW1.14

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ZSW1.15 Drive decelerating

Value Meaning Description

1 Active The ramp generator is in the deceleration phase. The

drive brakes.
The signal is not set based on external influences (e.g.
malfunction forces acting on the drive).
0 Inactive The axis does not decelerate. The ramp generator is
not in the deceleration phase.
Tab. 742 ZSW1.15
PNUs of Special Bits for Positioning Mode (ZSW1)

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

1145081 12206.0 ZSW1.8 Following error within tolerance range Boolean
1145101 12209.0 ZSW1.10 Target position reached Boolean
1145111 12211.0 ZSW1.11 Home position set Boolean
1145121 12213.0 ZSW1.12 Traversing task acknowledgement Boolean
1145131 12215.0 ZSW1.13 Drive stopped Boolean
1145141 12217.0 ZSW1.14 Drive accelerating Boolean
1145151 12219.0 ZSW1.15 Drive decelerating Boolean
Tab. 743 PNUs

12.4.7.3 Control Word 2 (STW2)

Bit Meaning

0…6 Reserved
8 Travel to fixed stop
– 1: activate travel to fixed stop (must be set before reaching the fixed stop).
– 1à0: deactivate travel to fixed stop
9 … 11 Reserved
12 AC4: Master life sign Bit 0
13 AC4: Master life sign Bit 1
14 AC4: Master life sign Bit 2
15 AC4: Master life sign Bit 3
Tab. 744 Control Word 2 (STW2)

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STW2.8 Traverse to fixed endstop

Value Command Description

1 Activate Travel to fixed stop is activated with the command. The

signal must be set before reaching the fixed stop.
1à0 Deactivate Travel to the fixed stop is deactivated.
Tab. 745 STW2.8,
For example, with the travel to fixed stop command it can be moved to a workpiece with a specified
torque to clamp it securely. Detailed information on the function
è 4.1.3.3.1. Travel top fixed stop (application class 3).
STW2.12 ... 15 Master sign of life
With clock-synchronous IRT transmission in application class 4, the master and slave monitor each
other. For each cyclic data exchange, a counter is incremented on both sides and its value is trans-
ferred mutually.
The counter of the master life sign is transferred to STW2 (bit 12 … 15). The counter of the slave life
sign is transmitted in ZSW 2 (bit 12 … 15) è 12.4.7.4 Status Word 2 (ZSW2).
PNUs of Control Word 2 (STW2)

Parameter PNU Name Data type

Px. Profile-specific parameters

1148990 3.0 STW2 Unsigned16
Px. Manufacturer-specific parameters
1148080 12254.0 STW2.8 Traverse to fixed endstop Boolean
1148120 12256.0 STW2.12 ... 15 Master sign of life Unsigned8
1148990 12257.0 STW2 Unsigned16
Tab. 746 PNUs

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12.4.7.4 Status Word 2 (ZSW2)

Bit Meaning

0…7 Reserved
8 Travel to fixed stop
– 1: active
– 0: inactive
9 … 10 Reserved
11 Output stage active
– 1: active
– 0: inactive
12 AC4: Slave life sign Bit 0
13 AC4: Slave life sign Bit 1
14 AC4: Slave life sign Bit 2
15 AC4: Slave life sign Bit 3
Tab. 747 Status Word 2
ZSW2.8 Move to fixed stop active

Value Meaning Description

1 Active This status bit shows that the positioning task "Travel
to fixed stop" is being executed
è 4.1.3.3.1. Travel top fixed stop (application class 3).

0 Inactive Shows the status "Travel to fixed stop is inactive".

Tab. 748 ZSW2.8
ZSW2.11 Power stage active

Value Meaning Description

1 Active Shows that the output stage is enabled (pulses for

motor control).
0 Inactive Shows that the output stage is blocked.
Tab. 749 ZSW2.11
ZSW2.12 ... 15 Slave sign of life
With clock-synchronous IRT transmission in application class 4, the master and slave monitor each
other. For each cyclic data exchange, a counter is incremented on both sides and its value is trans-
ferred mutually.
The counter of the slave life sign is transmitted in ZSW2 (bit 12 … 15). The counter of the master life
sign is transferred to STW2 (bit 12 … 15) è 12.4.7.3 Control Word 2 (STW2).

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PNUs of Status Word 2 (ZSW2)

Parameter PNU Name Data type

Px. Profile-specific parameters

1146990 4.0 ZSW2 Unsigned16
Px. Manufacturer-specific parameters
1146080 12222.0 ZSW2.8 Move to fixed stop active Boolean
1146110 12223.0 ZSW2.11 Power stage active Boolean
1146120 12224.0 ZSW2.12 ... 15 Slave sign of life Unsigned8
1146990 12225.0 ZSW2 Unsigned16
Tab. 750 PNUs

12.4.7.5 Rotational Speed Setpoint Value A, B (NSOLL_A, NSOLL_B)

Rotational Speed Setpoint Value A (NSOLL_A)
Rotational speed setpoint value A has a 16-bit resolution with sign bit. Bit 15 sets the sign of the set-
point value:
– Bit 15 = 0: positive setpoint value
– Bit 15 = 1: negative setpoint value
The rotational speed is standardised via PNU 60000.
NSOLL_A = 0x4000 or 16384 corresponds to 100 %.
Rotational Speed Setpoint Value B (NSOLL_B)
Rotational speed setpoint value B has a 32-bit resolution with sign bit. Bit 31 sets the sign of the set-
point value:
– Bit 31 = 0: positive setpoint value
– Bit 31 = 1: negative setpoint value
The rotational speed is standardised via PNU 60000.
NSOLL_B = 0x4000 0000 or 1 073 741 824 corresponds to 100 %.
PNUs for Rotational Speed Setpoint Value A, B (NSOLL_A, NSOLL_B)

Parameter PNU Name Data type

Px. Profile-specific parameters

11280502 5.0 Target velocity NSOLL_A/NSOLL_B FloatingPoint
Px. Manufacturer-specific parameters
11280502 12334.0 Target velocity NSOLL_A/NSOLL_B FloatingPoint
Tab. 751 PNUs

12.4.7.6 Rotational Speed Value A, B (NIST_A, NIST_B)

Rotational Speed Value A (NIST_A)
Rotational speed value A has a 16-bit resolution.

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Rotational speed value A is standardised like the setpoint value

è 12.4.7.5 Rotational Speed Setpoint Value A, B (NSOLL_A, NSOLL_B).
Rotational Speed Value B (NIST_B)
Rotational speed value B has a 32-bit resolution.
Rotational speed value B is standardised like the setpoint value
è 12.4.7.5 Rotational Speed Setpoint Value A, B (NSOLL_A, NSOLL_B).
NIST_A und NIST_B are mapped to the same parameter (Px.1210).
PNUs for Rotational Speed Value A, B (NIST_A, NIST_B).

Parameter PNU Name Data type

Px. Profile-specific parameters

1210 6.0 Actual velocity value FloatingPoint
8.0 FloatingPoint
Px. Manufacturer-specific parameters
1210 11311.0 Actual velocity value FloatingPoint
Tab. 752 PNUs

12.4.7.7 Encoder n Actual Position Value 1 (Gn_XIST1)

Gn_XIST is used to transmit the cyclic actual position value to the higher-level controller.
The CMMT displays actual position values internally in SINT64 format (64 bit). 40 bits are used for
multi-turn information (number of revolutions) and 24 bits for single-turn information (pulses per
revolution).
All encoder values are internally normalised to 24 bit single-turn information (pulses per revolution)
regardless of the encoder resolution.
In telegrams, the actual position values are transmitted in UINT32 format. The number of bits used for
multi-turn and single-turn information can be parameterised.
If the Default Setting is Active, the CMMT-internal 24 Bits are Normalised to the Following Values:
– Single-turn information (pulses per revolution): 18 bits (262144)
– Multi-turn information: 14 bits (16383)
Parameter Px.231545 can be used to define the number of bits used for normalising the single-turn
information. The remaining bits are used to record the multi-turn information. If necessary, overflows
must be compensated by the higher-level control system.
The settings used must be consistent with the settings of the higher-level controller.

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Fig. 136 Display of actual position values (example)

Name Description

Internal represent- Internal representation of position values for CMMT

ation of CMMT
M Multi-turn information
Multi-turn bits Bits for the representation of the multi-turn values
Pulses per revolu- Single-turn information (pulses per revolution)
tion
Single-turn bits Bits for displaying the single-turn values
next/active
Telegram repres- Representation of the position values in the telegram
entation
Tab. 753 Legend for Figure "Actual Position Value 1"
Detailed information on the mode of operation of the encoder interface
è 12.4.7.11 Status Diagram "Position Feedback Interface".
PNUs Encoder n Actual Position Value 1 (Gn_XIST1)

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

231544 12522.0 Current resolution per revolution for Gn_XIST Unsigned32
231545 12524.0 Resolution per revolution for Gn_XIST Unsigned32
Tab. 754 PNUs
The device has an instance for each encoder interface. The parameters are allocated to the primary
encoder with instance 0 (the commutation encoder is at encoder interface 1).

12.4.7.8 Encoder n Actual Position Value 2 (Gn_XIST2)

Depending on the respective function, different values are entered in Gn_XIST2.
The scaling of the position values is carried out analogously to Gn_XIST1 via parameter Px.231545
è 12.4.7.7 Encoder n Actual Position Value 1 (Gn_XIST1).

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The following priorities must be observed for the values in Gn_XIST2:

Fig. 137 Priorities for Gn_XIST2 (actual position value 2)

Name Description

Encoder error? Is there a sensor error?

Search reference Is a reference mark being searched for or is the Touch Probe (flying measure-
mark or touch- ment) function selected?
probe selected
Transmit absolute Is the absolute value transmitted cyclically?
value cyclic?
Parking encoder? Parking encoder?
Gn_XIST2 = error Gn_XIST2 contains the error code.
code
Gn_XIST2 = requ- Gn_XIST2 contains the requested value.
est value

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Name Description

Gn_XIST2 = abso- Gn_XIST2 contains the cyclically transmitted absolute value.

lute value
Tab. 755 Legend for Figure "Priorities for Gn_XIST2 (Actual Position Value 2)"
Detailed information on the mode of operation of the encoder interface
è 12.4.7.11 Status Diagram "Position Feedback Interface".

12.4.7.9 Encoder n Control Word (Gn_STW)

The encoder status machine is controlled via the encoder control word. The following functions are
implemented in the CMMT via the encoder control word and the encoder state machine:

Bit Meaning

If Gn_STW.7 = 0; request "Search zero pulse"

Value: Function requirement
0 1: Function 1, zero pulse 1
1 1: Function 2, reserved
2 1: Function 3, reserved
3 1: Function 4, reserved
4…6 Value: Command
– 0: –
– 1: Activate function (defined by bit 0 … 3 and 7)
– 2: Read value via Gn_XIST2 (defined via bit 0 … 3 and 7)
– 3: Abort function (defined via bit 0 … 3 and 7)
– 4 … 7: Reserved
7 Value: Mode
– 0: Request "Search for zero pulse"
– 1: Reserved
8 … 12 Reserved
13 Request absolute value cyclically
– 1: Request of an additional cyclic transmission of the absolute actual position in
Gn_XIST2
14 Activate encoder parking
– 1: Request to switch off the monitoring of the encoder and the actual value measure-
ments in the drive.
If the Park encoder function is active, the encoder (or a motor with encoder) can be
removed from the machine without having to change the drive configuration or cause an
error.
If parking of the encoder interface is requested by Gn_STW1.14, all current encoder inter-
face errors are also cleared.

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Bit Meaning

Normally the parking of the encoder is not permitted while the drive (S4) is running and
leads to an error of the encoder interface (error code 0x0003 in Gn_XIST2).
15 Acknowledge encoder error
1: Request to reset an encoder error (Gn_ZSW.15)
Tab. 756 Control Word Gn_STW
Detailed information on the mode of operation of the encoder interface
è 12.4.7.11 Status Diagram "Position Feedback Interface".
PNUs Encoder n Control Word (Gn_STW)

Parameter PNU Name Data type

Px. Profile-specific parameters

1149990 9.0 Gn_STW Unsigned16
Px. Manufacturer-specific parameters
1149000 12260.0 Gn_STW.0 ... 3 Request function Unsigned8
1149040 12261.0 Gn_STW.4 ... 6 Request command Unsigned8
1149070 12262.0 Gn_STW.7 Mode Boolean
1149110 12263.0 Gn_STW.11 Home position mode Boolean
1149120 12264.0 Gn_STW.12 Trigger mode homing Boolean
1149130 12265.0 Gn_STW.13 Request absolute value cyclically Boolean
1149140 12266.0 Gn_STW.14 Activate parking sensor Boolean
1149150 12267.0 Gn_STW.15 Acknowledge sensor error Boolean
1149990 12268.0 Gn_STW Unsigned16
1149991 12269.0 Gn_STW Cycle-1 Unsigned16
Tab. 757 PNUs

12.4.7.10 Encoder n Status Word (Gn_ZSW)

The encoder status word is used to observe the encoder status machine. The following functions are
offered in the CMMT via the encoder status word and the encoder status machine:

Bit Meaning

0…3 If Gn_STW.7 = 0; request "Search zero pulse"

Value: Function
– 1: Search zero pulse 1 is active
– 2: Reserved
– 3: Reserved
– 4: Reserved

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Bit Meaning

4…7 If Gn_STW.7 = 0; request "Search zero pulse"

Value: Status
– 1: Value zero pulse 1 is available
– 2: Reserved
– 3: Reserved
– 4: Reserved
8…9 Reserved
10 Fixed 0
11 Acknowledge encoder error
– 1: Acknowledge encoder error is executed
12 Reserved
13 Absolute value transmitted cyclically
– 1: Indicates that the absolute actual position is transferred cyclically in Gn_XIST2.
This is only possible if the encoder provides absolute information (displayed in PNU
979.5).
14 Parking encoder active
– 1: Feedback "Activate encoder parking" (Gx_STW.14) or display of an invalid value in
Gn_XIST1
15 Encoder error
– 1: Indicates a sensor device error or an error in the actual value measurement.
The corresponding error code is provided in Gn_XIST2. If there is more than one error
code, the error code with the highest severity is reported in Gn_XIST2 (most relevant
error code).
Example: If an overtemperature error occurs first and the encoder signal becomes invalid
as a result, Gn_XIST2 first displays the error code 0x0F05 and then 0x0001.
Tab. 758
Detailed information on the mode of operation of the encoder interface
è 12.4.7.11 Status Diagram "Position Feedback Interface".
PNUs Encoder n Status Word (Gn_ZSW)

Parameter PNU Name Data type

Px. Profile-specific parameters

1143990 10.0 Gn_ZSW Unsigned16
Px. Manufacturer-specific parameters
1143000 12187.0 Gn_ZSW.0 ... 3 Function active Unsigned8
1143040 12188.0 Gn_ZSW.4 ... 7 value Unsigned8

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Parameter PNU Name Data type

1143080 12189.0 Gn_ZSW.8 touch probe 0 deflected Boolean

1143090 12190.0 Gn_ZSW.9 Touch Probe 1 deflected Boolean
1143110 12191.0 Gn_ZSW.11 Error acknowledgment active Boolean
1143120 12192.0 Gn_ZSW.12 Homing mode active Boolean
1143130 12193.0 Gn_ZSW.13 Transmit absolute value cyclically Boolean
1143140 12194.0 Gn_ZSW.14 Parking sensor active Boolean
1143150 12195.0 Gn_ZSW.15 sensor error Boolean
1143990 12196.0 Gn_ZSW Unsigned16
Tab. 759 PNUs

12.4.7.11 Status Diagram "Position Feedback Interface"

Detailed information about the statuses (SD) and transitions (TD) of the status diagram of the position
feedback interface can be found in the PROFIdrive è Tab. 610 PROFIdrive Implementation specifica-
tion.
The statuses SD11, SD10 and SD7 are not supported.

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Fig. 138 Status diagram of the position feedback interface

12.4.7.12 Actual Position Value A (XIST_A)

XIST_A Actual value position shows the actual position value based on the scaling that is set in the
factor group.

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PNU Actual Position Value A (XIST_A)

Parameter PNU Name Data type

Px. Manufacturer-specific parameters

11280609 12343.0 XIST_A Actual value position Integer64
Tab. 760 PNUs

12.4.7.13 Position Error (XERR)

The position deviation for Dynamic Servo Control (AC4) is transmitted via this setpoint value (data
type SINT32).
The format of XERR is identical to the format of Gn_XIST1
è 12.4.7.7 Encoder n Actual Position Value 1 (Gn_XIST1).

12.4.7.14 Position Controller Amplification Factor (KPC)

The position controller gain factor is transmitted via this setpoint value at Dynamic Servo Control
(AC4).
Transmission format: KPC is transmitted in the unit 0.001 1/s (data type SINT32).
Value range: 0 … 4000.0
Special case: The KPC value = 0 deactivates the position controller in the drive.

12.4.7.15 Record Selection (SATZANW)

Bit Meaning

0 Record selection bit 0 (20)

1 Record selection bit 1 (21)
2 Record selection bit 2 (22)
3 Record selection bit 3 (23)
4 Record selection bit 4 (24)
5 Record selection bit 5 (25)
6 Record selection bit 6 (26)
7 … 14 Reserved
15 MDI selection
– 1: activate
– 0: deactivate
Tab. 761 SATZANW

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SATZANW.0 ... 6 Traversing block selection

Bit Meaning Description

0 Record selection bit 0 (20) Record selection record 0 to 127 (binary coded). 128
1 Record selection bit 1 (21) records can be selected with these 7 bits (record 0 to
127).
2 Record selection bit 2 (22)
Record 0 can also be used as a record. Because record
3 Record selection bit 3 (23) 0 is also used as "No record active" as a feedback in
4 Record selection bit 4 (24) the status word, it cannot be detected when it is closed
with record 0.
5 Record selection bit 5 (25)
If the target value specification (MDI) is active, the
6 Record selection bit 6 (26) record selection is ignored.
Tab. 762 SATZANW, Bit 0 … 6
Example of Signal Processes with Record Execution
In the following example record 2 is started and executed first. Then record 1 is started and executed.

Fig. 139 Record selection timing

SATZANW.15 Activate MDI(Target Value Specification)

The target value specification can only be activated in the S41 Basic State Positioning Mode status.

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Value Command Description

1 Activate Target value specification is activated.

If a task is currently active, it switches first to MDI, if
the current task is finished or interrupted and the drive
is in the S41 Basic State Positioning Mode status.
0 Deactivate Target value specification is deactivated.
If a MDI task is currently active, it switches to the S43
Braking With Ramp status, braked at maximum decel-
eration and at standstill switches to the S41 Basic
State Positioning Mode status. The current task is
rejected.
Tab. 763 SATZANW, Bit 15
PNUs of Record Selection (SATZANW)

Parameter PNU Name Data type

Px. Profile-specific parameters

112415990 32.0 SATZANW Unsigned16
Px. Manufacturer-specific parameters
112415000 12392.0 SATZANW.0 ... 6 Traversing block selection Unsigned8
112415150 12393.0 SATZANW.15 Activate MDI Boolean
112415990 12394.0 SATZANW Unsigned16
112415991 12395.0 SATZANW Cycle-1 Unsigned16
Tab. 764 PNUs

12.4.7.16 Active Record (AKTSATZ)

Bit Meaning

0 Active positioning record bit 0 (20)

1 Active positioning record bit 1 (21)
2 Active positioning record bit 2 (22)
3 Active positioning record bit 3 (23)
4 Active positioning record bit 4 (24)
5 Active positioning record bit 5 (25)
6 Active positioning record bit 6 (26)
7 … 14 Reserved

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Bit Meaning

15 MDI active
– 1: active
– 0: inactive
Tab. 765 AKTSATZ
AKTSATZ.0 ... 6 Active traversing block

Bit Meaning Description

0 Active positioning record bit 0 Shows the active positioning record (0 … 127).
(20) A record is active if the drive is in the S45 Traversing
1 Active positioning record bit 1 Task Interpolation status.
(21) If a new task is started during the intermediate stop
ramp or during the intermediate stop, the active record
2 Active positioning record bit 2
switches immediately to the new record number.
(22)
If MDI is active or no record is currently active, the
3 Active positioning record bit 3 value 0 is displayed.
(23)
4 Active positioning record bit 4
(24)
5 Active positioning record bit 5
(25)
6 Active positioning record bit 6
(26)
Tab. 766 AKTSATZ, Bit 0 … 6
Example of Signal Processes with Record Execution
In the following example record 2 is started and executed first. Then record 1 is started and executed.

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Fig. 140 Record selection timing

AKTSATZ.15 MDI activated (Target Value Specification)

The target value specification can only be activated in the S41 Basic State Positioning Mode status.

Value Command Description

1 Active Shows that MDI is active (target value specification).

The setpoint values are specified directly by the open-
loop controller.
If a positioning task is currently being executed, the
setpoint value was specified directly (drive is in the
status S45 Traversing Task Interpolation or S43 Brak-
ing With Ramp).
0 inactive Shows that MDI is inactive.
Record mode is active. The record number of a new
task is which the setpoint values for the task are saved
is taken from bit 0 - 6 (record selection).
If a positioning task is currently being executed, the
setpoint value was specified in record mode and the
record number of the active positioning record is
shown in bit 0 - 6 (drive is in the status S45 Traversing
Task Interpolation or S43 Braking With Ramp).
Tab. 767 AKTSATZ, Bit 15

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PNUs of Active Record (AKTSATZ)

Parameter PNU Name Data type

Px. Profile-specific parameters

112416990 33.0 AKTSATZ Unsigned16
Px. Manufacturer-specific parameters
112416000 12396.0 AKTSATZ.0 ... 6 Active traversing block Unsigned8
112416150 12397.0 AKTSATZ.15 MDI activated Boolean
112416990 12398.0 AKTSATZ Unsigned16
Tab. 768 PNUs

12.4.7.17 MDI Target Position (MDI_TARPOS)

This process datum specifies the position with MDI.
Scaling is analogous to the CiA402 factor group via the following parameter:
– Resolution position: Px.7841, PNU 11724.0
The scalability is limited to the power of 10
è 3.2.4.3 Scaling of internal units for the fieldbus ("factor group").
PNUs of MDI Target Position (MDI_TARPOS)

Parameter PNU Name Data type

Px. Profile-specific parameters

11280604 34.0 Target position MDI Integer64
Px. Manufacturer-specific parameters
11280604 12339.0 Target position MDI Integer64
Tab. 769 PNUs

12.4.7.18 MDI Velocity (MDI_VELOCITY)

This process datum specifies the position with MDI.
Scaling is analogous to the CiA402 factor group via the following parameter:
– Resolution velocity: Px.7842, PNU 11725.0
The scalability is limited to the power of 10
è 3.2.4.3 Scaling of internal units for the fieldbus ("factor group").

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PNUs of MDI Velocity (MDI_VELOCITY)

Parameter PNU Name Data type

Px. Profile-specific parameters

11280605 35.0 Profile speed MDI FloatingPoint
Px. Manufacturer-specific parameters
11280605 12340.0 Profile speed MDI FloatingPoint
Tab. 770 PNUs

12.4.7.19 MDI Acceleration (MDI_ACC)

This process datum specifies the acceleration with MDI records.
Standardisation: 0x4000 (16384) corresponds to 100 %. The value is internally limited to
0.1 … 100 %.
PNUs of MDI Acceleration (MDI_ACC)

Parameter PNU Name Data type

Px. Profile-specific parameters

11280606 36.0 Acceleration MDI FloatingPoint
Px. Manufacturer-specific parameters
11280606 12341.0 Acceleration MDI FloatingPoint
Tab. 771 PNUs

12.4.7.20 MDI Deceleration (MDI_DEC)

This process datum specifies the percentage value for the deceleration override with MDI records.
Standardisation: 0x4000 (16384) corresponds to 100 %. The value is internally limited to
0.1 … 100 %.
PNUs of MDI Deceleration (MDI_DEC)

Parameter PNU Name Data type

Px. Profile-specific parameters

11280607 37.0 Deceleration MDI FloatingPoint
Px. Manufacturer-specific parameters
11280607 12342.0 Deceleration MDI FloatingPoint
Tab. 772 PNUs

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12.4.7.21 Manual Data Input Mode (MDI_MOD)

Bit Meaning

0 Positioning
– 1: absolute
– 0: relative
1 … 15 Reserved
Tab. 773 MDI_MOD
MDI_MOD.0 Positioning (Absolute Positioning/Relative Positioning)

Value Command Description

1 Absolute positioning Absolute positioning is selected.

0 Relative positioning Relative positioning is selected.
Tab. 774 MDI_MOD, Bit 0
PNUs for Manual Data Input Mode (MDI_MOD)

Parameter PNU Name Data type

Px. Profile-specific parameters

112417990 38.0 MDI_MOD Unsigned16
Px. Manufacturer-specific parameters
112417000 12399.0 MDI_MOD.0 Positioning Boolean
112417010 12400.0 MDI_MOD.1 ... 2 Direction of movement Unsigned32
112417990 12401.0 MDI_MOD Unsigned16
112417991 12402.0 MDI_MOD Cycle-1 Unsigned16
Tab. 775 PNUs

12.4.7.22 Status Word Messages (MELDW)

Bit Meaning

0 Ramp generator
– 1: inactive
– 0: active
1 Torque utilisation
– 1: < threshold value
– 0: > threshold value

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Bit Meaning

2 Actual rotational speed < threshold 1

– 1: value < threshold value
– 0: value > threshold value
3 Actual rotational speed £ threshold 2
– 1: value < threshold value
– 0: value > threshold value
4 Reserved
5 Variable message function
– 1: threshold value exceeded
– 0: within the threshold values or message function not active
6 No warning of motor overtemperature
– 1: active (no warning)
– 0: inactive (warning active)
7 No warning of power output stage overtemperature
– 1: active (no warning)
– 0: inactive (warning active)
8 Velocity setpoint/actual deviation within tolerance
– 1: active
– 0: inactive
9 … 10 Reserved
11 Controller Enable
– 1: active
– 0: inactive
12 Ready for operation
– 1: active
– 0: inactive
13 Power stage enable
– 1: active
– 0: inactive
14 … 15 Reserved
Tab. 776 Status Word Messages (MELDW)
MELDW.0 ramp generator

Value Message Description

1 Inactive Ramp generator is inactive. Startup phase is complete.

0 Active Ramp generator active. Startup phase is still active.
Tab. 777 MELDW.0

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MELDW.0 shows how far the setpoint value change to a new velocity setpoint value is complete.
MELDW.1 torque utilization

Value Message Description

1 < Threshold value The current torque utilisation is less than the set
torque utilisation threshold or the startup phase is not
yet complete.
0 > Threshold value The current torque utilisation is greater than the set
torque utilisation threshold.
Tab. 778 MELDW.1
This message can determine an overload of the motor in order to initialise a corresponding reac-
tion (e.g. stop motor or reduce load).
The threshold can be parameterised.
– Threshold value torque utilization reached: Px.11280410, PNU 12332.0
MELDW.2 Actual speed <Threshold1

Value Message Description

1 Value < specified threshold |nact| < threshold

value
0 Value > or equal to specified |nact| ³ threshold
threshold value
Tab. 779 MELDW.2
The threshold can be parameterised.
– Trigger level MELDW.2: Px.11280112, PNU 12320.0
– Hysteresis trigger level: Px.11280113, PNU 12321.0
MELDW.3 Actual speed = <Threshold2

Value Message Description

1 Value < specified threshold |nact| £ threshold

value
0 Value > or equal to specified |nact| > threshold
threshold value
Tab. 780 MELDW.3
The message is parameterisable and is used for monitoring the rotational speed:
– Trigger level MELDW.3: Px.11280114, PNU12322.0
– Hysteresis trigger level: Px.11280115, PNU 12323.0

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MELDW.5 Variable reporting function

Value Message Description

1 Threshold value exceeded The monitored signal of a drive system has exceeded
the specified threshold value.
0 Within the threshold values or The monitored signal of a drive system is within the
message function not active threshold values or the message function is not active.
Tab. 781 MELDW.5
The function monitors any parameter to check whether it exceeds a threshold value.

Fig. 141 Variable message function timing (example)

Name Description ID Px.

Threshold Threshold value of the monitored parameter –

Trigger level MELDW.5 1174205

Hysteresis of trigger level 1174206
Upper limit Upper limit value (threshold value + hysteresis) –

Lower limit Lower limit value (threshold value - hysteresis) –

Data trigger status Data trigger status (mapped to MELDW.5) 1174220

Damping time Data trigger damping time 1174207
Tab. 782 Legend for Variable Message Function Timing Diagram
The monitored parameters are specified with the following parameters:
– Axis ID data trigger: P0.1174201.0.0, PNU 3292.0

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– Data ID data trigger: P0.1174202.0.0, PNU 3293.0

– Data instance ID data trigger: P0. 1174203.0.0, PNU 3294.0
– Array ID data trigger: P0.1174204, PNU 3295.0
The resolution is specified with the following parameters:
– Trigger level MELDW.5: P0.1174205.0.0, PNU 3296.0
– Hysteresis of trigger level: P0.1174206.0.0, PNU 3297.0
– Data trigger damping time: P0.1174207.0.0, PNU 3298.0
The input values must be specified in the correct format for trigger level and hysteresis (data type of
the monitored parameter).
Hysteresis and damping times are optional and may be omitted.
On completion of parameterisation the function can be activated with the following parameter:
– Activation of variable message function: P0.1174200.0.0, PNU 3291.0
The specified values are not enabled until the function is activated. The specified values may also be
modified without affecting the currently active function.
The status can also be queried with the following parameters in addition to MELDW.5:
– Data trigger status: P0.1174220.0.0, PNU 3307.0
MELDW.6 No warning Overtemperature motor

Value Message Description

1 No warning of motor overtem- The temperature in the motor is within the permissible
perature range
0 Warning of motor overtemperat- The temperature in the motor is outside the permiss-
ure ible range
Tab. 783 MELDW.6
The bit returns the value 1 so long as the temperature remains within the permissible range (lower
warning limit < permissible range < upper warning limit).
The limits are formed by combination of threshold value+ hysteresis:
– Lower limit value warning threshold motor temperature: Px.945.0.0, PNU 11234.0
– Hysteresis lower limit value warning threshold motor temperature: Px.946.0.0, PNU 11235.0
– Upper limit value warning threshold motor temperature: Px.949.0.0, PNU 11238.0
– Hysteresis upper limit value warning threshold motor temperature: Px.9410.0.0, PNU 11782.0
A difference between warning and error cannot be distinguished with this bit. Temperature outside the
permissible range means warning and/or error.
MELDW.7 No warning Overtemperature power output stage

Value Message Description

1 No warning of thermal overload The temperature of the cooling element in the power
in power unit unit is within the permissible range
0 Warning of thermal overload in The temperature of the cooling element in the power
power unit unit is outside the permissible range
Tab. 784 MELDW.7

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The bit returns the value 1 so long as the temperature remains within the permissible range (warning
limit < permissible range < upper warning limits).
– Lower limit value warning threshold power output stage temperature: Px.9316.0.0, PNU 2797.0
– Upper limit value warning threshold power output stage temperature: Px.9314.0.0, PNU 2795.0
A difference between warning and error cannot be distinguished with this bit. Temperature outside the
permissible range means warning and/or error.
MELDW.8 Speed setpoint / actual deviation in tolerance

Value Message Description

1 Active The velocity setpoint/actual deviation as specified is

within the tolerance.
0 Inactive The velocity setpoint/actual deviation as specified is
outside the tolerance.
Tab. 785 MELDW.8
– Monitoring window speed: following error: Px.464.0.0, PNU 11148.0
– Damping time velocity: following error: Px.4690.0.0, PNU 11632.0
MELDW.11 Controller enable

Value Message Description

1 Active Controller enable reported

0 Inactive Controller enable not reported
Tab. 786 MELDW.11
MELDW.12 Ready for operation

Value Message Description

1 Active Ready for operation reported

0 Inactive Ready for operation not reported
Tab. 787 MELDW.12
MELDW.13 Power stage active

Value Message Description

1 Active Output stage active reported

0 Inactive Output stage not active reported
Tab. 788 MELDW.13

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PNUs for Status Word Messages (MELDW)

Parameter PNU Name Data type

Px. Profile-specific parameters

11249990 102.0 MELDW Unsigned16
Px. Manufacturer-specific parameters
1174205 3296.0 Trigger level MELDW.5 Integer64
11280046 12310.0 Status word MELDW Unsigned16
11280112 12320.0 Trigger level MELDW.2 FloatingPoint
11280114 12322.0 Trigger level MELDW.3 FloatingPoint
1124900 12178.0 MELDW.0 ramp generator Boolean
11249010 12279.0 MELDW.1 torque utilization Boolean
11249020 12280.0 MELDW.2 Actual speed <Threshold1 Boolean
11249030 12281.0 MELDW.3 Actual speed = <Threshold2 Boolean
11249050 12282.0 MELDW.5 Variable reporting function Boolean
11249060 12283.0 MELDW.6 No warning Overtemperature motor Boolean
11249070 12284.0 MELDW.7 No warning Overtemperature power Boolean
output stage
11249080 12285.0 MELDW.8 Speed setpoint / actual deviation in Boolean
tolerance
11249110 12286.0 MELDW.11 Controller enable Boolean
11249120 12287.0 MELDW.12 Ready for operation Boolean
11249130 12288.0 MELDW.13 Power stage active Boolean
11249990 12289.0 MELDW Unsigned16
Tab. 789 PNUs

12.4.7.23 Velocity Override (OVERRIDE)

The process data item OVERRIDE specifies the percentage value for the velocity override for the fol-
lowing movement types in positioning mode of application class 3:
– Positioning records
– Jogging
– Reference point run
– Homing point specification (MDI)
The velocity setpoint value of these movement types is multiplied by the override factor.
Standardisation: 0x4000 (16384) corresponds to 100 %.
Value range according to drive profile: 0 …0x7FFF (Px.11280611)
Value range CMMT: 0 …2 (Px.1309)
Values below this range are interpreted as 0 %.

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Values above this range are interpreted as 200 %.

PNUs Position Velocity Override (OVERRIDE)

Parameter PNU Name Data type

Px. Profile-specific parameters

11280611 205.0 Velocity override Integer16
Px. Manufacturer-specific parameters
1309 12482.0 Velocity override FloatingPoint
11280611 12534.0 Velocity override Integer16
Tab. 790 PNUs

12.4.7.24 Torque Reduction (MOMRED)

The process date MOMRED specifies the percentage by which the torque limit is to be reduced. With
MOMRED, the maximum permissible torque of the motor or controller (Px.381) can be reduced in the
range of 0 … 100%.
The value 0x4000 corresponds to a reduction of 100%.
The value 0x0000 corresponds to a reduction of 0%.
The symmetrical torque limit (Px.526796) is set according to the following formula:
Px.526796 = Px.381 - Px.381 * Px.1126990 : 0x4000
A reduction of the torque limit is only effective when using telegrams with the control word MOMRED.
MOMRED is only evaluated if STW1.10 is set.
PNUs Torque Reduction (MOMRED)

Parameter PNU Name Data type

Px. Profile-specific parameters

1126990 101.0 Torque reduction MOMRED Integer16
Px. Manufacturer-specific parameters
381 11122.0 Specifies the maximum torque of the servo FloatingPoint
drive for transfer to the configuration tool. The
maximum torque must always be set the same
on the side of the controller and the servo
drive.
526796 12166.0 Maximum torque symmetrical FloatingPoint
1126990 12179.0 Torque reduction MOMRED Integer16
Tab. 791 PNUs

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12.4.7.25 Positioner Control Word 1 (POS_STW1)

Bit Meaning

0 Positioning record selection bit 0 (20)

1 Positioning record selection bit 1 (21)
2 Positioning record selection bit 2 (22)
3 Positioning record selection bit 3 (23)
4 Positioning record selection bit 4 (24)
5 Positioning record selection bit 5 (25)
6 Positioning record selection bit 6 (26)
7 Reserved
8 Absolute positioning (positioning method)
– 1: absolute
– 0: relative
9 … 14 Reserved
15 MDI selection
– 1: activate MDI
– 0: deactivate MDI
Tab. 792 Positioner Control Word 1 (POS_STW1)
POS_STW1.0 ... 6 Traversing block selektion

Bit Command Description

0 Positioning record selection bit Positioning record selection (0 … 127)

0 (20)
1 Positioning record selection bit
1 (21)
2 Positioning record selection bit
2 (22)
3 Positioning record selection bit
3 (23)
4 Positioning record selection bit
4 (24)
5 Positioning record selection bit
5 (25)
6 Positioning record selection bit
6 (26)
Tab. 793 POS_STW1.0

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POS_STW1.8 Absolute positioning (Positioning Method)

Value Command Description

1 Absolute positioning Position specification corresponds to the absolute tar-

get position of the motion.
0 Relative positioning Position specification is defined relative to the current
axis position.
Tab. 794 POS_STW1.8
POS_STW1.15 MDI selection (Target Value Specification)

Value Command Description

1 Activate MDI If a task is currently active, it switches first to MDI, if

the current task is finished or interrupted (e.g. with
STW1.4 = 0) and the drive is in the S41 Basic State
Positioning Mode status.
0 Deactivate MDI If a MDI task is currently active, it switches to the S43
Braking With Ramp status, braked at maximum decel-
eration and at standstill switches to the S41 Basic
State Positioning Mode status. The current task is
rejected.
Tab. 795 POS_STW1.15
PNUs for Positioning Control Word 1 (POS_STW1)

Parameter PNU Name Data type

Px. Profile-specific parameters

112411990 220.0 POS_STW1 Unsigned16
Px. Manufacturer-specific parameters
112411000 12348.0 POS_STW1.0 ... 6 Traversing block selektion Unsigned8
112411080 12349.0 POS_STW1.8 Absolute positioning Boolean
112411090 12350.0 POS_STW1.9 ... 10 direction selection Unsigned32
112411120 12351.0 POS_STW1.12 Setpoint transfer Boolean
112411140 12352.0 POS_STW1.14 Setting up selected Boolean
112411150 12353.0 POS_STW1.15 MDI selection Boolean
112411990 12354.0 POS_STW1 Unsigned16
Tab. 796 PNUs

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12.4.7.26 Positioner Status Word 1 (POS_ZSW1)

Bit Meaning

0 Active positioning record bit 0 (20)

1 Active positioning record bit 1 (21)
2 Active positioning record bit 2 (22)
3 Active positioning record bit 3 (23)
4 Active positioning record bit 4 (24)
5 Active positioning record bit 5 (25)
6 Active positioning record bit 6 (26)
7 Reserved
8 Negative limit switch active
– 1: active
– 0: inactive
9 Positive limit switch active
– 1: active
– 0: inactive
10 Jogging active
– 1: active
– 0: inactive
11 Homing active
– 1: active
– 0: inactive
12 Reserved
13 Positioning records active
– 1: active
– 0: inactive
14 Reserved
15 MDI active
– 1: active
– 0: inactive
Tab. 797 Positioner Status Word 1 (POS_ZSW1)

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POS_ZSW1.0 ... 6 Traversing block bit

Bit Meaning Description

0 Active positioning record bit 0 only relevant in record mode

(20) Specifies the record number of the currently active
1 Active positioning record bit 1 record (0 to 127).
(21) A record is active if the drive is in the S45 Traversing
Task Interpolation status (including all sub-statuses).
2 Active positioning record bit 2
If a new task is started during the intermediate stop
(22)
ramp or during the intermediate stop, the active record
3 Active positioning record bit 3 switches immediately to the new record number.
(23) The value 0 is shown if MDI is active or if there is no
4 Active positioning record bit 4 record currently active.
(24)
5 Active positioning record bit 5
(25)
6 Active positioning record bit 6
(26)
Tab. 798 POS_ZSW1.0
POS_ZSW1.8 Negative limit switch active

Value Meaning Description

1 Negative limit switch active Signal status of the negative limit switch
0 negative limit switch active
Tab. 799 POS_ZSW1.8
POS_ZSW1.9 Positive limit switch active

Value Meaning Description

1 Positive limit switch active Signal status of the positive limit switch
0 Positive limit switch inactive
Tab. 800 POS_ZSW1.9
POS_ZSW1.10 Jogging active

Value Meaning Description

1 Jogging active Shows whether jogging is active.

0 Jogging inactive
Tab. 801 POS_ZSW1.10

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POS_ZSW1.11 Reference point approach active

Value Meaning Description

1 Homing active Shows whether homing is active.

0 Homing inactive
Tab. 802 POS_ZSW1.11
POS_ZSW1.13 Traversing block active

Value Meaning Description

1 Positioning records active Shows whether positioning records are active.

0 Positioning records inactive
Tab. 803 POS_ZSW1.13
POS_ZSW1.15 MDI active (Target Value Specification)

Value Meaning Description

1 MDI active Target value specification is active.

The setpoint values are specified directly by the open-
loop controller.
If a positioning task is currently being executed (drive
is in the S45 Traversing Task Interpolation or S43 Brak-
ing With Rampstatus), the setpoint value was specified
directly.
0 MDI inactive Record mode is active. The record number of a new
task is which the setpoint values for the task are saved
is taken from bit 0 - 6: record selection. If a positioning
task is currently being executed (drive is in the S45
Traversing Task Interpolation or S43 Braking With
Rampstatus), the setpoint value was specified in
record mode and the record number of the record is
shown in bit 0 - 6: active record.
Tab. 804 POS_ZSW1.15
PNUs for Positioner Status Word 1 (POS_ZSW1)

Parameter PNU Name Data type

Px. Profile-specific parameters

112412990 221.0 POS_ZSW1 Unsigned16
Px. Manufacturer-specific parameters
112412000 12357.0 POS_ZSW1.0 ... 6 Traversing block bit Unsigned8

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Parameter PNU Name Data type

112412080 12358.0 POS_ZSW1.8 Negative limit switch active Boolean

112412090 12359.0 POS_ZSW1.9 Positive limit switch active Boolean
112412100 12360.0 POS_ZSW1.10 Jogging active Boolean
112412110 12361.0 POS_ZSW1.11 Reference point approach act- Boolean
ive
112412130 12362.0 POS_ZSW1.13 Traversing block active Boolean
112412140 12363.0 POS_ZSW1.14 Setup active Boolean
112412150 12364.0 POS_ZSW1.15 MDI active Boolean
112412990 12365.0 POS_ZSW1 Unsigned16
Tab. 805 PNUs

12.4.7.27 Positioner Control Word 2 (POS_STW2)

Bit Meaning

0 Tracking mode
– 1: activate
– 0: deactivate
1…4 Reserved
5 Incremental jogging
– 1: incremental
– 0: velocity
6…9 Reserved
10 Touch Probe source
– 1: secondary encoder
– 0: primary encoder
11 Touch Probe edge
– 1: falling edge
– 0: rising edge
12 … 13 Reserved
14 Activate software limit switch
– 1: activate
– 0: deactivate
15 Activate hardware limit switch
– 1: activate
– 0: deactivate
Tab. 806 Positioner Control Word 2 (POS_STW2)

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POS_STW2.0 Tracking mode

This function is only available in not enabled status. In tracking mode the internal setpoint position
value tracks the actual position value, therefore setpoint position value = actual position value. The
standstill monitoring is deactivated in this operating mode.

Value Command Description

1 Activate tracking mode Tracking mode is activated.

0 Deactivate tracking mode Tracking mode is deactivated.
Tab. 807 POS_STW2.0
POS_STW2.5 Jogging incremental active

Value Command Description

1 Incremental jogging Incremental jogging is activated.

0 Velocity jog Velocity jog is activated.
Tab. 808 POS_STW2.5
POS_STW2.10 Selection touch probe

Value Command Description

1 secondary encoder Determines the source of the measured values.

0 primary encoder
Tab. 809 POS_STW2.10
POS_STW2.11 Touch probe edge

Value Command Description

1 Falling edge Determines the type of signal edge with which the
0 Rising edge measurement shall be triggered.

Tab. 810 POS_STW2.11

POS_STW2.14 Activate software limit switch

Value Command Description

1 Activate software limit switch Specifies whether software end position monitoring
0 Deactivate software limit switch should be active or inactive.
Tab. 811 POS_STW2.14

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POS_STW2.15 Activate hardware limit switch

Value Command Description

1 Activate hardware limit switch The evaluation of the hardware limit switch is activ-
ated.
0 Deactivate hardware limit The evaluation of the hardware limit switch is deactiv-
switch ated.
Tab. 812 POS_STW2.15
PNUs for Positioner Control Word 2 (POS_STW2)

Parameter PNU Name Data type

Px. Profile-specific parameters

112414990 222.0 POS_STW2 Unsigned16
Px. Manufacturer-specific parameters
112414000 12382.0 POS_STW2.0 Tracking mode Boolean
112414010 12383.0 POS_STW2.1 Set reference point Boolean
112414050 12384.0 POS_STW2.5 Jogging incremental active Boolean
112414100 12385.0 POS_STW2.10 Selection touch probe Boolean
112414110 12386.0 POS_STW2.11 Touch probe edge Boolean
112414140 12387.0 POS_STW2.14 Activate software limit switch Boolean
112414150 12388.0 POS_STW2.15 Activate hardware limit switch Boolean
112414990 12389.0 POS_STW2 Unsigned16
Tab. 813 PNUs

12.4.7.28 Positioner Status Word 2 (POS_ZSW2)

Bit Meaning

0 Tracking mode active

– 1: active
– 0: inactive
1 Velocity limiting active
– 1: active
– 0: inactive
2 Setpoint value stopped
– 1: setpoint value stopped
– 1: setpoint value not stopped
3 Reserved

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Bit Meaning

4 Drive travels forward

– 1: drive travels forward
– 0: drive does not travel forward
5 Drive travels backwards
– 1: drive travels backwards
– 0: drive does not travel backwards
6 Negative software limit switch active
– 1: active
– 0: inactive
7 Positive software limit switch active
– 1: active
– 0: inactive
8 Actual position £ cam switch 0
– 1: actual position £ as position of cam switch 0
– 0: actual position > as position of cam switch 0
9 Actual position £ cam switch 1
– Actual position £ as position of cam switch 1
– Actual position > as position of cam switch 1
10 Direct output 1 via positioning record
– 1: active
– 0: inactive
11 Direct output 2 via positioning record
– 1: active
– 0: inactive
12 Fixed stop reached
– 1: reached
– 0: not reached
13 Fixed stop clamping torque reached
– 1: reached
– 0: not reached
14 Travel to fixed stop active
– 1: active
– 0: inactive
15 Positioning command active
– 1: active
– 0: inactive
Tab. 814 Positioner Status Word 2 (POS_ZSW2)

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POS_ZSW2.0 Tracking mode active

In tracking mode the internal setpoint position value tracks the actual position value. Therefore set-
point position value = actual position value. The standstill monitoring is deactivated in this operating
mode. The comparison of setpoint position value = actual position value is executed only with deactiv-
ate output stage.

Value Meaning Description

1 Tracking mode active Shows that tracking mode is active (comparison of set-
point position value = actual position value).
0 Tracking mode inactive Tracking mode is inactive.
Tab. 815 POS_ZSW2.0
POS_ZSW2.1 Velocity limiting active

Value Meaning Description

1 Velocity limiting active Shows that velocity limiting is active in the application
limiting manager. The current trajectory is run with lim-
ited velocity.
The velocity limit can be set with the following para-
meter:
– Limit value velocity limiting: Px.1304.0.0,
PNU 11334.0
0 Velocity limiting inactive Shows that velocity limiting is inactive
Tab. 816 POS_ZSW2.1
POS_ZSW2.2 Setpoint available

Value Meaning Description

1 Setpoint value stopped Shows that the setpoint position value is not changed.
The internal setpoint velocity value according to the
trajectory generator is 0.
0 Setpoint value not stopped Shows that the setpoint position value is changed. The
internal setpoint velocity value according to the traject-
ory generator is not equal to 0.
Tab. 817 POS_ZSW2.2
POS_ZSW2.4 Drive moves forward

Value Meaning Description

1 Drive travels forward Shows that the drive travels forward. The internal set-
point velocity value according to the trajectory gener-
ator is > 0.

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Value Meaning Description

0 Drive does not travel forward Shows that the drive is stopped or travels backwards.
The internal setpoint velocity value according to the
trajectory generator is £ 0.
Tab. 818 POS_ZSW2.4
POS_ZSW2.5 Drive moves backwards

Value Meaning Description

1 Drive travels backwards Shows that the drive is stopped or travels backwards.
The internal setpoint velocity value according to the
trajectory generator is ≠ 0.
0 Drive does not travel backwards Shows that the drive travels forward. The internal set-
point velocity value according to the trajectory gener-
ator is > 0.
Tab. 819 POS_ZSW2.5
POS_ZSW2.6 Software limit switch minus reached

Value Meaning Description

1 Negative software limit switch Specifies that the negative software limit switch is act-
active ive.
0 Negative software limit switch
not active
Tab. 820 POS_ZSW2.6
POS_ZSW2.7 Software limit switch plus reached

Value Meaning Description

1 Positive software limit switch Specifies that the positive software end position is act-
active ive.
0 Positive software limit switch
not active
Tab. 821 POS_ZSW2.7

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POS_ZSW2.8 Position actual value <= cam switch 0

Value Meaning Description

1 Actual position £ as position of Specifies whether the actual position value £ or > as
cam switch 0 cam switch position 0.
0 0: actual position > as position
of cam switch 0
Tab. 822 POS_ZSW2.8
POS_ZSW2.9 Position actual value <= cam switch 1

Value Meaning Description

1 Actual position £ as position of Specifies whether the actual position value £ or > as
cam switch 1 cam switch position 1.
0 Actual position > as position of
cam switch 1
Tab. 823 POS_ZSW2.9
POS_ZSW2.10 Direct output 1 via traversing block

Value Meaning Description

1 Direct output 1 active Shows whether direct output 1 is active via positioning
0 Direct output 1 not active record.

Tab. 824 POS_ZSW2.10

POS_ZSW2.11 Direct output 2 via traversing block

Value Meaning Description

1 Direct output 2 active Shows whether direct output 2 is active via positioning
record.
0 Direct output 2 not active
Tab. 825 POS_ZSW2.11
POS_ZSW2.12 Fixed stop reached

Value Meaning Description

1 Fixed stop reached Specifies whether the fixed stop was reached.
0 Fixed stop not reached
Tab. 826 POS_ZSW2.12

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POS_ZSW2.13 Fixed stop Clamping torque reached

Value Meaning Description

1 Fixed stop clamping torque Specifies whether the clamping torque was reached
reached after travel to the fixed stop.
0 Fixed stop clamping torque not
reached
Tab. 827 POS_ZSW2.13
POS_ZSW2.14 Move to fixed stop active

Value Meaning Description

1 Travel to fixed stop active Specifies whether travel to the fixed stop is active.
0 Travel to fixed stop not active
Tab. 828 POS_ZSW2.14
POS_ZSW2.15 Traversing command active

Value Meaning Description

1 Positioning command active Specifies whether a positioning command is active

0 Positioning command not active (motion manager status).
Tab. 829 POS_ZSW2.15
PNUs Positioner Status Word 2 (POS_ZSW2)

Parameter PNU Name Data type

Px. Profile-specific parameters

112413990 223.0 POS_ZSW2 Unsigned16
Px. Manufacturer-specific parameters
112413000 12366.0 POS_ZSW2.0 Tracking mode active Boolean
112413010 12367.0 POS_ZSW2.1 Velocity limiting active Boolean
112413020 12368.0 POS_ZSW2.2 Setpoint available Boolean
112413040 12369.0 POS_ZSW2.4 Drive moves forward Boolean
112413050 12370.0 POS_ZSW2.5 Drive moves backwards Boolean
112413060 12371.0 POS_ZSW2.6 Software limit switch minus Boolean
reached
112413070 12372.0 POS_ZSW2.7 Software limit switch plus Boolean
reached

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Parameter PNU Name Data type

112413080 12373.0 POS_ZSW2.8 Position actual value <= cam Boolean

switch 0
112413090 12374.0 POS_ZSW2.9 Position actual value <= cam Boolean
switch 1
112413100 12375.0 POS_ZSW2.10 Direct output 1 via traversing Boolean
block
112413110 12376.0 POS_ZSW2.11 Direct output 2 via traversing Boolean
block
112413120 12377.0 POS_ZSW2.12 Fixed stop reached Boolean
112413130 12378.0 POS_ZSW2.13 Fixed stop Clamping torque Boolean
reached
112413140 12379.0 POS_ZSW2.14 Move to fixed stop active Boolean
112413150 12380.0 POS_ZSW2.15 Traversing command active Boolean
112413990 12381.0 POS_ZSW2 Unsigned16
Tab. 830 PNUs

12.4.7.29 Active Error (FAULT_CODE)

Active error
Shows the error code of the first entry in the error memory
(è 12.4.8.1 PROFIdrive Malfunction / Fault Buffer Mechanism, PNU 947).

Parameter PNU Name Data type

Px. Profile-specific parameters

11280062 12314.0 Active error Unsigned16
Px. Manufacturer-specific parameters
11280062 301.0 Active error Unsigned16
Tab. 831 PNUs

12.4.7.30 Active Warning (WARN_CODE)

Active warning
Shows the warning code of the first entry in the warning buffer
(è 12.4.8.3 PROFIdrive Warnings / Warning Mechanism, PNU 847).

Parameter PNU Name Data type

Px. Profile-specific parameters

11280063 303.0 Active warning Unsigned16

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Parameter PNU Name Data type

Px. Manufacturer-specific parameters

11280063 12315.0 Active warning Unsigned16
Tab. 832 PNUs

12.4.8 Diagnostics

12.4.8.1 PROFIdrive Malfunction / Fault Buffer Mechanism

A malfunction in PROFIdrive is defined with one or more diagnostic messages leading to a device-spe-
cific fault reaction, e.g. shutdown of the output stage.
An unacknowledged fault situation is reported in status word 1 (ZSW1) with bit 3 (fault present). The
fault buffer mechanism allows fault situations and fault messages to be tracked.
The fault buffer contains the fault messages that resulted in a fault situation.
The fault number list contains the explanation and allocation to the fault messages in the device.
Malfunctions can only be remedied by clearing the cause of the malfunction first and then acknow-
ledging the malfunction.
A malfunction can be acknowledged by:
– The malfunction is acknowledged by POWER ON (switching the drive device off and on). Note: if
the cause of the malfunction is not yet cleared, the malfunction appears again immediately after
restart.
– Acknowledgment by PROFIdrive control signal: STW1.7 = 0à1 (edge)
– Festo Automation Suite with plug-in
– if available: Operating unit, e.g . CDSB
The structure of the fault buffer is shown in the following diagram:

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Fig. 142 Fault buffer

PNU947 contains the error number (the last group of the diagnostic number).
Example: with diagnostic message 01 | 02 | 00012 PNU 947 contains the value 12 in decimal format.

12.4.8.2 Error Response

One of the following stop categories is executed as error reaction depending on the error:
– Fault with Ramp Stop
– Fault with Quick Stop
– Fault with Coast Stop
Then the basic status machine switches to the status S1 Switching On Inhibited.

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12.4.8.3 PROFIdrive Warnings / Warning Mechanism

Warnings in servo drives with Festo PROFIdrive are saved in a warning buffer, similar to the fault buf-
fer.
A warning in PROFIdrive is defined by one or more diagnostic messages that do not result in a device-
specific fault reaction.
A pending warning is reported in status word 1 (ZSW1) with bit 7 (warning present). The warning buf-
fer mechanism allows warnings to be tracked.
The warning buffer contains the warning messages that resulted in a warning situation. Warning mes-
sages are saved in the warning buffer with number (PNU 847) and time stamp (PNU 848).

12.5 PNUs Reference List

PNU Name Data type Access Parameter

Profile specific parameters

1.0 STW1 Unsigned16 rw P1.1147990.0.0
2.0 ZSW1 Unsigned16 ro P1.1145990.0.0
3.0 STW2 Unsigned16 rw P1.1148990.0.0
4.0 ZSW2 Unsigned16 ro P1.1146990.0.0
5.0 Target speed NSOLL_A/NSOLL_B FloatingPoint rw P1.11280502.0-
.0
6.0 Actual velocity value FloatingPoint ro P1.1210.0.0
7.0 Target speed NSOLL_A/NSOLL_B FloatingPoint rw P1.11280502.0-
.0
8.0 Actual velocity value FloatingPoint ro P1.1210.0.0
9.0 Gn_STW Unsigned16 rw P1.1149990.0.0
10.0 Gn_ZSW Unsigned16 ro P1.1143990.0.0
11.0 Position 1 encoder n Unsigned32 ro P1.1142990.0.0
12.0 Position 2 encoder n Unsigned32 ro P1.1141990.0.0
13.0 Gn_STW Unsigned16 rw P1.1149990.1.0
14.0 Gn_ZSW Unsigned16 ro P1.1143990.1.0
15.0 Position 1 encoder n Unsigned32 ro P1.1142990.1.0
16.0 Position 2 encoder n Unsigned32 ro P1.1141990.1.0
25.0 Position deviation XERR Integer32 rw P1.1129990.0.0
26.0 DSC gain factor position controller Integer32 rw P1.1127990.0.0
28.0 Actual position value Integer64 ro P1.128.0.0
32.0 SATZANW Unsigned16 rw P1.112415990.-
0.0

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PNU Name Data type Access Parameter

33.0 AKTSATZ Unsigned16 ro P1.112416990.-

0.0
34.0 Target position MDI Integer64 rw P1.11280604.0-
.0
35.0 Profile speed MDI FloatingPoint rw P1.11280605.0-
.0
36.0 Acceleration MDI FloatingPoint rw P1.11280606.0-
.0
37.0 Deceleration MDI FloatingPoint rw P1.11280607.0-
.0
38.0 MDI_MOD Unsigned16 rw P1.112417990.-
0.0
101.0 Torque reduction MOMRED Integer16 rw P1.1126990.0.0
102.0 MELDW Unsigned16 ro P1.11249990.0-
.0
205.0 Velocity override Integer16 rw P1.11280611.0-
.0
220.0 POS_STW1 Unsigned16 rw P1.112411990.-
0.0
221.0 POS_ZSW1 Unsigned16 ro P1.112412990.-
0.0
222.0 POS_STW2 Unsigned16 rw P1.112414990.-
0.0
223.0 POS_ZSW2 Unsigned16 ro P1.112413990.-
0.0
301.0 Active error Unsigned16 ro P1.11280062.0-
.0
303.0 Active warning Unsigned16 ro P1.11280063.0-
.0
800.0 Sync Time FloatingPoint rw P0.31235.0.0
801.0 Status PROFINET request Integer32 rw P0.54543.0.0
802.0 Active status PROFINET Integer32 ro P0.54544.0.0
803.0 Reduction ratio Unsigned32 rw P1.4246.0.0
810.0 Base value acceleration FloatingPoint rw P1.11280702.0-
.0

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PNU Name Data type Access Parameter

811.0 Base value deceleration FloatingPoint rw P1.11280703.0-

.0
830.0 Activation touch probe Tel. 111 Unsigned16 rw P1.11280116.0-
.0
844.0 Counter warning messages Unsigned16 ro P1.11280060.0-
.0
847.0 ... Warning number Unsigned16 ro P1.11280042.0-
63 .0 ... 63
848.0 ... Release time warning Unsigned32 ro P1.11280043.0-
63 .0 ... 63
860.0 Diagnostic value test 1 Unsigned16 rw P1.66061.0.0
861.0 Diagnostic value test 2 Unsigned16 rw P1.66062.0.0
922.0 PZD telegram selection Unsigned16 rw P0.11280201.0-
.0
924.0 ... 1 Assignment controller enable Unsigned16 ro P1.24126.0.0 ...
1
925.0 Maximum failure Sign of Life Unsigned16 rw P1.4243.0.0
930.0 Operating mode PROFIdrive Unsigned16 ro P1.11280002.0-
.0
944.0 Counter error messages Unsigned16 ro P1.11280061.0-
.0
947.0 ... Error number Unsigned16 ro P1.11280040.0-
63 .0 ... 63
948.0 ... Casting time error Unsigned32 ro P1.11280041.0-
63 .0 ... 63
964.0 ... 5 Drive unit data Unsigned16 ro P1.24125.0.0 ...
5
965.0 ... 1 Profile identification number Unsigned8 ro P1.11280004.0-
.0 ... 1
974.0 ... 2 Parameter channel description PROFId- Unsigned16 ro P1.11280030.0-
rive .0 ... 2
975.0 ... 7 Drive object data Unsigned16 ro P1.24124.0.0 ...
7
972.0 Reset device Unsigned16 rw P0.112901.0.0
976.0 Load factory settings Unsigned16 rw P0.112902.0.0

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PNU Name Data type Access Parameter

977.0 Save the parameter set Unsigned16 rw P0.112903.0.0

979.0 ... Encoder format Unsigned32 ro P1.231243.0.0
20 ... 20
60000.0 Base value speed (user unit) FloatingPoint rw P1.11280701.0-
.0
60100.0 Active telegrams Unsigned16 ro P0.11280210.0-
... 3 .0 ... 3
60104.0 Extended process data Unsigned16 rw P0.11280204.0-
.0
Manufacturer specific parameter
2018.0 Order number Unsigned32 ro P0.70.0.0
2019.0 ... NOC code STRING(50) ro P0.71.0.0 ... 49
49
2020.0 ... Major version servo drive STRING(2) ro P0.73.0.0 ... 1
1
2032.0 Status LED Unsigned16 ro P0.160.0.0
2033.0 Power LED Unsigned16 ro P0.161.0.0
2034.0 Safety LED Unsigned16 ro P0.162.0.0
2035.0 Application LED Unsigned16 ro P0.163.0.0
2040.0 Debug variable index 0 FloatingPoint rw P0.190.0.0
2041.0 Debug variable index 1 FloatingPoint rw P0.191.0.0
2042.0 Debug variable index 2 FloatingPoint rw P0.192.0.0
2043.0 Debug variable index 3 FloatingPoint rw P0.193.0.0
2044.0 Debug variable index 4 FloatingPoint rw P0.194.0.0
2045.0 Debug variable index 5 FloatingPoint rw P0.195.0.0
2046.0 Debug variable index 6 FloatingPoint rw P0.196.0.0
2047.0 Debug variable index 7 FloatingPoint rw P0.197.0.0
2048.0 Debug variable index 8 FloatingPoint rw P0.198.0.0
2049.0 Debug variable index 9 FloatingPoint rw P0.199.0.0
2057.0 Communication module protocol Unsigned32 ro P0.245.0.0
2058.0 Serial number Unsigned32 ro P0.246.0.0
2059.0 ... MAC address Unsigned8 ro P0.247.0.0 ... 5
5

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PNU Name Data type Access Parameter

2060.0 ... MAC address Unsigned8 ro P0.248.0.0 ... 5

5
2061.0 ... MAC address Unsigned8 ro P0.249.0.0 ... 5
5
2062.0 Material number control unit Unsigned32 ro P0.250.0.0
2063.0 ... NOC code control unit STRING(50) ro P0.251.0.0 ...
49 49
2064.0 ... Major version control unit STRING(2) ro P0.253.0.0 ... 1
1
2065.0 Compatibility index control unit Unsigned16 ro P0.254.0.0
2075.0 ... MAC address Unsigned8 ro P0.265.0.0 ... 5
5
2076.0 ... Serial number control unit STRING(9) ro P0.266.0.0 ... 8
8
2079.0 Control unit data set ID Unsigned32 ro P0.269.0.0
2081.0 Diagnostic device status Unsigned16 ro P0.300.0.0
2082.0 Diagnostic axis status Unsigned16 ro P0.301.0.0
2083.0 Diagnostic axis status Unsigned16 ro P0.301.1.0
2084.0 Diagnostic response axis Unsigned16 ro P0.302.0.0
2085.0 Diagnostic response axis Unsigned16 ro P0.302.1.0
2086.0 Maximum number of components in the Unsigned32 ro P0.303.0.0
message buffer
2087.0 Actual number of components in the Unsigned32 ro P0.304.0.0
message buffer
2113.0 Trace type Unsigned32 ro P0.340.0.0
2114.0 Trigger type Unsigned32 rw P0.341.0.0
2148.0 Actual value DC link voltage FloatingPoint ro P0.480.0.0
2153.0 Diagnostic category Unsigned16 rw P0.487.0.0
2154.0 Storage option in error log Unsigned8 rw P0.488.0.0
2155.0 Diagnostic category Unsigned16 rw P0.489.0.0
2157.0 Load voltage root mean square value FloatingPoint ro P0.491.0.0
2159.0 Lower load voltage limit value FloatingPoint rw P0.493.0.0
2160.0 Upper load voltage value FloatingPoint rw P0.494.0.0

826 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

2168.0 Diagnostic category Unsigned16 rw P0.519.0.0

2169.0 Supply voltage 24 V logic FloatingPoint ro P0.520.0.0
2173.0 Data trace status Unsigned32 ro P0.556.0.0
2174.0 Trace delay Integer32 rw P0.557.0.0
2175.0 Recording length Unsigned32 rw P0.558.0.0
2176.0 Down sampling factor Unsigned32 rw P0.559.0.0
2180.0 Number of parameter sets Unsigned32 ro P0.571.0.0
2211.0 PWM frequency selection Unsigned32 ro P0.670.0.0
2215.0 ... Product key STRING(15) ro P0.710.0.0 ...
14 14
2217.0 ... NOC code STRING(32) ro P0.711.0.0 ...
31 31
2219.0 Material number Unsigned32 ro P0.712.0.0
2221.0 ... Serial number STRING(20) ro P0.713.0.0 ...
19 19
2223.0 Pole pairs Unsigned32 ro P0.717.0.0
2225.0 Minor version servo drive Unsigned16 ro P0.739.0.0
2234.0 Compatibility index servo drive Unsigned16 ro P0.748.0.0
2235.0 ... Test number STRING(9) ro P0.790.0.0 ... 8
8
2236.0 ... Product key STRING(15) ro P0.791.0.0 ...
14 14
2238.0 Diagnostic category Unsigned16 rw P0.801.0.0
2239.0 Storage option in error log Unsigned8 rw P0.802.0.0
2241.0 ... Project name STRING(41) rw P0.900.0.0 ...
40 40
2242.0 ... Project description STRING(161) rw P0.901.0.0 ...
160 160
2243.0 ... Device name STRING(128) rw P0.902.0.0 ...
127 127
2244.0 ... Device description STRING(161) rw P0.903.0.0 ...
160 160
2246.0 Temperature power output stage FloatingPoint ro P0.920.0.0
2247.0 Temperature status power output stage Integer32 ro P0.921.0.0

Festo — CMMT-ST-SW — 2019-08b 827

PROFINET

PNU Name Data type Access Parameter

2248.0 Diagnostic category Unsigned16 rw P0.922.0.0

2249.0 Storage option in error log Unsigned8 rw P0.923.0.0
2252.0 Diagnostic category Unsigned16 rw P0.926.0.0
2253.0 Storage option in error log Unsigned8 rw P0.927.0.0
2259.0 Storage option in error log Unsigned8 rw P0.933.0.0
2263.0 Storage option in error log Unsigned8 rw P0.937.0.0
2266.0 ... Firmware version STRING(30) ro P0.960.0.0 ...
29 29
2267.0 Major Version Firmware Unsigned32 ro P0.961.0.0
2268.0 Minor Version Firmware Unsigned32 ro P0.962.0.0
2269.0 Patch Version Firmware Unsigned32 ro P0.963.0.0
2270.0 Build Version Firmware Unsigned32 ro P0.964.0.0
2271.0 Firmware status Unsigned32 ro P0.965.0.0
2272.0 Current firmware slot Unsigned32 ro P0.966.0.0
2318.0 Operating hour counter FloatingPoint ro P0.1423.0.0
2335.0 ... Major version communication data set STRING(2) ro P0.2204.0.0 ...
1 1
2336.0 Minor version communication data set Unsigned16 ro P0.2205.0.0
2339.0 ... Major version control unit data set STRING(2) ro P0.2208.0.0 ...
1 1
2340.0 Minor version control unit data set Unsigned16 ro P0.2209.0.0
2341.0 Minor version control unit Unsigned16 ro P0.2212.0.0
2342.0 ... Major version device data set STRING(2) ro P0.2213.0.0 ...
1 1
2343.0 Minor version device data set Unsigned16 ro P0.2214.0.0
2408.0 Commutation angle from user configura- Integer64 rw P0.3219.0.0
tion
2410.0 Current commutation angle Integer64 ro P0.3220.0.0
2412.0 Zero point offset from encoder memory Integer64 rw P0.3221.0.0
2414.0 Zero point offset from user configura- Integer64 rw P0.3223.0.0
tion
2416.0 Current zero point offset Integer64 ro P0.3224.0.0
2418.0 Encoder referencing is valid Boolean ro P0.3225.0.0

828 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

2420.0 Referencing in user configuration is val- Boolean rw P0.3226.0.0

id
2422.0 Current referencing is valid Boolean ro P0.3227.0.0
2424.0 Valid commutation angle from encoder Boolean ro P0.3228.0.0
memory
2426.0 Valid commutation angle from user con- Boolean ro P0.3229.0.0
figuration
2428.0 Current commutation angle valid Boolean ro P0.3230.0.0
2434.0 Electrical angular frequency filtered FloatingPoint ro P0.3234.0.0
2438.0 Deactivation motor change check Boolean rw P0.3236.0.0
2440.0 Encoder permanently homed Boolean rw P0.3237.0.0
2442.0 Material number motor reference con- Unsigned32 rw P0.3238.0.0
figuration
2444.0 ... Serial number motor reference configur- STRING(13) rw P0.3239.0.0 ...
12 ation 12
2446.0 ... Product key motor reference configura- STRING(15) rw P0.3240.0.0 ...
14 tion 14
2466.0 Activation automatic encoder detection Boolean rw P0.3250.0.0
2468.0 Selection gear ratio group Unsigned8 rw P0.3251.0.0
2477.0 Current trace status Unsigned32 ro P0.3400.0.0
2478.0 Current trigger status Unsigned32 ro P0.3401.0.0
2479.0 Current trace type code Unsigned32 ro P0.3402.0.0
2533.0 Warning thresholds DC link voltage FloatingPoint rw P0.4811.0.0
2535.0 Upper limit value DC link voltage FloatingPoint rw P0.4813.0.0
2536.0 Lower limit value DC link voltage FloatingPoint rw P0.4814.0.0
2546.0 Storage option in error log Unsigned8 rw P0.4890.0.0
2553.0 Storage option in error log Unsigned8 rw P0.5180.0.0
2578.0 ... Trace channel Boolean rw P0.5500.0.0 ...
7 7
2579.0 ... Axis ID trace data Unsigned16 rw P0.5501.0.0 ...
7 7
2580.0 ... Data ID trace data Unsigned32 rw P0.5502.0.0 ...
7 7

Festo — CMMT-ST-SW — 2019-08b 829

PROFINET

PNU Name Data type Access Parameter

2581.0 ... Data instance ID trace data Unsigned16 rw P0.5503.0.0 ...

7 7
2582.0 ... Array ID trace data Unsigned16 rw P0.5504.0.0 ...
7 7
2583.0 ... Status Trace channel Boolean ro P0.5505.0.0 ...
7 7
2584.0 ... Current axis ID trace data Unsigned16 ro P0.5506.0.0 ...
7 7
2585.0 ... Current data ID trace data Unsigned32 ro P0.5507.0.0 ...
7 7
2586.0 ... Current data instance ID trace data Unsigned16 ro P0.5508.0.0 ...
7 7
2587.0 ... Current array ID trace data Unsigned16 ro P0.5509.0.0 ...
7 7
2588.0 Current pre-trigger Integer32 ro P0.5513.0.0
2589.0 Current recording length Unsigned32 ro P0.5514.0.0
2590.0 Current downsampling factor Unsigned32 ro P0.5515.0.0
2591.0 Maximum recording length Unsigned32 ro P0.5516.0.0
2592.0 Basic sampling interval FloatingPoint ro P0.5517.0.0
2593.0 Timestamp End trace Integer64 ro P0.5518.0.0
2605.0 Storage option in error log Unsigned8 rw P0.5709.0.0
2607.0 Storage option in error log Unsigned8 rw P0.5711.0.0
2609.0 Storage option in error log Unsigned8 rw P0.5713.0.0
2611.0 Storage option in error log Unsigned8 rw P0.5715.0.0
2615.0 Storage option in error log Unsigned8 rw P0.5719.0.0
2617.0 Storage option in error log Unsigned8 rw P0.5721.0.0
2619.0 Storage option in error log Unsigned8 rw P0.5723.0.0
2621.0 Storage option in error log Unsigned8 rw P0.5725.0.0
2623.0 Storage option in error log Unsigned8 rw P0.5727.0.0
2624.0 Parameter set status Unsigned32 ro P0.5728.0.0
2627.0 ... Expected major version control unit STRING(2) ro P0.5760.0.0 ...
1 1
2628.0 Expected minor version control unit Unsigned16 ro P0.5761.0.0

830 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

2629.0 Expected compatibility index control Unsigned16 ro P0.5762.0.0

unit
2630.0 ... Expected major version communication STRING(2) ro P0.5763.0.0 ...
1 module 1
2631.0 Expected minor version communication Unsigned16 ro P0.5764.0.0
module
2632.0 Expected compatibility index communic- Unsigned16 ro P0.5765.0.0
ation module
2633.0 ... Expected major version power output STRING(2) ro P0.5766.0.0 ...
1 stage 1
2634.0 Expected minor version power output Unsigned16 ro P0.5767.0.0
stage
2635.0 Expected compatibility index power out- Unsigned16 ro P0.5768.0.0
put stage
2636.0 ... Expected major version safety module STRING(2) ro P0.5769.0.0 ...
1 1
2637.0 Expected minor version safety module Unsigned16 ro P0.5770.0.0
2638.0 Expected compatibility index safety Unsigned16 ro P0.5771.0.0
module
2639.0 ... Compatibility index firmware boot load- STRING(20) ro P0.5772.0.0 ...
19 er 19
2640.0 ... Compatibility index firmware STRING(20) ro P0.5773.0.0 ...
19 19
2641.0 ... Compatibility index firmware EngP STRING(20) ro P0.5774.0.0 ...
19 19
2642.0 ... Compatibility index firmware FPGA STRING(20) ro P0.5775.0.0 ...
19 19
2643.0 ... Compatibility index firmware Comm STRING(20) ro P0.5776.0.0 ...
19 19
2644.0 ... Compatibility index firmware Ext STRING(20) ro P0.5777.0.0 ...
19 19
2646.0 Axis ID data trigger Unsigned16 rw P0.6000.0.0
2647.0 Data ID data trigger Unsigned32 rw P0.6001.0.0
2648.0 Data instance ID data trigger Unsigned16 rw P0.6002.0.0
2649.0 Array ID data trigger Unsigned16 rw P0.6003.0.0

Festo — CMMT-ST-SW — 2019-08b 831

PROFINET

PNU Name Data type Access Parameter

2650.0 Trigger event Unsigned32 rw P0.6004.0.0

2651.0 Current axis ID data trigger Unsigned16 ro P0.6006.0.0
2652.0 Current data ID data trigger Unsigned32 ro P0.6007.0.0
2653.0 Current data instance ID data trigger Unsigned16 ro P0.6008.0.0
2654.0 Current array ID data trigger Unsigned16 ro P0.6009.0.0
2655.0 Current data trigger type Unsigned32 ro P0.6010.0.0
2656.0 Current trigger threshold Integer64 ro P0.6013.0.0
2721.0 Motor inertia FloatingPoint ro P0.7110.0.0
2723.0 Phase sequence Boolean ro P0.7113.0.0
2725.0 Nominal current FloatingPoint ro P0.7116.0.0
2727.0 Maximum current FloatingPoint ro P0.7119.0.0
2729.0 Maximum rpm FloatingPoint ro P0.7122.0.0
2731.0 Nominal rotary speed FloatingPoint ro P0.7125.0.0
2733.0 Winding inductance FloatingPoint ro P0.7128.0.0
2735.0 Winding resistance FloatingPoint ro P0.7131.0.0
2737.0 Torque constant FloatingPoint ro P0.7134.0.0
2739.0 Time constant I²t FloatingPoint ro P0.7143.0.0
2741.0 Winding temperature FloatingPoint ro P0.7146.0.0
2743.0 Nominal motor voltage FloatingPoint ro P0.7149.0.0
2745.0 ... Major version hardware STRING(2) ro P0.7150.0.0 ...
1 1
2747.0 Minor version hardware Unsigned16 ro P0.7151.0.0
2749.0 Temperature sensor Unsigned32 ro P0.7152.0.0
2751.0 ... Temperature sensor characteristic FloatingPoint ro P0.7155.0.0 ...
1 1
2753.0 Holding brake Boolean ro P0.7158.0.0
2755.0 Switch-on delay holding brake FloatingPoint ro P0.7161.0.0
2757.0 Switch-off delay holding brake FloatingPoint ro P0.7164.0.0
2759.0 Continuous current FloatingPoint ro P0.7181.0.0
2761.0 Encoder data set ID Unsigned32 ro P0.7183.0.0
2763.0 ... Major version motor data set STRING(2) ro P0.7186.0.0 ...
1 1

832 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

2765.0 Minor version motor data set Unsigned16 ro P0.7187.0.0

2767.0 Lq inductance FloatingPoint ro P0.7428.0.0
2769.0 Ld inductance FloatingPoint ro P0.7429.0.0
2771.0 Motor type Unsigned8 ro P0.7430.0.0
2773.0 Current time without synchronisation Integer64 ro P0.7534.0.0
2774.0 Current time with synchronisation Integer64 ro P0.7535.0.0
2784.0 Test user 10 Unsigned8 rw P0.9303.0.0
2785.0 Test user 20 Unsigned8 rw P0.9304.0.0
2786.0 Test user 30 Unsigned8 rw P0.9305.0.0
2795.0 Upper limit value warning threshold FloatingPoint rw P0.9314.0.0
power output stage temperature
2796.0 Upper limit value power output stage FloatingPoint rw P0.9315.0.0
temperature
2797.0 Lower limit value warning threshold FloatingPoint rw P0.9316.0.0
power output stage temperature
2798.0 Lower limit value power output stage FloatingPoint rw P0.9317.0.0
temperature
2803.0 Current upper limit value warning FloatingPoint ro P0.9322.0.0
threshold power output stage temperat-
ure
2804.0 Current upper limit value power output FloatingPoint ro P0.9323.0.0
stage temperature
2805.0 Current lower limit value warning FloatingPoint ro P0.9324.0.0
threshold power output stage temperat-
ure
2806.0 Current lower limit value power output FloatingPoint ro P0.9325.0.0
stage temperature
2807.0 ... Firmware package version STRING(30) ro P0.9550.0.0 ...
29 29
2808.0 Major version firmware package Unsigned32 ro P0.9560.0.0
2809.0 Minor version firmware package Unsigned32 ro P0.9570.0.0
2810.0 Patch version firmware package Unsigned32 ro P0.9580.0.0
2811.0 Build version firmware package Unsigned32 ro P0.9590.0.0
2813.0 Storage option in error log Unsigned8 rw P0.9601.0.0

Festo — CMMT-ST-SW — 2019-08b 833

PROFINET

PNU Name Data type Access Parameter

2815.0 Storage option in error log Unsigned8 rw P0.9603.0.0

2817.0 Storage option in error log Unsigned8 rw P0.9605.0.0
2819.0 Storage option in error log Unsigned8 rw P0.9607.0.0
2821.0 Storage option in error log Unsigned8 rw P0.9609.0.0
2823.0 Storage option in error log Unsigned8 rw P0.9611.0.0
2825.0 Storage option in error log Unsigned8 rw P0.9613.0.0
2827.0 Storage option in error log Unsigned8 rw P0.9615.0.0
2837.0 Encoder resolution Unsigned16 rw P0.10040.0.0
2840.0 Raw value position Unsigned16 ro P0.10041.0.0
2843.0 Raw value number of revolutions Integer16 ro P0.10042.0.0
2846.0 Quadrature evaluation Unsigned8 rw P0.10043.0.0
2888.0 Device interface x1A status Unsigned32 ro P0.10151.0.0
2889.0 Device interface x1C status Unsigned32 ro P0.10152.0.0
2890.0 Internal interface status Unsigned32 ro P0.10153.0.0
2891.0 ExceptionCount Unsigned32 ro P0.10300.0.0
2892.0 ExceptionType Unsigned32 ro P0.10301.0.0
2893.0 PID Unsigned32 ro P0.10302.0.0
2894.0 ErrorCode Unsigned32 ro P0.10303.0.0
2895.0 UserInfo Unsigned32 ro P0.10304.0.0
2896.0 RegR14ex Unsigned32 ro P0.10305.0.0
2897.0 RegMPU Unsigned32 ro P0.10306.0.0
2898.0 RegState Unsigned32 ro P0.10307.0.0
2899.0 RegIPSR Unsigned32 ro P0.10308.0.0
2900.0 RegCFSR Unsigned32 ro P0.10309.0.0
2901.0 RegHFSR Unsigned32 ro P0.10310.0.0
2902.0 Bus fault address register Unsigned32 ro P0.10311.0.0
2903.0 MemManage Fault Address Register Unsigned32 ro P0.10312.0.0
2904.0 Auxiliary Fault Status Register Unsigned32 ro P0.10313.0.0
2905.0 System Handler Control and State Unsigned32 ro P0.10314.0.0
Register
2906.0 Reset status list Unsigned32 ro P0.10315.0.0
2907.0 Operating system-specific Unsigned32 ro P0.10316.0.0

834 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

2908.0 ... Servo drive initialisation status Unsigned32 ro P0.10320.0.0 ...

3 3
2909.0 Status ReInit Unsigned32 ro P0.10321.0.0
2910.0 Status ReInit requested Boolean ro P0.10322.0.0
2911.0 Status ReInit active Boolean ro P0.10323.0.0
2912.0 Status ReInit device restart Boolean ro P0.10324.0.0
2916.0 Storage option in error log Unsigned8 rw P0.10328.0.0
2917.0 Number ReInit requests Unsigned32 ro P0.10329.0.0
2918.0 Number activated ReInit Unsigned32 ro P0.10330.0.0
2937.0 Standardised encoder position Integer64 ro P0.11600.0.0
2939.0 Absolute position in user units Integer64 ro P0.11601.0.0
2941.0 Velocity in user units FloatingPoint ro P0.11602.0.0
2943.0 Filtered velocity in user units FloatingPoint ro P0.11603.0.0
2945.0 Electrical angle Unsigned32 ro P0.11604.0.0
2947.0 Electrical angular frequency FloatingPoint ro P0.11605.0.0
2953.0 Commutation angle from encoder Integer64 rw P0.11608.0.0
memory
2967.0 Current position Integer64 ro P0.11615.0.0
2969.0 Encoder selection Unsigned32 rw P0.11616.0.0
2971.0 Active encoder Unsigned32 ro P0.11617.0.0
2973.0 Velocity filter filter time constant FloatingPoint rw P0.11618.0.0
2991.0 Activate DHCP Boolean rw P0.12000.0.0
2992.0 Activate DHCP Boolean rw P0.12000.1.0
2993.0 IP address Unsigned32 rw P0.12001.0.0
2994.0 IP address Unsigned32 rw P0.12001.1.0
2995.0 Subnet mask Unsigned32 rw P0.12002.0.0
2996.0 Subnet mask Unsigned32 rw P0.12002.1.0
2997.0 Gateway address Unsigned32 rw P0.12003.0.0
2998.0 Gateway address Unsigned32 rw P0.12003.1.0
2999.0 Active IP address Unsigned32 ro P0.12004.0.0
3000.0 Active IP address Unsigned32 ro P0.12004.1.0
3001.0 Active subnet mask Unsigned32 ro P0.12005.0.0

Festo — CMMT-ST-SW — 2019-08b 835

PROFINET

PNU Name Data type Access Parameter

3002.0 Active subnet mask Unsigned32 ro P0.12005.1.0

3003.0 Active gateway address Unsigned32 ro P0.12006.0.0
3004.0 Active gateway address Unsigned32 ro P0.12006.1.0
3005.0 ... MAC address Unsigned8 ro P0.12007.0.0 ...
5 5
3006.0 ... MAC address Unsigned8 ro P0.12007.1.0 ...
5 5
3007.0 Activate keep-alive-signal Boolean rw P0.12008.0.0
3008.0 Keep-alive-signal wait time Unsigned32 rw P0.12009.0.0
3009.0 Keep-alive-signal repeat time Unsigned32 rw P0.12010.0.0
3010.0 Maximum number of repetitions Unsigned32 rw P0.12011.0.0
3011.0 Active connection access Unsigned16 ro P0.12012.0.0
3012.0 Maximum connection access Unsigned16 ro P0.12013.0.0
3013.0 Connection active Boolean ro P0.12014.0.0
3014.0 Connection active Boolean ro P0.12014.1.0
3015.0 Connection ID Unsigned32 ro P0.12015.0.0
3016.0 Connection ID Unsigned32 ro P0.12015.1.0
3017.0 Host IP address Unsigned32 ro P0.12016.0.0
3018.0 Host IP address Unsigned32 ro P0.12016.1.0
3019.0 Port host Unsigned16 ro P0.12017.0.0
3020.0 Port host Unsigned16 ro P0.12017.1.0
3052.0 Current lower limit value load voltage FloatingPoint ro P0.28151.0.0
3053.0 Current upper limit value load voltage FloatingPoint ro P0.28152.0.0
3057.0 Sync Time FloatingPoint rw P0.31235.0.0
3061.0 Status PROFINET request Integer32 rw P0.54543.0.0
3062.0 Active status PROFINET Integer32 ro P0.54544.0.0
3065.0 Current warning threshold DC link FloatingPoint ro P0.56799.0.0
voltage
3066.0 Current upper limit value DC link voltage FloatingPoint ro P0.56800.0.0
3067.0 Current lower limit value DC link voltage FloatingPoint ro P0.56801.0.0
3071.0 Trigger level Integer64 rw P0.60012.0.0
3072.0 Bit mask data trigger Unsigned64 rw P0.60013.0.0

836 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

3073.0 Actual acceleration value unfiltered FloatingPoint ro P0.71500.0.0

3075.0 Actual acceleration value filtered FloatingPoint ro P0.71501.0.0
3077.0 Filter time constant acceleration filter FloatingPoint rw P0.71502.0.0
3082.0 Message counter Unsigned32 ro P0.100501.0.0
3083.0 Current file pointer Unsigned32 ro P0.100502.0.0
3084.0 Current file size Unsigned32 ro P0.100503.0.0
3086.0 Storage option in error log Unsigned8 rw P0.100505.0.0
3088.0 Storage option in error log Unsigned8 ro P0.100509.0.0
3089.0 Current indicator in the message buffer Unsigned32 ro P0.100510.0.0
3140.0 Axis ID diagnostic trace Unsigned16 rw P0.103100.0.0
3141.0 Diagnostics ID diagnostic trace Unsigned32 rw P0.103101.0.0
3142.0 Data instance ID diagnostic trace Unsigned16 rw P0.103102.0.0
3143.0 Current axis ID diagnostic trace Unsigned16 ro P0.103103.0.0
3144.0 Current diagnostics ID diagnostic trace Unsigned32 ro P0.103104.0.0
3145.0 Current data instance ID diagnostic Unsigned16 ro P0.103105.0.0
trace
3146.0 Diagnostics trigger Unsigned32 rw P0.103106.0.0
3147.0 Current diagnostics trigger Unsigned32 ro P0.103107.0.0
3158.0 Number diagnostics acknowledgements Unsigned32 ro P0.103401.0.0
3159.0 Number diagnostics acknowledgements Unsigned32 ro P0.103401.1.0
3242.0 Reset device Unsigned16 rw P0.112901.0.0
3243.0 Load factory settings Unsigned16 rw P0.112902.0.0
3244.0 Save the parameter set Unsigned16 rw P0.112903.0.0
3284.0 Major version bootloader Unsigned32 ro P0.1130121.0.0
3285.0 Minor version bootloader Unsigned32 ro P0.1130122.0.0
3286.0 Patch version bootloader Unsigned32 ro P0.1130123.0.0
3287.0 Build version bootloader Unsigned32 ro P0.1130124.0.0
3288.0 ... Version bootloader STRING(32) ro P0.1130125.0.0
31 ... 31
3291.0 Activation of variable message function Boolean rw P0.1174200.0.0
3292.0 Axis ID data trigger Unsigned16 rw P0.1174201.0.0
3293.0 Data ID data trigger Unsigned32 rw P0.1174202.0.0

Festo — CMMT-ST-SW — 2019-08b 837

PROFINET

PNU Name Data type Access Parameter

3294.0 Data instance ID data trigger Unsigned16 rw P0.1174203.0.0

3295.0 Array ID data trigger Unsigned16 rw P0.1174204.0.0
3296.0 Trigger level MELDW.5 Integer64 rw P0.1174205.0.0
3297.0 Hysteresis of trigger level Integer64 rw P0.1174206.0.0
3298.0 Data trigger damping time FloatingPoint rw P0.1174207.0.0
3299.0 Variable message function status Boolean ro P0.1174210.0.0
3300.0 Current axis ID data trigger Unsigned16 ro P0.1174211.0.0
3301.0 Current data ID data trigger Unsigned32 ro P0.1174212.0.0
3302.0 Current data instance ID data trigger Unsigned16 ro P0.1174213.0.0
3303.0 Current array ID data trigger Unsigned16 ro P0.1174214.0.0
3304.0 Current trigger level Integer64 ro P0.1174215.0.0
3305.0 Current hysteresis of trigger level Integer64 ro P0.1174216.0.0
3306.0 Current data trigger damping time FloatingPoint ro P0.1174217.0.0
3307.0 Data trigger status Boolean ro P0.1174220.0.0
3312.0 ID reintialisation Unsigned32 ro P0.11280019.0-
.0
3313.0 ... URL address STRING(20) ro P0.11280052.0-
19 .0 ... 19
3314.0 PZD telegram selection Unsigned16 rw P0.11280201.0-
.0
3316.0 Storage option in error log Unsigned8 rw P0.11280203.0-
.0
3317.0 Maximum number of parameters Unsigned16 ro P0.11280801.0-
.0
3318.0 Multi-parameter access active Boolean ro P0.11280802.0-
.0
3320.0 ... Name of Station STRING(240) ro P0.11295001.0-
239 .0 ... 239
3321.0 ... I&M 1 System identification STRING(33) ro P0.11295002.0-
32 .0 ... 32
3322.0 ... I&M 1 location marking STRING(23) ro P0.11295003.0-
22 .0 ... 22
3323.0 ... I&M 2 installation date STRING(17) ro P0.11295004.0-
16 .0 ... 16

838 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

3324.0 ... I&M 3 additional name STRING(55) ro P0.11295005.0-

54 .0 ... 54
3326.0 ... Revision STRING(10) ro P0.72.0.0 ... 9
9
3327.0 Resolution single turn Unsigned32 rw P0.3601.0.0
3328.0 Resolution multiturn Unsigned32 rw P0.3602.0.0
3329.0 Single-turn position Unsigned32 ro P0.3603.0.0
3330.0 Multi-turn numerator Unsigned32 ro P0.3604.0.0
3336.0 CRC BiSS-C Unsigned8 ro P0.3610.0.0
3338.0 Baud rate Unsigned32 rw P0.3612.0.0
3339.0 Activation of correction table Boolean rw P0.3613.0.0
3343.0 Activation read out extended encoder Boolean rw P0.3618.0.0
data
3349.0 ... unused STRING(20) rw P0.3624.0.0 ...
19 19
3352.0 DC link recovery deactivation FloatingPoint ro P0.10181.0.0
3353.0 DC link recovery status Boolean ro P0.10182.0.0
3355.0 Activation automatic voltage determina- Boolean rw P0.10184.0.0
tion
3356.0 Power feedback switch-off threshold FloatingPoint rw P0.10185.0.0
3357.0 Scaling factor offset of voltage calcula- FloatingPoint rw P0.10186.0.0
tion
3361.0 Activate PNP input and output beha- Unsigned8 rw P0.10191.0.0
viour
3362.0 Inversion of the inputs active Boolean ro P0.10192.0.0
3363.0 Inversion of the outputs active Boolean ro P0.10193.0.0
3364.0 Digital input X1A.7 Unsigned32 rw P0.11201.0.0
3365.0 Digital input X1A.8 Unsigned32 rw P0.11202.0.0
3366.0 Digital output X1A.9 Unsigned32 rw P0.11203.0.0
3367.0 Digital output X1A.10 Unsigned32 rw P0.11204.0.0
3368.0 Digital input X1C.2 Unsigned32 rw P0.11205.0.0
3371.0 Web server activation Boolean rw P0.11280051.0-
.0

Festo — CMMT-ST-SW — 2019-08b 839

PROFINET

PNU Name Data type Access Parameter

3373.0 Diagnostic category Unsigned8 rw P0.5781.0.0

3375.0 Diagnostic category Unsigned8 rw P0.5783.0.0
3376.0 Currently most serious error Unsigned32 ro P0.315.0.0
3377.0 Currently most serious error Unsigned32 ro P0.315.1.0
3378.0 Activation inversion zero pulse Boolean rw P0.10045.0.0
3381.0 Zero pulse monitoring window Unsigned16 rw P0.10047.0.0
3384.0 Storage option in error log Unsigned8 rw P0.10060.0.0
3387.0 Diagnostic category Unsigned16 rw P0.10061.0.0
3393.0 Encoder serial number Unsigned32 ro P0.3625.0.0
3394.0 Manufacturer ID BiSS-C Unsigned16 ro P0.3626.0.0
3395.0 Current encoder ID Unsigned64 ro P0.3627.0.0
3400.0 ... Memory Value Integer64 ro P0.34013.0.0 ...
7 7
3401.0 Diagnostic category Unsigned16 rw P0.54545.0.0
3402.0 Storage option in error log Unsigned8 rw P0.54546.0.0
3405.0 Maximum number of parameters Unsigned16 ro P0.303101.0.0
3406.0 Multi-parameter access active Boolean ro P0.303102.0.0
3407.0 Status EtherNet/IP Integer32 ro P0.303302.0.0
3408.0 Diagnostic category Unsigned16 rw P0.1174230.0.0
3409.0 Storage option in error log Unsigned8 rw P0.1174231.0.0
3410.0 Telegram selection Unsigned16 rw P0.3030101.0.0
3412.0 Storage option in error log Unsigned8 rw P0.3030103.0.0
11000.0 Counter overruns 32-bit Integer32 ro P1.11.0.0
11001.0 Use of user specific motor data Boolean rw P1.14.0.0
11002.0 Switch-on delay holding brake 1 FloatingPoint ro P1.20.0.0
11003.0 Switch-off delay holding brake 1 FloatingPoint ro P1.21.0.0
11006.0 Status holding brake 1 Unsigned32 ro P1.24.0.0
11008.0 Status holding brakes 1 and 2 Unsigned32 ro P1.26.0.0
11011.0 Selection of holding brake (manual Unsigned32 ro P1.29.0.0
opening)
11021.0 Actual phase U current value FloatingPoint ro P1.39.0.0

840 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

11022.0 Filter frequency notch filter FloatingPoint rw P1.40.0.0 ... 2

... 2
11024.0 Controller operating status Unsigned32 ro P1.42.0.0
11026.0 Controller parameter set switchover Boolean ro P1.44.0.0
status
11027.0 Diagnostic category Unsigned16 rw P1.45.0.0
11028.0 Storage option in error log Unsigned8 rw P1.46.0.0
11031.0 Band width of notch filter FloatingPoint rw P1.49.0.0 ... 2
... 2
11032.0 Notch filter output active current FloatingPoint ro P1.50.0.0 ... 2
... 2
11033.0 Activation of notch filter Boolean rw P1.51.0.0 ... 2
... 2
11034.0 Setpoint value active current unfiltered FloatingPoint ro P1.52.0.0
11035.0 Amplification gain current regulator FloatingPoint rw P1.80.0.0
(reactive current)
11036.0 Integration constant current regulator FloatingPoint rw P1.81.0.0
(reactive current)
11037.0 Amplification gain current regulator FloatingPoint rw P1.82.0.0
(active current)
11038.0 Integration constant current regulator FloatingPoint rw P1.83.0.0
(active current)
11039.0 Setpoint value voltage Ud FloatingPoint ro P1.84.0.0
11040.0 Setpoint value voltage Uq FloatingPoint ro P1.85.0.0
11041.0 Setpoint value active current FloatingPoint ro P1.86.0.0
11042.0 Setpoint value reactive current FloatingPoint ro P1.87.0.0
11043.0 Maximum output voltage FloatingPoint ro P1.88.0.0
11044.0 Actual Clarke-Transformation la current FloatingPoint ro P1.89.0.0
value
11045.0 Setpoint value position Integer64 ro P1.90.0.0
11046.0 Setpoint value velocity FloatingPoint ro P1.91.0.0
11047.0 Setpoint value acceleration FloatingPoint ro P1.92.0.0
11048.0 Setpoint value jerk FloatingPoint ro P1.93.0.0
11049.0 Setpoint value torque FloatingPoint ro P1.94.0.0

Festo — CMMT-ST-SW — 2019-08b 841

PROFINET

PNU Name Data type Access Parameter

11050.0 Feed forward control current output FloatingPoint ro P1.95.0.0

11051.0 Fine interpolator output position Integer64 ro P1.100.0.0
11052.0 Fine interpolator output velocity FloatingPoint ro P1.101.0.0
11053.0 Fine interpolator output acceleration FloatingPoint ro P1.102.0.0
11054.0 Fine interpolator output jerk FloatingPoint ro P1.103.0.0
11055.0 Fine interpolator output torque FloatingPoint ro P1.104.0.0
11056.0 Fine interpolator output current FloatingPoint ro P1.105.0.0
11058.0 Fine interpolator status Unsigned32 ro P1.107.0.0
11061.0 Encoder channel 1 position Unsigned32 ro P1.122.0.0
11067.0 Actual position value Integer64 ro P1.128.0.0
11069.0 Actual torque value motor shaft FloatingPoint ro P1.150.0.0
11070.0 Actual torque value gear shaft FloatingPoint ro P1.151.0.0
11071.0 Motion Manager status Unsigned32 ro P1.171.0.0
11072.0 Active motion task Unsigned32 ro P1.172.0.0
11073.0 Active motion task status Unsigned32 ro P1.173.0.0
11080.0 Position controller amplification gain FloatingPoint rw P1.220.0.0
11081.0 Dead zone position controller Integer64 rw P1.221.0.0
11082.0 Minimum correction velocity FloatingPoint rw P1.222.0.0
11083.0 Maximum correction velocity FloatingPoint rw P1.223.0.0
11084.0 Velocity controller amplification gain FloatingPoint rw P1.224.0.0
11085.0 Velocity controller integration constant FloatingPoint rw P1.225.0.0
11086.0 Amplification gain position controller FloatingPoint rw P1.226.0.0 ... 2
... 2
11094.0 Setpoint value reactive current FloatingPoint rw P1.270.0.0
11104.0 Setpoint management output position Integer64 ro P1.290.0.0
11105.0 Setpoint management output velocity FloatingPoint ro P1.291.0.0
11106.0 Setpoint management output accelera- FloatingPoint ro P1.292.0.0
tion
11107.0 Setpoint management output jerk FloatingPoint ro P1.293.0.0
11108.0 Setpoint management output torque FloatingPoint ro P1.294.0.0
11109.0 Setpoint management output current FloatingPoint ro P1.295.0.0
11110.0 Setpoint management control structure Unsigned32 ro P1.296.0.0

842 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

11111.0 Setpoint management controller operat- Unsigned32 ro P1.297.0.0

ing status
11112.0 Status setpoint sources Unsigned32 ro P1.298.0.0 ... 4
... 4
11113.0 Actual phase V current value FloatingPoint ro P1.310.0.0
11122.0 Maximum motor or servo drive torque FloatingPoint ro P1.381.0.0
11123.0 Maximum motor or servo drive velocity FloatingPoint ro P1.382.0.0
11124.0 STO hysteresis time FloatingPoint rw P1.390.0.0
11125.0 STO discrepancy time FloatingPoint rw P1.391.0.0
11126.0 STO safety status Unsigned32 ro P1.392.0.0
11127.0 STO error status Unsigned32 ro P1.393.0.0
11128.0 STO signal status Unsigned32 ro P1.394.0.0
11144.0 Movement monitoring status Unsigned32 ro P1.460.0.0
11145.0 Configuration word movement monitor- Unsigned32 ro P1.461.0.0
ing
11146.0 Damping time position: following error FloatingPoint rw P1.462.0.0
11147.0 Monitoring window position: following FloatingPoint rw P1.463.0.0
error
11148.0 Monitoring window speed: following FloatingPoint rw P1.464.0.0
error
11149.0 Standstill damping time FloatingPoint rw P1.465.0.0
11150.0 Monitoring window speed standstill FloatingPoint rw P1.466.0.0
monitoring
11151.0 Monitoring window position standstill FloatingPoint rw P1.467.0.0
11152.0 Damping time target reached FloatingPoint rw P1.468.0.0
11153.0 Monitoring window target position FloatingPoint rw P1.469.0.0
11154.0 Device control status Unsigned32 ro P1.530.0.0
11159.0 Maximum current motor FloatingPoint ro P1.620.0.0
11160.0 Motor nominal current FloatingPoint ro P1.621.0.0
11161.0 Maximum current servo drive FloatingPoint ro P1.622.0.0
11162.0 Nominal current servo drive FloatingPoint ro P1.623.0.0
11163.0 Resulting maximum current FloatingPoint ro P1.624.0.0
11164.0 Resulting minimum current FloatingPoint ro P1.625.0.0

Festo — CMMT-ST-SW — 2019-08b 843

PROFINET

PNU Name Data type Access Parameter

11165.0 Resulting nominal current FloatingPoint ro P1.626.0.0

11168.0 Scaling factor start value I²t monitoring FloatingPoint rw P1.631.0.0
motor
11169.0 Limit value I²t monitoring motor FloatingPoint ro P1.632.0.0
11170.0 Scaling factor maximum value after FloatingPoint ro P1.633.0.0
switching on
11171.0 Actual value I²t monitoring motor FloatingPoint ro P1.634.0.0
11172.0 Scaling factor warning limit I²t monitor- FloatingPoint rw P1.635.0.0
ing motor
11173.0 Maximum I²t time FloatingPoint ro P1.636.0.0
11174.0 Scaling factor start value I²t monitoring FloatingPoint ro P1.637.0.0
power output stage
11175.0 Limit value I²t monitoring power output FloatingPoint ro P1.638.0.0
stage
11176.0 Scaling factor maximum value after FloatingPoint ro P1.639.0.0
switching on
11177.0 Status of state machine commutation Unsigned32 ro P1.660.0.0
finding
11178.0 Commutation finding status Unsigned32 ro P1.661.0.0
11179.0 Time current increase FloatingPoint rw P1.662.0.0
11180.0 Increments FloatingPoint rw P1.664.0.0
11182.0 Mode Unsigned32 rw P1.668.0.0
11183.0 Velocity FloatingPoint rw P1.669.0.0
11184.0 Pole pairs (user defined) Unsigned32 rw P1.718.0.0
11185.0 Current pole pairs Unsigned32 ro P1.719.0.0
11186.0 Actual Clarke-Transformation lb current FloatingPoint ro P1.810.0.0
value
11189.0 Actual reactive current value FloatingPoint ro P1.813.0.0
11190.0 Actual active current value FloatingPoint ro P1.814.0.0
11195.0 Control parameter equalisation for act- Boolean rw P1.819.0.0
ive and reactive current regulators
11196.0 Functional safety status Unsigned32 ro P1.820.0.0
11197.0 Diagnostic category Unsigned16 rw P1.821.0.0
11198.0 Storage option in error log Unsigned8 rw P1.822.0.0

844 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

11199.0 Control word Motion Manager Unsigned32 ro P1.823.0.0

11200.0 Reactive current control error FloatingPoint ro P1.824.0.0
11201.0 Active current control error FloatingPoint ro P1.825.0.0
11202.0 Referencing status Unsigned32 ro P1.840.0.0
11203.0 Move to axis zero point after homing Boolean rw P1.841.0.0
11204.0 Homing timeout FloatingPoint rw P1.842.0.0
11205.0 Search for reference mark setpoint velo- FloatingPoint rw P1.843.0.0
city
11206.0 Search for reference mark setpoint FloatingPoint rw P1.844.0.0
acceleration
11207.0 Search for reference mark setpoint jerk FloatingPoint rw P1.845.0.0
11208.0 Setpoint reference mark creeping velo- FloatingPoint rw P1.846.0.0
city
11209.0 Setpoint reference mark creeping accel- FloatingPoint rw P1.847.0.0
eration
11210.0 Setpoint reference mark creeping jerk FloatingPoint rw P1.848.0.0
11211.0 Move to axis zero point setpoint velocity FloatingPoint rw P1.849.0.0
11212.0 Lower limit value velocity (closed loop FloatingPoint rw P1.850.0.0
controller)
11213.0 Upper limit value velocity (closed loop FloatingPoint rw P1.851.0.0
controller)
11214.0 Lower limit value torque (closed loop FloatingPoint rw P1.852.0.0
controller)
11215.0 Upper limit value torque (closed loop FloatingPoint rw P1.853.0.0
controller)
11216.0 Lower limit value active current (closed FloatingPoint rw P1.854.0.0
loop controller)
11217.0 Upper limit value active current (closed FloatingPoint rw P1.855.0.0
loop controller)
11218.0 Limit value total current (closed loop FloatingPoint rw P1.856.0.0
controller)
11219.0 Status auto tuning Unsigned8 ro P1.860.0.0
11222.0 Interpolator output position Integer64 ro P1.911.0.0
11223.0 Interpolator output velocity FloatingPoint ro P1.912.0.0

Festo — CMMT-ST-SW — 2019-08b 845

PROFINET

PNU Name Data type Access Parameter

11224.0 Interpolator output acceleration FloatingPoint ro P1.913.0.0

11225.0 Interpolator output jerk FloatingPoint ro P1.914.0.0
11226.0 Interpolator output torque FloatingPoint ro P1.915.0.0
11227.0 Interpolator output current FloatingPoint ro P1.916.0.0
11228.0 Counter motion task Unsigned32 ro P1.917.0.0
11239.0 SFB error status Unsigned32 ro P1.950.0.0
11240.0 Feedback signals Unsigned32 ro P1.951.0.0
11241.0 STA hysteresis time FloatingPoint ro P1.952.0.0
11246.0 Inactive time position setpoint value Unsigned32 rw P1.957.0.0
11247.0 Time constant velocity setpoint value fil- FloatingPoint rw P1.958.0.0
ter
11248.0 Time constant acceleration setpoint FloatingPoint rw P1.959.0.0
value filter
11249.0 Amplification gain velocity feed forward FloatingPoint rw P1.967.0.0
control
11250.0 Amplification gain torque feed forward FloatingPoint rw P1.968.0.0
control
11251.0 Offset torque FloatingPoint rw P1.969.0.0
11252.0 Total inertia FloatingPoint rw P1.973.0.0
11253.0 Setpoint value friction compensation FloatingPoint ro P1.974.0.0
11254.0 Setpoint value inertia compensation FloatingPoint ro P1.975.0.0
11255.0 Support point velocity [rad/s] FloatingPoint rw P1.976.0.0 ...
... 15 15
11256.0 Support point torque [Nm] FloatingPoint rw P1.977.0.0 ...
... 15 15
11257.0 Number of support points Unsigned32 rw P1.978.0.0
11267.0 IPO mode position Integer64 ro P1.1140.0.0
11268.0 IPO mode velocity FloatingPoint ro P1.1141.0.0
11269.0 IPO mode acceleration FloatingPoint ro P1.1142.0.0
11270.0 IPO mode jerk FloatingPoint ro P1.1143.0.0
11271.0 IPO mode torque FloatingPoint ro P1.1144.0.0
11272.0 IPO mode current FloatingPoint ro P1.1145.0.0
11273.0 IPO mode active Unsigned32 ro P1.1146.0.0

846 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

11274.0 Next IPO mode Unsigned32 ro P1.1147.0.0

11275.0 Current IPO mode Unsigned32 ro P1.1148.0.0
11276.0 Status next IPO mode Unsigned32 ro P1.1149.0.0
11277.0 Current user unit Unsigned32 ro P1.1150.0.0
11278.0 Selection of next user unit Unsigned32 rw P1.1151.0.0
11279.0 User unit status Unsigned32 ro P1.1152.0.0
11280.0 Current torque constant FloatingPoint ro P1.1153.0.0
11281.0 Current pole pairs Unsigned32 ro P1.1154.0.0
11282.0 Current counter gear unit FloatingPoint ro P1.1155.0.0 ...
... 2 2
11283.0 Current denominator gear unit FloatingPoint ro P1.1156.0.0 ...
... 2 2
11284.0 Current counter feed constant FloatingPoint ro P1.1157.0.0 ...
... 2 2
11285.0 Current denominator feed constant FloatingPoint ro P1.1158.0.0 ...
... 2 2
11286.0 Diagnostic category Unsigned16 ro P1.1159.0.0
11287.0 Reversing the direction of rotation Boolean rw P1.1170.0.0
11288.0 Invert encoder signal Boolean rw P1.1171.0.0 ...
... 9 9
11289.0 Phase rotation Boolean rw P1.1172.0.0
11290.0 Reversing the direction of rotation valid- Boolean rw P1.1173.0.0
ation status
11291.0 Invert encoder signal validation status Boolean rw P1.1174.0.0 ...
... 9 9
11292.0 Validation status of phase rotation Boolean rw P1.1175.0.0
11293.0 Database ID of axis Unsigned32 rw P1.1191.0.0
11294.0 Axis NOC code STRING(50) rw P1.1192.0.0 ...
... 49 49
11295.0 Load weight / load inertia FloatingPoint rw P1.1193.0.0
11296.0 Feed constant numerator Unsigned32 rw P1.1194.0.0
11297.0 Feed constant denominator Unsigned32 rw P1.1195.0.0
11298.0 Working stroke Integer64 rw P1.1196.0.0

Festo — CMMT-ST-SW — 2019-08b 847

PROFINET

PNU Name Data type Access Parameter

11299.0 Design axis Unsigned32 rw P1.1197.0.0

11300.0 Length connecting shaft FloatingPoint rw P1.1198.0.0
11301.0 Maximum driving torque axis FloatingPoint rw P1.1199.0.0
11302.0 Database ID of mounting kit Unsigned32 rw P1.1200.0.0
11303.0 NOC code mounting kit STRING(37) rw P1.1201.0.0 ...
... 36 36
11304.0 Database ID connecting shaft / coupling Unsigned32 rw P1.1202.0.0
11305.0 NOC code connecting shaft / coupling STRING(37) rw P1.1203.0.0 ...
... 36 36
11306.0 Database ID cable set Unsigned32 rw P1.1204.0.0
11307.0 NOC code cable set STRING(37) rw P1.1205.0.0 ...
... 36 36
11308.0 Length motor cable FloatingPoint rw P1.1206.0.0
11309.0 Status device configured Boolean rw P1.1207.0.0
11310.0 Cable cross section FloatingPoint rw P1.1208.0.0
11311.0 Actual velocity value FloatingPoint ro P1.1210.0.0
11313.0 Electrical angle Unsigned32 ro P1.1212.0.0
11314.0 Electrical angular frequency FloatingPoint ro P1.1213.0.0
11317.0 Database ID gear unit 1 Unsigned32 rw P1.1230.0.0
11318.0 NOC code gear unit 1 STRING(37) rw P1.1231.0.0 ...
... 36 36
11319.0 Conversion factor gear unit 1 numerator Unsigned32 rw P1.1232.0.0
11320.0 Conversion factor gear unit 1 denomin- Unsigned32 rw P1.1233.0.0
ator
11321.0 Database ID gear unit 2 Unsigned32 rw P1.1234.0.0
11322.0 NOC code gear unit 2 STRING(37) rw P1.1235.0.0 ...
... 36 36
11323.0 Conversion factor gear unit 2 numerator Unsigned32 rw P1.1236.0.0
11324.0 Conversion factor gear unit 2 denomin- Unsigned32 rw P1.1237.0.0
ator
11325.0 Database ID gear unit 3 Unsigned32 rw P1.1238.0.0
11326.0 NOC code gear unit 3 STRING(37) rw P1.1239.0.0 ...
... 36 36

848 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

11327.0 Conversion factor gear unit 3 numerator Unsigned32 rw P1.1240.0.0

11328.0 Conversion factor gear unit 3 denomin- Unsigned32 rw P1.1241.0.0
ator
11329.0 Total conversion factor gear unit numer- Unsigned32 rw P1.1242.0.0
ator
11330.0 Total conversion factor gear unit Unsigned32 rw P1.1243.0.0
denominator
11331.0 Velocity limiting status Boolean ro P1.1301.0.0
11332.0 Acceleration limiting status Boolean ro P1.1302.0.0
11333.0 Torque limiting status Boolean ro P1.1303.0.0
11334.0 Limit value velocity limiting FloatingPoint rw P1.1304.0.0
11335.0 Limit value acceleration limiting FloatingPoint rw P1.1305.0.0
11336.0 Limit value deceleration limiting FloatingPoint rw P1.1306.0.0
11337.0 Upper limit torque limitation FloatingPoint rw P1.1307.0.0
11338.0 Lower limit torque limitation FloatingPoint rw P1.1308.0.0
11339.0 Mileage 1 Integer64 rw P1.1411.0.0
11343.0 Mileage warning threshold Integer64 rw P1.1417.0.0
11344.0 Diagnostic category Unsigned16 rw P1.1419.0.0
11345.0 Load change counter 1 Integer64 rw P1.1421.0.0
11349.0 Warning threshold load change counter Integer64 rw P1.1427.0.0
11350.0 Diagnostic category Unsigned16 rw P1.1429.0.0
11351.0 Jog duration 1 movement FloatingPoint rw P1.1510.0.0
11352.0 Slow jog 1 velocity FloatingPoint rw P1.1511.0.0
11353.0 Slow jog 1 acceleration FloatingPoint rw P1.1512.0.0
11354.0 Slow jog 1 jerk FloatingPoint rw P1.1513.0.0
11355.0 Fast jog 1 velocity FloatingPoint rw P1.1514.0.0
11356.0 Fast jog 1 acceleration FloatingPoint rw P1.1515.0.0
11357.0 Fast jog 1 jerk FloatingPoint rw P1.1516.0.0
11358.0 Current ramp FloatingPoint rw P1.1555.0.0
11359.0 Conversion factor torque FloatingPoint rw P1.1556.0.0
11371.0 Storage option in error log Unsigned8 rw P1.1733.0.0

Festo — CMMT-ST-SW — 2019-08b 849

PROFINET

PNU Name Data type Access Parameter

11380.0 Command record type Unsigned32 rw P1.1810.0.0 ...

... 127 127
11381.0 Record number Integer32 rw P1.1811.0.0 ...
... 127 127
11382.0 Record table field 1 Integer64 rw P1.1812.0.0 ...
... 127 127
11383.0 Record table field 2 Integer64 rw P1.1813.0.0 ...
... 127 127
11384.0 Record table field 3 Integer64 rw P1.1814.0.0 ...
... 127 127
11385.0 Record table field 4 Integer64 rw P1.1815.0.0 ...
... 127 127
11386.0 Record table field 5 Integer64 rw P1.1816.0.0 ...
... 127 127
11387.0 Record table field 6 Integer64 rw P1.1817.0.0 ...
... 127 127
11388.0 Record table field 7 Integer64 rw P1.1818.0.0 ...
... 127 127
11389.0 Record step enabling type Unsigned32 rw P1.1831.0.0 ...
... 127 127
11390.0 Record sequencing record number start Integer32 rw P1.1832.0.0 ...
... 127 127
11391.0 Record sequencing record number tar- Integer32 rw P1.1833.0.0 ...
... 127 get 127
11392.0 Record sequencing field time FloatingPoint rw P1.1834.0.0 ...
... 127 127
11393.0 Record sequencing field 1 Integer64 rw P1.1835.0.0 ...
... 127 127
11394.0 Record sequencing field 2 Integer64 rw P1.1836.0.0 ...
... 127 127
11395.0 Current record table index Integer32 ro P1.1837.0.0
11396.0 Selection start condition record Unsigned32 rw P1.1838.0.0 ...
... 127 127
11397.0 Maximum number record links Unsigned32 ro P1.1839.0.0
11398.0 Activate Event table Boolean rw P1.1840.0.0

850 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

11399.0 Event type Unsigned32 rw P1.1841.0.0 ...

... 15 15
11400.0 Next event target Integer32 rw P1.1842.0.0 ...
... 15 15
11401.0 Next event field time FloatingPoint rw P1.1843.0.0 ...
... 15 15
11402.0 Next event field 1 Integer64 rw P1.1844.0.0 ...
... 15 15
11403.0 Next event field 2 Integer64 rw P1.1845.0.0 ...
... 15 15
11404.0 Status of record table Unsigned32 ro P1.1846.0.0
11405.0 Diagnostic category Unsigned16 rw P1.1850.0.0
11406.0 Storage option in error log Unsigned8 rw P1.1851.0.0
11407.0 Diagnostic category Unsigned16 rw P1.1852.0.0
11408.0 Storage option in error log Unsigned8 rw P1.1853.0.0
11409.0 Velocity controller amplification gain FloatingPoint rw P1.2210.0.0 ...
... 2 2
11410.0 Velocity controller integration constant FloatingPoint rw P1.2211.0.0 ...
... 2 2
11411.0 Velocity control error FloatingPoint ro P1.2215.0.0
11412.0 Setpoint value velocity controller FloatingPoint ro P1.2216.0.0
11413.0 Position control error Integer64 ro P1.2217.0.0
11414.0 Minimum torque FloatingPoint ro P1.2218.0.0
11415.0 Maximum torque FloatingPoint ro P1.2219.0.0
11416.0 Setpoint value torque FloatingPoint ro P1.2220.0.0
11419.0 Amplification gain current regulator FloatingPoint rw P1.2223.0.0 ...
... 2 (active current) 2
11420.0 Integration constant current regulator FloatingPoint rw P1.2224.0.0 ...
... 2 (active current) 2
11421.0 Amplification gain current regulator FloatingPoint rw P1.2225.0.0 ...
... 2 (reactive current) 2
11422.0 Integration constant current regulator FloatingPoint rw P1.2226.0.0 ...
... 2 (reactive current) 2

Festo — CMMT-ST-SW — 2019-08b 851

PROFINET

PNU Name Data type Access Parameter

11423.0 Total inertia FloatingPoint rw P1.2227.0.0 ...

... 2 2
11424.0 Velocity filter filter time constant FloatingPoint rw P1.2228.0.0 ...
... 2 2
11425.0 Load weight / load inertia FloatingPoint rw P1.2229.0.0 ...
... 2 2
11426.0 Unlimited axis Boolean rw P1.2424.0.0
11427.0 Power unit dataset major version STRING(2) ro P1.2800.0.0 ...
... 1 1
11428.0 Minor version power unit dataset Unsigned16 ro P1.2801.0.0
11437.0 Lower limit value minimum DC link FloatingPoint ro P1.2818.0.0
voltage
11438.0 Upper limit value minimum DC link FloatingPoint ro P1.2819.0.0
voltage
11465.0 Upper limit value power output stage FloatingPoint ro P1.2850.0.0
temperature
11466.0 Lower limit value power output stage FloatingPoint ro P1.2851.0.0
temperature
11467.0 Upper limit value servo drive temperat- FloatingPoint ro P1.2852.0.0
ure
11468.0 Lower limit value servo drive temperat- FloatingPoint ro P1.2853.0.0
ure
11498.0 Setpoint generator output position Integer64 ro P1.3010.0.0
11499.0 Setpoint generator output velocity FloatingPoint ro P1.3011.0.0
11500.0 Setpoint generator output acceleration FloatingPoint ro P1.3012.0.0
11501.0 Setpoint generator output jerk FloatingPoint ro P1.3013.0.0
11502.0 Setpoint generator output torque FloatingPoint ro P1.3014.0.0
11503.0 Setpoint generator output current FloatingPoint ro P1.3015.0.0
11504.0 Setpoint generator input relative target Integer64 ro P1.3016.0.0
position
11505.0 Setpoint generator input relative target FloatingPoint ro P1.3017.0.0
velocity
11506.0 Status setpoint generator Unsigned32 ro P1.3018.0.0
11542.0 Activation of open loop operation Boolean rw P1.4001.0.0

852 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

11545.0 Active control structure Unsigned32 ro P1.4004.0.0

11546.0 Selection of mode of operation open Unsigned32 rw P1.4005.0.0
loop/closed loop
11547.0 Selection of mode of operation Unsigned32 rw P1.4006.0.0
11548.0 Active mode of operation Unsigned32 ro P1.4007.0.0
11549.0 Velocity switching threshold FloatingPoint rw P1.4008.0.0
11551.0 Current rise time FloatingPoint rw P1.4010.0.0
11552.0 Diagnostic category Unsigned16 rw P1.4020.0.0
11553.0 Storage option in error log Unsigned8 rw P1.4021.0.0
11558.0 Current reduction activation Boolean rw P1.4026.0.0
11559.0 Current reduction delay time FloatingPoint rw P1.4027.0.0
11560.0 Current reduction scaling factor FloatingPoint rw P1.4028.0.0
11564.0 Maximum failure Sign of Life Unsigned16 rw P1.4243.0.0
11565.0 Monitoring window target speed FloatingPoint rw P1.4610.0.0
11566.0 Monitoring window target torque FloatingPoint rw P1.4611.0.0
11567.0 Diagnostic category Unsigned16 rw P1.4612.0.0
11568.0 Storage option in error log Unsigned8 rw P1.4613.0.0
11569.0 Diagnostic category Unsigned16 rw P1.4614.0.0
11570.0 Storage option in error log Unsigned8 rw P1.4615.0.0
11571.0 Diagnostic category Unsigned16 rw P1.4616.0.0
11572.0 Storage option in error log Unsigned8 rw P1.4617.0.0
11573.0 Diagnostic category Unsigned16 rw P1.4618.0.0
11574.0 Storage option in error log Unsigned8 rw P1.4619.0.0
11575.0 Diagnostic category Unsigned16 rw P1.4620.0.0
11576.0 Storage option in error log Unsigned8 rw P1.4621.0.0
11577.0 Diagnostic category Unsigned16 rw P1.4622.0.0
11578.0 Storage option in error log Unsigned8 rw P1.4623.0.0
11579.0 Diagnostic category Unsigned16 rw P1.4624.0.0
11580.0 Storage option in error log Unsigned8 rw P1.4625.0.0
11581.0 Stop detection limit value FloatingPoint rw P1.4626.0.0
11582.0 Damping time limit detection FloatingPoint rw P1.4627.0.0
11583.0 Software limit positions active Boolean rw P1.4628.0.0

Festo — CMMT-ST-SW — 2019-08b 853

PROFINET

PNU Name Data type Access Parameter

11584.0 Negative software limit position Integer64 rw P1.4629.0.0

11585.0 Positive software limit position Integer64 rw P1.4630.0.0
11586.0 Activation of automatic stop ramp soft- Boolean rw P1.4631.0.0
ware limit position
11587.0 Diagnostic category Unsigned16 rw P1.4632.0.0
11588.0 Storage option in error log Unsigned8 rw P1.4633.0.0
11589.0 Diagnostic category Unsigned16 rw P1.4634.0.0
11590.0 Storage option in error log Unsigned8 rw P1.4635.0.0
11591.0 Diagnostic category Unsigned16 rw P1.4636.0.0
11592.0 Storage option in error log Unsigned8 rw P1.4637.0.0
11593.0 Diagnostic category Unsigned16 rw P1.4638.0.0
11594.0 Storage option in error log Unsigned8 rw P1.4639.0.0
11602.0 Diagnostic category Unsigned16 rw P1.4647.0.0
11603.0 Storage option in error log Unsigned8 rw P1.4648.0.0
11604.0 Diagnostic category Unsigned16 rw P1.4649.0.0
11605.0 Storage option in error log Unsigned8 rw P1.4650.0.0
11606.0 Maximum speed FloatingPoint rw P1.4660.0.0
11607.0 Diagnostic category Unsigned16 ro P1.4661.0.0
11609.0 Monitoring window pushback FloatingPoint rw P1.4663.0.0
11610.0 Damping time pushback FloatingPoint rw P1.4664.0.0
11611.0 Damping time target range FloatingPoint rw P1.4665.0.0
11612.0 Monitoring window position FloatingPoint rw P1.4666.0.0
11613.0 Monitoring window velocity FloatingPoint rw P1.4667.0.0
11614.0 Monitoring window torque FloatingPoint rw P1.4668.0.0
11615.0 Diagnostic category Unsigned16 rw P1.4669.0.0
11616.0 Storage option in error log Unsigned8 rw P1.4670.0.0
11617.0 Diagnostic category Unsigned16 rw P1.4671.0.0
11618.0 Storage option in error log Unsigned8 rw P1.4672.0.0
11619.0 Activation of automatic stop ramp Boolean rw P1.4675.0.0
stroke limit
11620.0 Diagnostic category Unsigned16 rw P1.4676.0.0
11621.0 Storage option in error log Unsigned8 rw P1.4677.0.0

854 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

11622.0 Diagnostic category Unsigned16 rw P1.4678.0.0

11623.0 Storage option in error log Unsigned8 rw P1.4679.0.0
11624.0 Current position: following error FloatingPoint ro P1.4682.0.0
11625.0 Current velocity: following error FloatingPoint ro P1.4683.0.0
11626.0 Actual stroke value Integer64 ro P1.4684.0.0
11627.0 Limit value remaining distance monitor- Integer64 rw P1.4685.0.0
ing
11628.0 Diagnostic category Unsigned16 rw P1.4686.0.0
11629.0 Storage option in error log Unsigned8 rw P1.4687.0.0
11630.0 Bit mask movement monitoring Unsigned32 rw P1.4688.0.0
11631.0 Movement monitoring (masked) Unsigned32 ro P1.4689.0.0
11632.0 Damping time velocity: following error FloatingPoint rw P1.4690.0.0
11633.0 Diagnostic category Unsigned16 rw P1.4691.0.0
11634.0 Storage option in error log Unsigned8 rw P1.4692.0.0
11635.0 Fixed stop detection damping time FloatingPoint rw P1.4693.0.0
11636.0 Limit value following error FloatingPoint rw P1.4694.0.0
11640.0 Resulting lower limit value velocity FloatingPoint ro P1.6100.0.0
(closed loop controller)
11641.0 Resulting upper limit value velocity FloatingPoint ro P1.6101.0.0
(closed loop controller)
11644.0 Resulting lower limit value torque FloatingPoint ro P1.6104.0.0
(closed loop controller)
11645.0 Resulting upper limit value torque FloatingPoint ro P1.6105.0.0
(closed loop controller)
11648.0 Resulting lower limit value active cur- FloatingPoint ro P1.6108.0.0
rent (closed loop controller)
11649.0 Resulting upper limit value active cur- FloatingPoint ro P1.6109.0.0
rent (closed loop controller)
11652.0 Resulting upper limit value total current FloatingPoint ro P1.6112.0.0
(closed loop controller)
11655.0 Actual value I²t monitoring power out- FloatingPoint ro P1.6310.0.0
put stage
11656.0 Scaling factor warning limit I²t monitor- FloatingPoint rw P1.6311.0.0
ing power output stage

Festo — CMMT-ST-SW — 2019-08b 855

PROFINET

PNU Name Data type Access Parameter

11657.0 Scaling factor start value I²t monitoring FloatingPoint ro P1.6313.0.0

power output stage at standstill
11658.0 Limit value I²t monitoring power output FloatingPoint ro P1.6314.0.0
stage at standstill
11659.0 Scaling factor maximum value after FloatingPoint ro P1.6315.0.0
drive at standstill
11660.0 Actual value I²t monitoring power out- FloatingPoint ro P1.6316.0.0
put stage at standstill
11661.0 Scaling factor warning limit I²t monitor- FloatingPoint rw P1.6317.0.0
ing drive at standstill
11662.0 Diagnostic category Unsigned16 rw P1.6319.0.0
11663.0 Storage option in error log Unsigned8 rw P1.6320.0.0
11664.0 Diagnostic category Unsigned16 rw P1.6321.0.0
11665.0 Storage option in error log Unsigned8 rw P1.6322.0.0
11666.0 Diagnostic category Unsigned16 rw P1.6323.0.0
11667.0 Storage option in error log Unsigned8 rw P1.6324.0.0
11668.0 Diagnostic category Unsigned16 rw P1.6325.0.0
11669.0 Storage option in error log Unsigned8 rw P1.6326.0.0
11670.0 Diagnostic category Unsigned16 rw P1.6327.0.0
11671.0 Storage option in error log Unsigned8 rw P1.6328.0.0
11672.0 Diagnostic category Unsigned16 rw P1.6329.0.0
11673.0 Storage option in error log Unsigned8 rw P1.6330.0.0
11674.0 Actual value relative I²t monitoring of FloatingPoint ro P1.6331.0.0
motor to limit
11675.0 Actual value relative I²t monitoring of FloatingPoint ro P1.6332.0.0
power output stage to limit
11676.0 Actual value relative I²t monitoring of FloatingPoint ro P1.6333.0.0
power output stage at standstill to limit
11677.0 Actual value I²t monitoring of the total FloatingPoint ro P1.6334.0.0
current
11682.0 Acceleration FloatingPoint rw P1.6691.0.0
11683.0 Jerk FloatingPoint rw P1.6692.0.0
11684.0 Monitoring window angle FloatingPoint rw P1.6693.0.0
11685.0 Factor current setpoint value FloatingPoint rw P1.6694.0.0

856 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

11686.0 Motor inertia (user defined) FloatingPoint rw P1.7111.0.0

11687.0 Current motor inertia FloatingPoint ro P1.7112.0.0
11688.0 Phase sequence (user defined) Boolean rw P1.7114.0.0
11689.0 Current phase sequence Boolean ro P1.7115.0.0
11690.0 Nominal current (user defined) FloatingPoint rw P1.7117.0.0
11691.0 Current nominal current FloatingPoint ro P1.7118.0.0
11692.0 Maximum peak current (user defined) FloatingPoint rw P1.7120.0.0
11693.0 Current maximum current FloatingPoint ro P1.7121.0.0
11694.0 Maximum rpm (user defined) FloatingPoint rw P1.7123.0.0
11695.0 Current maximum velocity FloatingPoint ro P1.7124.0.0
11696.0 Nominal rotary speed (user defined) FloatingPoint rw P1.7126.0.0
11697.0 Current nominal velocity FloatingPoint ro P1.7127.0.0
11698.0 Winding inductance (user defined) FloatingPoint rw P1.7129.0.0
11699.0 Current winding inductance FloatingPoint ro P1.7130.0.0
11700.0 Winding resistance (user defined) FloatingPoint rw P1.7132.0.0
11701.0 Current winding resistance FloatingPoint ro P1.7133.0.0
11702.0 Torque constant (user defined) FloatingPoint rw P1.7135.0.0
11703.0 Current torque constant FloatingPoint ro P1.7136.0.0
11704.0 Resulting nominal torque FloatingPoint ro P1.7139.0.0
11705.0 Resulting maximum torque FloatingPoint ro P1.7142.0.0
11706.0 Time constant I²t (user defined) FloatingPoint rw P1.7144.0.0
11707.0 Current time constant I²t FloatingPoint ro P1.7145.0.0
11708.0 Winding temperature (user defined) FloatingPoint rw P1.7147.0.0
11709.0 Current winding temperature FloatingPoint ro P1.7148.0.0
11710.0 Temperature sensor (user defined) Unsigned32 rw P1.7153.0.0
11711.0 Current temperature sensor motor Unsigned32 ro P1.7154.0.0
11712.0 Temperature sensor characteristic (user FloatingPoint rw P1.7156.0.0 ...
... 1 defined) 1
11713.0 Current temperature sensor character- FloatingPoint ro P1.7157.0.0 ...
... 1 istic motor 1
11714.0 Holding brake (user defined) Boolean rw P1.7159.0.0
11715.0 Holding brake Boolean ro P1.7160.0.0

Festo — CMMT-ST-SW — 2019-08b 857

PROFINET

PNU Name Data type Access Parameter

11716.0 Switch-on delay holding brake (user FloatingPoint rw P1.7162.0.0

defined)
11717.0 Current switch-on delay holding brake FloatingPoint ro P1.7163.0.0
11718.0 Switch-off delay holding brake (user FloatingPoint rw P1.7165.0.0
defined)
11719.0 Current switch-off delay holding brake FloatingPoint ro P1.7166.0.0
11720.0 NOC code motor (user defined) STRING(32) rw P1.7182.0.0 ...
... 31 31
11721.0 Database ID motor (user defined) Unsigned32 rw P1.7184.0.0
11722.0 Current NOC code motor STRING(32) ro P1.7188.0.0 ...
... 31 31
11723.0 Current database ID motor Unsigned32 ro P1.7189.0.0
11724.0 Resolution position Integer8 rw P1.7841.0.0
11725.0 Resolution velocity Integer8 rw P1.7842.0.0
11726.0 Resolution acceleration Integer8 rw P1.7843.0.0
11727.0 Resolution jerk Integer8 rw P1.7844.0.0
11728.0 Move to axis zero point setpoint acceler- FloatingPoint rw P1.8410.0.0
ation
11729.0 Search for move to axis zero point set- FloatingPoint rw P1.8411.0.0
point jerk
11730.0 Maximum search stroke in positive dir- Integer64 rw P1.8412.0.0
ection
11731.0 Maximum search stroke in negative dir- Integer64 rw P1.8413.0.0
ection
11732.0 Nominal current limit value scaling FloatingPoint rw P1.8414.0.0
factor
11733.0 Limit position detection time monitoring FloatingPoint rw P1.8415.0.0
window
11734.0 Axis zero point offset Integer64 rw P1.8416.0.0
11735.0 Referencing method Integer32 rw P1.8417.0.0
11736.0 Status state machine homing Unsigned32 ro P1.8418.0.0
11742.0 Diagnostic category Unsigned16 rw P1.8450.0.0
11743.0 Storage option in error log Unsigned8 rw P1.8451.0.0
11744.0 Diagnostic category Unsigned16 rw P1.8452.0.0

858 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

11745.0 Storage option in error log Unsigned8 rw P1.8453.0.0

11746.0 Diagnostic category Unsigned16 rw P1.8454.0.0
11747.0 Storage option in error log Unsigned8 rw P1.8455.0.0
11748.0 Result amplification gain of position FloatingPoint rw P1.8601.0.0
controller
11749.0 Result integration constant of velocity FloatingPoint rw P1.8602.0.0
controller
11750.0 Result amplification gain of velocity con- FloatingPoint rw P1.8603.0.0
troller
11752.0 Storage option in error log Unsigned8 rw P1.8605.0.0
11753.0 Start value position controller amplifica- FloatingPoint rw P1.8611.0.0
tion gain
11754.0 Start value velocity controller amplifica- FloatingPoint rw P1.8612.0.0
tion gain
11755.0 Start value velocity controller integra- FloatingPoint rw P1.8613.0.0
tion constant
11756.0 Filter time constant velocity controller FloatingPoint rw P1.8614.0.0
11757.0 Filter time constant noise signal gener- FloatingPoint rw P1.8615.0.0
ator
11758.0 Amplification gain noise signal generat- FloatingPoint rw P1.8616.0.0
or
11759.0 Signal selection noise signal generator Unsigned8 rw P1.8617.0.0
11760.0 Time delay noise signal for the start FloatingPoint rw P1.8618.0.0
identification
11761.0 Identification with movement Boolean rw P1.8619.0.0
11762.0 Number of identifications for averaging Unsigned8 rw P1.8620.0.0
11763.0 Maximum movement stroke during the Integer64 rw P1.8621.0.0
identification
11764.0 Maximum velocity during the identifica- FloatingPoint rw P1.8622.0.0
tion
11765.0 Maximum acceleration during the iden- FloatingPoint rw P1.8623.0.0
tification
11766.0 Maximum deceleration during the iden- FloatingPoint rw P1.8624.0.0
tification

Festo — CMMT-ST-SW — 2019-08b 859

PROFINET

PNU Name Data type Access Parameter

11767.0 Maximum jerk during the identification FloatingPoint rw P1.8625.0.0

11768.0 Number of validation movements Unsigned8 rw P1.8630.0.0
11769.0 Movement stroke during validation Integer64 rw P1.8631.0.0
movement
11770.0 Maximum velocity during validation FloatingPoint rw P1.8632.0.0
movement
11771.0 Maximum acceleration during validation FloatingPoint rw P1.8633.0.0
movement
11772.0 Maximum deceleration during validation FloatingPoint rw P1.8634.0.0
movement
11773.0 Maximum jerk during validation move- FloatingPoint rw P1.8635.0.0
ment
11798.0 Storage option in error log Unsigned8 rw P1.9914.0.0
11800.0 Device status Unsigned32 ro P1.10231.0.0
11801.0 Controller enable selection Unsigned32 rw P1.10232.0.0
11802.0 Controller enable operating mode Unsigned32 rw P1.10234.0.0
11803.0 Target velocity for controller enable FloatingPoint rw P1.10235.0.0
(velocity operation)
11804.0 Target torque for controller enable FloatingPoint rw P1.10236.0.0
(torque operation)
11805.0 Maximum velocity for controller enable FloatingPoint rw P1.10237.0.0
(torque operation)
11806.0 Index for controller enable Integer32 rw P1.10238.0.0
11807.0 Request directional lock Integer32 rw P1.10351.0.0
11808.0 Active directional lock Integer32 ro P1.10352.0.0
11809.0 Status directional lock Integer32 ro P1.10353.0.0
11812.0 Default value target position Integer64 rw P1.10361.0.0
11813.0 Default value maximum velocity FloatingPoint rw P1.10362.0.0
11814.0 Default value maximum acceleration FloatingPoint rw P1.10363.0.0
11815.0 Default value maximum delay FloatingPoint rw P1.10364.0.0
11816.0 Default value maximum jerk FloatingPoint rw P1.10365.0.0
11817.0 Default value target velocity FloatingPoint rw P1.10366.0.0
11818.0 Default value activation stroke limita- Boolean rw P1.10367.0.0
tion

860 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

11819.0 Default value negative stroke limit Integer64 rw P1.10368.0.0

11820.0 Default value positive stroke limit Integer64 rw P1.10369.0.0
11821.0 Default value target torque FloatingPoint rw P1.10370.0.0
11822.0 Default value Torque rise ramp FloatingPoint rw P1.10371.0.0
11823.0 IPO mode (status) Unsigned32 ro P1.11410.0.0
11824.0 Interpolation step size Unsigned32 ro P1.11411.0.0
11827.0 Timing tolerance Integer32 ro P1.11417.0.0
11828.0 Interpolation step loss counter Integer32 ro P1.11418.0.0
11829.0 Storage option in error log Unsigned8 rw P1.11590.0.0
11834.0 Stop ramp deceleration FloatingPoint rw P1.12101.0.0
11835.0 Stop ramp jerk FloatingPoint rw P1.12111.0.0
11836.0 Stop ramp velocity FloatingPoint rw P1.12112.0.0
11837.0 Stop position Integer64 ro P1.12201.0.0
11838.0 Stop ramp time FloatingPoint ro P1.12202.0.0
11841.0 Status Stop ramp Unsigned32 ro P1.12205.0.0
11842.0 Factor extrapolation stop ramp FloatingPoint rw P1.12206.0.0
11843.0 Storage option in error log Unsigned8 rw P1.14110.0.0
11844.0 Mileage error threshold Integer64 rw P1.14111.0.0
11845.0 Diagnostic category Unsigned16 rw P1.14113.0.0
11846.0 Storage option in error log Unsigned8 rw P1.14114.0.0
11847.0 Storage option in error log Unsigned8 rw P1.14210.0.0
11848.0 Error threshold load change counter Integer64 rw P1.14211.0.0
11849.0 Diagnostic category Unsigned16 rw P1.14213.0.0
11850.0 Storage option in error log Unsigned8 rw P1.14214.0.0
11851.0 Drive object data Unsigned16 ro P1.24124.0.0 ...
... 7 7
11852.0 Drive unit data Unsigned16 ro P1.24125.0.0 ...
... 5 5
11853.0 Assignment controller enable Unsigned16 ro P1.24126.0.0 ...
... 1 1
11857.0 Upper limit value minimum load voltage FloatingPoint ro P1.28120.0.0
11858.0 Lower limit value minimum load voltage FloatingPoint ro P1.28121.0.0

Festo — CMMT-ST-SW — 2019-08b 861

PROFINET

PNU Name Data type Access Parameter

11859.0 Upper limit value maximum load voltage FloatingPoint ro P1.28130.0.0

11860.0 Lower limit value maximum load voltage FloatingPoint ro P1.28131.0.0
11861.0 Lower limit value maximum DC link FloatingPoint ro P1.28180.0.0
voltage
11862.0 Upper limit value maximum DC link FloatingPoint ro P1.28181.0.0
voltage
11863.0 Upper limit value warning threshold FloatingPoint ro P1.28200.0.0
maximum DC link voltage
11864.0 Lower limit value warning threshold FloatingPoint ro P1.28201.0.0
maximum DC link voltage
11872.0 Diagnostic category Unsigned16 rw P1.30127.0.0
11873.0 Storage option in error log Unsigned8 rw P1.30128.0.0
11874.0 Monitoring window factor FloatingPoint rw P1.30129.0.0
11889.0 Velocity limiting active Boolean ro P1.52675.0.0
11890.0 Current limitation active Boolean ro P1.52676.0.0
11891.0 Diagnostic category Unsigned16 rw P1.52677.0.0
11892.0 Storage option in error log Unsigned8 rw P1.52678.0.0
11893.0 Voltage limiting filter time constant FloatingPoint rw P1.52679.0.0
11894.0 Voltage limiting Ud active Boolean ro P1.52680.0.0
11895.0 Voltage limiting Uq active Boolean ro P1.52681.0.0
11896.0 Diagnostic category Unsigned16 rw P1.52682.0.0
11897.0 Storage option in error log Unsigned8 rw P1.52683.0.0
11898.0 UINT8 Unsigned8 rw P1.66003.0.0
11899.0 UINT16 Unsigned16 rw P1.66008.0.0
11900.0 UINT32 Unsigned32 rw P1.66009.0.0
11901.0 INT8 Integer8 rw P1.66010.0.0
11902.0 INT16 Integer16 rw P1.66012.0.0
11903.0 INT32 Integer32 rw P1.66013.0.0
11904.0 BOOL Boolean rw P1.66015.0.0
11905.0 UINT8 (Array) Unsigned8 rw P1.66016.0.0 ...
... 4 4
11906.0 UINT16 (Array) Unsigned16 rw P1.66017.0.0 ...
... 4 4

862 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

11907.0 UINT32 (Array) Unsigned32 rw P1.66018.0.0 ...

... 4 4
11908.0 INT8 (Array) Integer8 rw P1.66019.0.0 ...
... 4 4
11909.0 INT16 (Array) Integer16 rw P1.66053.0.0 ...
... 4 4
11910.0 INT32 (Array) Integer32 rw P1.66055.0.0 ...
... 4 4
11911.0 BOOL (Array) Boolean rw P1.66056.0.0 ...
... 4 4
11916.0 Diagnostic value test 1 Unsigned16 rw P1.66061.0.0
11917.0 Diagnostic value test 2 Unsigned16 rw P1.66062.0.0
11918.0 Nominal motor voltage (user defined) FloatingPoint rw P1.71421.0.0
11919.0 Current nominal motor voltage FloatingPoint ro P1.71422.0.0
11920.0 Continuous current (user defined) FloatingPoint rw P1.71424.0.0
11921.0 Current continuous current FloatingPoint ro P1.71425.0.0
11922.0 Current Lq inductance FloatingPoint ro P1.71426.0.0
11923.0 Current Ld inductance FloatingPoint ro P1.71427.0.0
11924.0 Motor type Unsigned8 ro P1.71428.0.0
11925.0 Diagnostic category Unsigned16 rw P1.71429.0.0
11926.0 Lq inductance (user defined) FloatingPoint rw P1.71430.0.0
11927.0 Ld inductance (user defined) FloatingPoint rw P1.71431.0.0
11928.0 Motor type Unsigned8 rw P1.71432.0.0
11929.0 Storage option in error log Unsigned8 rw P1.71433.0.0
11930.0 Configure negative hardware limit Unsigned32 rw P1.101100.0.0
switch
11931.0 Configure positive hardware limit switch Unsigned32 rw P1.101101.0.0
11932.0 Diagnostic category Unsigned16 rw P1.101102.0.0
11933.0 Storage option in error log Unsigned8 rw P1.101103.0.0
11934.0 Diagnostic category Unsigned16 rw P1.101104.0.0
11935.0 Storage option in error log Unsigned8 rw P1.101105.0.0
11936.0 Diagnostic category Unsigned16 rw P1.101106.0.0
11937.0 Storage option in error log Unsigned8 rw P1.101107.0.0

Festo — CMMT-ST-SW — 2019-08b 863

PROFINET

PNU Name Data type Access Parameter

11938.0 Diagnostic category Unsigned16 rw P1.101108.0.0

11939.0 Storage option in error log Unsigned8 rw P1.101109.0.0
11940.0 Diagnostic category Unsigned16 rw P1.101110.0.0
11941.0 Storage option in error log Unsigned8 rw P1.101111.0.0
11942.0 Negative hardware limit switch detected Boolean ro P1.101112.0.0
11943.0 Positive hardware limit switch detected Boolean ro P1.101113.0.0
11944.0 Negative limit switch position detected Integer64 ro P1.101114.0.0
11945.0 Positive limit switch position detected Integer64 ro P1.101115.0.0
11946.0 Activation of hardware limit switch mon- Boolean rw P1.101116.0.0
itoring
11947.0 Reference switch configuration Unsigned32 rw P1.101200.0.0
11948.0 Reference switch status Boolean ro P1.101201.0.0
11949.0 Activation of field weakening Boolean rw P1.102201.0.0
11950.0 Field weakening status Boolean ro P1.102202.0.0
11951.0 Field weakening reactive current FloatingPoint ro P1.102203.0.0
11955.0 Current maximum reactive current FloatingPoint ro P1.102207.0.0
11960.0 Cam controller mode Unsigned16 rw P1.112700.0.0
11961.0 Cam controller mode Unsigned16 rw P1.112700.1.0
11962.0 Cam controller source Unsigned16 rw P1.112701.0.0
11963.0 Cam controller source Unsigned16 rw P1.112701.1.0
11964.0 Upper limit value modulo Integer64 rw P1.112702.0.0
11965.0 Upper limit value modulo Integer64 rw P1.112702.1.0
11966.0 Lower limit value modulo Integer64 rw P1.112703.0.0
11967.0 Lower limit value modulo Integer64 rw P1.112703.1.0
11968.0 Inactive time compensation of first FloatingPoint rw P1.112704.0.0
switching point
11969.0 Inactive time compensation of first FloatingPoint rw P1.112704.1.0
switching point
11970.0 Inactive time compensation of second FloatingPoint rw P1.112705.0.0
switching point
11971.0 Inactive time compensation of second FloatingPoint rw P1.112705.1.0
switching point
11972.0 Hysteresis Integer64 rw P1.112706.0.0

864 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

11973.0 Hysteresis Integer64 rw P1.112706.1.0

11974.0 Switching time (manual) FloatingPoint rw P1.112707.0.0
11975.0 Switching time (manual) FloatingPoint rw P1.112707.1.0
11976.0 Selection of switching function Unsigned16 rw P1.112708.0.0
... 3 ... 3
11977.0 Selection of switching function Unsigned16 rw P1.112708.1.0
... 3 ... 3
11978.0 Selection of switching characteristics Unsigned16 rw P1.112709.0.0
... 3 ... 3
11979.0 Selection of switching characteristics Unsigned16 rw P1.112709.1.0
... 3 ... 3
11980.0 First switching point Integer64 rw P1.112710.0.0
... 3 ... 3
11981.0 First switching point Integer64 rw P1.112710.1.0
... 3 ... 3
11982.0 Second switching point Integer64 rw P1.112711.0.0
... 3 ... 3
11983.0 Second switching point Integer64 rw P1.112711.1.0
... 3 ... 3
11984.0 Switching time (automatic) FloatingPoint rw P1.112712.0.0
... 3 ... 3
11985.0 Switching time (automatic) FloatingPoint rw P1.112712.1.0
... 3 ... 3
11986.0 Current cam controller mode Unsigned16 ro P1.112713.0.0
11987.0 Current cam controller mode Unsigned16 ro P1.112713.1.0
11988.0 Current cam controller source Unsigned16 ro P1.112714.0.0
11989.0 Current cam controller source Unsigned16 ro P1.112714.1.0
11990.0 Current upper limit value modulo Integer64 ro P1.112715.0.0
11991.0 Current upper limit value modulo Integer64 ro P1.112715.1.0
11992.0 Current lower limit value modulo Integer64 ro P1.112716.0.0
11993.0 Current lower limit value modulo Integer64 ro P1.112716.1.0
11994.0 Current inactive time first switching FloatingPoint ro P1.112717.0.0
point

Festo — CMMT-ST-SW — 2019-08b 865

PROFINET

PNU Name Data type Access Parameter

11995.0 Current inactive time first switching FloatingPoint ro P1.112717.1.0

point
11996.0 Current inactive time second switching FloatingPoint ro P1.112718.0.0
point
11997.0 Current inactive time second switching FloatingPoint ro P1.112718.1.0
point
11998.0 Current hysteresis Integer64 ro P1.112719.0.0
11999.0 Current hysteresis Integer64 ro P1.112719.1.0
12000.0 Current switching time (manual) FloatingPoint ro P1.112720.0.0
12001.0 Current switching time (manual) FloatingPoint ro P1.112720.1.0
12002.0 Current selection of switching function Unsigned16 ro P1.112721.0.0
... 3 ... 3
12003.0 Current selection of switching function Unsigned16 ro P1.112721.1.0
... 3 ... 3
12004.0 Current selection of switching character- Unsigned16 ro P1.112722.0.0
... 3 istics ... 3
12005.0 Current selection of switching character- Unsigned16 ro P1.112722.1.0
... 3 istics ... 3
12006.0 Current first switching point Integer64 ro P1.112723.0.0
... 3 ... 3
12007.0 Current first switching point Integer64 ro P1.112723.1.0
... 3 ... 3
12008.0 Current second switching point Integer64 ro P1.112724.0.0
... 3 ... 3
12009.0 Current second switching point Integer64 ro P1.112724.1.0
... 3 ... 3
12010.0 Current switching time (automatic) FloatingPoint ro P1.112725.0.0
... 3 ... 3
12011.0 Current switching time (automatic) FloatingPoint ro P1.112725.1.0
... 3 ... 3
12012.0 Modulo position for the logic (ON) Integer64 ro P1.112726.0.0
12013.0 Modulo position for the logic (ON) Integer64 ro P1.112726.1.0
12014.0 Modulo position for the logic (OFF) Integer64 ro P1.112727.0.0
12015.0 Modulo position for the logic (OFF) Integer64 ro P1.112727.1.0

866 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

12016.0 Cam switch status ON/OFF Boolean ro P1.112728.0.0

12017.0 Cam switch status ON/OFF Boolean ro P1.112728.1.0
12018.0 Status modulo limit reached Boolean ro P1.112729.0.0
12019.0 Status modulo limit reached Boolean ro P1.112729.1.0
12020.0 Status active cam switch Unsigned8 ro P1.112730.0.0
12021.0 Status active cam switch Unsigned8 ro P1.112730.1.0
12024.0 Offset modulo position Integer64 rw P1.112732.0.0
12025.0 Offset modulo position Integer64 rw P1.112732.1.0
12026.0 Initialisation of modulo Integer64 rw P1.112733.0.0
12027.0 Initialisation of modulo Integer64 rw P1.112733.1.0
12028.0 Current offset modulo position Integer64 ro P1.112734.0.0
12029.0 Current offset modulo position Integer64 ro P1.112734.1.0
12030.0 Counter modulo cycles Unsigned32 ro P1.112735.0.0
12031.0 Counter modulo cycles Unsigned32 ro P1.112735.1.0
12032.0 Modulo hysteresis Integer64 rw P1.112736.0.0
12033.0 Modulo hysteresis Integer64 rw P1.112736.1.0
12034.0 Current modulo hysteresis Integer64 ro P1.112737.0.0
12035.0 Current modulo hysteresis Integer64 ro P1.112737.1.0
12036.0 Error active Boolean ro P1.112819.0.0
12037.0 Touch probe mode Unsigned16 rw P1.113000.0.0
12038.0 Touch probe mode Unsigned16 rw P1.113000.1.0
12039.0 Touch probe source Unsigned16 rw P1.113001.0.0
12040.0 Touch probe source Unsigned16 rw P1.113001.1.0
12041.0 Selection trigger event Unsigned16 rw P1.113002.0.0
12042.0 Selection trigger event Unsigned16 rw P1.113002.1.0
12043.0 Upper limit value modulo Integer64 rw P1.113003.0.0
12044.0 Upper limit value modulo Integer64 rw P1.113003.1.0
12045.0 Lower limit value modulo Integer64 rw P1.113004.0.0
12046.0 Lower limit value modulo Integer64 rw P1.113004.1.0
12047.0 Lower limit value trigger event Integer64 rw P1.113005.0.0
12048.0 Lower limit value trigger event Integer64 rw P1.113005.1.0

Festo — CMMT-ST-SW — 2019-08b 867

PROFINET

PNU Name Data type Access Parameter

12049.0 Upper limit value trigger event Integer64 rw P1.113006.0.0

12050.0 Upper limit value trigger event Integer64 rw P1.113006.1.0
12051.0 Current touch probe mode Unsigned16 ro P1.113007.0.0
12052.0 Current touch probe mode Unsigned16 ro P1.113007.1.0
12053.0 Current touch probe source Unsigned16 ro P1.113008.0.0
12054.0 Current touch probe source Unsigned16 ro P1.113008.1.0
12055.0 Current selection trigger event Unsigned16 ro P1.113009.0.0
12056.0 Current selection trigger event Unsigned16 ro P1.113009.1.0
12057.0 Current upper limit value modulo Integer64 ro P1.113010.0.0
12058.0 Current upper limit value modulo Integer64 ro P1.113010.1.0
12059.0 Current lower limit value modulo Integer64 ro P1.113011.0.0
12060.0 Current lower limit value modulo Integer64 ro P1.113011.1.0
12061.0 Current lower limit value trigger event Integer64 ro P1.113012.0.0
12062.0 Current lower limit value trigger event Integer64 ro P1.113012.1.0
12063.0 Current upper limit value trigger event Integer64 ro P1.113013.0.0
12064.0 Current upper limit value trigger event Integer64 ro P1.113013.1.0
12065.0 Touch probe position Integer64 ro P1.113014.0.0
12066.0 Touch probe position Integer64 ro P1.113014.1.0
12067.0 Time stamp touch probe position Unsigned64 ro P1.113015.0.0
12068.0 Time stamp touch probe position Unsigned64 ro P1.113015.1.0
12069.0 Trigger event initiated Boolean ro P1.113016.0.0
12070.0 Trigger event initiated Boolean ro P1.113016.1.0
12071.0 Trigger event NOT initiated Boolean ro P1.113017.0.0
12072.0 Trigger event NOT initiated Boolean ro P1.113017.1.0
12073.0 Trigger events counter triggered Unsigned32 ro P1.113018.0.0
12074.0 Trigger events counter triggered Unsigned32 ro P1.113018.1.0
12075.0 Trigger events counter NOT triggered Unsigned32 ro P1.113019.0.0
12076.0 Trigger events counter NOT triggered Unsigned32 ro P1.113019.1.0
12077.0 Counter modulo cycles Unsigned32 ro P1.113020.0.0
12078.0 Counter modulo cycles Unsigned32 ro P1.113020.1.0
12079.0 Status touch probe input Boolean ro P1.113021.0.0

868 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

12080.0 Status touch probe input Boolean ro P1.113021.1.0

12081.0 Status modulo limit reached Boolean ro P1.113022.0.0
12082.0 Status modulo limit reached Boolean ro P1.113022.1.0
12083.0 Modulo position Integer64 ro P1.113023.0.0
12084.0 Modulo position Integer64 ro P1.113023.1.0
12085.0 Offset modulo position Integer64 rw P1.113024.0.0
12086.0 Offset modulo position Integer64 rw P1.113024.1.0
12087.0 Initialisation of modulo Integer64 rw P1.113025.0.0
12088.0 Initialisation of modulo Integer64 rw P1.113025.1.0
12089.0 Current offset modulo position Integer64 ro P1.113026.0.0
12090.0 Current offset modulo position Integer64 ro P1.113026.1.0
12091.0 Time stamp touch probe position posit- Unsigned64 ro P1.113027.0.0
ive CiA402
12092.0 Time stamp touch probe position posit- Unsigned64 ro P1.113027.1.0
ive CiA402
12093.0 Time stamp touch probe position negat- Unsigned64 ro P1.113028.0.0
ive CiA402
12094.0 Time stamp touch probe position negat- Unsigned64 ro P1.113028.1.0
ive CiA402
12095.0 Touch probe position positive CiA402 Integer64 ro P1.113029.0.0
12096.0 Touch probe position positive CiA402 Integer64 ro P1.113029.1.0
12097.0 Touch probe position negative CiA402 Integer64 ro P1.113030.0.0
12098.0 Touch probe position negative CiA402 Integer64 ro P1.113030.1.0
12099.0 Counter initiated trigger events positive Unsigned32 ro P1.113031.0.0
edge CiA402
12100.0 Counter initiated trigger events positive Unsigned32 ro P1.113031.1.0
edge CiA402
12101.0 Counter initiated trigger events negative Unsigned32 ro P1.113032.0.0
edge CiA402
12102.0 Counter initiated trigger events negative Unsigned32 ro P1.113032.1.0
edge CiA402
12103.0 Touch probe status CiA402 Unsigned16 ro P1.113033.0.0
12104.0 Touch probe status CiA402 Unsigned16 ro P1.113033.1.0

Festo — CMMT-ST-SW — 2019-08b 869

PROFINET

PNU Name Data type Access Parameter

12105.0 Modulo hysteresis Integer64 rw P1.113034.0.0

12106.0 Modulo hysteresis Integer64 rw P1.113034.1.0
12107.0 Current modulo hysteresis Integer64 ro P1.113035.0.0
12108.0 Current modulo hysteresis Integer64 ro P1.113035.1.0
12109.0 Delay time FloatingPoint rw P1.113036.0.0
12110.0 Delay time FloatingPoint rw P1.113036.1.0
12111.0 Current delay time FloatingPoint ro P1.113037.0.0
12112.0 Current delay time FloatingPoint ro P1.113037.1.0
12126.0 Activation of symmetrical jog Boolean rw P1.214526.0.0
12127.0 Relative position jog 1 Integer64 rw P1.214530.0.0
12128.0 Slow jog 2 velocity FloatingPoint rw P1.214535.0.0
12129.0 Slow jog 2 acceleration FloatingPoint rw P1.214536.0.0
12130.0 Slow jog 2 jerk FloatingPoint rw P1.214537.0.0
12131.0 Relative position jog 2. Integer64 rw P1.214538.0.0
12132.0 Jog duration 2 movement FloatingPoint rw P1.214539.0.0
12133.0 Fast jog 2 velocity FloatingPoint rw P1.214540.0.0
12134.0 Fast jog 2 acceleration FloatingPoint rw P1.214541.0.0
12135.0 Fast jog 2 jerk FloatingPoint rw P1.214542.0.0
12136.0 Currently used slow jog 1 velocity FloatingPoint ro P1.214543.0.0
12137.0 Currently used slow jog 1 acceleration FloatingPoint ro P1.214544.0.0
12138.0 Currently used slow jog 1 jerk FloatingPoint ro P1.214545.0.0
12139.0 Currently used jog 1 movement duration FloatingPoint ro P1.214546.0.0
12140.0 Currently used fast jog 1 velocity FloatingPoint ro P1.214547.0.0
12141.0 Currently used fast jog 1 acceleration FloatingPoint ro P1.214548.0.0
12142.0 Currently used fast jog 1 jerk FloatingPoint ro P1.214549.0.0
12143.0 Currently used slow jog 2 velocity FloatingPoint ro P1.214550.0.0
12144.0 Currently used slow jog 2 acceleration FloatingPoint ro P1.214551.0.0
12145.0 Currently used slow jog 2 jerk FloatingPoint ro P1.214552.0.0
12146.0 Currently used jog 2 movement duration FloatingPoint ro P1.214553.0.0
12147.0 Currently used fast jog 2 velocity FloatingPoint ro P1.214554.0.0
12148.0 Currently used fast jog 2 acceleration FloatingPoint ro P1.214555.0.0

870 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

12149.0 Currently used fast jog 2 jerk FloatingPoint ro P1.214556.0.0

12150.0 Encoder format Unsigned32 ro P1.231243.0.0
... 20 ... 20
12153.0 Record sequencing field 3 Integer64 rw P1.526778.0.0
... 127 ... 127
12154.0 Next event field 3 Integer64 rw P1.526779.0.0
... 15 ... 15
12157.0 Next event field 4 Integer64 rw P1.526786.0.0
... 15 ... 15
12158.0 Next event field 5 Integer64 rw P1.526787.0.0
... 15 ... 15
12159.0 Next event field 6 Integer64 rw P1.526788.0.0
... 15 ... 15
12160.0 Next event field 7 Integer64 rw P1.526789.0.0
... 15 ... 15
12161.0 Record sequencing field 4 Integer64 rw P1.526790.0.0
... 127 ... 127
12162.0 Record sequencing field 5 Integer64 rw P1.526791.0.0
... 127 ... 127
12163.0 Record sequencing field 6 Integer64 rw P1.526792.0.0
... 127 ... 127
12164.0 Record sequencing field 7 Integer64 rw P1.526793.0.0
... 127 ... 127
12165.0 Filter time constant controller limitation FloatingPoint rw P1.526794.0.0
12166.0 Maximum torque symmetrical FloatingPoint rw P1.526796.0.0
12167.0 Record table status Integer32 ro P1.526797.0.0
12168.0 Clamping torque FloatingPoint rw P1.526801.0.0
12169.0 Jogging state Unsigned32 ro P1.526917.0.0
12170.0 Commutation-angle detection damping FloatingPoint rw P1.545454.0.0
time
12171.0 Commutation angle Integer64 rw P1.545455.0.0
12178.0 MELDW.0 ramp generator Boolean ro P1.1124900.0.0
12179.0 Torque reduction MOMRED Integer16 rw P1.1126990.0.0
12180.0 DSC gain factor position controller Integer32 rw P1.1127990.0.0

Festo — CMMT-ST-SW — 2019-08b 871

PROFINET

PNU Name Data type Access Parameter

12181.0 Position deviation XERR Integer32 rw P1.1129990.0.0

12182.0 Activation background mode Boolean rw P1.1130224.0.0
12183.0 Diagnostic category Unsigned16 rw P1.1130225.0.0
12184.0 Storage option in error log Unsigned8 rw P1.1130226.0.0
12185.0 Position 2 encoder n Unsigned32 ro P1.1141990.0.0
12186.0 Position 1 encoder n Unsigned32 ro P1.1142990.0.0
12187.0 Gn_ZSW.0 ... 3 Function active Unsigned8 ro P1.1143000.0.0
12188.0 Gn_ZSW.4 ... 7 value Unsigned8 ro P1.1143040.0.0
12189.0 Gn_ZSW.8 touch probe 0 deflected Boolean ro P1.1143080.0.0
12190.0 Gn_ZSW.9 Touch Probe 1 deflected Boolean ro P1.1143090.0.0
12191.0 Gn_ZSW.11 Error acknowledgment act- Boolean ro P1.1143110.0.0
ive
12192.0 Gn_ZSW.12 Homing mode active Boolean ro P1.1143120.0.0
12193.0 Gn_ZSW.13 Transmit absolute value Boolean ro P1.1143130.0.0
cyclically
12194.0 Gn_ZSW.14 Parking sensor active Boolean ro P1.1143140.0.0
12195.0 Gn_ZSW.15 sensor error Boolean ro P1.1143150.0.0
12196.0 Gn_ZSW Unsigned16 ro P1.1143990.0.0
12197.0 ZSW1.0 Ready to switch on Boolean ro P1.1145000.0.0
12198.0 ZSW1.1 Ready to operation Boolean ro P1.1145010.0.0
12199.0 ZSW1.2 Operation enabled Boolean ro P1.1145020.0.0
12200.0 ZSW1.3 Fault present Boolean ro P1.1145030.0.0
12201.0 ZSW1.4 Coast stop activated Boolean ro P1.1145040.0.0
12202.0 ZSW1.5 Quick stop activated Boolean ro P1.1145050.0.0
12203.0 ZSW1.6 Switch on inhibited Boolean ro P1.1145060.0.0
12204.0 ZSW1.7 Warning present Boolean ro P1.1145070.0.0
12205.0 ZSW1.8 Speed error within tolerance Boolean ro P1.1145080.0.0
range
12206.0 ZSW1.8 Following error within tolerance Boolean ro P1.1145081.0.0
range
12207.0 ZSW1.9 Control requested Boolean ro P1.1145090.0.0
12208.0 ZSW1.10 f or n reached or exceeded Boolean ro P1.1145100.0.0

872 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

12209.0 ZSW1.10 Target position reached Boolean ro P1.1145101.0.0

12210.0 ZSW1.11 I, M or P limit not reached Boolean ro P1.1145110.0.0
12211.0 ZSW1.11 Home position set Boolean ro P1.1145111.0.0
12212.0 ZSW1.12 Holding brake open Boolean ro P1.1145120.0.0
12213.0 ZSW1.12 Traversing task acknowledge- Boolean ro P1.1145121.0.0
ment
12214.0 ZSW1.13 No warning Overtemperature Boolean ro P1.1145130.0.0
motor
12215.0 ZSW1.13 Drive stopped Boolean ro P1.1145131.0.0
12216.0 ZSW1.14 Motor rotation Boolean ro P1.1145140.0.0
12217.0 ZSW1.14 Drive accelerating Boolean ro P1.1145141.0.0
12218.0 ZSW1.15 No warning Overtemperature Boolean ro P1.1145150.0.0
power section
12219.0 ZSW1.15 Drive decelerating Boolean ro P1.1145151.0.0
12220.0 ZSW1 Unsigned16 ro P1.1145990.0.0
12221.0 ZSW2.7 Drive parked Boolean ro P1.1146070.0.0
12222.0 ZSW2.8 Move to fixed stop active Boolean ro P1.1146080.0.0
12223.0 ZSW2.11 Power stage active Boolean ro P1.1146110.0.0
12224.0 ZSW2.12 ... 15 Slave sign of life Unsigned8 ro P1.1146120.0.0
12225.0 ZSW2 Unsigned16 ro P1.1146990.0.0
12226.0 STW1.0 Power stage enable Boolean ro P1.1147000.0.0
12227.0 STW1.1 Coast stop Boolean ro P1.1147010.0.0
12228.0 STW1.2 Quick stop Boolean ro P1.1147020.0.0
12229.0 STW1.3 Enable operation Boolean ro P1.1147030.0.0
12230.0 STW1.4 Enable ramp generator Boolean ro P1.1147040.0.0
12231.0 STW1.4 Reject traversing task Boolean ro P1.1147041.0.0
12232.0 STW1.5 Unfreeze ramp generator Boolean ro P1.1147050.0.0
12233.0 STW1.5 Intermediate stop Boolean ro P1.1147051.0.0
12234.0 STW1.6 Enable setpoint Boolean ro P1.1147060.0.0
12235.0 STW1.6 Activate traversing task Boolean ro P1.1147061.0.0
12236.0 STW1.7 Fault acknowledge Boolean ro P1.1147070.0.0
12237.0 STW1.8 Jogging 1 Boolean ro P1.1147080.0.0

Festo — CMMT-ST-SW — 2019-08b 873

PROFINET

PNU Name Data type Access Parameter

12238.0 STW1.9 Jogging 2 Boolean ro P1.1147090.0.0

12239.0 STW1.10 Control by PLC Boolean ro P1.1147100.0.0
12240.0 STW1.11 Invert setpoint Boolean ro P1.1147110.0.0
12241.0 STW1.11 Start Homing procedure Boolean ro P1.1147111.0.0
12242.0 STW1.12 Open holding brake Boolean ro P1.1147120.0.0
12243.0 STW1.12 Reserved Boolean ro P1.1147121.0.0
12244.0 STW1.13 Increase the motorized poten- Boolean ro P1.1147130.0.0
tiometer setpoint
12245.0 STW1.13 Start block change Boolean ro P1.1147131.0.0
12246.0 STW1.14 Reduce motor potentiometer Boolean ro P1.1147140.0.0
setpoint
12247.0 STW1.14 Reserved Boolean ro P1.1147141.0.0
12248.0 STW1.15 Reserved Boolean ro P1.1147150.0.0
12249.0 STW1.15 Reserved Boolean ro P1.1147151.0.0
12250.0 STW1 Unsigned16 rw P1.1147990.0.0
12253.0 STW2.7 Drive parking Boolean ro P1.1148070.0.0
12254.0 STW2.8 Traverse to fixed endstop Boolean ro P1.1148080.0.0
12255.0 STW2.11 Motor changeover Boolean ro P1.1148110.0.0
12256.0 STW2.12 ... 15 Master sign of life Unsigned8 ro P1.1148120.0.0
12257.0 STW2 Unsigned16 rw P1.1148990.0.0
12260.0 Gn_STW.0 ... 3 Request function Unsigned8 ro P1.1149000.0.0
12261.0 Gn_STW.4 ... 6 Request command Unsigned8 ro P1.1149040.0.0
12262.0 Gn_STW.7 Mode Boolean ro P1.1149070.0.0
12263.0 Gn_STW.11 Home position mode Boolean ro P1.1149110.0.0
12264.0 Gn_STW.12 Trigger mode homing Boolean ro P1.1149120.0.0
12265.0 Gn_STW.13 Request absolute value cyc- Boolean ro P1.1149130.0.0
lically
12266.0 Gn_STW.14 Activate parking sensor Boolean ro P1.1149140.0.0
12267.0 Gn_STW.15 Acknowledge sensor error Boolean ro P1.1149150.0.0
12268.0 Gn_STW Unsigned16 rw P1.1149990.0.0
12269.0 Gn_STW Cycle-1 Unsigned16 ro P1.1149991.0.0

874 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

12270.0 Master control connection ID Unsigned32 ro P1.10233999.0-

.0
12279.0 MELDW.1 torque utilization Boolean ro P1.11249010.0-
.0
12280.0 MELDW.2 Actual speed &lt;Threshold1 Boolean ro P1.11249020.0-
.0
12281.0 MELDW.3 Actual speed = Boolean ro P1.11249030.0-
&lt;Threshold2 .0
12282.0 MELDW.5 Variable reporting function Boolean ro P1.11249050.0-
.0
12283.0 MELDW.6 No warning Overtemperature Boolean ro P1.11249060.0-
motor .0
12284.0 MELDW.7 No warning Overtemperature Boolean ro P1.11249070.0-
power output stage .0
12285.0 MELDW.8 Speed setpoint / actual devi- Boolean ro P1.11249080.0-
ation in tolerance .0
12286.0 MELDW.11 Controller enable Boolean ro P1.11249110.0-
.0
12287.0 MELDW.12 Ready for operation Boolean ro P1.11249120.0-
.0
12288.0 MELDW.13 Power stage active Boolean ro P1.11249130.0-
.0
12289.0 MELDW Unsigned16 ro P1.11249990.0-
.0
12290.0 Parameter List Unsigned16 ro P1.11280001.0-
.0
12291.0 Operating mode PROFIdrive Unsigned16 ro P1.11280002.0-
.0
12292.0 Error message counter PROFIdrive Unsigned16 ro P1.11280003.0-
.0
12293.0 Profile identification number Unsigned8 ro P1.11280004.0-
... 1 .0 ... 1
12294.0 Torque increase for controller enable FloatingPoint rw P1.11280018.0-
.0
12295.0 Valid movement monitoring position Unsigned32 rw P1.11280020.0-
control .0

Festo — CMMT-ST-SW — 2019-08b 875

PROFINET

PNU Name Data type Access Parameter

12296.0 Valid movement monitoring velocity Unsigned32 rw P1.11280021.0-

control .0
12297.0 Valid movement monitoring torque reg- Unsigned32 rw P1.11280022.0-
ulation .0
12298.0 Valid movement monitoring position Unsigned32 rw P1.11280023.0-
control analogue .0
12299.0 Valid movement monitoring velocity Unsigned32 rw P1.11280024.0-
control analogue .0
12300.0 Valid movement monitoring torque reg- Unsigned32 rw P1.11280025.0-
ulation analogue .0
12301.0 Valid movement monitoring CSP Unsigned32 rw P1.11280026.0-
.0
12302.0 Valid movement monitoring CSV Unsigned32 rw P1.11280027.0-
.0
12303.0 Valid movement monitoring CST Unsigned32 rw P1.11280028.0-
.0
12304.0 Valid Power Off movement monitoring Unsigned32 rw P1.11280029.0-
.0
12305.0 Parameter channel description PROFId- Unsigned16 ro P1.11280030.0-
... 2 rive .0 ... 2
12306.0 Error number Unsigned16 ro P1.11280040.0-
... 63 .0 ... 63
12307.0 Casting time error Unsigned32 ro P1.11280041.0-
... 63 .0 ... 63
12308.0 Warning number Unsigned16 ro P1.11280042.0-
... 63 .0 ... 63
12309.0 Release time warning Unsigned32 ro P1.11280043.0-
... 63 .0 ... 63
12310.0 Status word MELDW Unsigned16 ro P1.11280046.0-
.0
12312.0 Counter warning messages Unsigned16 ro P1.11280060.0-
.0
12313.0 Counter error messages Unsigned16 ro P1.11280061.0-
.0
12314.0 Active error Unsigned16 ro P1.11280062.0-
.0

876 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

12315.0 Active warning Unsigned16 ro P1.11280063.0-

.0
12316.0 Status base state machine PROFIdrive Unsigned32 ro P1.11280102.0-
.0
12317.0 Current application class Unsigned32 ro P1.11280109.0-
.0
12319.0 Storage Option in error log Unsigned8 rw P1.11280111.0-
.0
12320.0 Trigger level MELDW.2 FloatingPoint rw P1.11280112.0-
.0
12321.0 Hysteresis trigger level FloatingPoint rw P1.11280113.0-
.0
12322.0 Trigger level MELDW.3 FloatingPoint rw P1.11280114.0-
.0
12323.0 Hysteresis trigger level FloatingPoint rw P1.11280115.0-
.0
12324.0 Activation touch probe Tel. 111 Unsigned16 rw P1.11280116.0-
.0
12325.0 Acceleration FloatingPoint rw P1.11280402.0-
.0
12326.0 Deceleration FloatingPoint rw P1.11280403.0-
.0
12327.0 Jerk FloatingPoint rw P1.11280404.0-
.0
12328.0 Deceleration stop ramp FloatingPoint rw P1.11280405.0-
.0
12329.0 Clamping torque offset FloatingPoint rw P1.11280407.0-
.0
12330.0 Stroke limit positive for detection of a Integer64 rw P1.11280408.0-
fixed stop .0
12331.0 Stroke limit negative for detection of a Integer64 rw P1.11280409.0-
fixed stop .0
12332.0 Threshold value torque utilization FloatingPoint rw P1.11280410.0-
reached .0
12333.0 Status Application Class 1 Unsigned32 ro P1.11280501.0-
.0

Festo — CMMT-ST-SW — 2019-08b 877

PROFINET

PNU Name Data type Access Parameter

12334.0 Target speed NSOLL_A/NSOLL_B FloatingPoint rw P1.11280502.0-

.0
12335.0 Settling time Direction of rotation detec- FloatingPoint rw P1.11280503.0-
tion .0
12336.0 Status Application Class 4 Unsigned32 ro P1.11280531.0-
.0
12337.0 Speed comparator time window FloatingPoint rw P1.11280533.0-
.0
12338.0 Status Application Class 3 Unsigned32 ro P1.11280601.0-
.0
12339.0 Target position MDI Integer64 rw P1.11280604.0-
.0
12340.0 Profile speed MDI FloatingPoint rw P1.11280605.0-
.0
12341.0 Acceleration MDI FloatingPoint rw P1.11280606.0-
.0
12342.0 Deceleration MDI FloatingPoint rw P1.11280607.0-
.0
12343.0 XIST_A Actual value position Integer64 ro P1.11280609.0-
.0
12345.0 Base value speed (user unit) FloatingPoint rw P1.11280701.0-
.0
12346.0 Base value acceleration FloatingPoint rw P1.11280702.0-
.0
12347.0 Base value deceleration FloatingPoint rw P1.11280703.0-
.0
12348.0 POS_STW1.0 ... 6 Traversing block Unsigned8 ro P1.112411000.-
selektion 0.0
12349.0 POS_STW1.8 Absolute positioning Boolean ro P1.112411080.-
0.0
12350.0 POS_STW1.9 ... 10 direction selection Unsigned32 ro P1.112411090.-
0.0
12351.0 POS_STW1.12 Setpoint transfer Boolean ro P1.112411120.-
0.0
12352.0 POS_STW1.14 Setting up selected Boolean ro P1.112411140.-
0.0

878 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

12353.0 POS_STW1.15 MDI selection Boolean ro P1.112411150.-

0.0
12354.0 POS_STW1 Unsigned16 rw P1.112411990.-
0.0
12357.0 POS_ZSW1.0 ... 6 Traversing block bit Unsigned8 ro P1.112412000.-
0.0
12358.0 POS_ZSW1.8 Negative limit switch act- Boolean ro P1.112412080.-
ive 0.0
12359.0 POS_ZSW1.9 Positive limit switch active Boolean ro P1.112412090.-
0.0
12360.0 POS_ZSW1.10 Jogging active Boolean ro P1.112412100.-
0.0
12361.0 POS_ZSW1.11 Reference point Boolean ro P1.112412110.-
approach active 0.0
12362.0 POS_ZSW1.13 Traversing block active Boolean ro P1.112412130.-
0.0
12363.0 POS_ZSW1.14 Setup active Boolean ro P1.112412140.-
0.0
12364.0 POS_ZSW1.15 MDI active Boolean ro P1.112412150.-
0.0
12365.0 POS_ZSW1 Unsigned16 ro P1.112412990.-
0.0
12366.0 POS_ZSW2.0 Tracking mode active Boolean ro P1.112413000.-
0.0
12367.0 POS_ZSW2.1 Velocity limiting active Boolean ro P1.112413010.-
0.0
12368.0 POS_ZSW2.2 Setpoint available Boolean ro P1.112413020.-
0.0
12369.0 POS_ZSW2.4 Drive moves forward Boolean ro P1.112413040.-
0.0
12370.0 POS_ZSW2.5 Drive moves backwards Boolean ro P1.112413050.-
0.0
12371.0 POS_ZSW2.6 Software limit switch Boolean ro P1.112413060.-
minus reached 0.0
12372.0 POS_ZSW2.7 Software limit switch plus Boolean ro P1.112413070.-
reached 0.0

Festo — CMMT-ST-SW — 2019-08b 879

PROFINET

PNU Name Data type Access Parameter

12373.0 POS_ZSW2.8 Position actual value &lt;= Boolean ro P1.112413080.-

cam switch 0 0.0
12374.0 POS_ZSW2.9 Position actual value &lt;= Boolean ro P1.112413090.-
cam switch 1 0.0
12375.0 POS_ZSW2.10 Direct output 1 via tra- Boolean ro P1.112413100.-
versing block 0.0
12376.0 POS_ZSW2.11 Direct output 2 via tra- Boolean ro P1.112413110.-
versing block 0.0
12377.0 POS_ZSW2.12 Fixed stop reached Boolean ro P1.112413120.-
0.0
12378.0 POS_ZSW2.13 Fixed stop Clamping Boolean ro P1.112413130.-
torque reached 0.0
12379.0 POS_ZSW2.14 Move to fixed stop active Boolean ro P1.112413140.-
0.0
12380.0 POS_ZSW2.15 Traversing command act- Boolean ro P1.112413150.-
ive 0.0
12381.0 POS_ZSW2 Unsigned16 ro P1.112413990.-
0.0
12382.0 POS_STW2.0 Tracking mode Boolean ro P1.112414000.-
0.0
12383.0 POS_STW2.1 Set reference point Boolean ro P1.112414010.-
0.0
12384.0 POS_STW2.5 Jogging incremental active Boolean ro P1.112414050.-
0.0
12385.0 POS_STW2.10 Selection touch probe Boolean ro P1.112414100.-
0.0
12386.0 POS_STW2.11 Touch probe edge Boolean ro P1.112414110.-
0.0
12387.0 POS_STW2.14 Activate software limit Boolean ro P1.112414140.-
switch 0.0
12388.0 POS_STW2.15 Activate hardware limit Boolean ro P1.112414150.-
switch 0.0
12389.0 POS_STW2 Unsigned16 rw P1.112414990.-
0.0
12392.0 SATZANW.0 ... 6 Traversing block selec- Unsigned8 ro P1.112415000.-
tion 0.0

880 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

12393.0 SATZANW.15 Activate MDI Boolean ro P1.112415150.-

0.0
12394.0 SATZANW Unsigned16 rw P1.112415990.-
0.0
12395.0 SATZANW Cycle-1 Unsigned16 ro P1.112415991.-
0.0
12396.0 AKTSATZ.0 ... 6 Active traversing block Unsigned8 ro P1.112416000.-
0.0
12397.0 AKTSATZ.15 MDI activated Boolean ro P1.112416150.-
0.0
12398.0 AKTSATZ Unsigned16 ro P1.112416990.-
0.0
12399.0 MDI_MOD.0 Positioning Boolean ro P1.112417000.-
0.0
12400.0 MDI_MOD.1 ... 2 Direction of movement Unsigned32 ro P1.112417010.-
0.0
12401.0 MDI_MOD Unsigned16 rw P1.112417990.-
0.0
12402.0 MDI_MOD Cycle-1 Unsigned16 ro P1.112417991.-
0.0
12404.0 Scaling factor start value I²t monitoring FloatingPoint rw P1.6301.0.0
motor model
12405.0 Actual value I²T monitoring motor model FloatingPoint ro P1.6302.0.0
12406.0 Maximum start value I²t monitoring FloatingPoint ro P1.6303.0.0
motor model
12407.0 Scaling factor warning limit I²t monitor- FloatingPoint rw P1.6305.0.0
ing motor model
12409.0 Activation current reduction holding Boolean rw P1.40001.0.0
brake
12410.0 Delay time FloatingPoint rw P1.40002.0.0
12411.0 Supply voltage holding brake FloatingPoint rw P1.40003.0.0
12412.0 Holding voltage FloatingPoint rw P1.40004.0.0
12413.0 Diagnostic category Unsigned16 rw P1.63019.0.0
12414.0 Storage option in error log Unsigned8 rw P1.63020.0.0
12415.0 Diagnostic category Unsigned16 rw P1.63021.0.0

Festo — CMMT-ST-SW — 2019-08b 881

PROFINET

PNU Name Data type Access Parameter

12416.0 Storage option in error log Unsigned8 rw P1.63022.0.0

12417.0 Active switch-on threshold reactive cur- FloatingPoint ro P1.102101.0.0
rent braking
12418.0 Active end value reactive current brak- FloatingPoint ro P1.102102.0.0
ing
12419.0 Status reactive current braking Boolean ro P1.102103.0.0
12420.0 Activate reactive current braking Boolean rw P1.102104.0.0
12421.0 Maximum reactive current reactive cur- FloatingPoint ro P1.102105.0.0
rent braking
12422.0 Actual value reactive current braking FloatingPoint ro P1.102106.0.0
12423.0 Activation automatic voltage determina- Boolean rw P1.102107.0.0
tion
12424.0 Switch-on threshold reactive current FloatingPoint rw P1.102108.0.0
braking
12425.0 End value reactive current braking FloatingPoint rw P1.102109.0.0
12429.0 Activation of angular feed forward con- Boolean rw P1.204801.0.0
trol
12430.0 Maximum value of the angular feed for- FloatingPoint rw P1.204802.0.0
ward control
12431.0 Scaling factor FloatingPoint rw P1.204803.0.0
12432.0 Storage option in error log Unsigned16 rw P1.11280117.0-
.0
12433.0 Diagnostic category Unsigned8 rw P1.11280118.0-
.0
12434.0 Jerk system stop FloatingPoint rw P1.11280406.0-
.0
12435.0 Threshold value velocity comparator FloatingPoint rw P1.11280504.0-
.0
12436.0 Hysteresis threshold value velocity com- FloatingPoint rw P1.11280505.0-
parator .0
12437.0 Switch-on delay time speed comparator FloatingPoint rw P1.11280506.0-
.0
12440.0 Reduction ratio Unsigned32 rw P1.4246.0.0
12442.0 Status sensor state machine Integer32 ro P1.34234.0.0

882 Festo — CMMT-ST-SW — 2019-08b

PROFINET

PNU Name Data type Access Parameter

12448.0 Inertia Gear FloatingPoint rw P1.124321.0.0

12449.0 Inertia coupling FloatingPoint rw P1.124322.0.0
12450.0 Dynamic losses FloatingPoint rw P1.124323.0.0
12451.0 Damping FloatingPoint rw P1.144316.0.0
... 1 ... 1
12452.0 Natural frequency FloatingPoint rw P1.144317.0.0
... 1 ... 1
12453.0 Activation of vibration suppression Boolean rw P1.144318.0.0
... 1 ... 1
12454.0 Vibration suppression active Boolean ro P1.144319.0.0
... 1 ... 1
12481.0 Valid motion monitoring Moving to fixed Unsigned32 rw P1.11280031.0-
stop .0
12482.0 Velocity override FloatingPoint rw P1.1309.0.0
12483.0 Status Sign of Life Integer32 ro P1.3424.0.0
12484.0 Sign of Life Cycle-1 Unsigned8 ro P1.4277.0.0
12485.0 Error counter Sign of Life Integer32 ro P1.4278.0.0
12490.0 Diagnostic category Unsigned16 rw P1.34241.0.0
12502.0 Current Error ID Unsigned32 ro P1.231250.0.0
12503.0 Current resolution per revolution for Unsigned32 ro P1.231544.0.0
Gn_XIST
12504.0 Resolution per revolution for Gn_XIST Unsigned32 rw P1.231545.0.0
12507.0 Gn_ZSW.14 longer 100ms Boolean ro P1.1143145.0.0
12508.0 Valid motion monitoring AC4 without Unsigned32 rw P1.11280032.0-
DSC .0
12509.0 Torque utilization monitoring window FloatingPoint rw P1.11280411.0-
.0
12510.0 Damping time torque utilization FloatingPoint rw P1.11280412.0-
.0
12511.0 Velocity override Integer16 rw P1.11280611.0-
.0
12512.0 Conversion factor velocity FloatingPoint ro P1.11290701.0-
.0
12540.0 Number of objects Rx Unsigned8 ro P1.4242101.0.0

Festo — CMMT-ST-SW — 2019-08b 883

PROFINET

PNU Name Data type Access Parameter

12541.0 Number of bytes Rx Unsigned8 ro P1.4242102.0.0

12542.0 Axis ID Rx Unsigned16 rw P1.4242105.0.0
... 7 ... 7
12543.0 Data ID Rx Unsigned32 rw P1.4242106.0.0
... 7 ... 7
12544.0 Data instance ID Rx Unsigned16 rw P1.4242107.0.0
... 7 ... 7
12545.0 Array ID Rx Unsigned16 rw P1.4242108.0.0
... 7 ... 7
12546.0 Current axis ID Rx Unsigned16 ro P1.4242115.0.0
... 7 ... 7
12547.0 Current data ID Rx Unsigned32 ro P1.4242116.0.0
... 7 ... 7
12548.0 Current data instance ID Rx Unsigned16 ro P1.4242117.0.0
... 7 ... 7
12549.0 Current array ID Rx Unsigned16 ro P1.4242118.0.0
... 7 ... 7
12550.0 Current data type Rx Unsigned32 ro P1.4242119.0.0
... 7 ... 7
12551.0 Number of objects Tx Unsigned8 ro P1.4242201.0.0
12552.0 Number of bytes Tx Unsigned8 ro P1.4242202.0.0
12553.0 Axis ID Tx Unsigned16 rw P1.4242205.0.0
... 7 ... 7
12554.0 Data ID Tx Unsigned32 rw P1.4242206.0.0
... 7 ... 7
12555.0 Data instance ID Tx Unsigned16 rw P1.4242207.0.0
... 7 ... 7
12556.0 Array ID Tx Unsigned16 rw P1.4242208.0.0
... 7 ... 7
12557.0 Current axis ID Tx Unsigned16 ro P1.4242215.0.0
... 7 ... 7
12558.0 Current data ID Tx Unsigned32 ro P1.4242216.0.0
... 7 ... 7
12559.0 Current data instance ID Tx Unsigned16 ro P1.4242217.0.0
... 7 ... 7

884 Festo — CMMT-ST-SW — 2019-08b

EtherNet/IP

PNU Name Data type Access Parameter

12560.0 Current array ID Tx Unsigned16 ro P1.4242218.0.0

... 7 ... 7
12561.0 Current data type Tx Unsigned32 ro P1.4242219.0.0
... 7 ... 7
Tab. 833 Referenzliste PNUs

13 EtherNet/IP
13.1 General
This part of the documentation describes the implemented standards and the communications of the
CMMT in an EtherNet/IP network. It is targeted at people who are already familiar with the bus pro-
tocol.
The Ethernet Industrial Protocol (EtherNet/IP) is an open standard for industrial networks. EtherNet/IP
is used for cyclical transmission of control and status data (I/O data) as well as acyclic transmission of
parameter data.
EtherNet/IP was developed by Rockwell Automation and the user organisation “ODVA (Open Devi-
ceNet Vendor Association)” and standardised in the international standards series IEC 61158.
EtherNet/IP is based on the general, object-oriented CIP object model.

13.2 Standards
The user organisation of EtherNet/IP is ODVA. The following documents, among others, can be
obtained from this user organisation:

ODVA standards Description

THE CIP NETWORKS LIBRARY: Volume 1 – Com- This document describes the general principles
mon Industrial Protocol (CIP) of the Common Industrial Protocol (CIP) (e.g.
transmission).
THE CIP NETWORKS LIBRARY: Volume 2 – Ether- This document describes the general basics and
Net/IP Adaptation of CIP the embedding of EtherNet/IP in the Common
Industrial Protocols (CIP).
THE CIP NETWORKS LIBRARY: Volume 7 – Integra- This document describes the integration of Mod-
tion of Modbus Devices into the CIP Architecture bus devices into a CIP architecture.
Tab. 834 OVDA Standards
Additional information on the user organisation can be found at ODVA (Open DeviceNet Vendor Asso-
ciation) è www.odva.org

Festo — CMMT-ST-SW — 2019-08b 885

EtherNet/IP

13.3 EtherNet/IP Communication

13.3.1 EtherNet/IP Interface
The EtherNet/IP connection is designed as a 2-port Ethernet switch with 8-pin RJ sockets. Via these
connections, the servo drive can be integrated into an EtherNet/IP network.
The servo drive is a pure EtherNet/IP adapter and requires an EtherNet/IP controller (scanner) in order
to be controlled via EtherNet/IP.
The servo drive supports the Device Level Ring function (DLR) and is able to communicate with an Eth-
erNet/IP Ring Supervisor. In case of a string failure, the servo drive takes the new path specifications
of the Ring Supervisor and uses them.
The EtherNet/IP interface of the servo drive is intended exclusively for connection to local, industrial
fieldbus networks.

13.3.2 Configuration EtherNet/IP Stations

Several steps are required in order to produce a functional EtherNet/IP interface.
We recommend the following procedure:
– Parameterisation and commissioning with the Festo Automation Suite and the CMMT-ST plug-in
– Linking of the EDS file into the project engineering software.
Parameterisation of the EtherNet/IP Interface
Work with the CMMT-ST plug-in, settings of the EtherNet/IP interface can be read and parameterised.
The goal is to configure the EtherNet/IP interface in such a way that the servo drive can build up Ether-
Net/IP communication with an EtherNet/IP controller.
Setting the IP Address
A unique IP address must be assigned to each device in the network. Assignment of already used IP
addresses can result in temporary overloading of your network.
Static Addressing
Work with the CMMT-ST plug-in, the values for IP address, subnet mask and gateway address can be
assigned on the fieldbus page.
• For manual assigning of a permitted IP address, contact the network administrator.
Dynamic Addressing
Work with the CMMT-ST plug-in, dynamic addressing can be activated or deactivated.
For dynamic addressing, there is the option of addressing either through DHCP or BOOTP. Both proto-
cols are standard and are supported by the CMMT.
If dynamic addressing is set at device start or reset, an IP address is assigned to the device either
through DHCP and an available DHCP server or through the BOOTP protocol.

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13.3.3 Connection Parameters

ID Px. Parameter Description

12004 Active IP address Active IP address

Access read/−
Update effective immediately
Unit −
12005 Active subnet mask Active subnet mask
Access read/−
Update effective immediately
Unit −
12006 Active gateway Active gateway address
address Access read/−
Update effective immediately
Unit −
12007 MAC address MAC address
Access read/−
Update effective immediately
Unit −
Tab. 835 Parameter

13.3.4 Connection Characteristics

ID Px. Parameter Description

3030101 Telegram selection Specifies the telegram selection for EtherNet/IP.

Access read/write
Update effective immediately
Unit −
11280109 Current application Displays the current application class.
class Access read/−
Update effective immediately
Unit −
Tab. 836 Parameter

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EtherNet/IP

13.3.5 Configuring the EtherNet/IP Master

Electronic Data Sheet (EDS)
To permit fast and simple commissioning, the capabilities of the EtherNet/IP interface of the device
are described in an EDS file.
By using a suitable configuration software for the higher-level controller, it is possible to integrate the
CMMT into the network by means of an EDS file. The way in which the network is configured depends
on the configuration software used.
For the most up-to-date version of the EDS file, see è www.festo.com/sp

Festo provides modules and application notes to facilitate the commissioning of the servo drive with
controllers from various manufacturers è www.festo.com/sp.
Device Identification

Characteristics Contents

Vendor code 26
Vendor Name Festo AG & Co. KG
Product Name Festo CMMT
Product Type 43 (Generic Device)
Product code 65282
Tab. 837 Device Identification

13.3.6 Basic Functions

The servo drive supports the following basic functions:
– Cyclic communication (implicit messaging)
– Acyclic Communication (Explicit Messaging)
Cyclic communication (implicit messaging)
Implicit Messaging implements the cyclic data communication with EtherNet/IP. The standard commu-
nication method for Implicit Messaging is cyclic, time-based polling.
Acyclic Communication (Explicit Messaging)
Explicit Messaging implements acyclic data communication with EtherNet/IP. All mapped EtherNet/IP
objects can be addressed via this channel.
Explicit messaging can be either connected or unconnected.

13.3.7 EtherNet/IP Objects

Objects
The servo drive supports the following function objects:
– Identity Object - 0x01
– Message Route Object - 0x02
– Assembly Object - 0x04
– Connection Manager Object - 0x06
– Device Level Ring Object - 0x47

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– Qualtity of Service Object - 0x48

– TCP/IP Interface Object - 0xF5
– Ethernet Link Object - 0xF6
Address Ranges
ODVA has defined an address range from 0 to 65535 for class IDs.

Address ranges (dec.) Address ranges (hex.) Description

0 … 99 0x0000 … 0x0063 ODVA-specific objects

100 … 199 0x0064 … 0x00C7 Manufacturer-specific objects
200 … 239 0x00C8 … 0x00EF Reserved objects
240 … 767 0x00F0 … 0x02FF 0x00F0 ODVA-specific objects
0x02FF 0x00F0 0x02FF
768 … 1279 0x0300 … 0x04FF Manufacturer-specific objects
1280 … 65535 0x0500 … 0xFFFF Reserved objects
Tab. 838 Address Ranges
Identity Object - 0x01
This object contains the identification and general information about the device. Instance 1 identifies
the entire servo drive. This object can be used to identify a device in the network.

Instance Name Attribute ID Name

0 Class 1 Revision
2 Max. Instance
3 Number of instances
4 Number of attributes
5 Optional Service list (contains reset
service)
6 Max. Class Attribute
7 Max. Instance Attribute
1 Instance Attrib- 1 Vendor ID
utes 2 Device Type
3 Product Code
4 Major Revision
Minor Revision
5 Status
6 Serial Number

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Instance Name Attribute ID Name

1 Instance Attrib- 7 Product Name

utes 8 State
Tab. 839 Identity Object - 0x01
Message Router Object - 0x02
This object provides a message link that a client can use to address a service to an object class or an
instance within the device. No services are offered by this object.
Assembly Object - 0x04
These objects are used to link input or output data è 13.4.3 Process Data.

Instance Name Attribute ID Name

0 Class 1 Revision
2 Max. Instance
3 Number Of Instances
4 Number Of Attributes
100, 101, 102, Instance Attrib- 1 Reserved
110, 111 utes 2 Reserved
3 Data
4 Size
Tab. 840 Assembly Object - 0x04
Connection Manager Object - 0x06
This object is used to set up a connection. The object is instantiated only once.
Device Level Ring Object - 0x47
This object is used to configure a network with the ring topology according to the DLR specification of
EtherNet/IP.

Instance Name Attribute ID Name

0 Class 1 Revision
1 Instance Attrib- 1 Network Topology
utes – 0 indicates Linear
– 1 indicates Ring
1 Instance Attrib- 2 Network Status
utes – 0 indicates Normal
– 1 indicates Ring Fault
– 2 indicates Unexpected Loop
Detected
– 3 indicates Partial Network Fault

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Instance Name Attribute ID Name

1 Instance Attrib- – 4 indicates Rapid Fault/Restore

utes Cycle
3 Ring Supervisor Status
4 Ring Supervisor Config Structure
5 Ring Faults Count
6 Last Active Node on Port1
7 Last Active Node on Port2
8 Ring Protocol Participants Count
9 Ring Protocol Participants List
10 Active Supervisor Address
11 Active Supervisor Precendance
12 Capability Flags
Tab. 841 Device Level Ring Object - 0x47
Qualtity of Service Object - 0x48
This object provides mechanisms that can assign different priorities to the transmission stream.

Instance Name Attribute ID Name

0 Class 1 Revision
2 Max. Instance
1 Instance attrib- 1 802.1Q Tag Enable
utes 2 DSCP PTP Event
3 DSCP PTP General
4 DSCP Urgent
5 DSCP Scheduled
6 High
7 Low
8 Explicit
Tab. 842 Qualtity of Service Object - 0x48
TCP/IP Interface Object - 0xF5
This object is used to configure a TCP/IP network (e.g. IP address, subnet mask and gateway
address).

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Instance Name Attribute ID Name

0 Class 1 Revision
2 Max. Instance
1 Instance Attrib- 1 Status
utes 2 Configuration Capacity
3 Configuration Control
4 Physical Link Object
5 Interface Configuration:
IP-Address
Network Mask
Gateway Address
Name Server
Name Server 2
Domain Name
6 Host Name
7 Safety Network Number
8 TTL Value
Tab. 843 TCP/IP Interface Object - 0xF5
Ethernet Link Object - 0xF6
This object contains link-specific counters and status information for an Ethernet IEEE 802.3 commu-
nication interface.
Each instance of the object corresponds exactly to one Ethernet IEEE 802.3 communication interface.
The servo drive is a 2-port EtherNet/IP device and can instantiate 2 Ethernet Link objects.

Instance Name Attribute ID Name

0 Class 1 Revision
2 Max. Instance
1 Instance Attrib- 1 Interface Speed
utes 2 Interface Flags
3 Physical Address
4 Interface Counters
5 Media Counters
6 Interface Control
7 Interface Type

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Instance Name Attribute ID Name

1 Instance Attrib- 8 Interface State

utes 9 Admin State
10 Interface Label
Tab. 844 Ethernet Link Object - 0xF6

13.4 Drive Profile

The drive profile supports velocity and position operating modes divided into application classes.

Motion control is carried out via the functions as with PROFIDRIVE.

The device parameters Px. are accessed via the additional telegram (extended process data).

13.4.1 Application Classes

13.4.1.1 Basic Values and Reference Values in the Application Classes

ID Px. Parameter Description

11280701 Base value speed Specifies the base value for the velocity application class. The
(user unit) base value in user units is multiplied by the normalized value in
the process data and then gives the internal speed setpoint.
Access read/write
Update reinitialization
Unit user defined
11280702 Base value accelera- Specifies the base value for acceleration for the Positioning
tion application class in Tel. 111. The base value is multiplied by the
normalized value in the process data and then gives the internal
acceleration setpoint.
Access read/write
Update effective immediately
Unit user defined
11280703 Base value decelera- Specifies the base value for deceleration for the Positioning
tion application class in Tel. 111. The base value is multiplied by the
normalized value in the process data and then gives the internal
deceleration setpoint.
Access read/write
Update effective immediately
Unit user defined

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ID Px. Parameter Description

11280402 Acceleration Specifies the acceleration value for the velocity application
class.
Access read/write
Update effective immediately
Unit user defined
11280403 Deceleration Specifies the deceleration value for the velocity application
class.
Access read/write
Update effective immediately
Unit user defined
11280404 Jerk Specifies the value for the jerk for the application speed.
Access read/write
Update effective immediately
Unit user defined
Tab. 845 Parameter

13.4.1.2 Application Class 1 – Standard Drive (Velocity Mode)

In application class 1 the drive is controlled by a main setpoint, e.g. velocity setpoint. The velocity is
controlled completely in the drive. The bus is simply the transmission medium between the automa-
tion system and the servo drive. The higher-level controller (PLC) contains all technological functions
for the automation task. Process data (setpoint and actual values) are exchanged cyclically. Cyclical
synchronous data transfer can be used, but is typically not necessary for this application class.

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Fig. 143 Application class 1

13.4.1.3 Application Class 3 – Positioning Mode (PtP)

In application class 3 the positioning commands are sent to the drive by the higher-level controller
(PLC). The higher-level controller (PLC) only contains the technological functions required for the auto-
mation task. The drive itself directly controls the interpolation, positioning and velocity and all time-
critical control algorithms. Cyclical synchronous operation is only required for complex tracking tasks
with multiple axes.

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Fig. 144 Application class 3

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Sub-mode Record Mode

Fig. 145 Record mode

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MDI Sub-mode/Target Value Specification

Fig. 146 Target value specification/MDI

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13.4.2 Finite State Machines

13.4.2.1 Basic finite state machine

Fig. 147 Basic finite state machine

Multiple transitions are possible from some states. In this case the transitions with assigned priorities
are specified in the status diagram. Points are used to identify the priority level. The more points a
transition has the higher the priority. A transition with no points has the lowest priority.

No. Condition Target status

T0 Logic voltage supply present =1 S1 Switching On Inhibited

Tab. 846 Transition T0

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Status S1 Switching On Inhibited

Name Description Status

S1 Switching On Inhibited Switch-on lock ZSW1.0 =0

ZSW1.1 =0
ZSW1.2 =0
ZSW1.6 =1
ZSW2.11 =0
Tab. 847 Status S1

No. Conditions Target status

T1 STW1.0 Power stage enable =0 S2 Ready For Switching On

AND
STW1.1 Coast stop =1
AND
STW1.2 Quick stop =1
Tab. 848 Transition from status S1
Status S2 Ready For Switching On

Name Description Status

S2 Ready For Switching On Ready to be switched ZSW1.0 =1

on ZSW1.1 =0
ZSW1.2 =0
ZSW1.4 =1
ZSW1.5 =1
ZSW1.6 =0
ZSW2.11 =0
Tab. 849 Status S2

No. Conditions Target status

T2 STW1.0 Power stage enable =1 S3 Switched On

T6 STW1.1 Coast stop =0 S1 Switching On Inhibited
OR
STW1.2 Quick stop =0
Tab. 850 Transitions from status S2

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Status S3 Switched On

Name Description Status

S3 Switched On Ready for operation ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =0
ZSW1.3 =0
ZSW1.4 =1
ZSW1.5 =1
ZSW1.6 =0
ZSW2.11 =0
Tab. 851 Status S3

No. Conditions Target status

T3 STW1.3 Enable operation =1 S4 Operation

T5 STW1.0 Power stage enable =0 S2 Ready For Switching On
T7 STW1.1 Coast stop =0 S1 Switching On Inhibited
OR
STW1.2 Quick stop =0
Tab. 852 Transitions from status S3
Status S4 Operation

Name Description Status

S4 Operation Operation ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =1
ZSW1.6 =0
ZSW2.11 =1
Tab. 853 Status S4

No. Conditions Target status

T4 STW1.3 Enable operation =0 S3 Switched On

T8 STW1.1 Coast stop =0 S1 Switching On Inhibited
T9 STW1.0 Power stage enable =0 S51 Ramp stop

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No. Conditions Target status

T13 STW1.2 Quick stop =0 S52 Quick stop

Tab. 854 Transitions from status S4
Status S5 Switching off

Name Description Status

S5 Switching off Switching off ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =0
ZSW1.6 =0
ZSW2.10 =1
Tab. 855 Status S5

No. Conditions Target status

T15 STW1.1 Coast stop =0 S1 Switching On Inhibited

Tab. 856 Transitions from status S5
Status S51 Ramp stop

Name Description Status

S51 Ramp stop Switching off ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =0
ZSW1.5 =1
ZSW1.6 =0
ZSW2.10 =1
Tab. 857 Status S51

No. Conditions Target status

T10 Standstill detected – S2 Ready For Switching On

OR
STW1.3 Enable operation =0
T11 STW1.2 Quick stop =0 S52 Quick stop
T12 STW1.0 Power stage enable =1 S4 Operation
Tab. 858 Transitions from status S51

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The "Standstill detected" condition is an internal condition in the process of the stop ramp and is not
triggered by the user.
Status S52 Quick stop

Name Description Status

S52 Quick stop Fast stop ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =0
ZSW1.5 =0
ZSW1.6 =0
ZSW2.10 =1
Tab. 859 Status S52
The value of the status bit is identical to the status S5 Switching off. The status is not from status at
the status bit S51 Ramp stop indistinguishable.

No. Conditions Target status

T10 Standstill detected – S1 Switching On Inhibited

OR
STW1.3 Enable operation =0
Tab. 860 Transitions from status S52
The "Standstill detected" condition is an internal condition in the process of the fast stop and is not
triggered by the user.

13.4.2.2 Finite State Machine Velocity Mode in Application Class 1

The finite state machine velocity mode is a sub-finite state machine of the status S4 Operation of the
basic finite state machine. The same applies to the status messages of the status S4 Operation, they
are not executed here.

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Fig. 148 Finite State Machine Velocity Mode in Application Class 1

Multiple transitions are possible from some states. In this case the transitions with assigned priorities
are specified in the status diagram. Points are used to identify the priority level. The more points a
transition has the higher the priority. A transition with no points has the lowest priority.

No. Condition Target status

T100 STW1.0 Power stage enable =1 S61 RFG inactive

STW1.1 Coast stop =1
STW1.2 Quick stop =1
STW1.3 Enable operation =1
STW1.4 Enable ramp generator =0
STW1.5 Unfreeze ramp generator =0

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No. Condition Target status

T100 STW1.6 Enable setpoint =0 S61 RFG inactive

Tab. 861 Transition T100
Status S61 RFG inactive

Name Description Status Value

S61 RFG inactive RFG reset ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =1
ZSW1.6 =0
Tab. 862 Status S61

No. Conditions Value Target status

T101 STW1.4 Enable ramp generator =1 S62 RFG active

AND
STW1.5 Unfreeze ramp generator =1
AND
STW1.6 Enable setpoint =1
T110 STW1.8 Jogging 1 =1 S65 Jogging AC1
OR
STW1.9 Jogging 2 =1
Tab. 863 Transitions from Status S61
Status S62 RFG active

Name Description Status Value

S62 RFG active RFG active ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =1
ZSW1.6 =0
Tab. 864 Status S62

No. Conditions Value Target status

T103 STW1.4 Enable ramp generator =0 S63

(system stop)

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No. Conditions Value Target status

T104 STW1.6 Enable setpoint =0 S63 Brake ramp

T107 STW1.5 Unfreeze ramp generator =0 S64 Stop ramp (freeze)
Tab. 865 Transitions from Status S62
Status S63 Brake ramp

Name Description Status Value

S63 Brake ramp Braking ramp ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =1
ZSW1.6 =0
Tab. 866 Status S63

No. Conditions Value Target status

T105 STW1.6 Enable setpoint =1 S62 RFG active

T106 STW1.4 Enable ramp generator =0 S61 RFG inactive
OR
STW1.6 Enable setpoint =0
AND
Standstill –

Tab. 867 Transitions from Status S63

Status S64 Stop ramp (freeze)

Name Description Status Value

S64 Stop ramp (freeze) Stop ramp ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =1
ZSW1.6 =0
Tab. 868 Status S64

No. Conditions Value Target status

T108 STW1.5 Unfreeze ramp generator =1 S62 RFG active

T109 STW1.4 Enable ramp generator =0 S63 Brake ramp
Tab. 869 Transitions from Status S64

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Status S65 Jogging AC1

Name Description Status Value

S65 Jogging AC1 Jog Mode ZSW1.0 =1

ZSW1.1 =1
ZSW1.2 =1
ZSW1.6 =0
Tab. 870 Status S65

No. Conditions Value Target status

T111 STW1.8 Jogging 1 =0 S61 RFG inactive

AND
STW1.9 Jogging 2 =0
AND
Standstill –

Tab. 871 Transitions from Status S64

13.4.2.3 Finite State Machine Positioning Mode in Application Class 3

The finite state machine positioning mode in application class 3 is a sub-finite state machine of the
status S4 Operation of the basic finite state machine. The same applies to the status messages of the
status S4 Operation.

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Fig. 149 Finite State Machine Positioning Mode in Application Class 3

Multiple transitions are possible from some states. In this case the transitions with assigned priorities
are specified in the status diagram. Points are used to identify the priority level. The more points a
transition has the higher the priority. A transition with no points has the lowest priority.
Further information on the basic state machine è 12.4.3.1 Basic finite state machine.
Status S41 Basic State Positioning Mode

Name Description Status Value

S41 Basic State Positioning Basic state position- ZSW1.10 =1

Mode ing mode ZSW1.13 =1
AKTSATZ, bit 15 = SATZANW, bit 15 –

(target value specification switch)

Tab. 872 Status S41
Switching the MDI selection (SATZANW, bit 15) is only possible in S41 Basic State Positioning Mode
status.

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No. Conditions Value Target status

T301 STW1.4 Reject traversing task =1 S451 Traversing Task Active

AND
STW1.5 Intermediate stop =1
AND
STW1.6 Activate traversing task 0à1
T313 STW1.8 Jogging 1 =1 S42 Jogging
OR
STW1.9 Jogging 2 =1
T315 STW1.11 Start Homing procedure 0à1 S441 Homing Procedure Run-
ning
Tab. 873 Transitions from Status S42
T313 has higher priority than T301.
T315 has higher priority than T301.
T313 has higher priority than T315.
Status S42 Jogging

Name Description Status Value

S42 Jogging Jogging ZSW1.10 Target position reached =0

ZSW1.13 Drive stopped =x
AKTSATZ Bit 15 =0
Tab. 874 Status S42
AKTSATZ Bit 15 is set to 0 independently of SATZANW bit 15, i.e. also if MDI selection is set
(SATZANW.15 = 1).

No. Conditions Value Target status

T314 STW1.8 Jogging 1 =0 S41 Basic State Positioning

AND Mode

STW1.9 Jogging 2 =0
AND
Standstill detected –

Tab. 875 Transitions from Status S42

The "Standstill detected" condition is an internal condition and is not triggered by the user.

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Status S43 Braking With Ramp

Name Description Status Value

S43 Braking With Ramp Braking ramp ZSW1.10 Target position reached =0
ZSW1.13 Drive stopped =0
AKTSATZ Bit 15 = setpoint specification
switch (source for prior setpoint specifica-
tion)
Tab. 876 Status S43

No. Conditions Value Target status

T312 Standstill detected – S41 Basic State Positioning

Mode
Tab. 877 Transitions from Status S43
The "Standstill detected" condition is an internal condition in the process of the braking ramp and is
not triggered by the user.
Status S44 Homing Procedure

Name Description Status Value

S44 Homing Procedure Homing ZSW1.10 Target position reached =x

ZSW1.11 Home position set =x
ZSW1.13 Drive stopped =x
AKTSATZ Bit 15 =0
Tab. 878 Status S44
x = value depends on sub-status

No. Conditions Value Target status

T316 STW1.11 Start Homing procedure =0 S41 Basic State Positioning

AND Mode

Standstill detected
Tab. 879 Transitions from Status S44
The "Standstill detected" condition is an internal condition and is not triggered by the user.

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Status S45 Traversing Task Interpolation

Name Description Status Value

S45 Traversing Task Interpol- Traversing task posi- ZSW1.10 Target position reached =x
ation tioning ZSW1.12 Traversing task acknow- =x
ledgement
ZSW1.13 Drive stopped =x
AKTSATZ Bit 15 = setpoint specification
switch (source for setpoint specification)
Tab. 880 Status S45
x = value depends on sub-status

No. Conditions Value Target status

T311 STW1.4 Reject traversing task =0 S43 Braking With Ramp

OR
SATZANW Bit 15 0à1
AND
AKTSATZ Bit 15 =1
Tab. 881 Transitions from Status S45
Status S451 Traversing Task Active

Name Description Status Value

S451 Traversing Task Active Positioning task act- ZSW1.10 Target position reached =0
ive ZSW1.12 Traversing task acknow- 0à1
ledgement
ZSW1.13 Drive stopped =0
AKTSATZ Bit 15 = setpoint specification
switch (source for setpoint specification)
Tab. 882 Status S451

No. Conditions Value Target status

T302 Positioning task complete S41 Basic State Positioning

Mode
T303 STW1.6 Activate traversing task 0à1 S451 Traversing Task Active
T304 STW1.5 Intermediate stop =0 S452 Intermediate Stop Ramp
Tab. 883 Transitions from Status S451
The "Positioning task complete" condition is an internal condition and is not triggered by the user.

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T303 has higher priority than T302.

T303 has higher priority than T304.
T302 has higher priority than T304.

Status S452 Intermediate Stop Ramp

Name Description Status Value

S452 Intermediate Stop Intermediate stop ZSW1.10 Target position reached =0

Ramp ramp ZSW1.12 Traversing task acknow- =x
ledgement
ZSW1.13 Drive stopped =0
AKTSATZ Bit 15 = setpoint specification
switch (source for setpoint specification)
Tab. 884 Status S452

No. Conditions Value Target status

T305 STW1.6 Activate traversing task 0à1 S452 Intermediate Stop Ramp
T306 Standstill detected S453 Intermediate Stop
Tab. 885 Transitions from Status S452
The "Standstill detected" condition is an internal condition in the process of the intermediate stop
ramp and is not triggered by the user.
T305 has higher priority than T306.
Status S453 Intermediate Stop

Name Description Status Value

S453 Intermediate Stop Intermediate stop ZSW1.10 Target position reached =0

ZSW1.12 Traversing task acknow- =x
ledgement
ZSW1.13 Drive stopped =1
AKTSATZ Bit 15 = setpoint specification
switch (source for setpoint specification)
Tab. 886 Status S453

No. Conditions Value Target status

T307 STW1.5 Intermediate stop 1 S451 Traversing Task Active

T308 STW1.6 Activate traversing task 0à1 S453 Intermediate Stop

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No. Conditions Value Target status

T309 STW1.11 Start Homing procedure 0à1 S441 Homing Procedure Run-
ning
T310 STW1.8 Jogging 1 =1 S42 Jogging
OR
STW1.9 Jogging 2 =1
Tab. 887 Transitions from Status S453
T310 has higher priority than T307.
T309 has higher priority than T307.
T308 has higher priority than T307.
T310 has higher priority than T309.

13.4.2.4 Finite State Machine Homing Application Class 3

The finite state machine homing in application class 3 is a sub-finite state machine of the status S44
Homing Procedure of the finite state machine positioning mode.

Fig. 150 Finite State Machine Homing Application Class 3

Transition T315 is described in the finite state machine positioning mode and is therefore not con-
sidered in detail here.
Transition T316 is described in the finite state machine positioning mode and is therefore not con-
sidered in detail here. The transition is possible from every sub-status.

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Status S441 Homing Procedure Running

Name Description Status Value

S441 Homing Procedure Run- Homing active ZSW1.10 Target position reached =0
ning ZSW1.11 Home position set =0
ZSW1.13 Drive stopped =1
Tab. 888 Status S441

No. Conditions Value Target status

T320 Reference point set – S442 Homing Procedure Ready

Tab. 889 Transitions from Status S441
The condition "Homing point set" is an internal condition in the homing process.
Status S442 Homing Procedure Ready

Name Description Status Value

S442 Homing Procedure Homing complete ZSW1.10 Target position reached =1

Ready ZSW1.11 Home position set =1
ZSW1.13 Drive stopped =1
Tab. 890 Status S442

13.4.3 Process Data

13.4.3.1 Process Data Signals

Fig. 151 Connections

Instances 100 and 101 are used for the standard process data, optional instances 110 and 111 for the
extended process data.

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Instance 102 contains the startup parameterisation via Ethernet/IP (config assembly).

13.4.3.2 Process Data Configuration

The process data (input/output data) can be configured and defined as individual setpoint and actual
values. Device parameters are available for configuring the process data (input/output data).

Parameter Meaning

Px.
3030101 Telegram selection
Tab. 891 Process Data Configuration

13.4.4 Telegrams

Telegram Description Supported application classes

number

Telegrams
1 Rotational speed setpoint value 16 bit Velocity
102 Rotational speed setpoint value 32 bit with 1 Velocity
position encoder and torque reduction
111 Single positioning in the operating mode record Positioning
selection and direct specification (MDI)
910 Transmission of additional process data (EPD) Independent of the application
è è 13.4.5 Additional Telegram class
Tab. 892 Telegrams

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Telegram
No. 1 102 111

PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1

PZD2 NSOLL_A NIST_A NSOLL_B NIST_B POS_STW1 POS_ZSW1
PZD3 POS_STW2 POS_ZSW2
PZD4 STW2 ZSW2 STW2 ZSW2
PZD5 MOMRED MELDW OVERRIDE MELDW
PZD6 G1_STW G1_ZSW MDI_TARPOS XIST_A
PZD7 G1_XIST- 1
PZD8 MDI_VELOCI- NIST_B
PZD9 G1_XIST- 2 TY

PZD10 MDI_ACC FAULT_CODE

PZD11 MDI_DEC WARN_CODE
PZD12 Reserved Reserved
Tab. 893 Telegrams

13.4.5 Additional Telegram

Additional Telegram 910 (Extended Process Data, EPD)
The manufacturer-specific additional telegram 910 is available for transmitting additional process
data. The additional telegram can be selected during the process data configuration with the configur-
ation software of the master and becomes active after loading the process data configuration.
The extended process data in the additional telegram can be read with the CMMT-ST Plug-in can be
parameterised.

Telegram Description Supported application classes

number

Additional Telegram
910 Transmission of additional process data (EPD) Independent of the application
class
Tab. 894 Additional Telegram
The additional telegram 910 enables the cyclic transmission of additional parameters. All device para-
meters of the servo drive can be transferred.
The additional telegram 910 has a fixed length of 32 bytes for each transmission direction in which up
to 8 parameters can be transmitted.
Parameters with the access right "read/write" can be sent and received by the servo drive (setpoint
value).
Parameters with the "read" access right can only be sent by the servo drive (actual value).

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With the help of the CMMT plug-in up to 8 parameters can be mapped in the tabular view of the "Field-
bus" screen in the input and output data.

PZD Setpoint value (Rx data) Actual value (Tx data)

1 Max. 8 parameters (32 bytes) Max. 8 parameters (32 bytes)

2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Tab. 895 Additional Telegram 910

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Parameters for Process Data Configuration

The input/output data of the additional telegram can be configured individually. The following para-
meters are available for configuration.

ID Px. Parameter Description

4242101 Number of objects Rx Displays the actuel number of objects that mapped for Rx data.
Access read/−
Update effective immediately
Unit −
4242102 Number of bytes Rx Displays the actuel number of bytes that mapped for Rx data.
Access read/−
Update effective immediately
Unit −
4242105 Axis ID Rx Specifies the axis ID of the object to be mapped for the extended
process data Rx.
Access read/write
Update reinitialization
Unit −
4242106 Data ID Rx Specifies the data ID of the object to be mapped for the exten-
ded process data Rx.
Access read/write
Update reinitialization
Unit −
4242107 Data instance ID Rx Specifies the instance number of the object to be mapped for
the extended process data Rx.
Access read/write
Update reinitialization
Unit −
4242108 Array ID Rx Specifies the array ID of the object to be mapped for the exten-
ded process data Rx.
Access read/write
Update reinitialization
Unit −

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ID Px. Parameter Description

4242115 Current axis ID Rx Displays the current axis ID of the object mapped for the exten-
ded process data Rx.
Access read/−
Update effective immediately
Unit −
4242116 Current data ID Rx Displays the current data ID of the object mapped Rx for the
extended process data.
Access read/−
Update effective immediately
Unit −
4242117 Current data instance Displays the current instance no. of the object mapped for the
ID Rx extended process data Rx.
Access read/−
Update effective immediately
Unit −
4242118 Current array ID Rx Displays the current array ID of the object mapped for the exten-
ded process data Rx.
Access read/−
Update effective immediately
Unit −
4242119 Current data type Rx Displays the data type of the objects mapped for the extended
process data Rx.
Access read/−
Update effective immediately
Unit −
Tab. 896 Parameter (Rx data)

ID Px. Parameter Description

4242201 Number of objects Tx Displays the actuel number of objects that mapped for Tx data.
Access read/−
Update effective immediately
Unit −

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ID Px. Parameter Description

4242202 Number of bytes Tx Displays the actuel number of bytes that mapped for Tx data.
Access read/−
Update effective immediately
Unit −
4242205 Axis ID Tx Specifies the axis ID of the object to be mapped for the extended
process data Tx.
Access read/write
Update reinitialization
Unit −
4242206 Data ID Tx Specifies the data ID of the object to be mapped for the exten-
ded process data Tx.
Access read/write
Update reinitialization
Unit −
4242207 Data instance ID Tx Specifies the instance no. of the object to be mapped for the
extended process data Tx.
Access read/write
Update reinitialization
Unit −
4242208 Array ID Tx Specifies the array ID of the object to be mapped for the exten-
ded process data Tx.
Access read/write
Update reinitialization
Unit −
4242215 Current axis ID Tx Displays the current axis ID of the object mapped for the exten-
ded process data Tx.
Access read/−
Update effective immediately
Unit −
4242216 Current data ID Tx Displays the current data ID of the object mapped for the exten-
ded process data Tx.
Access read/−
Update effective immediately

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ID Px. Parameter Description

4242216 Current data ID Tx Unit −

4242217 Current data instance Displays the current instance number of the object mapped for
ID Tx the extended process data Tx.
Access read/−
Update effective immediately
Unit −
4242218 Current array ID Tx Displays the current array ID of the object mapped for the exten-
ded process data Tx.
Access read/−
Update effective immediately
Unit −
4242219 Current data type Tx Displays the data type of the objects mapped for the extended
process data Tx.
Access read/−
Update effective immediately
Unit −
Tab. 897 Parameter (Tx data)
Extended Process Data Parameter

ID Px. Parameter Description

3030101 Telegram selection Specifies the telegram selection for EtherNet/IP.

Access read/write
Update effective immediately
Unit −
3030104 Extended process Displays which telegram is used for the Extended process data.
data Access read/write
Update effective immediately
Unit −
Tab. 898 Extended Process Data Parameter

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13.4.6 Process Data Signals in Detail

13.4.6.1 Control Word 1 (STW1)

Bit Meaning
Velocity mode Positioning mode

0 Output stage enable (ON/OFF, precondition STW1.3 = 1)

– 0à1: power output stage enabled (ON)
– 0: brake drive to standstill and then deactivate the power output stage (OFF1).
If bit STW1.3 is already active, activation of STW1.0 implements a transition to S4 and
therefore switches on the output stage. As a rule, however, STW1.0 is active and STW1.3
(output stage enable) is activated.
1 Drive coast (OFF 2)
– 1: no coasting
– 0: coasting. Power output stage is deactivated (OFF2). The drive coasts to a stop.
2 Fast stop (OFF 3)
– 1: no fast stop
– 0: brake drive to standstill with fast stop and then deactivate the power output stage
(OFF3).
3 Enable operation
– 1: enabled
– 0: block
4 Ramp generator enabled Reject positioning task
– 1: enabled – 1: inactive
– 0: block – 0: active
5 Start ramp generator Intermediate stop
– 1: start (precondition STW1.4 = 1) – 1: inactive
– 0: freeze – 0: active
6 Enable rotational speed setpoint value Activate positioning task
– 1: enable – 0à1: active
– 0: block – 0: inactive(no effect)
7 Acknowledge malfunction
– 0à1: active
– 0: inactive(no effect)
8 Jogging 1
– 1: active (jogging with the dynamic values of jogging 1)
– 0: inactive
9 Jogging 2
– 1: active (jogging with the dynamic values of jogging 2)
– 0: inactive

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Bit Meaning
Velocity mode Positioning mode

10 PLC master control

– 1: the higher-order controller requests the master control. The signal must be set if
the process data sent are to be applied and effective.
– 0: master control not requested
11 Invert setpoint value Start homing
– 1: active – 0à1: active
– 0: inactive – 0: inactive
12 Release holding brake Reserved
– 1: active
– 0: inactive
13 Reserved Start record change
– 0à1: active
– 0: inactive
14 … 15 Reserved Reserved
Tab. 899 Control Word 1 (STW1)

Significance of General Bits (STW1)

STW1.0 Power stage enable (ON/OFF)

Value Command Description

0à 1 Output stage enable (ON) If bit STW1.3 is already active, activation of STW1.0
implements a transition to S4 and therefore switches
on the output stage. As a rule, however, STW1.0 is act-
ive and STW1.3 (output stage enable) is activated.
0 Output stage block (OFF1) – The drive is braked to standstill and then the
power output stage is switched off (OFF1).
– The drive switches to the status S2 Ready For
Switching On.
– If it is coming from the S4 Operation status, it is
braked with the ramp generator ( S51 Ramp stop).
– After standstill is reached the power output stage
is switched off.
Tab. 900 STW1.0
Braking with the OFF1 command can be interrupted with the following commands that trigger a higher
prioritised stop response:
– Fast stop (OFF3) è bit 2, fast stop
– Block ramp generator or reject positioning task è STW1.4
– Block rotational speed setpoint value or activate positioning task è STW1.6

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– Enable power output stage è STW1.0. In this case it switches back to the S4 Operation status.
STW1.1 Coast stop (OFF 2)

Value Command Description

1 No coasting A coasting command is not pending. The motor can be

switched on.
0 Coast – Power output stage is switched off.
(OFF2) – The drive coasts to a stop.
– The drive switches to the status S1 Switching On
Inhibited.
Tab. 901 STW1.1
STW1.2 Quick stop (OFF 3)

Value Command Description

1 No fast stop A fast stop command is not pending. The motor can be
switched on.
0 Fast stop – The drive is braked to standstill with fast stop.
(OFF3) Then the power output stage is switched off.
– The drive switches to the status S1 Switching On
Inhibited.
– If it is coming from the S4 Operation status, brak-
ing with fast stop ramp (status S52 Quick stop).
Tab. 902 STW1.2
– The fast stop command cannot be interrupted (OFF3).
– The fast stop command can interrupt braking with the OFF1 command. In this case, braking is con-
tinued to standstill with the fast stop ramp.
– If the block operation command (STW1.3) is applied before reaching standstill, the voltage is dis-
connected without waiting for standstill and switched to the S1 Switching On Inhibited status.
– The controller is not yet active in the S2 Ready For Switching On and S3 Switched On closed-loop
controller is not active. Only the energy is already enabled. Therefore, a fast stop ramp is not gen-
erated. It is immediately switched to the S1 Switching On Inhibited status.
STW1.3 Enable operation

Value Command Description

1 Enable operation If the drive is in the status S3 Switched On:

– Switch to status S4 Operation
The closed-loop controller is activated.
The drive/closed-loop controller is enabled. The set-
point value is only applied after enabling the rotational
speed setpoint value (STW1.6) or by activating the

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Value Command Description

positioning task (edge 0à1 on STW1.6) (preconditions

STW1.4, STW1.5).

0 Disable operation – Closed-loop controller is blocked.

– The drive coasts to a standstill (without ramp).
If it is coming from the S4 Operation coming:
– Switch to status S3 Switched On
Tab. 903 STW1.3
The status is changed immediately. Standstill is not required. The setpoint value is specified as fol-
lows with a rising edge at STW1.3:
– In velocity mode: the setpoint value is effective immediately depending on control bits bit 4 … bit
6. The setpoint rotational speed affects the closed-loop control; a starting edge or other is not
required.
– In positioning mode: setpoint position = current actual position. The current actual position is
retained, a new setpoint position is only activated with rising edge at STW1.6 (activate positioning
task).
STW1.7 Fault acknowledge

Value Command Description

0à 1 Acknowledge malfunction – With a positive edge the drive attempts to acknow-

ledge pending errors.
The reaction depends on the pending messages.
If the error reaction caused a shutdown of the output
stage, the drive then switches to the status S1 Switch-
ing On Inhibited.
0 No effect –

Tab. 904 STW1.7

STW1.8 Jogging 1

Value Command Description

1 Jogging 1 on Execute jogging 1

0 Jogging 1 off Stop jogging 1
Tab. 905 STW1.8

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STW1.9 Jogging 2

Value Command Description

1 Jogging 2 on Execute jogging 2

0 Jogging 2 off Stop jogging 2
Tab. 906 STW1.9
STW1.10 Control by PLC

Value Command Description

1 Transfer master control The master control is transferred to the higher-order

open-loop control. The output data of the higher-order
open-loop control are thus valid.
0 Do not transfer master control The output data of the open-loop control are invalid.
The reaction of the removal of the master control of the
higher-order open-loop control depends on the device.
Possible reactions include:
– With velocity control: retain process data, no
status change
– With position control: set PLC output data to 0,
cancel positioning and block closed-loop controller
If the drive is in a status not equal to S1 Switching On
Inhibited an error is reported and it switches to the S1
Switching On Inhibited status. If the power output
stage is active, it is switched off and the drive coasts to
a stop.
Tab. 907 STW1.10
Parameters for the General Bits (STW1)

Parameter Px. Name

1147000 STW1.0 Power stage enable

1147010 STW1.1 Coast stop
1147020 STW1.2 Quick stop
1147030 STW1.3 Enable operation
1147070 STW1.7 Fault acknowledge
1147080 STW1.8 Jogging 1
1147090 STW1.9 Jogging 2
1147100 STW1.10 Control by PLC

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Parameter Px. Name

1147990 STW1
Tab. 908 Parameter

Significance of the Special Bits for Velocity Mode (STW1)

The commands for velocity mode are also relevant outside the S4 Operation status. This applies par-
ticularly to the commands Block ramp generator (STW1.4) and Block setpoint value (STW1.6). These
commands interrupt braking in the S51 Ramp stopbecause they trigger a stop reaction with a higher
priority.
STW1.4 Enable ramp generator

Value Command Description

1 Ramp generator enabled If enable is possible, the ramp generator is enabled.

0 Block ramp generator – The output of the ramp generator is set to 0.
– The drive remains under power and is braked in
accordance with system stop.
Additional system stop with separate deceleration and
jerk:
– Deceleration stop ramp: Px.11280405.0.0
– Jerk system stop: Px.11280406
Tab. 909 STW1.4
STW1.5 Unfreeze ramp generator

Value Command Description

1 Start ramp generator The ramp generator is started.

0à 1 Freeze ramp generator The current setpoint value of the ramp generator is
frozen with falling edge at the current pending actual
value.
Tab. 910 STW1.5
STW1.6 Enable setpoint

Value Command Description

1 Enable rotational speed set- The rotational speed setpoint value is enabled.
point value
0 Block rotational speed setpoint The input of the ramp generator is set to 0.
value
Tab. 911 STW1.6

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STW1.11 Invert setpoint

Value Command Description

1 Inversion of setpoint value The setpoint value is inverted.

0 no inversion of setpoint value The setpoint value is not inverted.
Tab. 912 STW1.11
STW1.12 Open holding brake

Value Command Description

1 Release holding brake The holding brake is released.

0 Do not release holding brake The holding brake is not released.
Tab. 913 STW1.12
Parameters of Special Bits for Velocity Mode (STW1)

Parameter Px. Name

1147040 STW1.4 Enable ramp generator

1147050 STW1.5 Unfreeze ramp generator
1147060 STW1.6 Enable setpoint
1147110 STW1.11 Invert setpoint
1147120 STW1.12 Open holding brake
1147150 STW1.15 Reserved
Tab. 914 Parameter

Significance of the Special Bits for Positioning Mode (STW1)

The functions defined for positioning mode are relevant only in the S4 Operation status.
STW1.4 Reject traversing task

Value Command Description

1 Do not reject positioning task The current positioning task is not rejected.
0 Reject positioning task – The current positioning task is rejected.
– The drive switches to the status S43 Braking With
Ramp and brakes to standstill with system stop.
– Then the drive switches to the S41 Basic State
Positioning Mode status and remains controlled.
– A new positioning task cannot be started.
Tab. 915 STW1.4

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STW1.5 Intermediate stop

Value Command Description

1 No intermediate stop A new positioning task can be executed or an interrup-

ted positioning task can be resumed.
0 Activate intermediate stop If the drive is in the S451 Traversing Task Active status:
– Switch to status S452 Intermediate Stop Ramp
– The drive is braked with the deceleration of the
current positioning task until standstill, then
switches to the S453 Intermediate Stop status and
remains controlled.
– The current positioning task is not rejected and it
can be resumed by setting the STW1.5 bit.
If in the status S41 Basic State Positioning Mode:
– positioning task cannot be started.
Tab. 916 STW1. 5
STW1.6 Activate traversing task

Value Command Description

0à 1 Activate positioning task The setpoint value is enabled.

0 Do not activate positioning task No effect
Tab. 917 STW1.6
If the drive is in the S41 Basic State Positioning Mode status and the commands "Do not reject posi-
tioning task" (STW1.4) and "No intermediate stop" (see STW1.5) are pending, with rising edge at
STW1.6 a positioning task is started (record or direct setpoint value specification).
If the drive is in the S451 Traversing Task Activestatus, with a rising edge a new positioning task is
started. The new positioning task is effective immediately and the currently active positioning task is
rejected.
If the drive is in the S452 Intermediate Stop Ramp or S453 Intermediate Stopstatus, with a rising edge
at STW1.6 a new positioning task is started.
The setpoint values of the new positioning task are applied immediately. The currently active position-
ing task is rejected.
In record mode the returned record number switches to the number of the positioning task (AKTSATZ,
Bit 0 … 6).
With multiple leading edges in the S452 Intermediate Stop Ramp status or the S453 Intermediate Stop
status, the last started positioning task is executed with the command "No intermediate stop"
(STW1.5) (no save effect).
The command "Activate motion task" is confirmed by a handshake with the status "Acknowledge
motion task active".

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Fig. 152 Activate timing positioning task

The start of another new task before acknowledgement or during ZSW1.12 = 1 is ignored.
STW1.11 Start Homing procedure

Value Command Description

0à1 Start homing If in the status S41 Basic State Positioning Mode
status or the S43 Braking With Ramp:
– Homing is started during rising edge.
0 Stop homing On successful completion of homing (ZSW1.11 = 1,
homing point set):
– The homing is terminated.
– Switch to status S41 Basic State Positioning Mode
With active homing:
– Homing is interrupted.
– The drive is braked to standstill.
– Switch to status S41 Basic State Positioning Mode
Tab. 918 STW1.1
STW1.13 Start block change

Value Command Description

0à1 external record change The external record change is triggered by a rising
edge.
0 No effect No effect
Tab. 919 STW1.13
Parameters of Special Bits for Positioning Mode (STW1)

Parameter Px. Name

1147041 STW1.4 Reject traversing task

1147051 STW1.5 Intermediate stop
1147061 STW1.6 Activate traversing task
1147111 STW1.11 Start Homing procedure

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Parameter Px. Name

1147121 STW1.12 Reserved

1147131 STW1.13 Start block change
1147141 STW1.14 Reserved
1147151 STW1.15 Reserved
Tab. 920 Parameter

13.4.6.2 Status Word 1 (ZSW1)

Bit Meaning
Velocity mode Positioning mode

0 Ready to be switched on
– 1: active
– 0: inactive
1 Ready for operation
– 1: active
– 0: inactive
2 Operation enabled
– 1: active
– 0: inactive (blocked)
3 Malfunction effective
– 1: active
– 0: inactive
4 Coasting active
– 1: inactive (OFF2 inactive)
– 0: active (OFF2 active)
5 Fast stop active
– 1: inactive (OFF3 inactive)
– 0: active (OFF3 active)
6 Switch-on lock active
– 1: active
– 0: inactive
7 Warning effective
– 1: active
– 0: inactive

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Bit Meaning
Velocity mode Positioning mode

8 Velocity setpoint/actual deviation within Position setpoint/actual deviation within

tolerance tolerance
– 1: in tolerance range – 1: in tolerance range
– 0: not yet in tolerance range – 0: not yet in tolerance range
9 Guide required
– 1: active
– 0: inactive
10 Velocity comparison value reached Target position reached
– 1: active – 1: active
– 0: inactive – 0: inactive
11 I, M or P limit not reached Reference point set
– 1: active – 1: active
– 0: inactive – 0: inactive
12 Holding brake released Positioning task activated (acknowledge-
– 1: active ment)
– 0: inactive – 0à1: active
– 0: inactive
13 No warning of motor overtemperature Drive is stationary
– 1: motor overtemperature warning not – 1: active
effective – 0: inactive
– 0: motor overtemperature warning
effective
14 Motor direction of rotation Axis accelerated
– 1: actual rotational speed ³ 0 – 1: active
– 0: actual rotational speed < 0 – 0: inactive
15 No power unit overtemperature warning Drive decelerated
– 1: warning of thermal overload not – 1: active
effective – 0: inactive
– 0: warning of thermal overload effect-
ive
Tab. 921 Status Word 1 (ZSW1)

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Significance of General Bits (ZSW1)

ZSW1.0 Ready to switch on

Value Meaning Description

1 active (ready to be switched on) The power supply is switched on. The electronics are
initialised. Output stage is active.
The drive is in one of the following statuses:
– S2 Ready For Switching On
– S3 Switched On
– S4 Operation
– S5 Switching off.
0 inactive (not ready to be The drive is in the status S1 Switching On Inhibited.
switched on)
Tab. 922 ZSW1.0
ZSW1.1 Ready to operation

Value Meaning Description

1 Active (ready for operation) The output stage is in the ready for operation status.
The drive is in one of the following statuses:
– S3 Switched On
– S4 Operation
– S5 Switching off
0 Inactive (not ready for opera- The Output stage enable command is not pending
tion) (STW1.0). The drive is in one of the following statuses:
– S1 Switching On Inhibited
– S2 Ready For Switching On
Tab. 923 ZSW1.1
ZSW1.2 Operation enabled

Value Meaning Description

1 Active The output stage is active. The drive follows the

pending setpoint value.
The drive is in the status S4 Operation.

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Value Meaning Description

0 Inactive The output stage is not active. The drive does not fol-
low the pending setpoint value.
The drive is in one of the following statuses:
– S1 Switching On Inhibited
– S2 Ready For Switching On
– S3 Switched On
– S5 Switching off
Tab. 924 ZSW1.2
ZSW1.3 Fault present

Value Meaning Description

1 Active At least one not acknowledged or not acknowledge-

able error is pending.
The drive is not operational.
The error reaction depends on the actual error (see
error reaction). The pending errors are in the error
memory.
0 Inactive There are no errors in the error memory.
Tab. 925 ZSW1.3
ZSW1.4 Coast stop activated

Value Meaning Description

1 Inactive The coasting command is inactive.

0 Active (OFF2) The coasting command is active (OFF2).
Tab. 926 ZSW1.4
ZSW1.5 Quick stop activated

Value Meaning Description

1 Inactive The fast stop command is inactive.

0 Active (OFF3) The fast stop command is active (OFF3).
Tab. 927 ZSW1.5

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ZSW1.6 Switch on inhibited

Value Meaning Description

1 Active The switch-on lock is active. The drive is in the status

S1 Switching On Inhibited.
Switching on is only possible with the following com-
mand sequence: OFF (OFF1) and no coasting (no OFF2)
and no fast stop (no OFF3) and then ON.
0 Inactive Switching on is possible. The drive is in the status S2
Ready For Switching On, S3 Switched On, S4 Operation
or S5 Switching off.
Tab. 928 ZSW1.6
ZSW1.7 Warning present

Value Meaning Description

1 Active At least one warning is pending. The drive is continuing

in operation. Warnings can be acknowledged if the
cause is remedied.
The pending warnings are in the warning buffer.
0 Inactive There is no warning in the warning buffer.
Tab. 929 ZSW1.7
ZSW1.9 Control requested

Value Meaning Description

1 Active The guide is required by the higher-order controller.

Condition for use with cycle synchronicity: the drive is
synchronous to the automation system.
0 Inactive Control over the automation system (PLC) is not pos-
sible. Control is only possible directly at the device or
by a different interface.
Tab. 930 ZSW1.9
Parameters of the General Bits (ZSW1)

Parameter Px. Name

1145990 ZSW1
1145000 ZSW1.0 Ready to switch on
1145010 ZSW1.1 Ready to operation
1145020 ZSW1.2 Operation enabled

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Parameter Px. Name

1145030 ZSW1.3 Fault present

1145040 ZSW1.4 Coast stop activated
1145050 ZSW1.5 Quick stop activated
1145060 ZSW1.6 Switch on inhibited
1145070 ZSW1.7 Warning present
1145090 ZSW1.9 Control requested
Tab. 931 Parameter

Significance of the Special Bits for Velocity Mode (STW1)

ZSW1.8 Speed error within tolerance range

Value Meaning Description

1 In tolerance range The rotational speed actual value is within a paramet-

erisable tolerance range.
It can be above or below the tolerance range for time
t < tmax. The tolerance range and the time tmax can be
parameterised:
– Monitoring window speed: following error:
Px.464.0.0
– Damping time velocity: following error:
Px.4690.0.0
0 Not in tolerance range The rotational speed actual value is outside a toler-
ance range.
Tab. 932 ZSW1.8
ZSW1.10 f or n reached or exceeded

Value Meaning Description

1 Active The rotational speed comparison value is reached or

exceeded. The absolute value is considered:
|nactual| ³ nthreshold
The comparison value is defined via a threshold value
nthreshold value and a hysteresis nhyst.
A switch-on delay time tdel can be parameterised dur-
ing which the rotational speed after falling below
nthreshold must not fall below the value nthreshold - nhyst.
– Threshold value velocity comparator: Px.11280504
– Hysteresis threshold value velocity comparator:
Px.11280505

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Value Meaning Description

– Switch-on delay time speed comparator:

Px.11280506
0 Inactive Rotational speed comparison value not reached or
below setpoint value:
|nact| < (nthreshold - nhyst)
Tab. 933 ZSW1.10

Fig. 153 Rotational speed comparison timing reached

Name Description ID Px.

nAct Actual velocity value (rotational speed) 1210

nthreshold Threshold value velocity comparator 11280504
nhyst Hysteresis threshold value velocity comparator 11280505
tDelay Switch-on delay time speed comparator 11280506
Tab. 934 Legend for Rotational Speed Comparison Timing Reached

Parameter Px. Name

1210 Actual velocity value

11280504 Threshold value velocity comparator
11280505 Hysteresis threshold value velocity comparator
11280506 Switch-on delay time speed comparator
Tab. 935 Parameters of Rotational Speed Comparison Timing Reached

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ZSW1.11 I, M or P limit not reached

Value Meaning Description

1 Active (not reached) Indicates that the I, M or P limit has not yet been
reached.
0 Inactive (reached or exceeded) Indicates that the I, M or P limit has been reached or
exceeded
Tab. 936 ZSW1.11
The motor travels with specified torque and works against the stop when the stop is reached. If the
torque limit is reached, the status change is reported by ZSW1.11.
ZSW1.12 Holding brake open

Value Meaning Description

1 Active Shows the "Holding brake opened" status.

0 Inactive Shows the "Holding brake closed" status.
Tab. 937 ZSW1.12
ZSW1.13 No warning Overtemperature motor

Value Meaning Description

1 Motor overtemperature warning A warning is not output if the defined motor temperat-
not effective ure warning threshold is exceeded.
0 Motor overtemperature warning A warning is output if the defined motor temperature
effective warning threshold is exceeded.
Tab. 938 ZSW1.13
ZSW1.14 Motor rotation

Value Meaning Description

1 Positive Actual rotational speed value ³ 0

0 negative Actual rotational speed value < 0
Tab. 939 ZSW1.14

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ZSW1.15 No warning Overtemperature power section

Value Meaning Description

1 Warning of power unit thermal Shows that a warning or malfunction is not output in
overload not effective case of thermal overload of the power unit.
0 Warning of power unit thermal Shows that an appropriate warning or malfunction is
overload effective output in case of thermal overload of the power unit.
Tab. 940 ZSW1.15
Parameters of Special Bits for Velocity Mode(ZSW1)

Parameter Name Data type

1145080 ZSW1.8 Speed error within tolerance range Boolean

1145100 ZSW1.10 f or n reached or exceeded Boolean
1145110 ZSW1.11 I, M or P limit not reached Boolean
1145120 ZSW1.12 Holding brake open Boolean
1145130 ZSW1.13 No warning Overtemperature motor Boolean
1145140 ZSW1.14 Motor rotation Boolean
1145150 ZSW1.15 No warning Overtemperature power section Boolean
Tab. 941 Parameter

Significance of the Special Bits for Positioning Mode (ZSW1)

ZSW1.8 Following error within tolerance range

Value Meaning Description

1 Following distance in tolerance The dynamic comparison of the setpoint position with
range the actual position is within the tolerance range. The
tolerance range can be parameterised:
– Damping time position: following error: Px.462.0.
– Monitoring window position: following error:
Px.463.0.0
0 Following distance not yet in tol- The dynamic comparison of the setpoint position with
erance range the actual position is not within the parameterised tol-
erance range.
Tab. 942 ZSW1.8

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ZSW1.10 Target position reached

Value Meaning Description

1 Active The actual position value is within the target position

window.
If the target position window is reached once, the bit
remains set until the start of the next task even if the
actual position leaves the target position window
beforehand. The following can be parameterised:
– Damping time target reached: Px.468.0.0
– Monitoring window target position: Px.469.0.0
0 Inactive The actual position value is not within the target posi-
tion window.
Tab. 943 ZSW1.10
ZSW1.11 Home position set

Value Meaning Description

1 Active A homing was run and a valid homing point is set.

0 Inactive A valid homing point is not set.
Tab. 944 ZSW1.11
ZSW1.12 Traversing task acknowledgement (acknowledgment)

Value Meaning Description

0à1 Active With a rising edge the import of a new position task
(record or direct setpoint value specification) is
acknowledged. The rising edge at ZSW1.12 is the reac-
tion to a rising edge at STW1.6 in in the following
statuses:
– S41 Basic State Positioning Mode
– S451 Traversing Task Active
– S452 Intermediate Stop Ramp
– S453 Intermediate Stop
0 Inactive The positioning task acknowledgement is inactive. The
status bi is set to 0 if:
– STW1.6 = 0, regardless of the current status
– the S4 Operation status is left regardless of
STW1.6
Tab. 945 ZSW1.12

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ZSW1.13 Drive stopped

Value Meaning Description

1 Active The drive is stationary. A prior task is completed or

standstill after a braking process is reached (brake
ramp, intermediate stop ramp, stop ramp, fast stop).
– Standstill damping time: Px.465.0.0
– Monitoring window speed standstill monitoring:
Px.466.0.0
– Damping time target reached: Px.468.0.0
– Monitoring window target position: Px.469.0.0
0 Inactive The drive moves.
Tab. 946 ZSW1.13
Standstill means that the actual rotational speed is less than or equal to a parameterisable threshold
value.
|nact| £ nthreshold
The signal is effective in all statuses (powered/non-powered).
ZSW1.14 Drive accelerating

Value Meaning Description

1 Active The axis accelerates. The ramp generator is in the

acceleration phase.
The signal is not set based on external influences (e.g.
malfunction forces acting on the drive).
0 Inactive The axis does not accelerate. The ramp generator is
not in the acceleration phase.
Tab. 947 ZSW1.14
ZSW1.15 Drive decelerating

Value Meaning Description

1 Active The ramp generator is in the deceleration phase. The

drive brakes.
The signal is not set based on external influences (e.g.
malfunction forces acting on the drive).
0 Inactive The axis does not decelerate. The ramp generator is
not in the deceleration phase.
Tab. 948 ZSW1.15

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Parameters of Special bits for Positioning mode (ZSW1)

Parameter Px. Name

1145081 ZSW1.8 Following error within tolerance range

1145101 ZSW1.10 Target position reached
1145111 ZSW1.11 Home position set
1145121 ZSW1.12 Traversing task acknowledgement
1145131 ZSW1.13 Drive stopped
1145141 ZSW1.14 Drive accelerating
1145151 ZSW1.15 Drive decelerating
Tab. 949 Parameter

13.4.6.3 Control Word 2 (STW2)

Bit Meaning

0…6 Reserved
8 Travel to fixed stop
– 1: activate travel to fixed stop (must be set before reaching the fixed stop).
– 1à0: deactivate travel to fixed stop
9 … 15 Reserved
Tab. 950 Control Word 2 (STW2)
STW2.8 Traverse to fixed endstop

Value Command Description

1 Activate Travel to fixed stop is activated with the command. The

signal must be set before reaching the fixed stop.
1à0 Deactivate Travel to the fixed stop is deactivated.
Tab. 951 STW2.8,
For example, with the travel to fixed stop command it can be moved to a workpiece with a specified
torque to clamp it securely. Detailed information on the function
è 4.1.3.3.1. Travel top fixed stop (application class 3).
Parameters of Control Word 2 (STW2)

Parameter Name

Px.
1148080 STW2.8 Traverse to fixed endstop
1148120 STW2.12 ... 15 Master sign of life

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Parameter Name

1148990 STW2
Tab. 952 Parameter

13.4.6.4 Status Word 2 (ZSW2)

Bit Meaning

0…7 Reserved
8 Travel to fixed stop
– 1: active
– 0: inactive
9 … 10 Reserved
11 Output stage active
– 1: active
– 0: inactive
12 … 15 Reserved
Tab. 953 Status Word 2
ZSW2.8 Move to fixed stop active

Value Meaning Description

1 Active This status bit shows that the positioning task "Travel
to fixed stop" is being executed
è 4.1.3.3.1. Travel top fixed stop (application class 3).

0 Inactive Shows the status "Travel to fixed stop is inactive".

Tab. 954 ZSW2.8
ZSW2.11 Power stage active

Value Meaning Description

1 Active Shows that the output stage is enabled (pulses for

motor control).
0 Inactive Shows that the output stage is blocked.
Tab. 955 ZSW2.11
Parameters of Status word 2 (ZSW2)

Parameter Name

Px.
1146080 ZSW2.8 Move to fixed stop active

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Parameter Name

1146110 ZSW2.11 Power stage active

1146990 ZSW2
Tab. 956 Parameter

13.4.6.5 Rotational Speed Setpoint Value A, B (NSOLL_A, NSOLL_B)

Rotational Speed Setpoint Value A (NSOLL_A)
Rotational speed setpoint value A has a 16-bit resolution with sign bit. Bit 15 sets the sign of the set-
point value:
– Bit 15 = 0: positive setpoint value
– Bit 15 = 1: negative setpoint value
The velocity is normalised via parameter Px.11280701.
NSOLL_A = 0x4000 or 16384 corresponds to 100 %.
Rotational Speed Setpoint Value B (NSOLL_B)
Rotational speed setpoint value B has a 32-bit resolution with sign bit. Bit 31 sets the sign of the set-
point value:
– Bit 31 = 0: positive setpoint value
– Bit 31 = 1: negative setpoint value
The velocity is normalised via parameter Px.11280701.
NSOLL_B = 0x4000 0000 or 1 073 741 824 corresponds to 100 %.
Parameters for Rotational Speed Setpoint Value A, B (NSOLL_A, NSOLL_B)

Parameter Name

Px.
11280502 Target velocity NSOLL_A/NSOLL_B
Tab. 957 Parameter

13.4.6.6 Rotational Speed Value A, B (NIST_A, NIST_B)

Rotational Speed Value A (NIST_A)
Rotational speed value A has a 16-bit resolution.
Rotational speed value A is standardised like the setpoint value
è 13.4.6.5 Rotational Speed Setpoint Value A, B (NSOLL_A, NSOLL_B).
Rotational Speed Value B (NIST_B)
Rotational speed value B has a 32-bit resolution.
Rotational speed value B is standardised like the setpoint value
è 13.4.6.5 Rotational Speed Setpoint Value A, B (NSOLL_A, NSOLL_B).
NIST_A und NIST_B are mapped to the same parameter (Px.1210).

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Parameters for Rotational Speed Actual Value A, B (NIST_A, NIST_B).

Parameter Name

Px.
1210 Actual velocity value
Tab. 958 Parameter

13.4.6.7 Encoder n Actual Position Value 1 (Gn_XIST1)

Gn_XIST is used to transmit the cyclic actual position value to the higher-level controller.
The CMMT displays actual position values internally in SINT64 format (64 bit). 40 bits are used for
multi-turn information (number of revolutions) and 24 bits for single-turn information (pulses per
revolution).
All encoder values are internally normalised to 24 bit single-turn information (pulses per revolution)
regardless of the encoder resolution.
In telegrams, the actual position values are transmitted in UINT32 format. The number of bits used for
multi-turn and single-turn information can be parameterised.
If the Default Setting is Active, the CMMT-internal 24 Bits are Normalised to the Following Values:
– Single-turn information (pulses per revolution): 18 bits (262144)
– Multi-turn information: 14 bits (16383)
Parameter Px.231545 can be used to define the number of bits used for normalising the single-turn
information. The remaining bits are used to record the multi-turn information. If necessary, overflows
must be compensated by the higher-level control system.
The settings used must be consistent with the settings of the higher-level controller.

Fig. 154 Display of actual position values (example)

Name Description

Internal represent- Internal representation of position values for CMMT

ation of CMMT
M Multi-turn information
Multi-turn bits Bits for the representation of the multi-turn values

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Name Description

Pulses per revolu- Single-turn information (pulses per revolution)

tion
Single-turn bits Bits for displaying the single-turn values
next/active
Telegram repres- Representation of the position values in the telegram
entation
Tab. 959 Legend for Figure "Actual Position Value 1"
Detailed information on the mode of operation of the encoder interface
è 13.4.6.10 Status Diagram "Position Feedback Interface".
Encoder n Position Actual Value 1 Parameter (Gn_XIST1)

Parameter Name

Px.
231544 Current resolution per revolution for Gn_XIST
231545 Resolution per revolution for Gn_XIST
Tab. 960 Parameter
The device has an instance for each encoder interface. The parameters are allocated to the primary
encoder with instance 0 (the commutation encoder is at encoder interface 1).

13.4.6.8 Encoder n Actual Position Value 2 (Gn_XIST2)

Depending on the respective function, different values are entered in Gn_XIST2.
The scaling of the position values is carried out analogously to Gn_XIST1 via parameter Px.231545
è 13.4.6.7 Encoder n Actual Position Value 1 (Gn_XIST1).
The following priorities must be observed for the values in Gn_XIST2:

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Fig. 155 Priorities for Gn_XIST2 (actual position value 2)

Name Description

Encoder error? Is there a sensor error?

Search reference Is a reference mark being searched for or is the Touch Probe (flying measure-
mark or touch- ment) function selected?
probe selected
Transmit absolute Is the absolute value transmitted cyclically?
value cyclic?
Parking encoder? Parking encoder?
Gn_XIST2 = error Gn_XIST2 contains the error code.
code
Gn_XIST2 = requ- Gn_XIST2 contains the requested value.
est value

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Name Description

Gn_XIST2 = abso- Gn_XIST2 contains the cyclically transmitted absolute value.

lute value
Tab. 961 Legend for Figure "Priorities for Gn_XIST2 (Actual Position Value 2)"
Detailed information on the mode of operation of the encoder interface
è 13.4.6.10 Status Diagram "Position Feedback Interface".

13.4.6.9 Encoder n Control Word (Gn_STW)

The encoder status machine is controlled via the encoder control word. The following functions are
implemented in the CMMT via the encoder control word and the encoder state machine:

Bit Meaning

If Gn_STW.7 = 0; request "Search zero pulse"

Value: Function requirement
0 1: Function 1, zero pulse 1
1 1: Function 2, reserved
2 1: Function 3, reserved
3 1: Function 4, reserved
4…6 Value: Command
– 0: –
– 1: Activate function (defined by bit 0 … 3 and 7)
– 2: Read value via Gn_XIST2 (defined via bit 0 … 3 and 7)
– 3: Abort function (defined via bit 0 … 3 and 7)
– 4 … 7: Reserved
7 Value: Mode
– 0: Request "Search for zero pulse"
– 1: Reserved
8 … 12 Reserved
13 Request absolute value cyclically
– 1: Request of an additional cyclic transmission of the absolute actual position in
Gn_XIST2
14 Activate encoder parking
– 1: Request to switch off the monitoring of the encoder and the actual value measure-
ments in the drive.
If the Park encoder function is active, the encoder (or a motor with encoder) can be
removed from the machine without having to change the drive configuration or cause an
error.
If parking of the encoder interface is requested by Gn_STW1.14, all current encoder inter-
face errors are also cleared.

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Bit Meaning

Normally the parking of the encoder is not permitted while the drive (S4) is running and
leads to an error of the encoder interface (error code 0x0003 in Gn_XIST2).
15 Acknowledge encoder error
1: Request to reset an encoder error (Gn_ZSW.15)
Tab. 962 Control Word Gn_STW
Detailed information on the mode of operation of the encoder interface
è 13.4.6.10 Status Diagram "Position Feedback Interface".
Encoder n Control Word Parameter (Gn_STW)

Parameter Name

Px.
1149000 Gn_STW.0 ... 3 Request function
1149040 Gn_STW.4 ... 6 Request command
1149070 Gn_STW.7 Mode
1149110 Gn_STW.11 Home position mode
1149120 Gn_STW.12 Trigger mode homing
1149130 Gn_STW.13 Request absolute value cyclically
1149140 Gn_STW.14 Activate parking sensor
1149150 Gn_STW.15 Acknowledge sensor error
1149990 Gn_STW
1149991 Gn_STW Cycle-1
Tab. 963 Parameter

13.4.6.10 Status Diagram "Position Feedback Interface"

The statuses SD11, SD10 and SD7 are not supported.

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Fig. 156 Status diagram of the position feedback interface

13.4.6.11 Actual Position Value A (XIST_A)

XIST_A Actual value position shows the actual position value based on the scaling that is set in the
factor group.

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Parameter Actual Position Value A (XIST_A)

Parameter Name

Px.
11280609 XIST_A Actual value position
Tab. 964 Parameter

13.4.6.12 MDI Target Position (MDI_TARPOS)

This process datum specifies the position with MDI.
Scaling is analogous to the CiA402 factor group via the following parameter:
– Resolution position: Px.7841
The scalability is limited to the power of 10
è 3.2.4.3 Scaling of internal units for the fieldbus ("factor group").
Parameter MDI target Position (MDI_TARPOS)

Parameter Name

Px.
11280604 Target position MDI
Tab. 965 Parameter

13.4.6.13 MDI Velocity (MDI_VELOCITY)

This process datum specifies the position with MDI.
Scaling is analogous to the CiA402 factor group via the following parameter:
– Resolution velocity: Px.7842
The scalability is limited to the power of 10
è 3.2.4.3 Scaling of internal units for the fieldbus ("factor group").
Parameters of MDI Velocity (MDI_VELOCITY)

Parameter Name

Px.
11280605 Profile speed MDI
Tab. 966 Parameter

13.4.6.14 MDI Acceleration (MDI_ACC)

This process datum specifies the acceleration with MDI records.
Standardisation: 0x4000 (16384) corresponds to 100 %. The value is internally limited to
0.1 … 100 %.

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Parameters of MDI Acceleration (MDI_ACC)

Parameter Name

Px.
11280606 Acceleration MDI
Tab. 967 Parameter

13.4.6.15 MDI Deceleration (MDI_DEC)

This process datum specifies the percentage value for the deceleration override with MDI records.
Standardisation: 0x4000 (16384) corresponds to 100 %. The value is internally limited to
0.1 … 100 %.
Parameters of MDI Deceleration (MDI_DEC)

Parameter Name

Px.
11280607 Deceleration MDI
Tab. 968 Parameter

13.4.6.16 Status Word Messages (MELDW)

Bit Meaning

0 Ramp generator
– 1: inactive
– 0: active
1 Torque utilisation
– 1: < threshold value
– 0: > threshold value
2 Actual rotational speed < threshold 1
– 1: value < threshold value
– 0: value > threshold value
3 Actual rotational speed £ threshold 2
– 1: value < threshold value
– 0: value > threshold value
4 Reserved
5 Variable message function
– 1: threshold value exceeded
– 0: within the threshold values or message function not active

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Bit Meaning

6 No warning of motor overtemperature

– 1: active (no warning)
– 0: inactive (warning active)
7 No warning of power output stage overtemperature
– 1: active (no warning)
– 0: inactive (warning active)
8 Velocity setpoint/actual deviation within tolerance
– 1: active
– 0: inactive
9 … 10 Reserved
11 Controller Enable
– 1: active
– 0: inactive
12 Ready for operation
– 1: active
– 0: inactive
13 Power stage enable
– 1: active
– 0: inactive
14 … 15 Reserved
Tab. 969 Status Word Messages (MELDW)
MELDW.0 ramp generator

Value Message Description

1 Inactive Ramp generator is inactive. Startup phase is complete.

0 Active Ramp generator active. Startup phase is still active.
Tab. 970 MELDW.0
MELDW.0 shows how far the setpoint value change to a new velocity setpoint value is complete.
MELDW.1 torque utilization

Value Message Description

1 < Threshold value The current torque utilisation is less than the set
torque utilisation threshold or the startup phase is not
yet complete.
0 > Threshold value The current torque utilisation is greater than the set
torque utilisation threshold.
Tab. 971 MELDW.1

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This message can determine an overload of the motor in order to initialise a corresponding reac-
tion (e.g. stop motor or reduce load).
The threshold can be parameterised.
– Threshold value torque utilization reached: Px.11280410
MELDW.2 Actual speed <Threshold1

Value Message Description

1 Value < specified threshold |nact| < threshold

value
0 Value > or equal to specified |nact| ³ threshold
threshold value
Tab. 972 MELDW.2
The threshold can be parameterised.
– Trigger level MELDW.2: Px.11280112
– Hysteresis trigger level: Px.11280113
MELDW.3 Actual speed = <Threshold2

Value Message Description

1 Value < specified threshold |nact| £ threshold

value
0 Value > or equal to specified |nact| > threshold
threshold value
Tab. 973 MELDW.3
The message is parameterisable and is used for monitoring the rotational speed:
– Trigger level MELDW.3: Px.11280114
– Hysteresis trigger level: Px.11280115
MELDW.5 Variable reporting function

Value Message Description

1 Threshold value exceeded The monitored signal of a drive system has exceeded
the specified threshold value.
0 Within the threshold values or The monitored signal of a drive system is within the
message function not active threshold values or the message function is not active.
Tab. 974 MELDW.5
The function monitors any parameter to check whether it exceeds a threshold value.

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Fig. 157 Variable message function timing (example)

Name Description ID Px.

Threshold Threshold value of the monitored parameter –

Trigger level MELDW.5 1174205

Hysteresis of trigger level 1174206
Upper limit Upper limit value (threshold value + hysteresis) –

Lower limit Lower limit value (threshold value - hysteresis) –

Data trigger status Data trigger status (mapped to MELDW.5) 1174220

Damping time Data trigger damping time 1174207
Tab. 975 Legend for Variable Message Function Timing Diagram
The monitored parameters are specified with the following parameters:
– Axis ID data trigger: P0.1174201.0.0
– Data ID data trigger: P0.1174202.0.0
– Data instance ID data trigger: P0. 1174203.0.0
– Array ID data trigger: P0.1174204
The resolution is specified with the following parameters:
– Trigger level MELDW.5: P0.1174205.0.0
– Hysteresis of trigger level: P0.1174206.0.0
– Data trigger damping time: P0.1174207.0.0
The input values must be specified in the correct format for trigger level and hysteresis (data type of
the monitored parameter).
Hysteresis and damping times are optional and may be omitted.
On completion of parameterisation the function can be activated with the following parameter:

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– Activation of variable message function: P0.1174200.0.0

The specified values are not enabled until the function is activated. The specified values may also be
modified without affecting the currently active function.
The status can also be queried with the following parameters in addition to MELDW.5:
– Data trigger status: P0.1174220.0.0
MELDW.6 No warning Overtemperature motor

Value Message Description

1 No warning of motor overtem- The temperature in the motor is within the permissible
perature range
0 Warning of motor overtemperat- The temperature in the motor is outside the permiss-
ure ible range
Tab. 976 MELDW.6
The bit returns the value 1 so long as the temperature remains within the permissible range (lower
warning limit < permissible range < upper warning limit).
The limits are formed by combination of threshold value+ hysteresis:
– Lower limit value warning threshold motor temperature: Px.945.0.0
– Hysteresis lower limit value warning threshold motor temperature: Px.946.0.0
– Upper limit value warning threshold motor temperature: Px.949.0.0
– Hysteresis upper limit value warning threshold motor temperature: Px.9410.0.0
A difference between warning and error cannot be distinguished with this bit. Temperature outside the
permissible range means warning and/or error.
MELDW.7 No warning Overtemperature power output stage

Value Message Description

1 No warning of thermal overload The temperature of the cooling element in the power
in power unit unit is within the permissible range
0 Warning of thermal overload in The temperature of the cooling element in the power
power unit unit is outside the permissible range
Tab. 977 MELDW.7
The bit returns the value 1 so long as the temperature remains within the permissible range (warning
limit < permissible range < upper warning limits).
– Lower limit value warning threshold power output stage temperature: Px.9316.0.0
– Upper limit value warning threshold power output stage temperature: Px.9314.0.0
A difference between warning and error cannot be distinguished with this bit. Temperature outside the
permissible range means warning and/or error.

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MELDW.8 Speed setpoint / actual deviation in tolerance

Value Message Description

1 Active The velocity setpoint/actual deviation as specified is

within the tolerance.
0 Inactive The velocity setpoint/actual deviation as specified is
outside the tolerance.
Tab. 978 MELDW.8
– Monitoring window speed: following error: Px.464.0.0
– Damping time velocity: following error: Px.4690.0.0
MELDW.11 Controller enable

Value Message Description

1 Active Controller enable reported

0 Inactive Controller enable not reported
Tab. 979 MELDW.11
MELDW.12 Ready for operation

Value Message Description

1 Active Ready for operation reported

0 Inactive Ready for operation not reported
Tab. 980 MELDW.12
MELDW.13 Power stage active

Value Message Description

1 Active Output stage active reported

0 Inactive Output stage not active reported
Tab. 981 MELDW.13
Parameters of Status Word Messages (MELDW)

Parameter Px. Name

1174205 Trigger level MELDW.5

11280046 Status word MELDW
11280112 Trigger level MELDW.2
11280114 Trigger level MELDW.3
1124900 MELDW.0 ramp generator

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Parameter Px. Name

11249010 MELDW.1 torque utilization

11249020 MELDW.2 Actual speed <Threshold1
11249030 MELDW.3 Actual speed = <Threshold2
11249050 MELDW.5 Variable reporting function
11249060 MELDW.6 No warning Overtemperature motor
11249070 MELDW.7 No warning Overtemperature power output stage
11249080 MELDW.8 Speed setpoint / actual deviation in tolerance
11249110 MELDW.11 Controller enable
11249120 MELDW.12 Ready for operation
11249130 MELDW.13 Power stage active
11249990 MELDW
Tab. 982 Parameter

13.4.6.17 Velocity Override (OVERRIDE)

The process data item OVERRIDE specifies the percentage value for the velocity override for the fol-
lowing movement types in positioning mode of application class 3:
– Positioning records
– Jogging
– Reference point run
– Homing point specification (MDI)
The velocity setpoint value of these movement types is multiplied by the override factor.
Standardisation: 0x4000 (16384) corresponds to 100 %.
Value range according to drive profile: 0 …0x7FFF (Px.11280611)
Value range CMMT: 0 …2 (Px.1309)
Values below this range are interpreted as 0 %.
Values above this range are interpreted as 200 %.
Parameters of Position Velocity Override (OVERRIDE)

Parameter Px. Name

1309 Velocity override

11280611 Velocity override
Tab. 983 Parameter

13.4.6.18 Torque Reduction (MOMRED)

The process date MOMRED specifies the percentage by which the torque limit is to be reduced. With
MOMRED, the maximum permissible torque of the motor or controller (Px.381) can be reduced in the
range of 0 … 100%.
The value 0x4000 corresponds to a reduction of 100%.

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The value 0x0000 corresponds to a reduction of 0%.

The symmetrical torque limit (Px.526796) is set according to the following formula:
Px.526796 = Px.381 - Px.381 * Px.1126990 : 0x4000
A reduction of the torque limit is only effective when using telegrams with the control word MOMRED.
MOMRED is only evaluated if STW1.10 is set.
Parameters of Torque Reduction (MOMRED)

Parameter Px. Name

381 Specifies the maximum torque of the servo drive for transfer to the config-
uration tool. The maximum torque must always be set the same on the side
of the controller and the servo drive.
526796 Maximum torque symmetrical
1126990 Torque reduction MOMRED
Tab. 984 Parameter

13.4.6.19 Positioner Control Word 1 (POS_STW1)

Bit Meaning

0 Positioning record selection bit 0 (20)

1 Positioning record selection bit 1 (21)
2 Positioning record selection bit 2 (22)
3 Positioning record selection bit 3 (23)
4 Positioning record selection bit 4 (24)
5 Positioning record selection bit 5 (25)
6 Positioning record selection bit 6 (26)
7 Reserved
8 Absolute positioning (positioning method)
– 1: absolute
– 0: relative
9 … 14 Reserved
15 MDI selection
– 1: activate MDI
– 0: deactivate MDI
Tab. 985 Positioner Control Word 1 (POS_STW1)

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POS_STW1.0 ... 6 Traversing block selektion

Bit Command Description

0 Positioning record selection bit Positioning record selection (0 … 127)

0 (20)
1 Positioning record selection bit
1 (21)
2 Positioning record selection bit
2 (22)
3 Positioning record selection bit
3 (23)
4 Positioning record selection bit
4 (24)
5 Positioning record selection bit
5 (25)
6 Positioning record selection bit
6 (26)
Tab. 986 POS_STW1.0
POS_STW1.8 Absolute positioning (Positioning Method)

Value Command Description

1 Absolute positioning Position specification corresponds to the absolute tar-

get position of the motion.
0 Relative positioning Position specification is defined relative to the current
axis position.
Tab. 987 POS_STW1.8

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POS_STW1.15 MDI selection (Target Value Specification)

Value Command Description

1 Activate MDI If a task is currently active, it switches first to MDI, if

the current task is finished or interrupted (e.g. with
STW1.4 = 0) and the drive is in the S41 Basic State
Positioning Mode status.
0 Deactivate MDI If a MDI task is currently active, it switches to the S43
Braking With Ramp status, braked at maximum decel-
eration and at standstill switches to the S41 Basic
State Positioning Mode status. The current task is
rejected.
Tab. 988 POS_STW1.15
Parameters of Positioner Control Word 1 (POS_STW1)

Parameter Px. Name

112411000 POS_STW1.0 ... 6 Traversing block selektion

112411080 POS_STW1.8 Absolute positioning
112411090 POS_STW1.9 ... 10 direction selection
112411120 POS_STW1.12 Setpoint transfer
112411140 POS_STW1.14 Setting up selected
112411150 POS_STW1.15 MDI selection
112411990 POS_STW1
Tab. 989 Parameter

13.4.6.20 Positioner Status Word 1 (POS_ZSW1)

Bit Meaning

0 Active positioning record bit 0 (20)

1 Active positioning record bit 1 (21)
2 Active positioning record bit 2 (22)
3 Active positioning record bit 3 (23)
4 Active positioning record bit 4 (24)
5 Active positioning record bit 5 (25)
6 Active positioning record bit 6 (26)
7 Reserved

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Bit Meaning

8 Negative limit switch active

– 1: active
– 0: inactive
9 Positive limit switch active
– 1: active
– 0: inactive
10 Jogging active
– 1: active
– 0: inactive
11 Homing active
– 1: active
– 0: inactive
12 Reserved
13 Positioning records active
– 1: active
– 0: inactive
14 Reserved
15 MDI active
– 1: active
– 0: inactive
Tab. 990 Positioner Status Word 1 (POS_ZSW1)
POS_ZSW1.0 ... 6 Traversing block bit

Bit Meaning Description

0 Active positioning record bit 0 only relevant in record mode

(20) Specifies the record number of the currently active
1 Active positioning record bit 1 record (0 to 127).
(21) A record is active if the drive is in the S45 Traversing
Task Interpolation status (including all sub-statuses).
2 Active positioning record bit 2
If a new task is started during the intermediate stop
(22)
ramp or during the intermediate stop, the active record
3 Active positioning record bit 3 switches immediately to the new record number.
(23) The value 0 is shown if MDI is active or if there is no
4 Active positioning record bit 4 record currently active.
(24)
5 Active positioning record bit 5
(25)

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Bit Meaning Description

6 Active positioning record bit 6 only relevant in record mode

(26) Specifies the record number of the currently active
record (0 to 127).
A record is active if the drive is in the S45 Traversing
Task Interpolation status (including all sub-statuses).
If a new task is started during the intermediate stop
ramp or during the intermediate stop, the active record
switches immediately to the new record number.
The value 0 is shown if MDI is active or if there is no
record currently active.
Tab. 991 POS_ZSW1.0
POS_ZSW1.8 Negative limit switch active

Value Meaning Description

1 Negative limit switch active Signal status of the negative limit switch
0 negative limit switch active
Tab. 992 POS_ZSW1.8
POS_ZSW1.9 Positive limit switch active

Value Meaning Description

1 Positive limit switch active Signal status of the positive limit switch
0 Positive limit switch inactive
Tab. 993 POS_ZSW1.9
POS_ZSW1.10 Jogging active

Value Meaning Description

1 Jogging active Shows whether jogging is active.

0 Jogging inactive
Tab. 994 POS_ZSW1.10
POS_ZSW1.11 Reference point approach active

Value Meaning Description

1 Homing active Shows whether homing is active.

0 Homing inactive
Tab. 995 POS_ZSW1.11

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POS_ZSW1.13 Traversing block active

Value Meaning Description

1 Positioning records active Shows whether positioning records are active.

0 Positioning records inactive
Tab. 996 POS_ZSW1.13
POS_ZSW1.15 MDI active (Target Value Specification)

Value Meaning Description

1 MDI active Target value specification is active.

The setpoint values are specified directly by the open-
loop controller.
If a positioning task is currently being executed (drive
is in the S45 Traversing Task Interpolation or S43 Brak-
ing With Rampstatus), the setpoint value was specified
directly.
0 MDI inactive Record mode is active. The record number of a new
task is which the setpoint values for the task are saved
is taken from bit 0 - 6: record selection. If a positioning
task is currently being executed (drive is in the S45
Traversing Task Interpolation or S43 Braking With
Rampstatus), the setpoint value was specified in
record mode and the record number of the record is
shown in bit 0 - 6: active record.
Tab. 997 POS_ZSW1.15
Parameters of Positioner Status Word 1 (POS_ZSW1)

Parameter Px. Name

112412000 POS_ZSW1.0 ... 6 Traversing block bit

112412080 POS_ZSW1.8 Negative limit switch active
112412090 POS_ZSW1.9 Positive limit switch active
112412100 POS_ZSW1.10 Jogging active
112412110 POS_ZSW1.11 Reference point approach active
112412130 POS_ZSW1.13 Traversing block active
112412140 POS_ZSW1.14 Setup active
112412150 POS_ZSW1.15 MDI active
112412990 POS_ZSW1
Tab. 998 Parameter

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13.4.6.21 Positioner Control Word 2 (POS_STW2)

Bit Meaning

0 Tracking mode
– 1: activate
– 0: deactivate
1…4 Reserved
5 Incremental jogging
– 1: incremental
– 0: velocity
6…9 Reserved
10 Touch Probe source
– 1: secondary encoder
– 0: primary encoder
11 Touch Probe edge
– 1: falling edge
– 0: rising edge
12 … 13 Reserved
14 Activate software limit switch
– 1: activate
– 0: deactivate
15 Activate hardware limit switch
– 1: activate
– 0: deactivate
Tab. 999 Positioner Control Word 2 (POS_STW2)
POS_STW2.0 Tracking mode
This function is only available in not enabled status. In tracking mode the internal setpoint position
value tracks the actual position value, therefore setpoint position value = actual position value. The
standstill monitoring is deactivated in this operating mode.

Value Command Description

1 Activate tracking mode Tracking mode is activated.

0 Deactivate tracking mode Tracking mode is deactivated.
Tab. 1000 POS_STW2.0
POS_STW2.5 Jogging incremental active

Value Command Description

1 Incremental jogging Incremental jogging is activated.

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Value Command Description

0 Velocity jog Velocity jog is activated.

Tab. 1001 POS_STW2.5
POS_STW2.10 Selection touch probe

Value Command Description

1 secondary encoder Determines the source of the measured values.

0 primary encoder
Tab. 1002 POS_STW2.10
POS_STW2.11 Touch probe edge

Value Command Description

1 Falling edge Determines the type of signal edge with which the
0 Rising edge measurement shall be triggered.

Tab. 1003 POS_STW2.11

POS_STW2.14 Activate software limit switch

Value Command Description

1 Activate software limit switch Specifies whether software end position monitoring
0 Deactivate software limit switch should be active or inactive.
Tab. 1004 POS_STW2.14
POS_STW2.15 Activate hardware limit switch

Value Command Description

1 Activate hardware limit switch The evaluation of the hardware limit switch is activ-
ated.
0 Deactivate hardware limit The evaluation of the hardware limit switch is deactiv-
switch ated.
Tab. 1005 POS_STW2.15
Parameters of Positioner Control Word 2 (POS_STW2)

Parameter Px. Name

112414000 POS_STW2.0 Tracking mode

112414010 POS_STW2.1 Set reference point
112414050 POS_STW2.5 Jogging incremental active

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Parameter Px. Name

112414100 POS_STW2.10 Selection touch probe

112414110 POS_STW2.11 Touch probe edge
112414140 POS_STW2.14 Activate software limit switch
112414150 POS_STW2.15 Activate hardware limit switch
112414990 POS_STW2
Tab. 1006 Parameter

13.4.6.22 Positioner Status Word 2 (POS_ZSW2)

Bit Meaning

0 Tracking mode active

– 1: active
– 0: inactive
1 Velocity limiting active
– 1: active
– 0: inactive
2 Setpoint value stopped
– 1: setpoint value stopped
– 1: setpoint value not stopped
3 Reserved
4 Drive travels forward
– 1: drive travels forward
– 0: drive does not travel forward
5 Drive travels backwards
– 1: drive travels backwards
– 0: drive does not travel backwards
6 Negative software limit switch active
– 1: active
– 0: inactive
7 Positive software limit switch active
– 1: active
– 0: inactive
8 Actual position £ cam switch 0
– 1: actual position £ as position of cam switch 0
– 0: actual position > as position of cam switch 0

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Bit Meaning

9 Actual position £ cam switch 1

– Actual position £ as position of cam switch 1
– Actual position > as position of cam switch 1
10 Direct output 1 via positioning record
– 1: active
– 0: inactive
11 Direct output 2 via positioning record
– 1: active
– 0: inactive
12 Fixed stop reached
– 1: reached
– 0: not reached
13 Fixed stop clamping torque reached
– 1: reached
– 0: not reached
14 Travel to fixed stop active
– 1: active
– 0: inactive
15 Positioning command active
– 1: active
– 0: inactive
Tab. 1007 Positioner Status Word 2 (POS_ZSW2)
POS_ZSW2.0 Tracking mode active
In tracking mode the internal setpoint position value tracks the actual position value. Therefore set-
point position value = actual position value. The standstill monitoring is deactivated in this operating
mode. The comparison of setpoint position value = actual position value is executed only with deactiv-
ate output stage.

Value Meaning Description

1 Tracking mode active Shows that tracking mode is active (comparison of set-
point position value = actual position value).
0 Tracking mode inactive Tracking mode is inactive.
Tab. 1008 POS_ZSW2.0

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POS_ZSW2.1 Velocity limiting active

Value Meaning Description

1 Velocity limiting active Shows that velocity limiting is active in the application
limiting manager. The current trajectory is run with lim-
ited velocity.
The velocity limit can be set with the following para-
meter:
– Limit value velocity limiting: Px.1304.0.0
0 Velocity limiting inactive Shows that velocity limiting is inactive
Tab. 1009 POS_ZSW2.1
POS_ZSW2.2 Setpoint available

Value Meaning Description

1 Setpoint value stopped Shows that the setpoint position value is not changed.
The internal setpoint velocity value according to the
trajectory generator is 0.
0 Setpoint value not stopped Shows that the setpoint position value is changed. The
internal setpoint velocity value according to the traject-
ory generator is not equal to 0.
Tab. 1010 POS_ZSW2.2
POS_ZSW2.4 Drive moves forward

Value Meaning Description

1 Drive travels forward Shows that the drive travels forward. The internal set-
point velocity value according to the trajectory gener-
ator is > 0.
0 Drive does not travel forward Shows that the drive is stopped or travels backwards.
The internal setpoint velocity value according to the
trajectory generator is £ 0.
Tab. 1011 POS_ZSW2.4
POS_ZSW2.5 Drive moves backwards

Value Meaning Description

1 Drive travels backwards Shows that the drive is stopped or travels backwards.
The internal setpoint velocity value according to the
trajectory generator is ≠ 0.

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Value Meaning Description

0 Drive does not travel backwards Shows that the drive travels forward. The internal set-
point velocity value according to the trajectory gener-
ator is > 0.
Tab. 1012 POS_ZSW2.5
POS_ZSW2.6 Software limit switch minus reached

Value Meaning Description

1 Negative software limit switch Specifies that the negative software limit switch is act-
active ive.
0 Negative software limit switch
not active
Tab. 1013 POS_ZSW2.6
POS_ZSW2.7 Software limit switch plus reached

Value Meaning Description

1 Positive software limit switch Specifies that the positive software end position is act-
active ive.
0 Positive software limit switch
not active
Tab. 1014 POS_ZSW2.7
POS_ZSW2.8 Position actual value <= cam switch 0

Value Meaning Description

1 Actual position £ as position of Specifies whether the actual position value £ or > as
cam switch 0 cam switch position 0.
0 0: actual position > as position
of cam switch 0
Tab. 1015 POS_ZSW2.8
POS_ZSW2.9 Position actual value <= cam switch 1

Value Meaning Description

1 Actual position £ as position of Specifies whether the actual position value £ or > as
cam switch 1 cam switch position 1.
0 Actual position > as position of
cam switch 1
Tab. 1016 POS_ZSW2.9

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POS_ZSW2.10 Direct output 1 via traversing block

Value Meaning Description

1 Direct output 1 active Shows whether direct output 1 is active via positioning
0 Direct output 1 not active record.

Tab. 1017 POS_ZSW2.10

POS_ZSW2.11 Direct output 2 via traversing block

Value Meaning Description

1 Direct output 2 active Shows whether direct output 2 is active via positioning
record.
0 Direct output 2 not active
Tab. 1018 POS_ZSW2.11
POS_ZSW2.12 Fixed stop reached

Value Meaning Description

1 Fixed stop reached Specifies whether the fixed stop was reached.
0 Fixed stop not reached
Tab. 1019 POS_ZSW2.12
POS_ZSW2.13 Fixed stop Clamping torque reached

Value Meaning Description

1 Fixed stop clamping torque Specifies whether the clamping torque was reached
reached after travel to the fixed stop.
0 Fixed stop clamping torque not
reached
Tab. 1020 POS_ZSW2.13
POS_ZSW2.14 Move to fixed stop active

Value Meaning Description

1 Travel to fixed stop active Specifies whether travel to the fixed stop is active.
0 Travel to fixed stop not active
Tab. 1021 POS_ZSW2.14

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POS_ZSW2.15 Traversing command active

Value Meaning Description

1 Positioning command active Specifies whether a positioning command is active

0 Positioning command not active (motion manager status).
Tab. 1022 POS_ZSW2.15
Parameters of Positioner Status Word 2 (POS_ZSW2)

Parameter Px. Name

112413000 POS_ZSW2.0 Tracking mode active

112413010 POS_ZSW2.1 Velocity limiting active
112413020 POS_ZSW2.2 Setpoint available
112413040 POS_ZSW2.4 Drive moves forward
112413050 POS_ZSW2.5 Drive moves backwards
112413060 POS_ZSW2.6 Software limit switch minus reached
112413070 POS_ZSW2.7 Software limit switch plus reached
112413080 POS_ZSW2.8 Position actual value <= cam switch 0
112413090 POS_ZSW2.9 Position actual value <= cam switch 1
112413100 POS_ZSW2.10 Direct output 1 via traversing block
112413110 POS_ZSW2.11 Direct output 2 via traversing block
112413120 POS_ZSW2.12 Fixed stop reached
112413130 POS_ZSW2.13 Fixed stop Clamping torque reached
112413140 POS_ZSW2.14 Move to fixed stop active
112413150 POS_ZSW2.15 Traversing command active
112413990 POS_ZSW2
Tab. 1023 Parameter

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