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Distribuidor oficial Bosch Rexroth, Indramat, Bosch y Aventics.

LSA Control S.L. - Bosch Rexroth Sales PartnerRonda Narciso Monturiol y Estarriol, 7-9Edificio TecnoParQ Planta 1ª Derecha, Oficina 14(Parque Tecnológico de Paterna)46980 Paterna (Valencia)Telf. (+34) 960 62 43 01 [email protected] www.lsa-control.com www.boschrexroth.es

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www.boschrexroth.es

http://www.lsa-control.com/

DIAX04Drive With Servo Function

Parameter Description: SSE 03VRS

DOK-DIAX04-SSE-03VRS**-PA01-EN-P

mannesmannRexroth

engineering

IndramatRexroth

7=78)1��

DIAX 04

HDS HDD

SSE-03VRS

Read and follow "Safety

Instructions for Electrical Drives"

manual,

DOK-GENERL-DRIVE******-SVS...

DANGE

High V oltage.

Danger of electrical shock.Do not touch electrical connec tions

for

5 minutes after switching power

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

About this Documentation DIAX04 SSE-03VRS


DIAX04

Drive With Servo Function

Parameter Description: SSE 03VRS


• Box 61-03V-EN

• Based on: SSE 03VRS

• 120-0800-B306-01/EN

The following documentation describes the parameters of the firmwareFWA-DIAX04-SSE-03VRS.

This documentation serves:

• for parameterization of the drive controller

Description ReleaseDate

Notes

DOK-DIAX04-SSE-03VRS **-PA01-DE-P 10.99 First edition

1999 Rexroth Indramat GmbH

Copying this document, giving it to others and the use or communicationof the contents thereof without express authority, are forbidden. Offendersare liable for the payment of damages. All rights are reserved in the eventof the grant of a patent or the registration of a utility model or design (DIN34-1).

All rights are reserved with respect to the content of this documentationand the availability of the product.

Rexroth Indramat GmbHBgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Telephone 09352/40-0 • Tx 689421 • Fax 09352/40-4885

http://www.rexroth.com/indramat

Dept. ECD (sf/hp)

This document has been printed on chlorine-free bleached paper..

Title

Type of Documentation

Document Typecode

Internal File Reference

Purpose of Documentation

Record of Revisions

Copyright

Validity

Published by

Note


DIAX04 SSE-03VRS About this Documentation


Summary of Documentation - Box

Order designation:DOK-DIAX04-SSE-03VRS**-FK01-EN-P

Order designation:DOK-DIAX04-SSE-03VRS**-PA01-EN-P

Order designation:DOK-DIAX04-SSE-03VRS**-WA01-EN-P

Order designation:DOK-DIAX04-SSE-03VRS**-FV01-EN-P

Order designation:DOK-DIAX04-SSE-03VRS**-IF01-EN-P

2 8 2 8 0 1

FK

2 8 2 8 0 1

PA

2 8 2 8 0 1

WA

2 8 2 8 0 1

FV

2 8 2 8 0 1

IF

Functional Description:

Description of all implemented Functionbased on SERCOS-Parameters

Parameter Description:

A description of all parametersused in the firmware

Troubleshooting Guide:

-Explanation of the diagnostic states-How to proceed when eliminating faults

Firmware Version Notes:

Description of new and changed functionsin terms of the derivatives:

-FWA-DIAX04-SSE02VRS-MS

Drive Configuration: -Determining the motor type-Choosing the motor – motor feedback combination-Choosing the desired function of the drive control device

Order designationDOK-DIAX04-SSE-03VRS**-6101-EN-P

part number: 282411Version: 01Win3.1 andWin95&NT

(6-:),)04

CD: DRIVEHELP

Collection of Windows help systems whichcontain documents on firmware derivatives

Order designation:DOK-GENERL-DRIVEHELP**-GExx-MS-D0600


About this Documentation DIAX04 SSE-03VRS


Notes


DIAX04 SSE-03VRS Contents I


Contents

1 General Information ............................................................................................ 1-1

Using This Manual.............................................................................................................................. 1-1

Definitions........................................................................................................................................... 1-2

2 Standard Parameters .......................................................................................... 2-1

2.1 S-0-0001, NC Cycle time (TNcyc)........................................................................................................ 2-1

S-0-0002, SERCOS Cycle time (Tscyc)............................................................................................. 2-1

S-0-0003, Minimum AT transmit starting time (T1min) ...................................................................... 2-2

S-0-0004, Transmit/receive transition time (TATMT)......................................................................... 2-2

S-0-0005, Minimum feedback acquisition time(T4min)...................................................................... 2-3

S-0-0006, AT Transmission starting time (T1) ................................................................................... 2-3

S-0-0007, Feedback acquisition starting time (T4) ............................................................................ 2-4

S-0-0008, Command valid time (T3) .................................................................................................. 2-4

S-0-0009, Beginning address in master data telegram ..................................................................... 2-5

S-0-0010, Length of master data telegram ........................................................................................ 2-5

S-0-0011, Class 1 diagnostics ........................................................................................................... 2-6



S-0-0014, Interface status.................................................................................................................. 2-9

S-0-0015, Telegram type parameter ................................................................................................ 2-10

S-0-0016, Custom amplifier telegram configuration list ................................................................... 2-11

S-0-0017, IDN-list of all operation data............................................................................................ 2-11

S-0-0018, IDN-list of operation data for CP2 ................................................................................... 2-12

S-0-0019, IDN-list of operation data for CP3 ................................................................................... 2-12

S-0-0021, IDN-list of invalid op. data for comm. Ph. 2..................................................................... 2-13

S-0-0022, IDN-list of invalid op. data for comm. Ph. 3..................................................................... 2-13

S-0-0024, Config. list of the master data telegram .......................................................................... 2-14

S-0-0025, IDN-list of all procedure commands ................................................................................ 2-14

S-0-0026, Configuration list signal status word................................................................................ 2-15

S-0-0028, MST error counter ........................................................................................................... 2-15

S-0-0029, MDT error counter ........................................................................................................... 2-16

S-0-0030, Manufacturer version....................................................................................................... 2-16

S-0-0032, Primary mode of operation .............................................................................................. 2-17

S-0-0033, Secondary operation mode 1 .......................................................................................... 2-18



S-0-0036, Velocity command value ................................................................................................. 2-20

S-0-0037, Additive velocity command value .................................................................................... 2-21


II Contents DIAX04 SSE-03VRS


S-0-0040, Velocity feedback value................................................................................................... 2-21

S-0-0041, Homing velocity ............................................................................................................... 2-22

S-0-0042, Homing acceleration........................................................................................................ 2-22

S-0-0043, Velocity polarity parameter.............................................................................................. 2-23

S-0-0044, Velocity data scaling type................................................................................................ 2-24

S-0-0045, Velocity data scaling factor.............................................................................................. 2-25

S-0-0046, Velocity data scaling exponent........................................................................................ 2-25

S-0-0047, Position command value ................................................................................................. 2-25

S-0-0049, Positive position limit value ............................................................................................. 2-26

S-0-0050, Negative position limit value............................................................................................ 2-27

S-0-0051, Position feedback 1 value ............................................................................................... 2-27

S-0-0052, Reference distance 1 ...................................................................................................... 2-28

S-0-0053, Position feedback 2 value ............................................................................................... 2-29

S-0-0054, Reference distance 2 ...................................................................................................... 2-29

S-0-0055, Position polarities ............................................................................................................ 2-30

S-0-0057, Position window............................................................................................................... 2-31

S-0-0058, Reversal clearance.......................................................................................................... 2-32

S-0-0076, Position data scaling type................................................................................................ 2-33

S-0-0077, Linear position data scaling factor................................................................................... 2-34

S-0-0078, Linear position data scaling exponent............................................................................. 2-35

S-0-0079, Rotational position resolution .......................................................................................... 2-36

S-0-0080, Torque/Force command.................................................................................................. 2-36

S-0-0084, Torque/Force feedback value.......................................................................................... 2-37

S-0-0085, Torque/Force polarity parameter..................................................................................... 2-37

S-0-0086, Torque/Force data scaling type....................................................................................... 2-38

S-0-0088, Receive to receive recovery time (TMTSG).................................................................... 2-39

S-0-0089, MDT Transmit starting time (T2) ..................................................................................... 2-39

S-0-0090, Command value transmit time (TMTSG) ........................................................................ 2-40

S-0-0091, Bipolar velocity limit value ............................................................................................... 2-40

S-0-0092, Bipolar torque/force limit value........................................................................................ 2-41

S-0-0093, Torque/force data scaling factor...................................................................................... 2-41

S-0-0094, Torque/force data scaling exponent................................................................................ 2-42

S-0-0095, Diagnostic message........................................................................................................ 2-42

S-0-0096, Slave arrangement (SLKN) ............................................................................................. 2-43

S-0-0097, Mask class 2 diagnostic .................................................................................................. 2-43

S-0-0098, Mask class 3 diagnostic .................................................................................................. 2-44

S-0-0099, C500 Reset class 1 diagnostic........................................................................................ 2-44

S-0-0100, Velocity loop proportional gain ........................................................................................ 2-45

S-0-0101, Velocity loop integral action time..................................................................................... 2-45

S-0-0103, Modulo value ................................................................................................................... 2-46

S-0-0104, Position loop Kv-factor .................................................................................................... 2-47

S-0-0106, Current loop proportional gain 1...................................................................................... 2-47

S-0-0107, Current loop integral action time 1 .................................................................................. 2-48

S-0-0108, Feedrate override ............................................................................................................ 2-48

S-0-0109, Motor peak current .......................................................................................................... 2-49

S-0-0110, Amplifier peak current ..................................................................................................... 2-50


DIAX04 SSE-03VRS Contents III


S-0-0111, Motor current at standstill ................................................................................................ 2-50

S-0-0112, Amplifier nominal current................................................................................................. 2-51

S-0-0113, Maximum motor speed ( nmax) ......................................................................................... 2-51

S-0-0115, Position feedback 2 type ................................................................................................. 2-52

S-0-0116, Feedback 1 Resolution.................................................................................................... 2-52

S-0-0117, Feedback 2 Resolution.................................................................................................... 2-53

S-0-0121, Input revolutions of load gear .......................................................................................... 2-53

S-0-0122, Output revolutions of load gear ....................................................................................... 2-54

S-0-0123, Feed constant.................................................................................................................. 2-54

S-0-0124, Standstill window............................................................................................................. 2-55

S-0-0125, Velocity threshold nx ....................................................................................................... 2-56

S-0-0127, C100 Communication phase 3 transition check.............................................................. 2-56

S-0-0128, C200 Communication phase 4 transition check.............................................................. 2-57

S-0-0130, Probe value 1 positive edge............................................................................................ 2-59

S-0-0131, Probe value 1 negative edge........................................................................................... 2-59

S-0-0132, Probe value 2 positive edge............................................................................................ 2-60

S-0-0133, Probe value 2 negative edge........................................................................................... 2-60

S-0-0134, Master control word......................................................................................................... 2-61

S-0-0135, Drive status word............................................................................................................. 2-61

S-0-0138, Bipolar acceleration limit value........................................................................................ 2-62

S-0-0139, D700 Command Parking axis.......................................................................................... 2-62

S-0-0140, Controller type ................................................................................................................. 2-63

S-0-0141, Motor type........................................................................................................................ 2-64

S-0-0142, Application type ............................................................................................................... 2-64

S-0-0143, System interface version ................................................................................................. 2-65

S-0-0144, Signal status word ........................................................................................................... 2-65

S-0-0147, Homing parameter........................................................................................................... 2-66

S-0-0148, C600 Drive controlled homing procedure command....................................................... 2-67

S-0-0149, D400 Positive stop drive procedure command ............................................................... 2-68

S-0-0150, Reference offset 1 ........................................................................................................... 2-68

S-0-0151, Reference offset 2 ........................................................................................................... 2-69

S-0-0155, Friction compensation ..................................................................................................... 2-69

S-0-0157, Velocity window............................................................................................................... 2-70

S-0-0159, Monitoring window........................................................................................................... 2-70

S-0-0160, Acceleration data scaling type......................................................................................... 2-71

S-0-0161, Acceleration data scaling factor ...................................................................................... 2-72

S-0-0162, Acceleration data scaling exponent ................................................................................ 2-73

S-0-0165, Distance coded reference offset 1 .................................................................................. 2-73

S-0-0166, Distance coded reference offset 2 .................................................................................. 2-74

S-0-0169, Probe control parameter.................................................................................................. 2-74

S-0-0170, Probing cycle procedure command................................................................................. 2-76

S-0-0173, Marker position A ............................................................................................................ 2-77

S-0-0177, Absolute distance 1 ......................................................................................................... 2-77

S-0-0178, Absolute distance 2 ......................................................................................................... 2-78

S-0-0182, Manufacturer class 3 diagnostics.................................................................................... 2-78

S-0-0185, Length of the configurable data record in the AT............................................................ 2-79


IV Contents DIAX04 SSE-03VRS


S-0-0186, Length of the configurable data record in the MDT......................................................... 2-80

S-0-0187, List of configurable data in the AT................................................................................... 2-80

S-0-0188, List of configurable data in the MDT ............................................................................... 2-81

S-0-0189, Following error................................................................................................................. 2-82

S-0-0191, D600 Cancel reference point procedure command ........................................................ 2-82

S-0-0192, IDN-list of backup operation data.................................................................................... 2-83

S-0-0193, Positioning Jerk ............................................................................................................... 2-84

S-0-0201, Motor warning temperature ............................................................................................. 2-84

S-0-0204, Motor shutdown temperature .......................................................................................... 2-85

S-0-0256, Multiplication 1................................................................................................................. 2-85

S-0-0257, Multiplication 2................................................................................................................. 2-86

S-0-0258, Target position................................................................................................................. 2-86

S-0-0259, Positioning Velocity ......................................................................................................... 2-87

S-0-0260, Positioning Acceleration .................................................................................................. 2-87

S-0-0262, C700 Command basic load............................................................................................. 2-88

S-0-0265, Language selection ......................................................................................................... 2-88

S-0-0267, Password......................................................................................................................... 2-89

S-0-0269, Parameter buffer mode ................................................................................................... 2-89

S-0-0277, Position feedback 1 type ................................................................................................. 2-90

S-0-0278, Maximum travel range..................................................................................................... 2-91

S-0-0292, List of all operating modes .............................................................................................. 2-92

S-0-0298, Reference cam shift ........................................................................................................ 2-92

S-0-0299, Home switch offset .......................................................................................................... 2-93

S-0-0301, Allocation of real-time control Bit 1.................................................................................. 2-94

S-0-0303, Allocation of real-time control Bit 2.................................................................................. 2-94

S-0-0305, Allocation of real-time status Bit 1................................................................................... 2-95

S-0-0307, Allocation of real-time status Bit 2................................................................................... 2-95

S-0-0328, Assign list signal status word .......................................................................................... 2-96

S-0-0347, Speed deviation............................................................................................................... 2-96

S-0-0348, Acceleration feedforward gain......................................................................................... 2-97

S-0-0349, Jerk limit bipolar .............................................................................................................. 2-98

S-0-0359, Positioning Deceleration.................................................................................................. 2-98

S-0-0360, MDT Data container A..................................................................................................... 2-99

S-0-0364, AT Data container A ........................................................................................................ 2-99

S-0-0368, Addressing for data container A.................................................................................... 2-100

S-0-0370, Configuration list for MDT data container...................................................................... 2-101

S-0-0371, Configuration list for the AT data container................................................................... 2-101

S-0-0375, List of diagnostic numbers ............................................................................................ 2-102

S-0-0378, Encoder 1, absolute range ............................................................................................ 2-102

S-0-0379, Encoder 2, absolute range ............................................................................................ 2-103

S-0-0382, Intermediate bus power................................................................................................. 2-103

S-0-0383, Motor temperature......................................................................................................... 2-104

S-0-0390, Diagnostic message number......................................................................................... 2-104

S-0-0391, Monitoring window feedback 2...................................................................................... 2-105

S-0-0393, Command value mode .................................................................................................. 2-105

S-0-0400, Home switch.................................................................................................................. 2-106


DIAX04 SSE-03VRS Contents V


S-0-0401, Probe 1 .......................................................................................................................... 2-106

S-0-0402, Probe 2 .......................................................................................................................... 2-107

S-0-0403, Position feedback value status...................................................................................... 2-108

S-0-0405, Probe 1 enable .............................................................................................................. 2-109

S-0-0406, Probe 2 enable .............................................................................................................. 2-109

S-0-0409, Probe 1 positive latched................................................................................................ 2-110

S-0-0410, Probe 1 negative latched............................................................................................... 2-111

S-0-0411, Probe 2 positive latched................................................................................................ 2-112

S-0-0412, Probe 2 negative latched............................................................................................... 2-112

S-7-0100, Velocity loop proportional gain ...................................................................................... 2-113

S-7-0101, Velocity loop integral action time................................................................................... 2-114

S-7-0104, Position loop Kv-factor .................................................................................................. 2-114

S-7-0106, Current loop proportional gain 1.................................................................................... 2-115

S-7-0107, Current loop integral action time 1 ................................................................................ 2-115

S-7-0109, Motor peak current ........................................................................................................ 2-116

S-7-0111, Motor current at standstill .............................................................................................. 2-116

S-7-0113, Maximum motor speed (nmax)........................................................................................ 2-117

S-7-0116, Feedback 1 Resolution.................................................................................................. 2-117

S-7-0117, Feedback 2 Resolution.................................................................................................. 2-118

S-7-0141, Motor type...................................................................................................................... 2-118

S-7-0177, Absolute distance 1 ....................................................................................................... 2-119

S-7-0178, Absolute distance 2 ....................................................................................................... 2-119

3 Product Specific Parameters.............................................................................. 3-1

P-0-0004, Velocity loop smoothing time constant.............................................................................. 3-1

P-0-0005, Language selection ........................................................................................................... 3-1

P-0-0008, Activation E-Stop function ................................................................................................. 3-2

P-0-0009, Error message number...................................................................................................... 3-3

P-0-0010, Excessive position command value .................................................................................. 3-3

P-0-0011, Last valid position command value ................................................................................... 3-4

P-0-0012, C300 Command ’Set absolute measurement’................................................................... 3-5

P-0-0014, D500 Command determine marker position ..................................................................... 3-6

P-0-0015, Memory address................................................................................................................ 3-6

P-0-0016, Content of memory address.............................................................................................. 3-7

P-0-0018, Number of pole pairs/pole pair distance............................................................................ 3-7

P-0-0019, Position start value ............................................................................................................ 3-8

P-0-0021, List of scope data 1 ........................................................................................................... 3-8

P-0-0022, List of scope data 2 ........................................................................................................... 3-9

P-0-0023, Signal select scope channel 1........................................................................................... 3-9

P-0-0024, Signal select scope channel 2......................................................................................... 3-10

P-0-0025, Trigger source ................................................................................................................. 3-11

P-0-0026, Trigger signal selection ................................................................................................... 3-12

P-0-0027, Trigger level for position data.......................................................................................... 3-13

P-0-0028, Trigger level for velocity data .......................................................................................... 3-13

P-0-0029, Trigger level for torque/force data ................................................................................... 3-14

P-0-0030, Trigger edge .................................................................................................................... 3-14


VI Contents DIAX04 SSE-03VRS


P-0-0031, Timebase......................................................................................................................... 3-15

P-0-0032, Size of memory ............................................................................................................... 3-15

P-0-0033, Number of samples after trigger...................................................................................... 3-16

P-0-0035, Delay from trigger to start................................................................................................ 3-16

P-0-0036, Trigger control word ........................................................................................................ 3-17

P-0-0037, Trigger status word.......................................................................................................... 3-18

P-0-0051, Torque/force constant ..................................................................................................... 3-18

P-0-0074, Feedback 1 type.............................................................................................................. 3-19

P-0-0075, Feedback 2 type.............................................................................................................. 3-20

P-0-0081, Parallel I/O output 1......................................................................................................... 3-21

P-0-0082, Parallel I/O input 1........................................................................................................... 3-21

P-0-0090, Travel limit parameter...................................................................................................... 3-22

P-0-0096, Distance to move in error situation.................................................................................. 3-22

P-0-0097, Absolute encoder monitoring window ............................................................................. 3-23

P-0-0098, Max. model deviation ...................................................................................................... 3-24

P-0-0099, Position command smoothing time constant................................................................... 3-25

P-0-0109, Torque/force peak limit.................................................................................................... 3-25

P-0-0117, NC reaction on error........................................................................................................ 3-26

P-0-0118, Power off on error............................................................................................................ 3-26

P-0-0119, Best possible deceleration .............................................................................................. 3-28

P-0-0121, Velocity mix factor feedback 1 & 2 .................................................................................. 3-29

P-0-0126, Maximum braking time .................................................................................................... 3-29

P-0-0127, Overload warning ............................................................................................................ 3-30

P-0-0139, Analog output 1 ............................................................................................................... 3-30

P-0-0140, Analog output 2 ............................................................................................................... 3-31

P-0-0141, Thermal drive load........................................................................................................... 3-31

P-0-0145, Expanded trigger level..................................................................................................... 3-32

P-0-0146, Expanded trigger address ............................................................................................... 3-32

P-0-0147, Expanded signal K1 address .......................................................................................... 3-33

P-0-0148, Expanded signal K2 address .......................................................................................... 3-34

P-0-0149, List of selectable signals for oscilloscope function.......................................................... 3-34

P-0-0150, Number of valid samples for oscilloscope function ......................................................... 3-35

P-0-0153, Optimal distance home switch - reference mark............................................................. 3-35

P-0-0170, Parallel I/O output 4......................................................................................................... 3-36

P-0-0171, Parallel I/O input 4........................................................................................................... 3-37

P-0-0176, Torque/Force command smoothing time constant.......................................................... 3-37

P-0-0177, Absolute encoder buffer 1 ............................................................................................... 3-37

P-0-0178, Absolute encoder buffer 2 ............................................................................................... 3-38

P-0-0180, Rejection frequency velocity loop.................................................................................... 3-38

P-0-0181, Rejection bandwidth velocity loop ................................................................................... 3-39

P-0-0185, Function of encoder 2...................................................................................................... 3-40

P-0-0187, Position command processing mode .............................................................................. 3-40

P-0-0190, Operating hours control section ...................................................................................... 3-41

P-0-0191, Operating hours power section ....................................................................................... 3-42

P-0-0192, Error recorder, diagnosis number ................................................................................... 3-42

P-0-0193, Error recorder, operating hours control section............................................................... 3-43


DIAX04 SSE-03VRS Contents VII


P-0-0194, List of present plug-in modules ....................................................................................... 3-44

P-0-0200, Signal select probe 1....................................................................................................... 3-44

P-0-0201, Signal select probe 2....................................................................................................... 3-45

P-0-0202, Difference probe values 1 ............................................................................................... 3-45

P-0-0203, Difference probe values 2 ............................................................................................... 3-46

P-0-0222, State of Travel range limit inputs..................................................................................... 3-46

P-0-0223, Status Input E-Stop function............................................................................................ 3-47

P-0-0247, Version of safety functions .............................................................................................. 3-47

P-0-0248, Checksum over scaled data, drive .................................................................................. 3-48

P-0-0249, Activation of the safety functions..................................................................................... 3-48

P-0-0250, Safety input signals of the drive ...................................................................................... 3-49

P-0-0251, Safety output signals of the drive .................................................................................... 3-50

P-0-0252, State of safety function, drive.......................................................................................... 3-52

P-0-0253, Max. speed 1 for safety function, drive ........................................................................... 3-53

P-0-0254, Upper position limit 1 for safety function, drive ............................................................... 3-53

P-0-0255, Lower position limit 1 for safety function, drive ............................................................... 3-54

P-0-0256, Max. speed 2 for safety function, drive ........................................................................... 3-54

P-0-0257, Upper position limit 2 for safety function, drive ............................................................... 3-55

P-0-0258, Lower position limit 2 for safety function, drive ............................................................... 3-55

P-0-0259, Upper position limit for position switch 1, drive ............................................................... 3-55

P-0-0260, Lower position limit for position switch 1, drive ............................................................... 3-56







P-0-0267, Pos. monitoring window for safe stop operation, drive ................................................... 3-58

P-0-0268, Reference position for safe homing, drive....................................................................... 3-58

P-0-0269, Selection safety functions, drive...................................................................................... 3-59

P-0-0270, Changeover time for safety function, drive...................................................................... 3-60

P-0-0271, Time interval for forced dynamization, drive ................................................................... 3-60

P-0-0272, C000 Command Check reference................................................................................... 3-61

P-0-0273, Monitored actual position, drive ...................................................................................... 3-61

P-0-0274, Preset forced dynamization............................................................................................. 3-62

P-0-0275, Acknowledge forced dynamization.................................................................................. 3-62

P-0-0276, State of safety function, control ....................................................................................... 3-62

P-0-0277, Max. speed 1 for safety function, control ........................................................................ 3-63

P-0-0278, Upper position limit 1 for safety function, control ............................................................ 3-63

P-0-0279, Lower position limit 1 for safety function, control ............................................................ 3-64

P-0-0280, Max. speed 2 for safety function, control ........................................................................ 3-64

P-0-0281, Upper position limit 2 for safety function, control ............................................................ 3-65

P-0-0282, Lower position limit 2 for safety function, control ............................................................ 3-65

P-0-0283, Upper position limit for position switch 1, control ............................................................ 3-65

P-0-0284, Lower position limit for position switch 1, control ............................................................ 3-66



VIII Contents DIAX04 SSE-03VRS







P-0-0291, Pos. monitoring window for safe stop operation, control ................................................ 3-68

P-0-0292, Reference position for safe homing, control.................................................................... 3-69

P-0-0293, Selection safety functions, control................................................................................... 3-69

P-0-0294, Changeover time for safety functions, control................................................................. 3-70

P-0-0295, Time interval for forced dynamization, control ................................................................ 3-70

P-0-0296, Monitored actual position, control ................................................................................... 3-70

P-0-0297, Checksum over scaled data, control ............................................................................... 3-71

P-0-0400, Pos. corr., external correction value................................................................................ 3-71

P-0-0401, Pos. corr., active correction value ................................................................................... 3-72

P-0-0408, Pos. corr., prec. corr. start position ................................................................................. 3-72

P-0-0409, Pos. corr., correction table for prec. corr......................................................................... 3-73

P-0-0410, Pos. corr., support point distance for prec. corr. ............................................................. 3-74

P-0-0420, Analog output 1 signal selection ..................................................................................... 3-74

P-0-0421, Analog output 1, expanded signal selection.................................................................... 3-75

P-0-0422, Analog output 1, scaling per 10V full scale ..................................................................... 3-77

P-0-0423, Analog output 2, signal selection .................................................................................... 3-77

P-0-0424, Analog output 2, expanded signal selection.................................................................... 3-78

P-0-0425, Analog output 2, scaling per 10V full scale ..................................................................... 3-80

P-0-0426, Analog outputs, IDN list of assignable parameters ......................................................... 3-80

P-0-0508, Commutation offset ......................................................................................................... 3-81

P-0-0509, Slot angle......................................................................................................................... 3-81

P-0-0510, Moment of inertia of the rotor .......................................................................................... 3-82

P-0-0511, Brake current................................................................................................................... 3-82

P-0-0518, Amplifier nominal current 2.............................................................................................. 3-83

P-0-0519, Amplifier peak current 2 .................................................................................................. 3-83

P-0-0523, Commutation, probe value .............................................................................................. 3-84

P-0-0524, D300 Commutation adjustment command...................................................................... 3-84

P-0-0525, Type of motor brake ........................................................................................................ 3-85

P-0-0526, Brake control delay.......................................................................................................... 3-85

P-0-0530, Slip increase.................................................................................................................... 3-86

P-0-0531, Stall current factor ........................................................................................................... 3-87

P-0-0532, Premagnetization factor .................................................................................................. 3-87

P-0-0533, Flux loop prop. gain......................................................................................................... 3-88

P-0-0534, Flux loop integral action time .......................................................................................... 3-88

P-0-0535, Motor voltage at no load.................................................................................................. 3-88

P-0-0536, Motor voltage max........................................................................................................... 3-89

P-0-0537, S1-Kink-speed................................................................................................................. 3-89

P-0-0538, Motor function parameter 1 ............................................................................................. 3-90

P-0-0542, B100 Command Release motor holding brake ............................................................... 3-91

P-0-0560, Commutation adjustment current .................................................................................... 3-91

P-0-0562, Commutation adjustment periodic time........................................................................... 3-92


DIAX04 SSE-03VRS Contents IX


P-0-0640, Cooling type..................................................................................................................... 3-92

P-0-1201, Velocity control, deceleration ramp 1 .............................................................................. 3-93

P-0-1222, Velocity command filter ................................................................................................... 3-94

P-0-4000, Current-zero-trim phase U............................................................................................... 3-94

P-0-4001, Current-zero-trim phase V............................................................................................... 3-95

P-0-4002, Current-amplify-trim phase U .......................................................................................... 3-95

P-0-4003, Current-amplify-trim phase V .......................................................................................... 3-95

P-0-4004, Magnetizing current......................................................................................................... 3-96

P-0-4011, Switching frequency ........................................................................................................ 3-96

P-0-4012, Slip factor......................................................................................................................... 3-97

P-0-4014, Motor type........................................................................................................................ 3-97

P-0-4015, Intermediate DC bus voltage........................................................................................... 3-98

P-0-4035, Trim-current..................................................................................................................... 3-98

P-0-4045, Active permanent current ................................................................................................ 3-98

P-0-4046, Active peak current.......................................................................................................... 3-99

P-0-4047, Motor inductance........................................................................................................... 3-100

P-0-4094, C800 Command Base-parameter load ......................................................................... 3-100

P-7-0004, Velocity loop smoothing time constant.......................................................................... 3-101

P-7-0018, Number of pole pairs/pole pair distance........................................................................ 3-101

P-7-0051, Torque/force constant ................................................................................................... 3-102

P-7-0508, Commutation offset ....................................................................................................... 3-102

P-7-0509, Slot angle....................................................................................................................... 3-102

P-7-0510, Moment of inertia of the rotor ........................................................................................ 3-103

P-7-0511, Brake current................................................................................................................. 3-103

P-7-0513, Feedback type 1............................................................................................................ 3-104

P-7-0517, Feedback type 2............................................................................................................ 3-104

P-7-4014, Motor type...................................................................................................................... 3-104

P-7-4028, Impulse wire feedback - offset ...................................................................................... 3-105

P-7-4029, Impulse wire feedback - PIC counter value................................................................... 3-105

P-7-4047, Motor inductance........................................................................................................... 3-106

4 Index ..................................................................................................................... 4-1

5 Kundenbetreuungsstellen - Sales & Service Facilities .................................... 5-1


X Contents DIAX04 SSE-03VRS


Notes


DIAX04 SSE-03VRS General Information 1-1


1 General Information

Using This ManualAll standard and product specific parameters are listed in this chapter in anumerically ascending order.

This chapter supplements the functional description and represents acomplete description of all parameters used in the firmware.

The description of the individual parameters is divided into twosubsections.

1) General descriptionThis section contains the feature or meaning of the parameter and tipsfor setting parameters.

2) Description of attributes

The characteristic values or features listed here help to classify theparameter. They are necessary for a complete description of theparameter. However, they are not required to get a general idea of themeaning of the parameter.


1-2 General Information DIAX04 SSE-03VRS


DefinitionsThe following abbreviations are used:

Data length:

2-byte - the data length for the operating data is 2 bytes.

4-byte - the data length for the operating data is 4 bytes.

1-byte variable - this is a variable-length list of operating data and thelength of a data unit in this list is 1 byte.

2-byte variable - this is a variable-length list of operating data and thelength of a data unit in this list is 2 bytes.

4-byte variable - this is a variable-length list of operating data and thelength of a data unit in this list is 4 bytes.

Format:

BIN - the display format for the operating data should be binary.

HEX - the display format for the operating data should be hexadecimal.

DEC_OV - The display format for the operating data should be decimalwithout a sign.

DEC_MV - The display format for the operating data should be decimalwith a sign.

ASCII - the operating data is an ASCII string.

IDN - the operating data is an ID number (IDN).

Editability:

No - the operating data cannot be edited.

P2 - The operating data can only be edited in communications phase 2.

P23 - The operating data can only be edited in communications phases 2and 3.

P234 - The operating data can be edited in any communications phase.



Memory:

fixed - the operating data is programmed in the drive (fixed value).

no - The operating data is not buffered in the drive; the value is undefinedafter the drive controller is switched on.

Param. EE - The operating data is buffered in E²prom of theprogramming module (HSM).

Ampl. EE - The operating data is buffered in E²prom of the drivecontroller.

Feedb. EE - The operating data is buffered in the E²prom of the motorfeedback data memory (only in MHD- and MKD motors).


DIAX04 SSE-03VRS General Information 1-3


Validity check:

no - the operating data is not checked for validity.

Phase2 - the operating data is checked in the "Communications phase 3transition check" command.

Phase3 - the operating data is checked in the "Communications phase 4transition check" command.

Extreme value check:

no - the operating data is not checked for its extreme values when it iswritten to.

yes - the operating data is checked for its extreme values when it iswritten to.

Combination check:

no - the operating data is not checked (bitwise) for a valid combinationwith other parameter values when it is written to.

yes - The operating data is checked (bitwise) for a valid combination withother parameter values when it is written to.

Cyc. transmittable:

no - The operating data cannot be configured as cyclical data in themaster data telegram or in the drive telegram.

AT - The operating data can be configured as cyclical data in the drivetelegram.

MDT - The operating data can be configured as cyclical data in themaster data telegram.

Default Value:

The default value indicates the value of the parameter loaded into fixedmemory with the current version of firmware installed on the drivefollowing the PL program load command and prior to user edits or loadingsaved parameter files.


1-4 General Information DIAX04 SSE-03VRS


Notes


DIAX04 SSE-03VRS Standard Parameters 2-1


2 Standard Parameters

2.1 S-0-0001, NC Cycle time (TNcyc)

The NC cycle time indicates the time intervals between new commandvalues being made available by the numerical control.

For the SERCOS interface, the NC cycle time must be transmitted incommunications phase 2 from the master to the slave; fromcommunications phase 3 on it must be considered in the slave.

The NC cycle time must be an integral multiple of S-0-0002, SERCOSCycle time (Tscyc).

TNcyc = TScyc • j, where j = 1, 2, 3 ...

S-0-0001 - AttributesPara. Name: DE NC-Zykluszeit (TNcyc)

EN NC Cycle time (TNcyc)

FR Durée de cycle de la commande numérique (TNcyc)

ES Tiempo de ciclo NC (TNcyc)

IT Tempo Ciclo NC (TNcyc)

Function: Parameter Editability: P2

Data length: 2Byte Memory: Param. EE

Format: DEC_OV Validity check: Phase2

Unit: us Extreme value check: yes

Decimal places: 0 Combination check: no

Input min/max: 00500 / 65000

Default value: 2000 Cyc. transmittable: no

S-0-0002, SERCOS Cycle time (Tscyc)The interface cycle time indicates the time intervals for the cyclical datatransfer. The interface cycle times are set to

2 ms, ... to 65 ms in increments of 1ms.

For the SERCOS interface, the SERCOS cycle time must be transmittedfrom the master to the slave in communications phase 2; and fromcommunications phase 3 on it must be activated in both.

See also the functional description: "Configuration of the Telegram Sendand Receive Times".

S-0-0002 - AttributesPara. Name: DE SERCOS-Zykluszeit (TScyc)

EN SERCOS Cycle time (Tscyc)

FR Durée de cycle de transmission SERCOS (TScyc)

ES Tiempo de ciclo SERCOS (TScyc)

IT Tempo Ciclo SERCOS (TScyc)






Input min/max: 00500 / 65000



2-2 Standard Parameters DIAX04 SSE-03VRS


S-0-0003, Minimum AT transmit starting time (T1min)The slave uses this parameter value to indicate the minimum timerequirement between the end of the received master synchronizationtelegram and the transmission of the drive telegram.

The time T1min is read in communications phase 2 by the master tocalculate the time to send the drive telegram T1 S-0-0006, ATTransmission starting time (T1).


S-0-0003 - AttributesPara. Name: DE Sende-Reaktionszeit AT (T1min)

EN Minimum AT transmit starting time (T1min)

FR Temps de réaction à l'émission AT (T1min)

ES Tiempo de reacción de emision AT (T1min)

IT Tempo di Partenza Trasmissione mini. AT (T1min)

Function: Parameter Editability: no

Data length: 2Byte Memory: no

Format: DEC_OV Validity check: no

Unit: us Extreme value check: no


Input min/max: --- / ---


S-0-0004, Transmit/receive transition time (TATMT)This parameter indicates the time required for the slave to switch toreception of the master data telegram after sending its drive telegram.

The transmission/reception transition time is read in communicationsphase 2 by the master to calculate the time to send the master datatelegram T2 S-0-0089, MDT Transmit starting time (T2).


S-0-0004 - AttributesPara. Name: DE Umschaltzeit Senden-Empfangen (TATMT)

EN Transmit/receive transition time (TATMT)

FR Temps de transition entre transmission et réception (TATMT)

ES Tiempo de conmutación emisión-recepción (TATMT)

IT Tempo di Transizione Trasmis./Ricez. (TATMT)







Default value: --- Cyc. transmittable: no




S-0-0005, Minimum feedback acquisition time(T4min)This is the minimum time requirement between feedback-valueacquisition and the end of the master synchronization telegram. Thisvalue is indicated by the drive in such a manner that the current feedbackvalues can be transmitted to the numerical control in the next drivetelegram.

For the SERCOS interface, the master reads this value incommunications phase 2 to set the acquisition starting time of thefeedback values T4 S-0-0007, Feedback acquisition starting time (T4)for all drives.


S-0-0005 - AttributesPara. Name: DE Mindestzeit Istwerterfassung(T4min)

EN Minimum feedback acquisition time(T4min)

FR Temps mini. d'acquisition des données retour (T4min)

ES Tiempo mínimo registro de valor real (T4min)

IT Tempo di Acquisizione Feedback minimo (T4min)








S-0-0006, AT Transmission starting time (T1)The transmission starting time determines when the slave must send itsdrive telegram in communications phases 3 and 4, after the end of themaster synchronization telegram.

This parameter is transmitted from the master to the slave incommunications phase 2 and is active from communications phase 3 on.

The transmission time drive telegram must be set equal to or greater thanthe transmission reaction time S-0-0003, Minimum AT transmit startingtime (T1min).

The following must apply: T1min ≤ T1


S-0-0006 - AttributesPara. Name: DE Sendezeitpunkt Antriebs-Telegramm (T1)

EN AT Transmission starting time (T1)

FR Temps de départ de transmission de l'AT (T1)

ES Punto temporal de emision telegrama de accionamiento (T1)

IT Tempo di Partenza Trasmissione AT (T1)









Input min/max: 00012 / 65000


S-0-0007, Feedback acquisition starting time (T4)This is the feedback acquisition starting time set by the master after theend of the master synchronization telegram. Thus, the master can set thesame feedback acquisition starting time for all drives that work together.This guarantees synchronized feedback-value acquisition among theaffected drives. Also, the cyclically transferred command values areprocessed at time T4.

For the SERCOS interface, the master must set the feedback acquisitionstarting time equal to or less than the difference between the S-0-0002,SERCOS Cycle time (Tscyc) and the polled S-0-0005, Minimumfeedback acquisition time (T4min).

The following must apply: T4 ≤ TScyc - T4min

See also the functional description: "Configuration of the Telegram Sendand Receive Times"

S-0-0007 - AttributesPara. Name: DE Messzeitpunkt Istwerte (T4)

EN Feedback acquisition starting time (T4)

FR Temps de départ d'acquisition des données retour (T4)

ES Punto temporal de medición valores reales (T4)

IT Tempo di Part. Acquisizione Feedback (T4)






Input min/max: 00011 / 65000


S-0-0008, Command valid time (T3)The "command valid time" indicates the time after which the drive mayaccess new command values.

Thus, the master can set the same "command valid time" for all drivesthat work together. The drive activates the "command valid time"beginning with communications phase 3.

See also the functional description: "Configuration of the Telegram Sendand Receive Times"".




S-0-0008 - AttributesPara. Name: DE Zeitpunkt für Sollwert gültig (T3)

EN Command valid time (T3)

FR Temps pour consigne valide (T3)

ES Punto temporal para valor nominal valido (T3)

IT Tempo di Comando Valido (T3)






Input min/max: 00000 / 65000


S-0-0009, Beginning address in master data telegramThis parameter displays the start address of a drive’s data record in theMaster Data Telegram, expressed as a byte position. It begins with 1 forthe first data byte after the address field in the MDT.

The start address of the drive’s data record in the MDT is transmitted toeach drive by the master in communications phase 2. The address isactivated beginning with communications phase 3.


S-0-0009 - AttributesPara. Name: DE Anfangsadresse im Master-Daten-Telegramm

EN Beginning address in master data telegram

FR Adresse de départ dans le MDT

ES Dirección inicial en telegrama de datos maestro

IT Indirizzo iniziale del Telegramma Dati Master




Unit: -- Extreme value check: yes


Input min/max: 00001 / 65531


S-0-0010, Length of master data telegramThe length of the Master Data Telegram, expressed in bytes, contains thedata records of all the drives. The MDT length is transmitted by themaster to all drives in communications phase 2. It is activated by themaster and slave beginning with communications phase 3.





S-0-0010 - AttributesPara. Name: DE Länge Master-Daten-Telegramm

EN Length of master data telegram

FR Longueur du MDT

ES Longitud telegrama de datos maestro

IT Lunghezza del Telegramma Dati Master




Unit: Byte Extreme value check: yes


Input min/max: 00004 / 65534


S-0-0011, Class 1 diagnosticsFunction: Drive lock

A Class 1 diagnostic error situation discovered by the drive leads to

• the drive’s error response, as described in the functional descriptionunder "Error".

• setting the static error bits to 1 for Class 1 (S-0-0135, Drive statusword)

The drive resets the error bit back to 0 only if

• there are no errors pending in C1D

• and command S-0-0099, C500 Reset C1D has been started.

Parameter structure:

Bit 4: Control voltage error

Bit 5: Feedback error

Bit 1: Amplifier over-temperature shutdown

Bit 2: Motor over-temperature shutdown(see also S-0-0204)

Bit 9: Under-voltage error

Bit 11: Excessive control deviation

Bit 12: Communication error

Bit 13: Position limit has been exceeded

Bit 15: Manufacturer-specific error

Fig. 2-1:: S-0-0011, Class 1 diagnostics

See also the functional description: "S-0-0011, Class 1 Diagnostics".

S-0-0011 - AttributesPara. Name: DE Zustandsklasse 1

EN Class 1 diagnostics

FR Diagnostic de classe 1 (C1D)

ES Diagnosticos clase 1

IT Diagnostica Classe 1






Format: BIN Validity check: no

Unit: -- Extreme value check: no




S-0-0012, Class 2 diagnosticsFunction: Shutdown warning.

If a C2D warning is activated or deactivated in the drive then the changebit (S-0-0135, Drive status word Bit 12 ) for the C2D is set.

The change bit (S-0-0135, Drive status word Bit 12 ) is not cleared bythe drive until parameter S-0-0012, Class 2 diagnostics has been read.


Bit 4 : reserved

Bit 5 : Positioning velocity > nlimit S-0-0315

Bit 1 : Amplifier over-temperature warning S-0-0311Bit 2 : Motor over-temperature warning S-0-0312

Bit 9 : reserved

Bit 11: reserved

Bit 12 : reserved

Bit 13 : Target position outside of position limits S-0-0323

Bit 15 : Manufacturer warning

Bit 0 : Overload warning S-0-0310

Bit 14 : reserved

Bit 10: reserved

Bit 8: reserved

Bit 7: reserved

Bit 6: reserved

Bit 3 : Cooling error warning S-0-0313

Fig. 2-2: S-0-0012, Class 2 diagnostics

















S-0-0013, Class 3 diagnosticsFunction: Operating status messages.

If a C3D message is activated or deactivated in the drive, then the changebit (S-0-0135, Drive status word Bit 11 ) is set in the drive.

The change bit (S-0-0135, Drive status word Bit 11 ) is not reset by thedrive until parameter S-0-0013, Class 3 diagnostics is read.


S-0-0013, Class 3 diagnostics

Bit 1: | Feedback velocity | <Standstill window (S-0-0124)S-0-0331|S-0-0040| < S-0-0124

Bit 12: Target position reachedInternal position command value = target position(S-0-0258) S-0-0342

Bit 6: In position| Following error (S-0-0189) | <Position window (S-0-0057) S-0-0336

Bit 4: |Md| ≥ |MdLIMIT (S-0-0092) S-0-0333

Bit 2 : | velocity feedback value | < velocity threshold S-0-0332

|S-0-0040| < S-0-0125

Bit 0 : velocity feedback value =velocity command value S-0-0330

|S-0-0040-S-0-0036| <= |S-0-0036| + S-0-0157

Fig. 2-3: S-0-0013, Class 3 Diagnostics

















S-0-0014, Interface statusIn the three least significant bits ( 0, 1, 2 ), the current communicationphase can be requested:

0010b: the drive is in parameterization mode

0100b: the drive is in operation mode

If an interface error is pending, then

• one of the bits 4-15 in S-0-0014, Interface status is set(Bit in 4 .. 15 = 1 => error pending)

• and Bit 12 is set in S-0-0011, Class 1 diagnostics.

The communications error bits are not cleared by the drive until

• the relevant interface error is no longer pending

• and command S-0-0099, C500 Reset class 1 diagnostic is started.


Bit 4 : Double MDT failure

Bit 5 : Invalid phase (phase > 4)

Bits 0-2: Communication phase

Bit 9 : reserved

Bit 11: reserved

Bit 12 : reserved

Bit 13 : reserved

Bit 15 : reserved

Bit 14 : reserved

Bit 10: reserved

Bit 8: Phase switching without ready message

Bit 7: Error while switching to lower phase(not to phase 0)

Bit 6: Error while switching to higher phase(order)

Bit 3 : not supported

Fig. 2-4: S-0-0014, Interface status

See also the functional description: "Diagnostic of the interface Status".

S-0-0014 - AttributesPara. Name: DE Schnittstellen-Status

EN Interface status

FR Etat d’interface

ES Estado de interfaces

IT Stato Interfaccia











S-0-0015, Telegram type parameterIn this parameter, you can choose between priority telegrams and theconfigured telegram.

The telegram type that is selected will be activated in the master andslave only from communications phase 3 on.


Bit 0 - 2: Priority-telegram-selection,resp. configured telegramselection

Bit 3 0 : Position-feedback 1 (Motor feedback)1 : Position-feedback-2 (external)

Fig. 2-5: S-0-0015, Telegram type parameter

Note: Only the bits indicated here are supported by the software.

Telegrams:

Bit0-2: MDT: AT:

0 PT 0 No cyclical data No cyclical data

1 PT 1 DF1: S-0-0080 Torque command No cyclical data

2 PT 2 DF1: S-0-0036, Velocity command value DF1: S-0-0040 Velocity feedback value

3 PT 3 DF1: S-0-0036, Velocity command value DF1: S-0-0051/S-0-0053 Position feedbackvalue 1

4 PT 4 DF1: S-0-0047, Position command value DF1: S-0-0051/S-0-0053 Position feedbackvalue 1

5 PT 5 DF1: S-0-0047, Position command valueDF2: S-0-0036, Velocity command value

DF1: S-0-0051/S-0-0053 Position feedbackvalue 1DF2: S-0-0040 Velocity feedback value

6 PT 6 DF1: S-0-0036, Velocity command value No cyclical data

7 Configurable telegramFig. 2-6: Supported bits

where PT : Priority telegram

DF1/2: Data field 1/2

See also the functional description: "Configuration of Telegram Contents"




S-0-0015 - AttributesPara. Name: DE Telegrammarten-Parameter

EN Telegram type parameter

FR Paramètre de type de télégramme

ES Parámetros de tipo de telegrama

IT Parametri Tipo Telegramma



Format: BIN Validity check: Phase2



Input min/max: 0x0000 / ---


S-0-0016, Custom amplifier telegram configuration listIf a configured telegram is set in S-0-0015, Telegram type parameter,then this list will be used for application-specific configuration of the datarecord in the AT.

The list can contain only operating data that are listed in the parameter S-0-0187, List of configurable data in the AT.


S-0-0016 - AttributesPara. Name: DE Konfig.-Liste Antriebs-Telegramm

EN Custom amplifier telegram configuration list

FR Liste de configuration d'AT

ES Telegrama de accionamiento lista de config.

IT Configurazione personalizzata Telegramma


Data length: 2Byte var. Memory: Param. EE

Format: IDN Validity check: Phase2




Default value: leer Cyc. transmittable: no

S-0-0017, IDN-list of all operation dataThe ID numbers for all parameters with operation data available in thedrive are accessible in this IDN list.

See also the functional description: "Parameter"

S-0-0017 - AttributesPara. Name: DE IDN-Liste aller Betriebsdaten

EN IDN-list of all operation data

FR Liste des IDN de toutes les données d'exploitation

ES Lista IDN de todos los datos de servicio

IT Lista IDN di tutti i Dati operativi





Data length: 2Byte var. Memory: no

Format: IDN Validity check: no





S-0-0018, IDN-list of operation data for CP2The IDN-list contains the ident-numbers of all parameters that the drivechecks in the transition command for phase 3. Only when the data of thelisted ident-numbers are correct can the transmission command becompleted and the transition to communications phase 3 allowed.

See also the functional description: "IDN List of Parameters"

S-0-0018 - AttributesPara. Name: DE IDN-Liste Betriebsdaten Kommunikationsphase 2

EN IDN-list of operation data for CP2

FR Liste IDN des données d'exploitation relatives à CP2

ES Lista IDN datos de servicio fase de comunicación 2

IT Lista IDN di tutti i Dati per fase di comm. 2






Input min/max: - / -


S-0-0019, IDN-list of operation data for CP3The IDN-list contains the ident-numbers of all parameters that the drivechecks in the transition command for phase 4. Only when the data of thelisted ident-numbers are correct can the transmission command becompleted and the transition to communications phase 4 allowed.


S-0-0019 - AttributesPara. Name: DE IDN-Liste Betriebsdaten Kommunikationsphase 3

EN IDN-list of operation data for CP3

FR Liste IDN des données d'exploitation relatives à CP3

ES Lista IDN datos de servicio fase de comunicación 3

IT Lista IDN di tutti i Dati per fase di comm. 3











S-0-0021, IDN-list of invalid op. data for comm. Ph. 2Before the drive executes a switch from phase 2 to phase 3, it mustcomplete the corresponding command S-0-0127, C100 Communicationphase 3 transition check that allows it to check if the communicationsparameters are complete and accurate.

If the drive identifies one or more IDNs as invalid, it will write the operatingdata that is still needed or is invalid to this ID No. list. This will bedisplayed to the drive by command error diagnostic message C101Invalid communication parameter (S-0-0021).


S-0-0021 - AttributesPara. Name: DE IDN-Liste ungültige Betriebsdaten Phase 2

EN IDN-list of invalid op. data for comm. Ph. 2

FR Liste des IDN-données d'exploitation invalides phase 2

ES Lista IDN de datos de servicio no validos fase 2

IT Lista IDN dei Dati oper. invalidi per Comm. in Fase 2








S-0-0022, IDN-list of invalid op. data for comm. Ph. 3Before the drive executes a switch from phase 3 to phase 4, it mustcomplete the corresponding command S-0-0128, C200 Communicationphase 4 transition check that allows it to check parameters for thefollowing conditions:

• Validity of the parameter

• The parameter value is found within the valid input range.

• Compatibility with other parameters.

If the result of a parameter check is negative, this operating data will beentered in the ID No. (IDN) list.

The drive then responds to the transition command with thecommunications error diagnostic messages

• C201 Invalid Parameter(s) (->S-0-0022) or

• C202 Parameter limit error (->S-0-0022) or

• C203 Parameter calculation error (->S-0-0022)


S-0-0022 - AttributesPara. Name: DE IDN-Liste ungültige Betriebsdaten Phase 3

EN IDN-list of invalid op. data for comm. Ph. 3

FR IDN-Liste données d'exploitation invalides phase 3

ES Lista IDN de datos de servicio no validos fase 3

IT Lista IDN dei Dati oper. invalidi per Comm. in Fase 3











S-0-0024, Config. list of the master data telegramIf the configured telegram is set in S-0-0015, Telegram type parameter,then the configurable data record in the MDT will be configuredapplication-specifically using this list.

The list can contain only operating data that are listed in the parameterS-0-0188, List of configurable data in the MDT.


S-0-0024 - AttributesPara. Name: DE Konfig.-Liste Master-Daten-Telegramm

EN Config. list of the master data telegram

FR Liste de configuration du MDT

ES Lista de configuración del MDT

IT Lista Config. del Telegramma Dati Master



Format: IDN Validity check: Phase2





S-0-0025, IDN-list of all procedure commandsThe data of the IDN-list contains the ident-numbers of all commands inthe drive controller.

See also the functional description: "Commands"

S-0-0025 - AttributesPara. Name: DE IDN-Liste aller Kommandos

EN IDN-list of all procedure commands

FR Liste des IDN de toutes les commandes

ES Lista IDN de todos los comandos

IT Lista IDN di tutti i Comandi











S-0-0026, Configuration list signal status wordThe data of this parameters contains the ident-numbers of the signals orbits which the signal status word (S-0-0144) contains.

The order of the ident-numbers in the configuration list determines the bitsequence, beginning with the LSB in the signal status word.

That means, the first ident-number in S-0-0026 defines the bit 0, thesecond ident-number in S-0-0026 defines bit 1 in the parameter S-0-0144,Signal status word, and so on.

Note: The signal status word is used in fieldbus drives for theinternal communications between the two microcontrollers(exception: P-0-4048 = FFFFh).

See also the functional description: "Configurable Signal Status Word"

S-0-0026 - AttributesPara. Name: DE Konfigurations-Liste Signal-Statuswort

EN Configuration list signal status word

FR Liste de configuration pour mot d'état de signal

ES Lista de configuración palabra de estado de señal

IT Lista di Configurazione Parole di Stato Segnali



Format: IDN Validity check: P3-4



Input min/max: -- / --


S-0-0028, MST error counterThe MST error count counts all invalid Master Synchronization Telegramsin communications phases 3 and 4.

If two MSTs fail in direct succession, then error F401 Double MST errorshutdown will be generated and the operation will return to phase 0.

The MST error count has a limit stop at (2^16) - 1. This means that duringa highly distorted transfer the MST Error count will show the value 65535after a long time.

See also the functional description: "Error Count for Telegram Interrupts".

S-0-0028 - AttributesPara. Name: DE Fehlerzähler MST

EN MST error counter

FR Compteur de MST erronés

ES Contador de errores MST

IT Contatore errori MST



Format: DEC_0V Validity check: no








S-0-0029, MDT error counterThis parameter counts all invalid Master Data Telegrams incommunications phases 3 and 4.

If two MDTs fail in direct succession, then error F402 Double MST errorshutdown will be generated.

The MDT error counter has a limit stop at (2^16) - 1. This means thatduring a highly distorted transfer the MDT error count will show a value of65535 after a long time.

See also the functional description: "Error Count for Telegram Interrupts".

S-0-0029 - AttributesPara. Name: DE Fehlerzähler MDT

EN MDT error counter

FR Compteur de MDT erronés

ES Contador de errores MDT

IT Contatore errori MDT








S-0-0030, Manufacturer versionThe version of the drive firmware can be read from this parameter asplain text. The structure of the manufacturer version is defined asfollows:

ESF1.1-FGP-01V02

Release stand

V- official VersionT - Test version

Version number

Derivate (function)

Product label

Fig. 2-7: Manufacturer Version

Examples:

HSM1.1-SSE-01V02

ESF1.1-FGP-01V02

See also the functional description: "Systemoverview"




S-0-0030 - AttributesPara. Name: DE Hersteller-Version

EN Manufacturer version

FR Version du fabriquant

ES Version de fabricante

IT Versione Costruttore



Format: ASCII Validity check: no





S-0-0032, Primary mode of operationThe mode of operation defined in this parameter will be activated in thedrive when

• The primary mode of operation is selected in the master control word(bits 8 and 9 = 00).

• The control and power sections are ready for operation.

• The drive enable signal is set.

The operating mode can be selected by entering a bit list. Specificpositions are defined in the bit list.

In bit 3, you can choose between working with position control withoutfollowing (lag) error or with following error.

The following applies for bit 3:

Bit 3 = 0 position control with following error

Bit 3 = 1 position control without following error

Bit list: Meaning:

0000,0000,0000,0001 Torque control

0000,0000,0000,0010 Velocity control

0000,0000,0000,x011 Position control with encoder 1


0000,0000,0001,x011 Drive-controlled interpolation, encoder 1

0000,0000,0001,x100 Drive-controlled interpolation, encoder 2Fig. 2-8: Bit list S-0-0032

See also the functional description: "Setting the Operating ModeParameters"

S-0-0032 - AttributesPara. Name: DE Hauptbetriebsart

EN Primary mode of operation

FR Mode de fonctionnement primaire

ES Tipo de servicio principal

IT Modo operativo primario








Decimal places: 0 Combination check: yes



S-0-0033, Secondary operation mode 1The mode of operation defined in this parameter will be activated in thedrive if:

• The secondary operation mode 1 is selected in the master controlword (bits 8 and 9 = "01")





The following applies:



Bit list: Meaning:

0000,0000,0000,0001 Torque control







S-0-0033 - AttributesPara. Name: DE Nebenbetriebsart 1

EN Secondary operation mode 1

FR Mode de fonctionnement secondaire 1

ES Tipo de servicio secundario 1

IT Modo operativo secondario 1




















Bit list: Meaning:

0000,0000,0000,0001 Torque control































Bit list: Meaning:

0000,0000,0000,0001 Torque control



















S-0-0036, Velocity command valueThis parameter is used to set the velocity command value. This togetherwith S-0-0037, Additive velocity command value determines theeffective Velocity Command Value for the drive.

Note: In the position control operating modes, this parameterdisplays the output signal of the position controller.

See also the functional description: "Operating Mode: Velocity Control"

S-0-0036 - AttributesPara. Name: DE Geschwindigkeits-Sollwert

EN Velocity command value

FR Valeur de commande de vitesse

ES Valor nominal de velocidad

IT Valore di Velocità comandato






Format: DEC_MV Validity check: no

Unit: S-0-0044 Extreme value check: yes

Decimal places: S-0-0045/S-0-0046 Combination check: no

Input min/max: -000060000.0 / 0000060000.0

Default value: --- Cyc. transmittable: MDT

S-0-0037, Additive velocity command valueThe additive velocity command value is added to the S-0-0036, Velocitycommand value in the drive.

See also the functional description: "Operating Mode: Velocity Control"

S-0-0037 - AttributesPara. Name: DE Geschwindigkeits-Sollwert additiv

EN Additive velocity command value

FR Valeur de commande de vitesse supplémentaire

ES Valor nominal adicional de velocidad

IT Comando di Velocità addizzionale






Input min/max: -000060000.0 / 0000060000.0


S-0-0040, Velocity feedback valueThe velocity feedback value can be transferred from the drive controldevice to the control system either cyclically or via the service channel.

Bit 7 in the parameter P-0-0538, Motor function parameter 1 canactivate a filter for the velocity feedback value.

see also functional description "Preparations for Setting the VelocityController"

S-0-0040 - AttributesPara. Name: DE Geschwindigkeits-Istwert

EN Velocity feedback value

FR Valeur de retour de vitesse

ES Valor real de velocidad

IT Feedback di Velocità




Unit: S-0-0044 Extreme value check: no



Default value: --- Cyc. transmittable: AT




S-0-0041, Homing velocityThe product of S-0-0041, Homing velocity and S-0-0108, Feedrateoverride determines the velocity for the S-0-0148, Drive controlledhoming procedure command.

If, in the case of an absolute encoder, the S-0-0148, Drive controlledhoming procedure is initiated, then the drive will proceed with this velocityto the reference point (home position) that was determined with the P-0-0012; set absolute measurement, command.

See also the functional description: "Drive-Controlled Homing".

S-0-0041 - AttributesPara. Name: DE Referenzfahr-Geschwindigkeit

EN Homing velocity

FR Vitesse de prise d’origine

ES Velocidad de puesta a cero

IT Velocità per Azzeramento






Input min/max: 0000000000.0 / 0030720000.0


S-0-0042, Homing accelerationThis parameter indicates the acceleration value at which the driveexecutes the command S-0-0148, C600 Drive controlled homingprocedure command.


S-0-0042 - AttributesPara. Name: DE Referenzfahr-Beschleunigung

EN Homing acceleration

FR Accélération de prise d'origine

ES Aceleración de puesta a cero

IT Accellerazione per Azzeramento






Input min/max: 00000000.000 / 00024543.692





S-0-0043, Velocity polarity parameterThis parameter is used to switch the polarity of the velocity data in relationto the application.

Polarities are switched externally, at the input and output of a controlsystem rather than inside the system.

The following applies to rotary motors:

Clockwise rotation when facing the motor shaft is the rule for a positivevelocity command value and a positive polarity.

The following applies to linear motors:

The positive direction is used when the primary is moving toward thelinear motor power cable side.


Bit 0: Velocity command value 0: positive polarity 1: negative polarity

Bit 2: Velocity feedback value 0: positive polarity 1: negative polarity

Bit 1: Velocity command value, additive 0: positive polarity 1: negative polarity

Fig. 2-12: S-0-0043, Velocity polarity parameter

Note: The bits 1 and 2 are copies of bit 0. Only changes of bit 0 havean effect. Different settings of the single bits are not possible!

See also the functional description: "Command Polarities and ActualValue Polarities".

S-0-0043 - AttributesPara. Name: DE Geschwindigkeits-Polaritäten-Parameter

EN Velocity polarity parameter

FR Paramètre de polarité de vitesse

ES Parámetros de polaridad de velocidad

IT Parametro Direzione Velocità











S-0-0044, Velocity data scaling typeVarious scaling types can be defined for the velocity data in the drive.

Examples: RPM → rotary

mm/min → linear

Structure of the parameter:

Bit 4 : Unit of measure for linear scaling0 : meter [m]1 : inch [in]

Unit of measure for rotary scaling0 : revolution1 : reserved

Bit 5 : Unit of time0 : minute [min]1 : second [sec]

Bit 15 - 7: reserved

Bit 6: Data reference0 : to the motor shaft1 : to the load

Bit 3 :0 : preferred scaling1 : parameter scaling

Bit 2 - 0: Scaling type0 0 0: unscaled0 0 1: linear scaling0 1 0: rotary scaling

Fig. 2-13: S-0-0044, Velocity Data Scaling Type

In bit 3 it is possible to select between preferred and parameter scaling.

Preferred scaling:

The following parameters are predefined in this case and cannot bechanged:

• S-0-0045, scaling factor for velocity data

• S-0-0046, scaling exponents for velocity data

Scaling with parameter scaling means that the above parameter must beset.

(See section: "Preferred / parameter scaling")

See also functional description: "Velocity Data Display Format"

S-0-0044 - AttributesPara. Name: DE Wichtungsart für Geschwindigkeitsdaten

EN Velocity data scaling type

FR Type de calibrage pour données de vitesse

ES Tipo de escala de datos de velocidad

IT Tipo di Scala per Dati di Velocità











S-0-0045, Velocity data scaling factorThis parameter defines the scaling factor for all velocity data in the drive.

If preferred scaling is set with S-0-0044, Velocity data scaling type, thisparameter will be set to 1.

See also the functional description: "Velocity Data Display Format"

S-0-0045 - AttributesPara. Name: DE Wichtungs-Faktor für Geschwindigkeitsdaten

EN Velocity data scaling factor

FR Facteur de calibrage pour données de vitesse

ES Factor de escala para datos de velocidad

IT Fattore di Scala per Dati Velocità








S-0-0046, Velocity data scaling exponentThe scaling exponent for all velocity data in the drive is determined in thisparameter.

See also functional description: "Velocity Data Display Format".

S-0-0046 - AttributesPara. Name: DE Wichtungs-Exponent für Geschwindigkeitsdaten

EN Velocity data scaling exponent

FR Exposant de calibrage pour données de vitesse

ES Exponente de escala para datos de velocidad

IT Esponente per Dati Velocità



Format: DEC_MV Validity check: Phase3



Input min/max: -00032 / 000032

Default value: -4 Cyc. transmittable: no

S-0-0047, Position command valueIn the position control operation mode, this parameter is transferredfrom the control system to the drive every NC cycle time. In otheroperating modes, with the velocity loop closed in the drive, the activeposition command value of the position controller is displayed here. Thenthe position command is generated in the drive, depending on the activeoperation mode.

See also the functional description: "Operating Mode: Position Control".




S-0-0047 - AttributesPara. Name: DE Lage-Sollwert

EN Position command value

FR Valeur de commande de position

ES Valor nominal de posición

IT Valore di Posizione comandato






Input min/max: -214748.3648 / 0214748.3647


S-0-0049, Positive position limit valueThe positive position limit value describes the maximum extent of travel inthe positive direction.

The position limit values can be switched off using bit 4 in S-0-0055,Position polarity parameter.

The monitor for the position limit is active when:

• the encoder chosen in S-0-0147, Homing parameter is homed or

• a second encoder is present and homed.

If a Target position, S-0-0258 beyond the positive position limit value isset for the drive, then the drive sets warning bit 13 in S-0-0012, Class 2diagnostic and generates the warning E253 Target position out oftravel range.

If the positive position limit value is exceeded, the drive sets error bit 13 inS-0-0011, Class 1 diagnostic.

See also the functional description: "Axis Limit Values".

S-0-0049 - AttributesPara. Name: DE Lage-Grenzwert positiv

EN Positive position limit value

FR Limite de position positive

ES Valor limite de posición positivo

IT Limite positivo di Posizione






Input min/max: -214748.3648 / 0214748.3647


Activation

Warning




S-0-0050, Negative position limit valueThe negative position limit value describes the maximum extent of travelin the negative direction.

The position limit values can be switched off using bit 4 in S-0-0055,Position polarity parameter.

The monitor for the position limit is active when:

• the encoder chosen in S-0-0147, Homing parameter is homed or

• a second encoder is present and homed.

If a target position beyond the negative position limit value is set for thedrive, then the drive sets warning bit 13 in S-0-0012, Class 2 diagnosticand generates the warning E253 Target position out of travel range.

If the negative position limit value is exceeded, the drive will set error bit13 in S-0-0011, Class 1 diagnostics.

See also the functional description: "Axis Limit Values".

S-0-0050 - AttributesPara. Name: DE Lage-Grenzwert negativ

EN Negative position limit value

FR Limite de position négative

ES Valor limite de posición negativo

IT Limite negativo di Posizione






Input min/max: -214748.3648 / 0214748.3647


S-0-0051, Position feedback 1 valuePosition feedback value 1 represents the current position of the motorencoder. The initialization of the position feedback happens during theexecution of S-0-0128, C200 Communication phase 4 transitioncheck; that means, the feedback positions are only initialized aftersuccessful execution of the command.

If an absolute encoder is present, the value in S-0-0051, PositionFeedback 1 Value then shows the absolute position referred to themachine’s zero-point, provided that during the initial startup the commandP-0-0012, C300 Command ’Set absolute measurement’ has beenexecuted once.

Otherwise, the initialization value depends on whether the parameter P-0-0019, Position start value has been written to during the phaseprogression or whether the motor feedback is an absolute encoder.

See also the functional description: "Setting the Measurement System".

Activation

Warning




S-0-0051 - AttributesPara. Name: DE Lage-Istwert Geber 1

EN Position feedback 1 value

FR Valeur de retour de position codeur 1

ES Valor real de posición 1

IT Valore di Posizione di Feedback 1








S-0-0052, Reference distance 1This parameter displays the distance between the machine zero-point andthe homing point for the motor measurement system (Position feedbackvalue 1). The parameter is used for the execution of the commandsS-0-0148, C600 Drive controlled homing procedure command and P-0-0012, C300 Command ’Set absolute measurement’.

During the command S-0-0148, C600 Drive controlled homingprocedure command, the distance between the homing point and themachine zero-point is written there. If homing is done with run to thehoming point, the drive goes to the homing point, and S-0-0051, Positionfeedback 1 value contains the value of S-0-0052, Reference distance 1.

For the command P-0-0012, C300 Command ’Set absolutemeasurement’, the desired value for S-0-0051, Position feedback 1value is written there. After successful execution of ‘Setting absolutemeasurement’, S-0-0051, Position feedback 1 value shows the value ofS-0-0052, Reference distance 1.


S-0-0052 - AttributesPara. Name: DE Referenzmaß 1

EN Reference distance 1

FR Distance de référence 1

ES Medida de referencia valor de posición 1

IT Distanza di Riferimento 1






Input min/max: -214748.3648 / 0214748.3647





S-0-0053, Position feedback 2 valuePosition feedback value 2 represents the current position of the optionalexternal encoder. The initialization of the position feedback happensduring the execution of S-0-0128, C200 Communication phase 4transition check; that means, the feedback positions are only initializedafter successful execution of the command.

If an absolute optional encoder is present, the value in S-0-0053,Position Feedback Value 2 then shows the absolute position referred tothe machine’s zero-point, provided that during the first setup thecommand P-0-0012, C300 Command ’Set absolute measurement’ hasbeen executed once.

Otherwise, the initialization value depends on whether the parameter P-0-0019, Position start value has been written to during the phaseprogression or whether an existing optional feedback is an absoluteencoder.

See also the functional description: "Setting the Measurement System".

S-0-0053 - AttributesPara. Name: DE Lage-Istwert Geber 2

EN Position feedback 2 value

FR Valeur de retour de position codeur 2

ES Valor real de posición 2

IT Valore di Posizione di Feedback 2








S-0-0054, Reference distance 2This parameter displays the distance between the machine zero-point andthe homing point for the external measuring system (Position feedbackvalue 2). The parameter is used for the execution of the commandsS-0-0148, C600 Drive controlled homing procedure command and P-0-0012, C300 Command ’Set absolute measurement’.

During the command S-0-0148, C600 Drive controlled homingprocedure command, the distance between the homing point and themachine zero-point is written there. If homing is done with run to thehoming point, the drive goes to the homing point, and S-0-0053, Positionfeedback 2 value contains the value of S-0-0054, Reference distance 2.

For the command P-0-0012, C300 Command ’Set absolutemeasurement’, the desired value for S-0-0053, Position feedback 2value is written there. After successful execution of ‘Setting absolutemeasurement’, S-0-0053, Position feedback 2 value shows the value ofS-0-0054, Reference distance 2.

See also the functional description: " Drive-Controlled Homing".




S-0-0054 - AttributesPara. Name: DE Referenzmaß 2

EN Reference distance 2

FR Distance de référence 2

ES Medida de referencia valor de posición 2

IT Distanza di Riferimento 2






Input min/max: -214748.3648 / 0214748.3647


S-0-0055, Position polaritiesThis parameter can be used to invert the polarities of the given positiondata. These polarities are switched outside of the control system (i.e., atthe input and output of the control system).

Note: The polarity of the position must be determined during the firstsetup of an axis before establishing a zero reference for themeasurement systems, because changing the polarity resultsin different position values.

Note the following in reference to rotary motors:

"Motor-clockwise rotation" means the motor shaft turns in a clockwisedirection (facing the motor shaft) if the position command value differenceand the polarity are both positive.


The positive direction is used when the primary is moving toward thelinear motor power cable side

Bit 4 is used to activate or deactivate software position limits.


Bit 4 : Position limits0 : not active1 : active

Bit 0 : Position feedback value0: positive polarity1: negative polarity

Bit 1 : Position feedback value additive0: positive polarity1: negative polarity

Bit 2 : Position command value 10: positive polarity1: negative polarity

Bit 3 : Position command value 20: positive polarity1: negative polarity

Fig. 2-14: S-0-0055, Position polarity parameter




Note: - Only the bits indicated here are supported by the software.- If bit 0 is changed by the control system, bits 1 - 3 will also beset to the value of bit 0 by the drive!


S-0-0055 - AttributesPara. Name: DE Lage-Polaritäten

EN Position polarities

FR Polarités de position

ES Polaridades de posición

IT Direzioni di Posizionamento








S-0-0057, Position windowThe parameter S-0-0057, Position window, is used for the followingfunctions:

• Status In Position,|following error (S-0-0189)| < Position window (S-0-0057)

→ bit 6 in S-0-0013, Class 3 Diagnostics

• Status ITP,|Target pos. -.pos. feedback value | < Position window (S-0-0057)

&&|following error | < Position window &&|act. speed | < Standstill window (S-0-0124)

→ bit 6 in S-0-0182, Manufacturer class 3 diagnostics

• Status In_Target_Position,|Target pos. - pos. feedback value | < Position window (S-0-0057)

→ Bit 10 in S-0-0182, Manufacturer class 3 diagnostics

• Status message End Position reached

(|Target position - position feedback value | < S-0-0057, pos. window) &end of following block sequence reached.

• During the execution of the command S-0-0148, C600 Drivecontrolled homing procedure command, the drive reportscompletion of the command, when the internal command generatorhas reached its target value and the difference between this value andthe position feedback value is smaller than the position window.

• As a hysteresis window for the position limits. I.e., when the drive hasgone beyond the limit, the travel range is additionally limited by theposition window.

• For the spindle positioning command to show that the spindle is inposition.

See also the functional description: "S-0-0182, Manufacturer Class 3Diagnostics".




S-0-0057 - AttributesPara. Name: DE Positionierfenster

EN Position window

FR Fenêtre de positionnement

ES Ventana de posicionamiento

IT Finestra di Posizionamento






Input min/max: 0000000.0000 / 0214748.3647


S-0-0058, Reversal clearanceThe reversal clearance describes the amount of slack between the driveand the load when direction is changed, in respect to the position data.

The processing depends on the following data :

• S-0-0124, Standstill window,

• S-0-0036, Velocity command value, built by the position controllerwhen it’s active.

The following applies :

S-0-0058, Reversal clearance

Velocity commandPosition commandvalue error

Correction value for actualposition

S-0-0124, Standstill window

Fig. 2-15: Processing of the reversal clearance

Play between the toothsurfaces causes slack inthe transmission ofrotational motion

Mb5001d2.fh5

Fig. 2-16: Graphic representation of the motion play, or slack when direction ischanged

See also the functional description: "Axis Error Correction".




S-0-0058 - AttributesPara. Name: DE Umkehrspiel

EN Reversal clearance

FR Débattement inverse

ES Juego de inversion

IT Inversione Liberazione



Format: DEC_MV Validity check: Phase 3



Input min/max: 0000000.0000 / 0214748.3647


S-0-0076, Position data scaling typeThe position data scaling type determines in which format the positiondata is communicated between the drive and the control or MMI. Whenposition parameters (e.g. S-0-0051, Position feedback 1 value) areread, the drive displays them with the selected scaling. The scalingselection is usually pre-set by the control.

The following settings can be made:


Bit 4: Unit of measure for linear scaling0: meter [m]1: inch [in]Unit of measure for rotary scaling0: degree angles1: reserved

Bit 5: reserved

Bit 7: Processing format0: absolute1: modulo

Bit 6: Data reference0: to the motor shaft1: to the load

Bit 3 :0: preferred scaling1: parameter scaling



Fig. 2-17: S-0-0076, Position data scaling type

In bit 3 the selection between preferred and parameter scaling can be set.




Preferred scaling:

The following parameters are predefined and cannot be changed:

• S-0-0077, Linear position data scaling factor,

• S-0-0078, Linear position data scaling exponent

• S-0-0079, Rotational position resolution

Parameter scaling means that these parameters must be set for scaling(see section: preferred / parameter scaling).

Note: Only the bits mentioned here are supported by the firmware.1) See also S-0-0045, Scaling factor for velocity data.2) See also the example S-0-0077, Scaling of position data.

See also the functional description: "Display Format of Position Data".

S-0-0076 - AttributesPara. Name: DE Wichtungsart für Lagedaten

EN Position data scaling type

FR Type de calibrage pour données de position

ES Tipo de escala para datos de posición

IT Tipo di Scala per Dati Posizionamento








S-0-0077, Linear position data scaling factorWhen linear scaling is selected, the parameter S-0-0077, Linear positiondata scaling factor together with S-0-0078, Linear position datascaling exponent and the selection of the physical unit m (meters) orinch in S-0-0076, determine in which unit the present position parametersin the drive are displayed,.

If "preferred scaling“ is chosen in S-0-0076, Position data scaling type(bit 3 = 0), the values in S-0-0077 and S-0-0078 are set by the drive.

If "parameter scaling“ is chosen in S-0-0076, Position data scalingtype (bit 3 = 1), the settings in S-0-0077 and S-0-0078 are used.

Example for the display of position data for linear scaling:

- Physical position of the motor feedback equals 0.12 m (meter).

A) Selected scaling = linear preferred scaling (S-0-0077 = 1,S-0-0078 = -7). This gives for S-0-0051, Position feedback 1 value avalue of 1200000 with unit meters and 7 places after the decimal.

B) Selected scaling = linear parameter scaling (S-0-0077 = 3,S-0-0078 = -7). This gives for S-0-0051, Position feedback 1 value avalue of 400000 with unit meters and 7 places after the decimal.





S-0-0077 - AttributesPara. Name: DE Wichtungs-Faktor transl. Lagedaten

EN Linear position data scaling factor

FR Facteur de calibrage pour données de posit. lin.

ES Factor de escala datos de posición lineales

IT Fattore di Scala per Posizionamenti lineare








S-0-0078, Linear position data scaling exponentWhen linear scaling is selected, the parameter S-0-0078, Linear positiondata scaling exponent together with S-0-0077, Linear position datascaling factor and the selection of the physical unit m (meters) or inch inS-0-0076, determine in which unit the present position parameters in thedrive are displayed,.

If "preferred scaling“ is chosen in S-0-0076, Position data scaling type(bit 3 = 0), the values in S-0-0077 and S-0-0078 are set by the drive.

If "parameter scaling“ is chosen in S-0-0076, Position data scalingtype (bit 3 = 1), the settings in S-0-0077 and S-0-0078 are used.

Example for the display of position data for linear scaling:

- Physical position of the motor feedback equals 0.12 m (meter).

A) Selected scaling = linear preferred scaling (S-0-0077 = 1,S-0-0078 = -7). This gives for S-0-0051, Position feedback 1 value avalue of 1200000with unit meters and 7 places after the decimal.

B) Selected scaling = linear parameter scaling (S-0-0077 = 1,S-0-0078 = -6). This gives for S-0-0051, Position feedback 1 value avalue of 120000 with unit meters and 6 places after the decimal.


S-0-0078 - AttributesPara. Name: DE Wichtungs-Exponent transl. Lagedaten

EN Linear position data scaling exponent

FR Exposant de calibrage pour données de posit. lin.

ES Exponente de escala datos de posición lineales

IT Esponente per Dati Posizionamento lineare











S-0-0079, Rotational position resolutionIf rotary position scaling is selected, the LSB valence for all position datawill be set in this parameter. The valence of the LSB in the drive’s positiondata results in

LSB valence = 1 Revolution

Rotational position resolution

where bit 6 of S-0-0076, Position data scaling type selects whether theLSB valence refers to one motor revolution or one load revolution.

If you work with preferred rotary scaling, the value in S-0-0079, Rotationalposition resolution is fixed at 3 600 000. Thus, the LSB bit of all rotaryposition data is fixed at 0.0001 degrees of angle.


S-0-0079 - AttributesPara. Name: DE Rotations-Lageauflösung

EN Rotational position resolution

FR Résolution de position rotationnelle

ES Resolución de posición de rotación

IT Risoluzione per Posizionamenti circolari






Input min/max: 0000000001 / 4294967295


S-0-0080, Torque/Force commandThe torque command values are transferred by the control system to thedrive when in torque control mode.

If the velocity controller is active, the torque required for thecorresponding velocity can be derived from this parameter.

The evaluation depends upon the scaling of torque and force data and onparameter P-0-0640, cooling type. At present, only the percentage-based scaling is supported.

The data corresponds to the current command value in respect to themotor current at standstill (S-0-0111) * cooling type factor.

100 % = Motor continuous standstill torque * cooling typefactor.

The value can be converted to a torque or force value by multiplying thecommand current by the torque/force constant (P-0-0051).

See also functional description: "Operating Mode: Torque Control".

S-0-0080 - AttributesPara. Name: DE Drehmoment/Kraft-Sollwert

EN Torque/Force command

FR Valeur de commande de couple/force

ES Valor nominal de par de giro/fuerza

IT Comando Coppia/Forza








Decimal places: S-0-0086 Combination check: no

Input min/max: -0099.6 / 00099.6


S-0-0084, Torque/Force feedback valueThe current torque/force feedback value can be derived from thisparameter.

The shown value depends on the torque/force scaling as well asparameter P-0-0640, Cooling type. At present, only the percentage-basedscaling is supported.

The data corresponds to the measured feedback current, where 100% isequal to the motor current at standstill, S-0-0111 * cooling type factor.

The value can be converted to a torque or force value by multiplying thecommand current by the torque/force constant P-0-0051.

S-0-0084 - AttributesPara. Name: DE Drehmoment/Kraft-Istwert

EN Torque/Force feedback value

FR Valeur de retour de couple/force

ES Par de giro/valor de retroalimentación de fuerza

IT Valore di Feedback Coppia/Forza






Input min/max: -0099.6 / 00099.6


S-0-0085, Torque/Force polarity parameterThe polarities for the given torque data as related to the application canbe switched in this parameter.

Polarities are switched externally, at the input and output of a controlsystem rather than inside the system.

The following applies to rotary (turning) motors:

The motor will turn in a clockwise direction (facing the motor shaft) with apositive torque command value and positive polarity.


The positive direction is used when the primary is moving toward thelinear motor power cable side.





Bit 0 : Torque command value0: positive polarity1: negative polarity

Bit 1 : Torque command value additive0: positive polarity1: negative polarity

Bit 2 : Torque feedback value0: positive polarity1: negative polarity

Fig. 2-18: S-0-0085, Torque/force polarity parameter

Note: If bit 0 of the control system is changed, then bits 1 - 2 of thedrive will also be set to the value in bit 0.


S-0-0085 - AttributesPara. Name: DE Drehmoment/Kraft-Polaritäten-Parameter

EN Torque/Force polarity parameter

FR Paramètre de polarité de couple/force

ES Par de giro/fuerza parámetro de polaridad

IT Polarità Coppia/Forza








S-0-0086, Torque/Force data scaling typeAt present, only the percentage scaling for torque/force data is supported.


100 % = S-0-0111, Motor current at standstill

See also the functional description: "Adjustable Scaling for Position,Velocity, and Acceleration Data".

S-0-0086 - AttributesPara. Name: DE Wichtungsart für Drehmoment/Kraftdaten

EN Torque/Force data scaling type

FR Type de calibrage pour données de couple/force

ES Par de giro/fuerza tipo de escala de datos

IT Tipo di Scala per Dati Coppia/Forza











S-0-0088, Receive to receive recovery time (TMTSG)This parameter defines the time needed for the slave to switch toreadiness for the next master synchronization telegram after receiving amaster data telegram.

The parameter is read by the control system in phase 2 to calculate thetime slot parameters.


S-0-0088 - AttributesPara. Name: DE TMTSY Erholzeit Empfangen-Empfangen

EN Receive to receive recovery time (TMTSG)

FR Temps de récupération entre deux réceptions (TMTSY)

ES TMTSY Tiempo de recuperación recepción-recepción

IT Tempo di Recupero Ricettore a Ricettore (TMTSG)








S-0-0089, MDT Transmit starting time (T2)This is the transmit starting time for the master data telegram after theend of a master synchronization telegram. The value is transferred fromthe master to the slave in communications phase 2 and is activated inphase 3.


S-0-0089 - AttributesPara. Name: DE T2 Sendezeitpunkt MDT

EN MDT Transmit starting time (T2)

FR Temps du départ de transmission du MDT (T2)

ES T2 Punto temporal de emision MDT

IT MDT Tempo Partenza Trasmissione (T2)









Input min/max: 00000 / 65000


S-0-0090, Command value transmit time (TMTSG)This is the time required by the slave to prepare the command values forthe drive after reception of the master data telegram.


S-0-0090 - AttributesPara. Name: DE TMTSG Kopierzeit Sollwerte

EN Command value transmit time (TMTSG)

FR TMTSG Temps de recopie de consigne

ES TMTSG Tiempo de copia valores nominales

IT Tempo di Trasmissione Valore comandato (TMTSG)








S-0-0091, Bipolar velocity limit valueThe "bipolar velocity limit value" describes the maximum permissiblevelocity, symmetrical in both directions. The max. input value isdetermined by the S-0-0113, Maximum motor speed ( nmax).

The entered value generates the maximum value for all other speedparameters.

See also the functional description: "Limiting Velocity"

S-0-0091 - AttributesPara. Name: DE Geschwindigkeits-Grenzwert bipolar

EN Bipolar velocity limit value

FR Limite de vitesse bipolaire

ES Valor limite de velocidad bipolar

IT Valore di Velocità Limite






Input min/max: 0000000000.0 / 0000006010.0

Default value: 1000000 Cyc. transmittable: MDT




S-0-0092, Bipolar torque/force limit valueThis parameter describes the maximum torque symmetrically permitted inboth directions ( accelerating, braking ).

The evaluation refers to the percentage of the motor current at standstill:

100 % = Motor current at standstill * cooling type factor

Note: The maximum torque is also influenced by• P-0-0006, Overload factor• P-0-4011, Switching frequency

See also functional description: "Torque Limit".

See also parameter description: "P-0-0640, Cooling type".

S-0-0092 - AttributesPara. Name: DE Drehmoment/Kraft-Grenzwert bipolar

EN Bipolar torque/force limit value

FR Limite de couple/force bipolaire

ES Valor limite par de giro/fuerza bipolar

IT Valore di Coppia/Forza Limite






Input min/max: 0000.0 / 0099.6


S-0-0093, Torque/force data scaling factorThe scaling factor for all torque/force data in the drive is set in thisparameter.

The parameter has no meaning at the present time, because onlypercentage scaling can be set for torque and force data. Therefore, onlythe value 1 is suitable.


S-0-0093 - AttributesPara. Name: DE Wichtungs-Faktor für Drehmoment/Kraftdaten

EN Torque/force data scaling factor

FR Facteur de calibrage pour données de couple/force

ES Factor de escala para datos par de giro/fuerza

IT Fattore di Scala per Dati Coppia/Forza











S-0-0094, Torque/force data scaling exponentThe scaling exponent for all torque/force data in the drive is set in thisparameter.

The parameter has no meaning at the present time, because onlypercentage scaling can be set for torque and force data.


S-0-0094 - AttributesPara. Name: DE Wichtungs-Exponent für Drehmoment/Kraftdaten

EN Torque/force data scaling exponent

FR Exposant de calibrage pour données de couple/force

ES Exponente de escala para datos de par de giro/fuerza

IT Esponente per Dati Coppia/Forza








S-0-0095, Diagnostic messageThe operating status for the drive that is relevant at the moment can beread in text form in this parameter.

The respective diagnostic message number from S-0-0390, DiagnosticMessage Number will appear in front of this parameter.

Example: "A010 Drive Halt"

See also the functional description: "Diagnostic Messages"

S-0-0095 - AttributesPara. Name: DE Diagnose

EN Diagnostic message

FR Message de diagnostic

ES Diagnostico

IT Messaggio di Diagnosi











S-0-0096, Slave arrangement (SLKN)For SERCOS: During initialization, the master must know which drivesare available under which slave numbers in order to execute an optimalautomatic time slot calculation.

The master uses this information to detect the address of the connectedslave.

Example for address 3:

Contents S-0-0096 03 03

See also the functional description: "Setting the Drive Address of theSERCOS Interface"

S-0-0096 - AttributesPara. Name: DE Slavekennung (SLKN)

EN Slave arrangement (SLKN)

FR Reconnaissance d’esclave (SLKN)

ES Disposición de esclavo (SLKN)

IT Preparazione Slave (SLKN)



Format: HEX Validity check: no





S-0-0097, Mask class 2 diagnosticThis Parameter can mask out pre-warnings in the S-0-0012, Class 2diagnostics concerning their effect on

• the change bit in the drive status

When changes are made to the masked pre-warnings, the Class 2diagnostic change bit will not be set in the drive status.

Note: A warning bit masked by this parameter will still be shown inparameter S-0-0012, Class 2 diagnostic, but will not lead to achange in the drive status word.

Class 2 and 3 Diagnostic Change Bits in the Drive Status Word".

S-0-0097 - AttributesPara. Name: DE Maske Zustandsklasse 2

EN Mask class 2 diagnostic

FR Diagnostic de classe 2, masque

ES Máscara diagnostico clase 2

IT Maschera Diagnosi Classe 2











S-0-0098, Mask class 3 diagnosticThis mask can cancel pre-warnings in the S-0-0013, Class 3 diagnosticsconcerning their effect on

• the change bit in the S-0-0135, drive status

When changes are made to the masked early warnings, the Class 3diagnostic change bit will be set in the S-0-0135, Drive status.

Note: A warning canceled by this mask will only be shown in theS-0-0013, Class 3 diagnostic.

Class 2 and 3 Diagnostic Change Bits in the Drive Status Word".

S-0-0098 - AttributesPara. Name: DE Maske Zustandsklasse 3

EN Mask class 3 diagnostic

FR Diagnostic de classe 3, masque

ES Máscara diagnostico clase 3

IT Maschera Diagnosi Classe 3








S-0-0099, C500 Reset class 1 diagnosticCommand to reset errors, after the cause has been cleared.

This command can be started with

• the S1 key on the drive controller or

• by writing to the parameter S-0-0099, C5 Reset class 1 diagnostic

When starting the command via the parameter S-0-0099, all errors in thedrive are cleared, and the drive will switch to the "ready for operation"status if no further error remains.

If the command is started with the S1 key, only one error is deleted at atime. If the drive has stored several errors (up to 4 errors), the diagnosticmessage that corresponds to each error will appear sequentially everytime the S1 key is pressed again.

See also the function description: "Clearing Errors".




S-0-0099 - AttributesPara. Name: DE C500 Reset Zustandsklasse 1

EN C500 Reset class 1 diagnostic

FR C500 Remise à zéro pour diagnostic de classe 1

ES C500 Reset diagnostico clase 1

IT C500 Cancellare Errori Classe 1

Function: Command Editability: P234







S-0-0100, Velocity loop proportional gainThis parameter contains the value for the velocity loop proportional gain.

The proportional gain unit depends on the connected motor type.

Motor type: Unit:

Rotary motor: A•sec/rad

Linear motor: A•min/mFig. 2-19: Units for the vel. loop prop. gain depending on the motor type

It is possible to load a default value for the parameter using the command"Basic load", as long as there is a motor with feedback memory

(P-0-4014, Motor type: 1 or 5).

See also the functional description: " Setting the Velocity Controller".

S-0-0100 - AttributesPara. Name: DE Geschwindigkeitsregler-Proportionalverstärkung

EN Velocity loop proportional gain

FR Gain proportionnel de la boucle de vitesse

ES Amplificación proporcional de regulador de velocidad

IT Guadagno proporzionale Anello di Velocità




Unit: As/rad Extreme value check: yes


Input min/max: 0000.0 / 6553.5


S-0-0101, Velocity loop integral action timeThe velocity controller forms a current command value from thedifference between the velocity command value and the velocity feedbackvalue (= speed regulation deviation).

This current command value consists of a proportional component and anintegral component. The Velocity Loop Integral Action Time correspondsto the time in which the integral component of the current command valueis increasing the value of the proportional component.




Definition of the Integral Action Time

icom

tTn = Integral action time

dω*Kp = Proportional component

dω*Kp = Integral component

Tn = Kp / Ki

with:Tn : Velocity controller action time [ms]Kp : Velocity controller proportional ampl.

[A*sec/rad]Ki : Integral ampl. [A/rad]icom :Current command valuedω : Velocity controller deviation

Fig. 2-20: Integral Action Time

The value of the time base for which the integral component is equal tothe proportional component is described as integral action time. Thisrepresents the time that a pure I-controller would need until the controlleroutput variable is equal to the output variable of a P-controller at time t=0.

The integral gain component is disabled with an input value of 0.


S-0-0101 - AttributesPara. Name: DE Geschwindigkeitsregler-Nachstellzeit

EN Velocity loop integral action time

FR Temps d'action intégral de la boucle de vitesse

ES Tiempo de reajuste de regulador de velocidad

IT Tempo Integrazione Anello di Velocità




Unit: ms Extreme value check: yes


Input min/max: 0000.0 / 6553.5


S-0-0103, Modulo valueWhen the modulo format is set (parameter S-0-0076, Position datascaling type bit 7), the modulo value determines at which numeric valuethe position data rollover (overflow) to 0.

See also parameter "S-0-0393, Command value mode"

See also the functional description: "Modulo Feature".

and "Modulo Processing-Limiting Conditions"




S-0-0103 - AttributesPara. Name: DE Modulowert

EN Modulo value

FR Valeur modulo

ES Valor de modulo

IT Valore Modulo






Input min/max: 1.0000 / 0214748.3647


S-0-0104, Position loop Kv-factorThis parameter contains the value for the proportional gain of the positioncontroller.

It is possible to load a default value for the controller parameters using thecommand "Basic load".

Motors with feedback memory e.g. MKD, have appropriate values for allcontroller settings in their feedback. These are loaded after the initialconnection (display UL) or with the command "Basic load“.

See also the functional description: " Setting the position controller".

S-0-0104 - AttributesPara. Name: DE Lageregler Kv-Faktor

EN Position loop Kv-factor

FR Gain proportionnel de la boucle de position, Kv

ES Regulador de posición factor Kv

IT Fattore Kv Anello di Posizione




Unit: 1000/min Extreme value check: yes


Input min/max: 000.00 / 655.35


S-0-0106, Current loop proportional gain 1The current controller proportional gain is fixed for every motor-drivecombination. It depends on the type of the motor and may not bechanged. It is loaded from the motor feedback after the initial connection(display UL) or using the command "Basic load".

Note: The values of the current controller set at the factory shouldnot be altered!

See also function description: " Setting the Current Controller".




S-0-0106 - AttributesPara. Name: DE Stromregler-Proportionalverstärkung 1

EN Current loop proportional gain 1

FR Gain proportionnel de la boucle de courant 1

ES Amplificación proporcional 1 regulador de corriente

IT Guadagno proporzionale 1 Regolatore di Corrente




Unit: V/A Extreme value check: yes


Input min/max: 000.00 / 655.35


S-0-0107, Current loop integral action time 1The current loop integral action time is fixed for every motor-drivecombination. It depends on the type of the motor. The factory setting maynot be changed.

The basic setup for all controllers is loaded after the initial connection(display UL) or with the command "Basic load“. For motors withoutfeedback memory, you can take the value from the motor’s data sheet.

See also function description: " Setting the Current Controller".

S-0-0107 - AttributesPara. Name: DE Stromregler-Nachstellzeit 1

EN Current loop integral action time 1

FR Temps d'action intégral de la boucle de courant 1

ES Tiempo de reajuste de regulador de corriente 1

IT Tempo Integrazione 1 Anello di Corrente






Input min/max: 0000.0 / 6553.5


S-0-0108, Feedrate overrideThe feedrate override acts on drive controlled operation modes andmotion commands, like

• S-0-0148, C600 Drive controlled homing procedure command

• operating modes Drive internal interpolation

• Jogging operation

• automatic control loop setting

Note: The versions have not implemented all operating modes andcommands at the same time.

The feedrate override has a multiplying effect on the parameters




• S-0-0041, Homing velocity

• S-0-0259, Positioning velocity

• Positioning block velocities

• Jog velocity

Note: In devices with analog interface, an analog input can beconfigured for the feedrate override, see also the projectmanual.


S-0-0108 - AttributesPara. Name: DE Feedrate-Override

EN Feedrate override

FR Atténuateur d'avance

ES Override de alimentación

IT Riduzione Velocità Avanzamento




Unit: % Extreme value check: no


Input min/max: 000.00 / 655.35


S-0-0109, Motor peak currentSpecifies the maximum current which may flow through the motor for ashort period without damaging it.

Note: If the motor’s peak current is less than the amplifier’s peakcurrent, the maximum output current will be automaticallylimited to the motor’s peak current.

This value is stored in the motor feedback for MHD, MKD and MKEmotors and will be uploaded from there when the amplifier is turned on forthe first time. For other motor types, the value must be taken from thedata sheet.

See also the functional description: "Current Limit".

S-0-0109 - AttributesPara. Name: DE Spitzenstrom Motor

EN Motor peak current

FR Courant crête du moteur

ES Corriente punta de motor

IT Corrente di Picco Motore




Unit: A Extreme value check: yes


Input min/max: 0000000.001 / 0000500.000





S-0-0110, Amplifier peak currentPeak current available from the drive controller. The value will be set bythe drive itself. This current is only available for short duration’s.


S-0-0110 - AttributesPara. Name: DE Spitzenstrom Verstärker

EN Amplifier peak current

FR Courant crête du variateur

ES Corriente punta amplificador

IT Corrente di Picco Azionamento


Data length: 4Byte Memory: Verst. EE




Input min/max: 0000000.001 / 0000500.000


S-0-0111, Motor current at standstillThe motor current at standstill is the current from which the motorcontinuously generates the standstill torque according to the motor datasheet.

This value is stored in motor feedback for MHD, MKD and MKE motorsand will be loaded from there when the drive controller is turned on for thefirst time. For other types of motors, this value must be taken from thedata sheet.

100% Force/Torque value corresponds to

Motor current at standstill S-0-0111 x Factor for cooling type x Torqueconstant

Note: All torque/force data refer to this motor current at standstill =100 % .

See also the functional description: "Motor Feedback-Data Memory"

S-0-0111 - AttributesPara. Name: DE Stillstandsstrom Motor

EN Motor current at standstill

FR Courant du moteur à l'arrêt

ES Corriente de parada motor

IT Corrente Motore con Asse fermo






Input min/max: 0000000.001 / 0000500.000





S-0-0112, Amplifier nominal currentAllowable continuous current output for the drive controller. The value willbe set by the drive itself.

See also the functional description: "Current Limit"

S-0-0112 - AttributesPara. Name: DE Nennstrom Verstärker

EN Amplifier nominal current

FR Courant nominal variateur

ES Corriente nominal amplificador

IT Corrente nominale Azionamento






Input min/max: 0000000.001 / 0000500.000


S-0-0113, Maximum motor speed ( nmax)The maximum velocity for the motor cannot be exceeded. It also limits theS-0-0091, Bipolar velocity limit parameter.

This value is stored in the motor feedback of MHD, MKD and MKE motorsand will be loaded from there when the drive controller is turned on for thefirst time. For other motor types, the value must be taken from the datasheet.

In torque regulation, if the maximum motor speed is exceeded by morethan 12.5%, the drive will be switched into a torque free state and theerror message F879 Velocity limit S-0-0091 exceeded will result.

See also the functional description: "Limiting Velocity".

S-0-0113 - AttributesPara. Name: DE Maximal-Geschwindigkeit des Motors

EN Maximum motor speed (nmax)

FR Vitesse maximale du moteur

ES Velocidad máxima del motor

IT Velocità massima Motore (nmax)






Input min/max: 000000.0000 / 214738.3647





S-0-0115, Position feedback 2 typeEssential characteristics of the optional encoder (position encoder 2) areestablished is this parameter.


Bit 0: Feedback type0: rotary1: linear

Bit 1: Distance coded measuring system0: no distance coded referencemarkers1: distance coded reference markersS-0-0165, S-0-0166

Bit 3: Direction of movement0: not inverted1: inverted

Bits 7 + 6: Absolute readoutx 0: No absolute readout possible.

(Bit 7 irrelevant)0 1: Absolute readout possible and active,

encoder is treated as absolute.1 1: Absolute readout possible, but not active.

Fig. 2-21: S-0-0115, Position feedback 2 type parameter

Remark:

Bit 6 is set by the drive.

See also the functional description: "Other Optional Encoder Characteristics".

S-0-0115 - AttributesPara. Name: DE Lagegeberart 2

EN Position feedback 2 type

FR Type codeur 2

ES Tipo de encoder de posición 2

IT Tipo di Feedback di Posizione 2








S-0-0116, Feedback 1 ResolutionDepending on parameter P-0-4014, Motor type (rotary or linear motors),the resolution of the motor encoder is indicated by S-0-0116, Resolutionof motor feedback.

This value contains the number of lines or cycles per motor revolution forrotary motors, or the segment spacing per mm for linear motors. Formotors with resolver feedback, the number of the resolver pole pairs isstored here.

See also the functional description: "Motor Encoder Resolution".




S-0-0116 - AttributesPara. Name: DE Geber 1 Auflösung

EN Feedback 1 Resolution

FR Résolution codeur 1

ES Resolución encoder 1

IT Risoluzione Feedback 1




Unit: Cycles/Rev Extreme value check: no




S-0-0117, Feedback 2 ResolutionThe resolution of the optional encoder contains the cycles per externalencoder revolution for rotational encoders. For linear optional encoders,the segment spacing is given, in mm.

See also the functional description: "Optional Encoder Resolution".













S-0-0121, Input revolutions of load gearA mechanical gear is often employed between the motor and the load.

The gear ratio is defined by:

S-0-0122, Output Revolutions of load Gear

S-0-0121, Input Revolutions of load Gear

Fig. 2-22: Gear Ratio

Example:

5 motor rotations result in 2 output gear rotations.

⇒ S-0-0121 : 5

S-0-0122 : 2

See also function description: "Transmission Ratio" and "ModuloProcessing-Limiting Conditions".




S-0-0121 - AttributesPara. Name: DE Lastgetriebe-Eingangsumdrehungen

EN Input revolutions of load gear

FR Nombre de tours d'entrée d'engrenages de charge

ES Giros de entrada de engranaje de carga

IT N di Giri in Ingresso al Riduttore




Unit: Rev Extreme value check: yes


Input min/max: 0000000001 / 4294967295


S-0-0122, Output revolutions of load gearA mechanical gear is often employed between the motor and the load.

The gear ratio is defined by:

S-0-0122, Output Revolutions of load Gear

S-0-0121, Input Revolutions of load Gear

Fig. 2-23: Gear Ratio

Example:

5 motor rotations result in 2 output gear rotations.

⇒ S-0-0121 : 5

S-0-0122 : 2

See also function description: "Transmission Ratio" and "ModuloProcessing-Limiting Conditions".

S-0-0122 - AttributesPara. Name: DE Lastgetriebe-Ausgangsumdrehungen

EN Output revolutions of load gear

FR Nombre de tours de sortie d'engrenages de charge

ES Giros de salida de engranaje de carga

IT N di Giri in Uscita del Riduttore




Unit: Rev Extreme value check: yes


Input min/max: 0000000001 / 4294967295


S-0-0123, Feed constantThis parameter describes the conversion from rotary to linear motion. It isdefined as the linear displacement of the load during one revolution of thegear drive shaft.




Characteristic value:

Ball screw: Rack and pinion:

Feed constant = pitch of screw(typical value 10.00 mm)

Feed constant =effective pitch diameter of the pinion • π =effective circumference of the pinion

Fig. 2-24: Characteristic values of the feed constant

Note: The unit is dependent on bit 4 in S-0-0076, Position datascaling type.

Note that: S-0-0076 bit 4 = 0 → mm/rev

S-0-0076 bit 4 = 1 → inch/rev

See also the functional description: "Feed Constant".

S-0-0123 - AttributesPara. Name: DE Vorschubkonstante

EN Feed constant

FR Constante d’avance

ES Constante de avance

IT Costante di Avanzamento








S-0-0124, Standstill windowThe motors is considered at standstill when the velocity feedback value,(S-0-0040) is below the parameterized threshold level in S-0-0125.

Bit 1 of the S-0-0013, Class 3 diagnostics is set during standstill.

The standstill window also works:

• if termination or interruption of a drive control command isacknowledged when the drive is at a standstill

• with drive-controlled homing, the feedback and command values arenot switched until the drive is at a standstill

• When switching operating modes, if the velocity feedback value issmaller than the standstill window, then the command valueprocessing is initialized with velocity = 0.

See also the functional description: "S-0-0182, Manufacturer Class 3Diagnostics"

S-0-0124 - AttributesPara. Name: DE Stillstandsfenster

EN Standstill window

FR Fenêtre d'arrêt

ES Ventana de parada

IT Finestra di monitorizzazione Asse fermo









Input min/max: 0000000000.0 / 0000060000.0


S-0-0125, Velocity threshold nxIf the S-0-0040, Velocity feedback value falls below the value of theparameter S-0-0125, Velocity threshold nx, the drive sets the messagenactual< nx (Bit 2 in S-0-0013, Class 3 Diagnostics).


S-0-0125 - AttributesPara. Name: DE Geschwindigkeits-Schwelle nx

EN Velocity threshold nx

FR Seuil de vitesse nx

ES Umbral de velocidad nx

IT Finestra di Controllo Velocità






Input min/max: 0 / S-0-0044


S-0-0127, C100 Communication phase 3 transition checkThe command "S-0-0127, 67C100 Communication phase 3 transitioncheck is used to switch form the parameter mode to the operating mode.

If invalid parameters are present, then

• the drive completes the command with an error message

• and the invalid parameters are entered in parameter S-0-0021, IDN listof invalid operating data phase 2!

Note: The execution of the command with an inactive ( P-0-4086 =xx1b ) command communications (SERCOS or fieldbus) stillallows a transition to phase 3.

This makes it possible, using commands

• S-0-0127, C100 communications phase 3 transition check

• S-0-0128, C200 communications phase 4 transition check

to switch (with inactive command communications ( P-0-4086 = xx1b ))from Parameterization into operating mode.

See also Function description: "Position Command Value Monitoring".




S-0-0127 - AttributesPara. Name: DE C100 Umschaltvorbereitung auf Komm.-Phase 3

EN C100 Communication phase 3 transition check

FR C100 Préparation transition phase de comm. 3

ES C100 Comprobación de conmutación a fase 3

IT C100 Check Transizione Fase di Comunicazione 3








S-0-0128, C200 Communication phase 4 transition checkWhen the S-0-0128, C200 Communication phase 4 transition checkcommand is executed , all parameters will be checked for validity and limitvalue violations.

• If any invalid parameters or any limit values have been violated, thedrive would end the command with an error message

• and the invalid parameter entered in parameter S-0-0022, IDN list ofinvalid operating data phase 3!

The execution of the command with an inactive ( P-0-4086 = xx1b )command communication (SERCOS or fieldbus) still allows atransition to phase 4.

this means it is possible, using commands

• S-0-0127, C100 Communication phase 3 transition check

• S-0-0128, C200 Communication phase 4 transition check

to switch from parameterization into operating mode with an inactivecommand communications ( P-0-4086 = xx1b ).

See also Function description: "Position Command Value Monitoring".

S-0-0128 - AttributePara. Name: DE C200 Umschaltvorbereitung auf Komm.-Phase 4

EN C200 Communication phase 4 transition check

FR C200 Préparation transition phase de comm. 4

ES C200 comprobación de conmutación a fase 4

IT C200 Check Transizione Fase di Comunicazione 4

Function: Kommando Editability: P3

Data length: 2Byte Memory: nein

Format: BIN Validity check: nein

Unit: -- Extreme value check.:nein

Decimal places: 0 Combination check: nein


Default value: --- Cyc. transmittable: nein




Notes




S-0-0130, Probe value 1 positive edgeThe drive uses the positive edge of the input signal from S-0-0401, Probe1 , to store the instantaneous value of the selected signal in thisparameter.

The signal to be measured is determined by parameters P-0-0200,Signal select probe 1 and S-0-0169, Probe control parameter.

See also the functional description: "Probe Input Feature".

S-0-0130 - AttributesPara. Name: DE Messwert 1 positiv

EN Probe value 1 positive edge

FR Mesure sonde 1 front montant

ES Valor de medición 1 positivo

IT Misura Valore con Probe 1 positivo




Unit: S-0-0076/P-0-0200 Extreme value check: no

Decimal places: S-0-0076/P-0-0200 Combination check: no



S-0-0131, Probe value 1 negative edgeThe drive uses the negative edge of the input signal from S-0-0401,Probe 1, to store the instantaneous value of the selected signal in thisparameter.



S-0-0131 - AttributesPara. Name: DE Messwert 1 negativ

EN Probe value 1 negative edge

FR Mesure sonde 1 front descendant

ES Valor de medición 1 negativo

IT Misura Valore con Probe 1 negativo











S-0-0132, Probe value 2 positive edgeThe drive uses the positive edge of the input signal from S-0-0402, Probe2, to store the instantaneous value of the selected signal in thisparameter.



S-0-0132 - AttributesPara. Name: DE Messwert 2 positiv

EN Probe value 2 positive edge

FR Mesure sonde 2 front montant

ES Valor de medición 2 positivo

IT Misura Valore con Probe 2 positivo

Function: Parameter Editability: -







S-0-0133, Probe value 2 negative edgeThe drive uses the negative edge of the input signal from S-0-0402,Probe 2, to store the instantaneous value of the selected signal in thisparameter.



S-0-0133 - AttributesPara. Name: DE Messwert 2 negativ

EN Probe value 2 negative edge

FR Mesure sonde 2 front descendant

ES Valor de medición 2 negativo

IT Misura Valore con Probe 2 negativo











S-0-0134, Master control wordIf a bus interface is present (SERCOS-Interface, Profibus-DP, Interbus,CAN, ...), the master control word is transmitted cyclically from the master(control) to the drive. It defines important control information like

• drive enable

• /drive halt

• Selection of the operation mode

The exact composition is explained in the functional description of therespective bus interface.

If there is no bus interface, the information of the master control word isgiven by digital inputs. In any case, the parameter S-0-0134, Mastercontrol word is only for diagnostic purposes.

See also the functional description: "Master Control Word".

S-0-0134 - AttributesPara. Name: DE Master-Steuerwort

EN Master control word

FR Mot de contrôle maître

ES Palabra de mando maestro

IT Parole di Controllo Master








S-0-0135, Drive status wordIf a bus interface is present (SERCOS-Interface, Profibus-DP, Interbus,CAN, ...), the drive status word is transmitted cyclically from the slave(drive) to the control. It defines important status information like

• class 1 errors, drive lock

• operation readiness

• active actual operation mode

The exact composition is described in the functional description of therespective bus interface. In any case, the parameter S-0-0135, Drivestatus word is only for diagnostic purposes.

See also the functional description: "Drive Status Word".

S-0-0135 - AttributesPara. Name: DE Antriebs-Status

EN Drive status word

FR Etat entraînement

ES Estado de accionamiento

IT Parole di Stato Azionamento











S-0-0138, Bipolar acceleration limit valueThe Bipolar acceleration limit value describes the maximum permissibleacceleration, symmetrical in both directions (acceleration anddeceleration).

The drive decelerates at this deceleration to the velocity = 0 when thefunction "Drive stop" is executed, if the previously active operation modewas without drive internal command generation.

Operation modes without drive internal command generation are

• Position control

• Angular synchronization

• Stepper motor operation

and others.

See also the functional description: "Drive Halt".

S-0-0138 - AttributesPara. Name: DE Beschleunigung bipolar

EN Bipolar acceleration limit value

FR Accélération bipolaire

ES Aceleración bipolar

IT Valore di Accellerazione Limite






Input min/max: 00000000.000 / 00024543.692


S-0-0139, D700 Command Parking axisSetting and enabling the command Parking Axis switches off all themonitoring functions related to the measurement system.

This affects position control, feedback monitoring and the monitoring ofthe position window (S-0-0057).

When the command is active, the drive does not report any errors of class1 diagnostics.

The Position feedback value status (S-0-0403) is cleared by the drive.

The command is acknowledged positive, when the mentioned monitorsare switched off.

Clearing the command switches all the mentioned monitors on again. Torefer the position feedback values to the reference point again, the drivemust go to the reference again.





Bit 0 : Command in the drive0: clear1: set

Bit 1 : Command execution0: suspended1: execute

Fig. 2-25:: S-0-0139, D700 Command Parking axis

See also the functional description: "Command Parking Axis".

S-0-0139 - AttributesPara. Name: DE D700 Kommando Parkende Achse

EN D700 Command Parking axis

FR D700 Commande stationnement axe

ES D700 Comando eje estacionada

IT D700 Comando Stazionamento Asse








S-0-0140, Controller typeThe device type of the manufacturer can be found in text form in theoperating data for the controller type.

Examples:

HDS02.1-W100-D

DKC01.1-040-7

See also the functional description: "Drive Controllers".

S-0-0140 - AttributesPara. Name: DE Regelgerätetyp

EN Controller type

FR Type de variateur

ES Tipo de regulador

IT Tipo Azionamento


Data length: 1Byte var. Memory: Verst. EE

Format: ASCII Validity check: Phase3








S-0-0141, Motor typeHere is the motor type of the connected motor in text form.

The contents of the parameter is overwritten when „Loading base values“(possible with MHD, MKD and MKE motors ) with parameter S-7-0141.

The diagnoses „F208 UL motor type has changed“ is based on acomparison between S-0-0141 and S-7-0141.

With motors without feedback data memory it is necessary to enter themotor type.

Example:

MKD 071B-061-KP1-BN

MKE 096B-047-GG0-KN

See also the functional description: "Systemoverview".

S-0-0141 - AttributesPara. Name: DE Motor-Typ

EN Motor type

FR Type de moteur

ES Tipo de motor

IT Tipo Motore



Format: ASCII Validity check: Phase3




Default value: Defaut Motor Cyc. transmittable: no

S-0-0142, Application typeA descriptive name text for the drive can be stored in this parameter (e.g.,swivel axis ). It has no functional significance.

See also the functional description: "Systemoverview"

S-0-0142 - AttributesPara. Name: DE Anwendungsart

EN Application type

FR Type d’application

ES Tipo de aplicación

IT Tipo applicazione







Default value: Default Cyc. transmittable: no




S-0-0143, System interface versionThe version of the SERCOS interface specifications is found in theoperating data.

Current valid settings:

V V 01.01: V 01.02:

SERCOS specificationGerman 01.00:

SERCOSEnglish specification

SERCOS updateGerman/English

Version 5/90 Version 4/91 Version 9/91Fig. 2-26: S-0-0143, Version of the SERCOS interface specification

See also the functional description: "Overview of SERCOSCommunication".

S-0-0143 - AttributesPara. Name: DE Sercos Interface Version

EN System interface version

FR Version d’interface SERCOS

ES Version de Interface Sercos

IT Versione del Interfaccia Sercos








S-0-0144, Signal status wordWith the help of the signal status word, real time signals can betransferred from the drive to the Control.

To do so, the signal status word must be configured as cyclic data in theDrive Telegram.

The bits in the signal status word can be defined freely with theparameters S-0-0026, Configuration list signal status word and S-0-0328, Config. list for signal status word, bit number.

With a parallel interface, bits 0 to 9 are illustrated directly on the digitaloutputs. Thus various parameters can be allocated to the digital outputs.

See also the functional description: "Configurable Signal Status Word"

S-0-0144 - AttributesPara. Name: DE Signal-Statuswort

EN Signal status word

FR Mot d'état de signal

ES Palabra de estado de señal

IT Parole di Stato Segnali











S-0-0147, Homing parameterThe processes for the S-0-0148, Drive controlled homing procedure, inrelation to the machine layout, NC and drive installation are set in thisparameter.


Bit 0: Start direction0: positive = clockwise with view

towards motor shaft1: negative = counter-clockwise with view

towards motor shaft

Bit 3: Feedback selectionHoming

0: with motor feedback (feedback 1)1: with external feedback (feedback 2)

Bit 6: Reference mark evaluationThe Reference mark is

0: detected.1: not detected.

Bit 5: Home switch evaluationThe home switch is

0: detected.1: not detected.

Bit 8,7: Stop/positioning/run path0 0: once the reference switch or reference marker

have been overtravelled the drive stops andswitches into the coordinate system

0 1: after the reference swtich or marker have beenovertravelled, the drive positions at thereference point and switches into the coordinatesystem

1 0: drive always runs path that is needed tooverrun two sequential reference markers andthen switches into coordinate system(only with distance-coded reference marks !)

1 1: Not allowed!

S-0-0147, Homing parameter

Fig. 2-27: Structure of parameter S-0-0147, Homing parameter

Note: In addition, for DIAX drives, bit 5 activates the monitoring ofthe external 24V.





S-0-0147 - AttributesPara. Name: DE Referenzfahr-Parameter

EN Homing parameter

FR Paramètre de prise d'origine

ES Parámetro de puesta a cero

IT Parametro Azzeramento








S-0-0148, C600 Drive controlled homing procedure commandWhen this command is set and enabled, the drive switches automaticallyinto internal position control and accelerates using the S-0-0041,Homing acceleration to the S-0-0042, Homing velocity as long as it isin operating status AF. Bit 0 in S-0-0403, Position feedback valuestatus will be deleted at first. As long as the command is active, changesin the cyclic position command values will be ignored.

The process for the homing procedure can be specified with S-0-0147,Homing parameter. After the command has been properly executed(drive is at standstill and position feedback value is related to the homingposition), the drive sets bit 0 in parameter S-0-0403, Position feedbackvalue status.

The parameter "Position feedback value status“ reflects the signal"In_Reference“.

See also the functional description: "Drive-Controlled Homing"

S-0-0148 - AttributesPara. Name: DE C600 Kommando Antriebsgeführtes Referenzieren

EN C600 Drive controlled homing procedure command

FR C600 Commande prise origine pilotée par entraînement

ES C600 Comando puesta a cero por accionamiento

IT C600 Asse controllato durante la Procedura di Azzer.











S-0-0149, D400 Positive stop drive procedure commandWhen this command is set and enabled, all controller monitoring whichwould otherwise result in an class 1 diagnostic error message when thedrive is blocked by a positive stop will be turned off.


Bit 0 : Command in drive0: clear1: set

Bit 1 : Execution ofcommand

0: suspended1: execute

Fig. 2-28: S-0-0149, D400 Positive stop drive procedure command

See also the functional description: "Positive stop drive procedure".

S-0-0149 - AttributesPara. Name: DE D400 Kommando Fahren auf Festanschlag

EN D400 Positive stop drive procedure command

FR D400 Commande déplacement contre obstacle fixe

ES D400 Comando Desplazamiento a tope

IT D400 Comando Movimento contro un Ostacolo fisso








S-0-0150, Reference offset 1This parameter describes the distance between the position encoderhome reference marker 1 and S-0-0052, Reference distance 1.

The parameter makes it possible to shift the reference point in relation tothe reference marker to be detected. If bit 7 in S-0-0147, Homingparameter is set to 1, then, during execution of the command S-0-0148,C600 Drive controlled homing procedure command, the drive goes tothe reference point shifted from the reference mark by the value S-0-0150, Reference Offset 1.


S-0-0150 - AttributesPara. Name: DE Referenzmaß Offset 1

EN Reference offset 1

FR Décalage d'origine 1

ES Medición de referencia offset 1

IT Azzeramento Offset 1 (Feedback Motore)









Input min/max: -214748.3648 / 0214748.3647


S-0-0151, Reference offset 2This parameter describes the distance between the position encoderhome reference marker 2 and S-0-0054, Reference distance 2.

The parameter makes it possible to shift the reference point in relation tothe reference marker to be detected. If bit 7 in S-0-0147, Homingparameter is set to 1, then, during execution of the command S-0-0148,C600 Drive controlled homing procedure command, the drive goes tothe reference point shifted from the reference mark by the value S-0-0151, Reference offset 2.

See also the functional description: " Drive-Controlled Homing"

S-0-0151 - AttributesPara. Name: DE Referenzmaß Offset 2

EN Reference offset 2

FR Décalage d'origine 2

ES Medición de referencia offset 2

IT Azzeramento Offset 2 (Feedback esterno)






Input min/max: -214748.3648 / 0214748.3647


S-0-0155, Friction compensationThe friction compensation is added into the torque/force command value.The sign (+/-) of the compensation value is determined by the sign of thevelocity command value. A change in the sign only takes place at valuesoutside of what has been set in S-0-0124, Standstill window.

By programming the friction compensation, it is possible to compensatefor static friction during acceleration from standstill and change ofdirection.

See also the functional description: " Setting the Frictional Torque Compensation".

S-0-0155 - AttributesPara. Name: DE Reibungs-Kompensation

EN Friction compensation

FR Compensation de frottement

ES Compensación de rozamiento

IT Compensazione per Frizzione







Unit: % Extreme value check: yes


Input min/max: 0000.0 / 0099.6


S-0-0157, Velocity windowThe Velocity window refers to the absolute value of the S-0-0036,Velocity Command Value.

If the velocity feedback value, in comparison with the velocity commandvalue, is within the calculated velocity window, then the drive sets the bit 0in S-0-0013, Class 3 diagnostics (Message ’n_actual = n_command’).

See also the functional description: "S-0-0013, Class 3 Diagnostics"

S-0-0157 - AttributesPara. Name: DE Geschwindigkeits-Fenster

EN Velocity window

FR Fenêtre de vitesse

ES Ventana de velocidad

IT Finestra Velocità








S-0-0159, Monitoring windowWhen an operating mode with internal position control is activated in thedrive, the position loop is monitored. Therefore, a model value for theactual position is calculated and compared with the real actual position.

The maximum tolerated deviation between the measured and calculatedposition feedback value is set with the help of the parameter S-0-0159,Monitoring window. If the position deviation exceeds the monitoringwindow, then the drive sets the error F228 Excessive deviation in theclass 1 diagnostics.

The greatest deviation that occurs will always be stored in parameter P-0-0098, Max. model deviation.

See also the functional description: " Position Control Loop Monitoring"

S-0-0159 - AttributesPara. Name: DE Überwachungsfenster

EN Monitoring window

FR Fenêtre de contrôle

ES Ventana de control

IT Finestra di Monitoraggio









Input min/max: 0000000.0000 / 0214748.3647


S-0-0160, Acceleration data scaling typeVarious scaling types can be set as described below for the accelerationdata in the drive as defined by the bit values of this parameter.


Bit 4 : Unit of measure for linear scaling0 : meter [m]1 : inch [in]Unit of measure for rotary scaling0 : degree angles1 : reserved

Bit 5 : Unit of time0 : seconds [s]1 : reserved


Bit 6: Data reference0 : to the motor shaft1 : to the load

Bit 3 :0 : preferred scaling1 : parameter scaling


Fig. 2-29: S-0-0160, Acceleration Data Scaling Type

In bit 3 it is possible to select between preferred and parameter scaling.

Preferred scaling:

With preferred scaling, the following parameters are predefined andcannot be changed:

• S-0-0161, Acceleration data scaling factor

• S-0-0162, Acceleration data scaling exponent

Scaling with parameter scaling means that these parameters must be set

(See section: "Preferred / parameter scaling").

Note: Only the bits named here are supported by the product.

See also: S-0-0044, Velocity data scaling type

Example: (Acceleration data scaling)

Suppose that loadside, linear scaling with acceleration units in M/s² isdesired. The scaling on the drive should be set as follows:




Parameter Value

S-0-0159, Acceleration data scaling type 1001001

Bit 2-0 001 linear scaling

Bit 3: 1 (Preferred) parameter scaling

Bit 4: 0 Dimensional unit in meters (m)

Bit 5: 0 Time unit in seconds (s)

Bit 6: 1 Data referenced at load

S-0-0161, Acceleration data scaling factor 1

S-0-0162, Acceleration data scaling exponent -6

Now suppose that the decimal value +1234567 is stored in the relevantacceleration data register. The value will be interpreted and displayed as:

or +1234567X10-3 mm/s2

or, as the value would be displayed in the IDN lists, +1234.567 mm/s² withrespect to the load.

Note that the least significant decimal value is determined by the scalingexponent, in this example, as 10-6 m/s2 or 10-3 mm/s2.

see also functional description: "Velocity Data Display Format"

S-0-0160 - AttributesPara. Name: DE Wichtungsart für Beschleunigungsdaten

EN Acceleration data scaling type

FR Type de calibrage pour données d'accélération

ES Tipo de escala para datos de aceleración

IT Tipo di Scala per Dati Accellerazione








S-0-0161, Acceleration data scaling factorWhen parameter scaling is set in S-0-0160, Acceleration data scalingtype, the scaling factor for all of the acceleration data in the drive isdetermined by this parameter.

See also the functional description: "Velocity Data Display Format".

S-0-0161 - AttributesPara. Name: DE Wichtungs-Faktor für Beschleunigungsdaten

EN Acceleration data scaling factor

FR Facteur de calibrage pour données d'accélération

ES Factor de escala para datos de aceleración

IT Fattore di Scala per Dati Accellerazione











S-0-0162, Acceleration data scaling exponentIf parameter scaling is set in S-0-0160, Acceleration data scaling typethe scaling exponent with sign for all acceleration data in the drive isdetermined in this parameter.

See also the functional description: "Velocity Data Display Format".

S-0-0162 - AttributesPara. Name: DE Wichtungs-Exponent für Beschleunigungsdaten

EN Acceleration data scaling exponent

FR Exposant de calibrage pour données d'accélération

ES Exponente de escala para datos de aceleración

IT Esponente per Dati Accellerazione








S-0-0165, Distance coded reference offset 1With the help of this parameter, the greater distance between tworeference markers is programmed, if a measurement system withdistance coded reference markers is used.


S-0-0165 - AttributesPara. Name: DE Abstandskodiertes Referenzmaß 1

EN Distance coded reference offset 1

FR Marques de référence de distance codée 1

ES Marcas de referencia de distancia codificada 1




Unit: Periods Extreme value check: no







S-0-0166, Distance coded reference offset 2With the help of this parameter, the smaller distance between tworeference markers is programmed, if a measurement system withdistance coded reference markers is used.


S-0-0166 - AttributesPara. Name: DE Abstandskodiertes Referenzmaß 2

EN Distance coded reference offset 2

FR Marques de référence de distance codée 2

ES Marcas de referencia de distancia codificada 2




Unit: Periods Extreme value check: no




S-0-0169, Probe control parameterThis parameter is used to specify whether one or both of the probe inputs"probe 1" (DSS: X12-E4) and "probe 2" (DSS: X12-E5) are activated, andwhich edge (positive/negative) should trigger the probe data acquisition.




parameter structure:

S-0-0169, Probe Control Parameter

Bit 0: Activating Positive Edge Probe 1 0: positive edge is not analyzed 1: positive edge is analyzed

Bit 1: Activating Negative Edge Probe 1 0: negative edge is not analyzed 1: negative edge is analyzed

Bit 2: Activating Positive Edge Probe 2 0: positive edge is not analyzed 1: positive edge is analyzed

Bit 3: Activating Negative Edge Probe 2 0: negative edge is not analyzed 1: negative edge is analyzed

Bit 4: Position Feedback Value Selection0: S-0-0053 is always used as the

measurement, if an optional feedbackis connected and position feedbackvalues are chosen in the signal selection.

1: S-0-0051 is always used as the measurement,if position feedback values are chosen in thesignal selection.

Bit 5 : Enable Mode Probe 10 : Single measurement, after each measuring,

another measuring must be released with a 0-1edge of the enable.

1 :Continuous measurement, the measuring isdone as long as the enable stays 1.

Bit 5 : Enable Mode Probe 20 : Single measurement, after each measuring,

another measuring must be released with a 0-1edge of the enable.

1 :Continuous measurement, the measuring is doneas long as the enable stays 1.

Bit 7 : Quick Stop, when Probe 1 is latched positive0 : Recognition of probe 1 does not lead to a quick stop

of the drive.1 : Quick stop, when the positive edge of probe 1 is

latched.

Fig. 2-30: S-0-0169, Probe control parameter



S-0-0169 - AttributesPara. Name: DE Messtaster-Steuerparameter

EN Probe control parameter

FR Paramètre de commande de la sonde

ES Parámetros de mando de control de muestra

IT Parametro di Controllo Probe











S-0-0170, Probing cycle procedure commandBy setting and enabling the command "probing cycle procedure," the drivereacts to the following:

• S-0-0405, Probe 1 enable / S-0-0406, Probe 2 enable and

• S-0-0401, Probe 1, / S-0-0402, Probe 2.

as is programmed in S-0-0169, Probe control parameter.

The NC can perform multiple measurements while this command isactive. If the NC no longer wants new measurements, it clears thecommand.


Bit 0: Command in drive 0: clear 1: set

Bit 1: Command execution 0: interrupt 1: execute

Fig. 2-31: S-0-0170, Probing cycle procedure command

Note: if bit 0is set then the monitoring of the external 24V isactivated.


S-0-0170 - AttributesPara. Name: DE Kommando Messtasterzyklus

EN Probing cycle procedure command

FR Commande cycle mesure de sonde

ES Comando ciclo de teclas de medición

IT Comando per Procedura di Probe











S-0-0173, Marker position ADuring the drive controlled homing with an incremental measuringsystem, the position of the reference marker (zero pulse) is stored in thisparameter. This position feedback value still refers to the "old“ coordinatesystem (before switching the coordinate system with the homingprocedure).

Furthermore, the recognition of the reference mark can be activated bythe command P-0-0014, D500 Command determine marker position.Then, as soon as the next reference pulse comes from the feedback, theappropriate position value is stored in this parameter, and the commandgets a positive acknowledge.

See also the functional description: "Command - detect marker position"

S-0-0173 - AttributesPara. Name: DE Markerposition A

EN Marker position A

FR Position du marqueur A

ES Posición de marcador A

IT Posizione Marca A






Input min/max: S-0-0076 / S-0-0076


S-0-0177, Absolute distance 1This parameter is used for the homing procedure of a distance codedmotor feedback. It describes the offset between the zero point of themotor feedback (position of the 1st reference marker of the motorencoder) and the machine’s zero-point.

Determining the right value for this parameter can be done in 2 steps.First, write the value 0 into S-0-0177 and proceed with the command S-0-0148, C600 Drive controlled homing procedure command. Theposition feedback value 1 in S-0-0051 then shows the actual position inreference to the motor feedback’s zero point.

Then, when you jog the axis to the machine’s zero point, input the valueof S-0-0051 indicated there into S-0-0177 with inverted sign (+ ↔ -). Afteranother homing, the value in S-0-0051 displays the position in referenceto the machine’s zero point.


S-0-0177 - AttributesPara. Name: DE Absolutmaß-Offset 1

EN Absolute distance 1

FR Décalage absolu 1

ES Distancia absoluta 1

IT Offset 1 per Dimensionamenti assoluti (Feedback Motore)









Input min/max: -214748.3648 / 0214748.3647


S-0-0178, Absolute distance 2This parameter is used for the homing procedure of a distance codedexternal feedback. It describes the offset between the zero point of theoptional feedback (position of the 1st reference marker) and themachine’s zero-point.

Determining the right value for this parameter can be done in 2 steps.First, write the value 0 into S-0-0178 and proceed the command S-0-0148, C600 Drive controlled homing procedure command. Theposition feedback value 2 in S-0-0053 then shows the actual position inreference to the external feedback’s zero point.

Then, when you jog the axis to the machine’s zero point, input the valueof S-0-0053 indicated there into S-0-0178 with inverted sign (+ ↔ -). Afteranother homing, the value in S-0-0053 displays the position in referenceto the machine’s zero point.


S-0-0178 - AttributesPara. Name: DE Absolutmaß-Offset 2




IT Offset 2 per Dimensionamenti assoluti (Feedback esterno)






Input min/max: -214748.3648 / 0214748.3647


S-0-0182, Manufacturer class 3 diagnosticsVarious messages regarding the operating status are stored here every8ms. If the status of a message changes, this will not be signaled by achange bit.





Bit 0 = 1: Drive lock active

Bit 6: IZP|S-0-0258, Target position - Feedback position| < S-0-0057, Position window

&&|S-0-0189, Following error| < S-0-0057, Position window

&&|S-0-0040, Feedback velocity| < S-0-0124, Standstill window

Bit 11: AHQDrive_stop && |Feedback velocity| < S-0-0124

Bit 1 = 1: |Feedback Velocity| < S-0-0124,Standstill window

Bit 7: Message 90% loadAmplifier is producing 90% of its current maximum torque.

Bit 10: IN_TARGET_POSITION|S-0-0258, Target position - S-0-0051/51 Position feedback 1/2|< S-0-0057 Position window

Fig. 2-32: S-0-0182, Manufacturer class 3 diagnostics


See also the functional description: "S-0-0182, Manufacturer Class 3Diagnostics".

S-0-0182 - AttributesPara. Name: DE Hersteller-Zustandsklasse 3

EN Manufacturer class 3 diagnostics

FR Diagnostic de classe 3 spéc. au fabriquant

ES Diagnostico fabricante clase 3

IT Diagnostica Classe 3 definita dal Costruttore








S-0-0185, Length of the configurable data record in the ATIn the operating data of the parameter with this ID number, the driveindicates the maximum length in bytes which it can process in theconfigurable Data block of drive telegram (S-0-0016).

Note: In the actual version of the firmware, the number of data inthe AT equals 24 bytes.

S-0-0185 - AttributesPara. Name: DE Länge des konfigurierbaren Datensatzes im AT

EN Length of the configurable data record in the AT

FR Longueur du registre de données configurables dans l'AT

ES Longitud del bloque de datos configurable en el AT

IT Lunghezza del Registro Dati in AT







Unit: Byte Extreme value check: no




S-0-0186, Length of the configurable data record in the MDTIn the operating data of the parameter with this ID number, the driveindicates the maximum length in bytes which it can process in theconfigurable data record of the master data telegram (S-0-0024).

Note: In the actual version of the firmware, the number of data inthe MDT equals 32 bytes.

See also the functional description: "Configuration of Telegram Contents".

S-0-0186 - AttributesPara. Name: DE Länge des konfigurierbaren Datensatzes im MDT

EN Length of the configurable data record in the MDT

FR Longueur du registre de données configurables dans le MDT

ES Longitud del bloque de datos configurable en el MDT

IT Lunghezza del Registro Dati in MDT




Unit: Byte Extreme value check: no




S-0-0187, List of configurable data in the ATThis list contains the ID numbers of the operating data which can beconfigured in the drive telegram (AT).

• S-0-0040, Velocity feedback value

• S-0-0051, Position feedback value 1 (motor feedback)

• S-0-0053, Position feedback value 2 (ext. feedback)

• S-0-0084, Torque/Force feedback value

• S-0-0130, Probe value 1 positive edge

• S-0-0131, Probe value 1 negative edge

• S-0-0132, Probe value 2 positive edge

• S-0-0133, Probe value 2 negative edge

• S-0-0182, Manufacturer class 3 diagnostics

• S-0-0189, Following error

• P-0-0082, Parallel I/O input 1









• P-0-0202, Difference probe values 1

• P-0-0203, Difference probe values 2

• P-0-0210, Analog input 1

• P-0-0211, Analog input 2


S-0-0187 - AttributesPara. Name: DE Liste der konfigurierbaren Daten im AT

EN List of configurable data in the AT

FR Liste des IDN de données configurables dans l'AT

ES Lista de los datos configurables en el AT

IT Lista dei Dati configurabili in AT








S-0-0188, List of configurable data in the MDTThis list contains the ID numbers of the operating data which can beconfigured in the Master Data Telegram.

• S-0-0036, Velocity command value

• S-0-0037, Additive velocity command value

• S-0-0047, Position command value

• S-0-0080, Torque/force command

• S-0-0091, Bipolar velocity limit value

• S-0-0092, Bipolar torque/force limit value

• S-0-0138, Bipolar acceleration limit value

• S-0-0193, Positioning Jerk

• S-0-0258, Target position

• S-0-0259, Positioning Velocity

• S-0-0260, Positioning Acceleration

• S-0-0349, Jerk limit bipolar

• P-0-0081, Parallel I/O output 1









• P-0-0400, Pos. corr., external correction value

• P-0-0405, Pos. corr., actual temperature, position independent


S-0-0188 - AttributesPara. Name: DE Liste der konfigurierbaren Daten im MDT

EN List of configurable data in the MDT

FR Liste des IDN de données configurables dans le MDT

ES Lista de los datos configurables en el MDT

IT Lista dei Dati configurabili in MDT








S-0-0189, Following errorTo this parameter, the drive writes the current difference between theposition command and the feedback position value (S-0-0051, Positionfeedback 1 value or S-0-0053, Position feedback 2 value ).

See also the functional description: "Determining the Position ControllerSetting".

S-0-0189 - AttributesPara. Name: DE Schleppabstand

EN Following error

FR Ecart de poursuite

ES Error de seguimiento

IT Errore di Inseguimento








S-0-0191, D600 Cancel reference point procedure commandSetting and enabling the command Cancel reference point clears thereference of the encoder defined by S-0-0147, Homing Parameter. Theposition status (bit 0 in S-0-0403) is cleared as well.

The command is correctly completed in the drive, when the bit "Positionfeedback value status“ has been set to 0 and the position value of theactive feedback no longer refers to the machine’s zero point (= no longerreferenced).





Bit 0 : Command in the drive0: cancel1: set

Bit 1 : Command execution0: suspend1: execute

Fig. 2-33: S-0-0191, D600 Cancel reference point procedure command


S-0-0191 - AttributesPara. Name: DE D600 Kommando Referenzbezug löschen

EN D600 Cancel reference point procedure command

FR D600 Commande Annullation de l'origine

ES D600 Comando Borrar referencia

IT D600 Comando Anullazione Azzeramento








S-0-0192, IDN-list of backup operation dataThe ID numbers for all operating data that must be loaded in the drive forproper operation are kept in this IDN list. Generally these are theparameters which are stored in the programming module.

The control system should use this IDN list to create a backup copy ofthe drive parameters.

If a customer password has been activated with the parameter S-0-0267,Password, all parameters contained in S-0-0192, IDN List of backupoperation data are write protected.

See also the functional description: "IDN List of Parameters".

S-0-0192 - AttributesPara. Name: DE IDN-Liste der zu sichernden Betriebsdaten

EN IDN-list of backup operation data

FR Liste des IDN des données d'exploitation de sauvegarde

ES Lista IDN de los datos de servicio de seguridad

IT Lista IDN dei Dati operativi salvati











S-0-0193, Positioning JerkThe positioning jerk limits the acceleration change per time in theoperating modes with

• Drive internal interpolation and

• Relative drive internal interpolation.

• Jog mode

Note: With the value 0, the jerk filter is off.

See also the functional description: "Functional Principle Drive InternalInterpolation"

S-0-0193 - AttributesPara. Name: DE Positionier-Ruck

EN Positioning Jerk

FR Jerk de positionnement

ES Posicionamiento agitación

IT Jerk per Posizionamento






Input min/max: 0000000.000 / 4000000.000


S-0-0201, Motor warning temperatureIf the motor temperature exceeds the motor warning temperature, thenthe motor warning high temperature bit will be set by the drive inS-0-0012, Class 2 diagnostics.

This parameter will be set by the drive at 145° for MHD, MKD and MKEmotors.

See also the functional description: "Temperature Monitoring".

S-0-0201 - AttributesPara. Name: DE Motor-Warntemperatur

EN Motor warning temperature

FR Température de préalerte du moteur

ES Temperatura de aviso de motor

IT Preallarme Temperatura Motore




Unit: C Extreme value check: yes


Input min/max: 0045.0 / 0155.0





S-0-0204, Motor shutdown temperatureIf the motor temperature exceeds the motor shutdown temperature, thenthe motor overtemperature bit in S-0-0011, Class 1 diagnostics will beset by the drive and the error F219 Motor overtemp. shutdown will begenerated.

In MHD, MKD and MKE motors, the drive sets this parameter at 155°.


S-0-0204 - AttributesPara. Name: DE Motor-Abschalttemperatur

EN Motor shutdown temperature

FR Température d'arrêt du moteur

ES Temperatura de desconexion de motor

IT Spegnimento per Sovratemp. Motore




Unit: C Extreme value check: yes


Input min/max: 0145.0 / 0155.0


S-0-0256, Multiplication 1The parameter S-0-0256, Multiplication 1 determines, with which factorthe signals of the motor feedback are multiplied in the drive.

The internal resolution for the motor encoder in the drive is calculated asfollows:

S-0-0116 Resolution of motor feedback x S-0-0256 Multiplication 1

The multiplication 1 depends on the parameters S-0-0278, Maximumtravel range and S-0-0116, Resolution of motor feedback. If there isan optional encoder, the S-0-0257, Multiplication 2 is taken into accountas well.

See also the functional description: "Setting the drive-internal positiondata format"

S-0-0256 - AttributesPara. Name: DE Vervielfachung 1

EN Multiplication 1

FR Multiplication 1

ES Multiplicación 1

IT Multiplicazione 1











S-0-0257, Multiplication 2The parameter S-0-0257, Multiplication 2 determines with which factorthe signals of the optional feedback are multiplied in the drive.

The internal resolution for the optional encoder in the drive is calculatedas follows:

S-0-0117 Resolution of optional feedback x S-0-0257 Multiplication 2

The multiplication 2 depends on the parameters S-0-0278, Maximumtravel range and S-0-0117, Resolution of optional feedback.


S-0-0257 - AttributesPara. Name: DE Vervielfachung 2

EN Multiplication 2

FR Multiplication 2

ES Multiplicación 2

IT Multiplicazione 2








S-0-0258, Target positionThe target position is assigned to the drive as a command value by thecontroller in the operating modes with drive-controlled interpolation. Thedrive moves to the target position taking into account S-0-0259,Positioning Velocity, S-0-0260, Positioning Acceleration and S-0-0193, Positioning Jerk


S-0-0258 - AttributesPara. Name: DE Zielposition

EN Target position

FR Position à atteindre

ES Posición objeto

IT Posizione da raggiungere






Input min/max: -214748.3648 / 0214748.3647





S-0-0259, Positioning VelocityThe Positioning Velocity is used in the operating mode "Drive-controlledinterpolation" to reach the S-0-0258, Target position.


S-0-0259 - AttributesPara. Name: DE Positionier-Geschwindigkeit

EN Positioning Velocity

FR Vitesse de positionnement

ES Velocidad de posicionamiento

IT Velocità di Posizionamento






Input min/max: 0000000000.0 / 0030720000.0


S-0-0260, Positioning AccelerationThe Positioning acceleration is used in the operating mode "Drive-controlled interpolation" to accelerate to the S-0-0259, PositioningVelocity.

See also the functional description: "Functional principle Drive InternalInterpolation"

S-0-0260 - AttributesPara. Name: DE Positionier-Beschleunigung

EN Positioning Acceleration

FR Accélération de positionnement

ES Aceleración de posicionamiento

IT Accellerazione di Posizionamento






Input min/max: 00000000.000 / 00024543.692





S-0-0262, C700 Command basic loadWhen this command is set and enabled, the default parameters in themotor feedback for current, velocity and position control loop settings willbe loaded and activated. These default parameters are not optimized forthe specific application. They establish a stable control loop status.

ATTENTION

When this command is executed, parameters thathave already been optimized may be overwritten.

See also Function description: "Load Default Feature"

S-0-0262 - AttributesPara. Name: DE C700 Kommando Urladen

EN C700 Command basic load

FR C700 Commande chargement initial

ES C700 Comando carga base

IT C700 Comando Caricamento Base








S-0-0265, Language selectionAll parameter names, units and diagnostic warning messages within thedrive controller are stored in several languages. This parameterdetermines the output language for the text.

• 0: German

• 1: English

• 2: French

• 3: Spanish

• 4: Italian

See also the functional description: "Language Selection".

S-0-0265 - AttributesPara. Name: DE Sprach-Umschaltung

EN Language selection

FR Sélection de langue

ES Cambio de idioma

IT Selezione di Lingua









Input min/max: 00000 / 00001


S-0-0267, PasswordRexroth Indramat reserves the right of having a master password.

The password "007" is set at the factory. This password permits writeaccess to the parameters.

Moreover, the parameter can unlock service capabilities.

See also the functional description: "Password".

S-0-0267 - AttributesPara. Name: DE Passwort

EN Password

FR Mot de passe

ES Contraseña

IT Parole Chiave







S-0-0269, Parameter buffer modeThe Parameter buffer mode is used to determine whether the datatransmitted through the service channel (or serial interface) will be storedtemporarily (in RAM) or permanently.

1: Data will not be stored permanently. (Data is volatile.)

0: Data will be stored permanently. (Data is resident.)

After the control voltage supply has been switched on, the drive willinitialize bit 0 to 0. To activate temporary storage mode, bit 0 must beforced to 1 after switching on.

Note: For applications that write cylic or frequent updates tobuffered parameters: Parameter buffer mode = 1 (temporary)should be activated by the initialization procedure in themachine control. This mode ensures that the write cycle life ofthe EEPROM is not exceeded. Must be re-programmed aftercomplete power shut down.

See also the functional description: "Data Storage"




S-0-0269 - AttributesPara. Name: DE Speicherungsmodus

EN Parameter buffer mode

FR Mode d’enregistrement

ES Modo de buffer

IT Buffer Modo Parametri






Input min/max: 00000 / 00001


S-0-0277, Position feedback 1 typeThis parameter is used to determine the significant properties of theencoder 1.


Bit 0: Feedback type0: rotary1: linear

Bit 1: Distance coded measuring system0: no distance coded referencemarkers1: distance coded reference markersS-0-0165, S-0-0166

Bit 3: Direction ofmovement

0: not inverted1: inverted

Bits 7 + 6: Absolute readoutx 0: No absolute readout possible.

(Bit 7 irrelevant)0 1: Absolute readout possible and active,

encoder is treated as absolute.1 1: Absolute readout possible, but not active.

Fig. 2-34: S-0-0277, Position feedback 1 type parameter

Remark:

• If the motor has a motor feedback memory (MHD, MKD or MKE) thenbits 0,1 and 3 are set to “0”.

• If the motor is a linear motor, then bit 0 is set to "1“.

• Depending on the absolute encoder range and the maximum travelrange or modulo value, bit 6 is set to the correct value.


See also the functional description: "Other Motor Encoder Characteristics"




S-0-0277 - AttributesPara. Name: DE Lagegeberart 1

EN Position feedback 1 type

FR Type codeur 1

ES Tipo de encoder de posición 1

IT Tipo di Feedback Posizione 1








S-0-0278, Maximum travel rangeThe parameter S-0-0278, Maximum travel range defines the maximumpossible mechanical move of the machine. Depending on the selectedscaling, modulo or absolute format (see also S-0-0076, Position datascaling type), the input is unipolar (positive only) or bipolar (with sign).

The parameter S-0-0278, Maximum travel range affects the parametersS-0-0256, Multiplication 1 and S-0-0257, Multiplication 2 and thereforethe internal position resolution in the drive.

Moreover, the limits for velocity and acceleration of the drive internalposition command generator are influenced by the maximum travel range.Among others, the max. input values for S-0-0259, Positioning Velocityand S-0-0260, Positioning Acceleration depend on the value in S-0-0278 !

Note: The greater the parameterized maximum travel range, thesmaller is the multiplication and the drive internal positionresolution and the higher are the limits of the acceleration andvelocity data.

Additionally, the parameter S-0-0278, Maximum travel range affects thebit 6 "Absolute readout possible“ in the respective parameter S-0-0277,Position feedback 1 type or S-0-0115, Position feedback 2 type. If theparameterized maximum travel range is greater than half the absolutenumerical range of the used encoder, then the bit 6 for "Absolute readoutpossible“ is reset to 0. The converse is also true. Bit 6 is set to “1” as soonas a travel range less than half the absolute numerical range of theencoder is recognized.


S-0-0278 - AttributesPara. Name: DE Maximaler Verfahrbereich

EN Maximum travel range

FR Champs de déplacement maxi.

ES Campo máximo de desplazamiento

IT Campo di Movimento mass.









Input min/max: 0000000.0000 / 0214748.3647


S-0-0292, List of all operating modesIn this list, all operation modes are named, which the drive supports. Theoperation modes are listed by their codings (binary values), as they areinput in the parameters S-0-0032..35 (primary and secondary operationmodes).

See also the functional description: "Possible Operating Modes".

S-0-0292 - AttributesPara. Name: DE Liste der unterstützten Betriebsarten

EN List of all operating modes

FR Liste de tous les modes de fonctionnement

ES Lista de todos los modos de operación

IT Lista di tutti i Modi operativi








S-0-0298, Reference cam shiftFor the drive controlled homing, if there is more than one referencemarker in the travel range of the axis during homing, it is necessary toevaluate a reference switch. In this case, the 0->1 rising edge of the zeroswitch specifies the relevant reference marker.

To do this, the distance between zero switch and reference marker maynot be below a certain value, because otherwise the reference marker isambiguous. Therefore, the drive monitors the distance. If the distance isoutside the allowed range, the command S-0-0148, C600 Drivecontrolled homing procedure command ends up with the error C602Distance zero switch - reference marker wrong.

In this case, this parameter shows the distance, by which the zero switchmust be shifted, to get the optimal distance. You can either

• input the value in the parameter S-0-0299, Home switch offset toshift the active zero switch (virtually) referred to the real one, or

• shift the zero switch mechanically by the value displayed in S-0-0298.

If the distance between zero switch and reference marker is within theallowed range, then S-0-0298, Reference cam shift by.. displays a 0.





S-0-0298 - AttributesPara. Name: DE Verschiebung des Referenznockens

EN Reference cam shift

FR Décalage de la came d'origine

ES Desplazamiento de la leva de origen

IT Posizione Camma di Azzeramento






Input min/max: -214748.3648 / 0214748.3647


S-0-0299, Home switch offsetFor the drive controlled homing, if there is more than one referencemarker in the travel range of the axis during homing, it is necessary toevaluate a reference switch. In this case, the 0->1 rising edge of the zeroswitch specifies the relevant reference marker.

To do this, the distance between zero switch and reference marker maynot be below a certain value, because otherwise the reference marker isambiguous. Therefore, the drive monitors the distance. If the distance isoutside the allowed range, the command S-0-0148, C600 Drivecontrolled homing procedure command ends up with the error C602Distance zero switch - reference marker wrong.

In this case, the parameter S-0-0298, Reference cam shift shows thedistance, by which the zero switch must be shifted, to get the optimaldistance.

You can either

• input the value in the parameter S-0-0299, Home switch offset toshift the active zero switch (virtually) referred to the real one, or

• shift the zero switch mechanically by the value displayed in S-0-0298.

If the distance between zero switch and reference marker is good, thenS-0-0298, Reference cam shift by.. displays a 0.


S-0-0299 - AttributesPara. Name: DE Referenzschalter-Offset

EN Home switch offset

FR Décalage contact origine

ES Offset de interruptor de referencia

IT Offset FC di Zero






Input min/max: -214748.3648 / 0214748.3647





S-0-0301, Allocation of real-time control Bit 1In order to assign a signal to the real-time control bit 1, the ID number ofthe signal is written to the operating data of the assignment for the real-time control bit 1.

If such an assignment is made, the assigned signal (bit 0) will be controlled bythe real-time control bit 1 (=component of the master control word).

If the selected IDN is not available, the drive responds with the servicechannel error message "IDN not available"

If the programmed IDN is available but is not editable in phase 4, then thedrive responds with the error message "Data not correct"

See also the functional description: "Real-Time Control and Status Bits".

S-0-0301 - AttributesPara. Name: DE Zuweisung Echtzeitsteuerbit 1

EN Allocation of real-time control Bit 1

FR Allocation bit contrôle temps réel 1

ES Asignación bit de mando tiempo real 1

IT Allocazione del Real Time Control Bit 1






Input min/max: 00000 / 65535


S-0-0303, Allocation of real-time control Bit 2In order to assign a signal the real-time control bit 2, the ID number of thesignal is written to the operating data of the assignment for the real-timecontrol bit 2.

If such an assignment is made, the assigned signal (bit 0) will becontrolled by the real-time control bit 2 ( = component of the mastercontrol word).


S-0-0303 - AttributesPara. Name: DE Zuweisung Echtzeitsteuerbit 2

EN Allocation of real-time control Bit 2

FR Allocation bit contrôle temps réel 2

ES Asignación bit de mando tiempo real 2

IT Allocazione del Real Time Control Bit 2






Input min/max: 00000 / 65535





S-0-0305, Allocation of real-time status Bit 1In order to assign a signal to the real-time status bit 1, the ID number ofthe signal is written to the operating data of the assignment for the real-time status bit 1.

If such an assignment is made, the assigned signal (bit 0) thereafterappears in the real-time status bit 1 ( = component of the drive statusword).

If the programmed IDN is not available, the drive responds with theservice channel error message "IDN not available".

see also the functional description: "Real-Time Control and Status Bits".

S-0-0305 - AttributesPara. Name: DE Zuweisung Echtzeitstatusbit 1

EN Allocation of real-time status Bit 1

FR Allocation bit état temps réel 1

ES Asignación bit de estado tiempo real 1

IT Allocazione del Real Time Status Bit 1






Input min/max: 00000 / 65535


S-0-0307, Allocation of real-time status Bit 2In order to assign a signal to the real-time status bit 2, the ID number ofthe signal is written to the operating data of the assignment for the real-time status bit 2.

If such an assignment is made, the assigned signal (bit 0) thereafterappears in the real-time status bit 2 (component of the drive status word).


S-0-0307 - AttributesPara. Name: DE Zuweisung Echtzeitstatusbit 2

EN Allocation of real-time status Bit 2

FR Allocation bit état temps réel 2

ES Asignación bit de estado tiempo real 2

IT Allocazione del Real Time Status Bit 2






Input min/max: 00000 / 65535





S-0-0328, Assign list signal status wordThe signal status word (S-0-0144) is configured with the parametersS-0-0026, Configuration list signal status word and S-0-0328, Assignlist signal status word. These parameters have variable length with dataelements of 16 bits. In the parameter S-0-0026, Configuration list signalstatus word, the ident number of the parameters is set, which containsthe original bit (source). The parameter S-0-0328, Assign list signalstatus word determines which bit in the data is copied into the signalstatus word.

The position in the respective configuration list determines, to whichposition in the signal status word the chosen bit is copied.

See also the functional description: "Configurable Signal Status Word".

S-0-0328 - AttributesPara. Name: DE Zuweisungsliste Signal-Statuswort

EN Assign list signal status word

FR Liste d’assignations pour mot de statut des signaux

ES Lista de assignaciones palabra de estado de señal

IT Lista di Assignazioni Parole di Stato Segnali



Format: DEC_OV Validity check: P3-4





S-0-0347, Speed deviationParameter S-0-0347 indicates the difference between the velocitycommand value and the velocity feedback value in the velocity controller.

Vfeed

Vcomm

S-0-0347

Fig. 2-35: : S-0-0347, Speed deviation

See also the functional description: "Velocity Controller".

S-0-0347 - AttributesPara. Name: DE Geschwindigkeits-Regelabweichung

EN Speed deviation

FR Ecart de vitesse

ES Desviación de velocidad

IT E.I. di Velocità











S-0-0348, Acceleration feedforward gainThe acceleration feedforward helps to reduce the following error duringthe acceleration in operation modes without following error. To do this, thecurrent acceleration command value is multiplied by the "accelerationfeedforward gain" and added to the current command value of the velocitycontroller.

Positioncommandvalue

Currentcontroller

S-0-0348, Acceleration Feedforward gain

Positioncontroller

Velocitycontroller

Fig. 2-36: Acceleration feedforward

Activation:

Writing a value greater than 0 to the parameter activates the accelerationfeedforward.

Note: The controller functions as well without feedforward! (Thestandard value equals 0.) Acceleration feedforward is onlypossible in lagless modes (without following error).

Comparison between the different types of feedforward

The velocity feedforward is activated by selecting an operating modewithout lag (following error). This creates (from the point of view of theposition controller) a feedforward of 1st order (prop. to velocity). Thismeans that at constant speed, the position deviation is 0. A lag results,nevertheless, during acceleration and deceleration.

The acceleration feedforward is activated by entering more than 0 forthis parameter. It creates (from the point of view of the position controller),a feedforward of 2nd order (prop. to acceleration). The positiondeviation is 0 as long as the correct gain is set and the acceleration isconstant.

Correct input value:

( ) 1000*Nm/Aconstanttorque

2kgmInertia ofMoment 03480S

=−−




The moment of inertia is the total sum of the rotor and the reflected loadinertia.

The factor 1000 is needed for unit mA.Fig. 2-37: Acceleration feedforward prop. Gain

See also the functional description: " Setting the Acceleration FeedForward"

S-0-0348 - AttributesPara. Name: DE Verstärkung Beschleunigungsvorsteuerung

EN Acceleration feedforward gain

FR Anticipation d'accélération, gain

ES Ajuste mando adelante de aceleración

IT Guadagno Accellerazione




Unit: mA/(rad/s²) Extreme value check: yes


Input min/max: 0000.0 / 6553.5


S-0-0349, Jerk limit bipolarThe Jerk limit bipolar limits the acceleration change per time during "DriveHalt"

See also the functional description: " Drive Halt"

S-0-0349 - AttributesPara. Name: DE Ruck-Grenzwert bipolar

EN Jerk limit bipolar

FR Limite de Jerk bipolaire

ES Límite sacudida bipolar

IT Limite di Jerk bipol.






Input min/max: 0000000.000 / 4000000.000


S-0-0359, Positioning Decelerationno function

S-0-0359 - AttributesPara. Name: DE Positionier-Verzögerung

EN Positioning Deceleration

FR Décélération de positionnement

IT Decellerazione Posizionamento





Data length: 4Byte Memory: Param.-E²prom



Decimal places: S-0-0161, S-0-0162 Combination check: no

Input min/max: 0 / 1


S-0-0360, MDT Data container AIn the parameter S-0-0360, MDT Data container A, the master transfersthe data of the target parameter which has been addressed via the"Addressing for data container A" parameters (S-0-0368 with S-0-0371).

If a target parameter with 2 byte data is addressed, only the low word ofS-0-0360, MDT Data container A is used.

To be able to use the data container, you must enter the parameterS-0-0360 into the list of cyclical data in parameter S-0-0024 during phase 2.

Note: The parameter S-0-0360 is not writeable via theasynchronous data channel.

See also the functional description: "Multiplex Channel".

S-0-0360 - AttributesPara. Name: DE MDT-Datencontainer A

EN MDT Data container A

FR Récipient de dates A pour MDT

ES Contenedor de datos A para MDT

IT Contenitore di Dati A per MDT






Input min/max: 0 / 2147483647

Default value: - Cyc. transmittable: MDT

S-0-0364, AT Data container AIn the parameter S-0-0364, AT Data container A, the drive copies thedata of the source parameter which has been addressed via the"Addressing for data container A" (S-0-0368 with S-0-0371).

If a source parameter with 2 byte data is addressed, only the low word iscopied into S-0-0364, AT Data container A.

To be able to use the data container, you must enter the parameterS-0-0364 into the list of cyclical data in parameter S-0-0016 during phase2.

Note: The parameter S-0-0364 is not writeable via theasynchronous data channel.





S-0-0364 - AttributesPara. Name: DE AT-Datencontainer A

EN AT Data container A

FR Récipient de dates A pour AT

ES Contenedor de datos A para AT

IT Contenitore di Dati A per AT





Decimal places: - Combination check: no

Input min/max: 0 / 2147483647

Default value: - Cyc. transmittable: AT

S-0-0368, Addressing for data container AThe parameter S-0-0368, Addressing for data container A contains theindices for the access to the two parameter lists S-0-0370, Configurationlist MDT data container and S-0-0371, Configuration list AT-datacontainer. The content of the two data containers S-0-0360 and S-0-0364 is defined here.

Only the bits 0..7 (for MDT) and 8..15 (for AT) are used for theaddressing; the other bits are truncated.

Note: If an index greater than the number of elements in therespective list is set, the warning E4/08 Invalid AddressingMDT-data container A or, respectively, E4/09, InvalidAddressing AT-data container A is generated.

Note: The parameter S-0-0368, Addressing data container A canbe configured in the Master data telegram (MDT), or written tovia the asynchronous data channel or another interface, asneeded.


S-0-0368 - AttributesPara. Name: DE Adressierung Daten-Container A

EN Addressing for data container A

FR Index pour récipient de dates A

ES Dirección para contenedor de datos A

IT Indirizzo per Contenitore di Dati A



Format: HEX Validity check: -




Default value: - Cyc. transmittable: MDT




S-0-0370, Configuration list for MDT data containerIn the parameter S-0-0370, Configuration list MDT-data container,those ident numbers (IDN) are entered, which are transferred, dependingfrom the index in S-0-0368, Addressing for data container A, low byte,in the S-0-0360, MDT Data container A. Writing to S-0-0370 is onlypossible in communication phase 2.

In this procedure, the following checks are done :

• Check, whether the input IDN exists; if not, the async. channel errormessage "0x1001, Ident number nonexistent“ is generated.

• Check, whether the input IDN is present in the parameter S-0-0188,IDN list of configurable data in the MDT; if not, the async. channelerror message "0x7008, data not correct“ is generated.

Note: A maximum of 32 ident numbers is configurable in S-0-0370.

See also the functional description: "Multiplex Channel"

S-0-0370 - AttributesPara. Name: DE Konfigurationsliste MDT-Daten-Container

EN Configuration list for MDT data container

FR Liste de config. pour récipient de dates MDT

ES Lista de config. para contenedor de datos MDT

IT Config. per Recipiente di Dati MDT


Data length: 2Byte var. Memory: Param.-E²prom

Format: IDN Validity check: -

Unit: -- Extreme value check: -

Decimal places: 0 Combination check: -

Input min/max: 0 / -

Default value: - Cyc. transmittable: no

S-0-0371, Configuration list for the AT data containerIn the parameter S-0-0371, Configuration list AT-data container, thoseident numbers (IDN) are entered, which are transferred, depending fromthe index in S-0-0368, Addressing for data container A, high byte, inthe S-0-0364, AT Data container A. Writing to S-0-0371 is only possiblein communication phase 2.

In this procedure, the following checks are done :

• Check, whether the input IDN exists; if not, the async. channel errormessage "0x1001, Ident number nonexistent“ is generated.

• Check, whether the input IDN is present in the parameter S-0-0187,IDN list of configurable data in the AT; if not, the async. channelerror message "0x7008, data not correct“ is generated.

Note: A maximum of 32 ident numbers is configurable in S-0-0371.

See also the functional description: "Multiplex Channel"




S-0-0371 - AttributesPara. Name: DE Konfigurationsliste AT-Daten-Container

EN Configuration list for the AT data container

FR Liste de config. pour le récipient de dates AT

ES Lista de config. para contenedor de datos AT

IT Config. per il Recipiente di Dati AT



Format: IDN Validity check: -


Decimal places: 0 Combination check: -



S-0-0375, List of diagnostic numbersThe drive enters every change of the parameter S-0-0390 Diagnosticnumber in this list. The list is organized as a circular buffer; there is placefor 50 numbers. When the list is read, the 1st element of the parametershows the last displayed diagnostic number.

See also the functional description: "List of diagnostic numbers"

S-0-0375 - AttributesPara. Name: DE Liste Diagnosenummern

EN List of diagnostic numbers

FR Liste des numéros de diagnostic

ES Lista de numeros de diagnostico

IT Lista di Numeri Diagnosi








S-0-0378, Encoder 1, absolute rangeParameter S-0-0378 Absolute encoder 1, range defines the range inwhich the encoder selected in P-0-0074, Feedback type 1 can generatethe position information absolutely.

See also functional description: "Absolute encoder range and absoluteencoder evaluation"

S-0-0378 - AttributesPara. Name: DE Absolutbereich Geber 1

EN Encoder 1, absolute range

FR Codeur absolu 1, champs

ES Encoder absoluto 1, campo

IT Encoder assoluto 1, campo











S-0-0379, Encoder 2, absolute rangeParameter S-0-0379, Absolute encoder 2, range defines the range inwhich the encoder selected in P-0-0075, Feedback type 2 can generatethe position information absolutely.

See also functional description: "Absolute encoder range and absoluteencoder evaluation"

S-0-0379 - AttributesPara. Name: DE Absolutbereich Geber 2

EN Encoder 2, absolute range

FR Codeur absolu 2, champs

ES Encoder absoluto 2, campo

IT Encoder assoluto 2, campo








S-0-0382, Intermediate bus powerDisplay of the DC-bus power in kW.

S-0-0382 - AttributesPara. Name: DE Zwischenkreisleistung

EN Intermediate bus power

FR Puissance circuit interméd.

ES Potencia de circuito intermedio

IT Potenza sul Bus DC




Unit: KW Extreme value check: no







S-0-0383, Motor temperatureThis parameter contains the measured motor temperature.

Remark:

For all Rexroth Indramat motors except 2AD motors, a PTC resistor isused as the temperature sensor .

As the temperature curve in this case shows a considerable tolerance andin higher temperature ranges a considerable progression, the value in S-0-0383, Motor temperature is not usable for these motor types.


S-0-0383 - AttributesPara. Name: DE Motor-Temperatur

EN Motor temperature

FR Température moteur

ES Temperatura de motor

IT Temperatura Motore




Unit: C Extreme value check: no




S-0-0390, Diagnostic message numberIn the parameter Diagnostic message number, the same number isstored as can be seen in the seven segment display. This makes itpossible for the control to generate its own diagnostics according to thediagnostic message number (for example in languages which are notstored as diagnostics in the drive).

Example:

Diagnostic Message: "F822 Motor encoder failure: signal too small" inparameter S-0-0095

Seven Segment Display: changing "F8" <=> "22"

Diagnostic message number: "F822(hex)" in parameter S-0-0390

See also the functional description: "Diagnostic Message Number"

S-0-0390 - AttributesPara. Name: DE Diagnose-Nummer

EN Diagnostic message number

FR Numéro message diagnostique

ES Numero de diagnostico

IT Numero Messaggio Diagnosi











S-0-0391, Monitoring window feedback 2Description:

This parameter defines the maximum allowable deviation of the S-0-0051,Actual feedback 1 value and S-0-0053, Actual feedback 2 value .

If this value is exceeded for longer than 20ms, then the error F236,Excessive position feedback difference will be generated.

The monitoring can be turned off by writing 0 to this parameter.

See also the functional description: "Actual Feedback Value Monitoring".

S-0-0391 - AttributesPara. Name: DE Überwachungsfenster Geber 2

EN Monitoring window feedback 2

FR Fenêtre de surveillance du codeur 2

ES Ventana de control de encoder 2

IT Finestra di Controllo del Encoder 2



Input min/max: 0000000.0000 / 0214748.3647


S-0-0393, Command value modeStructure of the parameter:

Bit 1,0: Mode00: shortest way01: positive direction02: negative direction

Fig. 2-38: Structure of the parameter S-0-0393

Description of Bit 1:

The interpretation of position command values such as S-0-0047,Position command value and S-0-0258, Target position with modulofunction activated is dependent on the selected mode. The parameter S-0-0393 is used to adjust the mode.

This parameter has an effect only if S-0-0076, Position data scalingtype has been activated in the modulo format.

See also the functional description: "Processing Command Values inModulo Format, Shortest Path - Direction Selection".

S-0-0393 - AttributesPara. Name: DE Sollwertmodus

EN Command value mode

FR Mode de consigne

ES Modo de valor nominal

IT Modo per Valori comandati











S-0-0400, Home switchThis parameter is used to assign an ID number to the home switch(external signal).

Application:

The IDN (and thus the feedback status of the home switch) can beassigned to a real-time status bit.


Bit 0: Home switch0: not activated1: activated

Fig. 2-39: S-0-0400, Home switch

See also the functional description: "Evaluation of the Home Switch"

S-0-0400 - AttributesPara. Name: DE Referenzschalter

EN Home switch

FR Contact d’origine

ES Interruptor de referencia

IT FC di Zero








S-0-0401, Probe 1This parameter is used to assign an ID number to Probe 1 (externalsignal). This makes it possible to assign Probe 1 to a real-time status bit,for example.

The signal Probe 1 is only scanned by the drive and considered valid ifthe S-0-0170, Probing cycle procedure command is active and S-0-0405, Probe 1 enable is present.





Bit 0: Probe 0: not activated 1: activated

Fig. 2-40: S-0-0401, Probe 1


S-0-0401 - AttributesPara. Name: DE Messtaster 1

EN Probe 1

FR Sonde 1

ES Teclas de medición 1

IT Probe 1








S-0-0402, Probe 2This parameter is used to assign an ID number to Probe 2 (externalsignal). This makes it possible to assign Probe 2 to a real-time status bit,for example.

The signal Probe 2 is only scanned by the drive and considered valid ifthe S-0-0170, Probing cycle procedure command is active and S-0-0406, Probe 2 enable is present.


Bit 0 : Probe0: not activated1: activated

Fig. 2-41: S-0-0402, Probe 2


S-0-0402 - AttributesPara. Name: DE Messtaster 2

EN Probe 2

FR Sonde 2

ES Teclas de medición 2

IT Probe 2











S-0-0403, Position feedback value statusBit 0 of this parameter will be set high when the position feedback value,as determined by bit 3 (motor or external feedback) of S-0-0147, Homingparameter, is fixed in reference to the machine’s zero point.

When the drive performs the commands S-0-0148, C600 Drivecontrolled homing procedure or P-0-0012, C300 Command ’Setabsolute measurement’, the bit will be reset when they are started andthen set to 1 again once the command has been successfully completed.

The bit for position feedback value status corresponds to the output signal"In reference".

In drives with Sercos interface, the position feedback value status can beassigned to a real-time status bit and thus be continuously communicatedto the NC in the drive status word

(see S-0-0305, Allocation of real-time status bit 1).


Bit 0 : Position feedback values0: are relative.1: are in reference to the machine’s

zero point.

Bit 0 : Position feedback values0: are relative.1: are in reference to the machine’s

zero point.

Bit 1 : Status motor feedback0: position feedback value is relativ1: referenced

Bit 2 : status feedback 20: position feedback value is relativ1: referenced

Fig. 2-42: S-0-0403, Position feedback value status


S-0-0403 - AttributesPara. Name: DE Status Lageistwerte

EN Position feedback value status

FR Etat de la valeur de retour de position

ES Estado valores reales de posición

IT Stato del Feedback di Posizione











S-0-0405, Probe 1 enableThis parameter is used to enable a probe input.

Changing this signal from 0 to 1 activates the trigger mechanism forevaluating the positive and/or negative slope of the probe signal.

The probe 1 enable can be assigned to a real-time control bit and thus becommunicated to the master control word in the drive.


Bit 0: Probe 10: not enabled1: enabled

Bit 8...15: Measuring counterfor continuous measurements

Fig. 2-43: S-0-0405, Probe 1 enable


S-0-0405 - AttributesPara. Name: DE Messtaster 1 Freigabe

EN Probe 1 enable

FR Validation de la sonde 1

ES Desbloqueo de teclas de medición 1

IT Probe 1 abilitato








S-0-0406, Probe 2 enableThis parameter is used to enable a probe input.

Changing this signal from 0 to 1 activates the trigger mechanism forevaluating the positive and/or negative slope of the probe signal.

The probe 2 enable can be assigned to a real-time control bit and thus becommunicated to the drive in the master control word.


Bit 0: Probe 20: not enabled1: enabled


Fig. 2-44: S-0-0406, Probe 2 enable





S-0-0406 - AttributesPara. Name: DE Messtaster 2 Freigabe

EN Probe 2 enable

FR Validation de la sonde 2

ES Desbloqueo de teclas de medición 2

IT Probe 2 abilitato








S-0-0409, Probe 1 positive latchedBit 0 in this parameter will be set by the drive if

• the S-0-0170, Probing cycle procedure command is active,

• bit 0 in S-0-0169, Probe control parameter is set,

• S-0-0405, Probe 1 enable is present and

• the positive edge of S-0-0401, Probe 1 is recognized.

The drive simultaneously stores the value of the selected signal inS-0-0130, Probe value 1 positive edge.

The drive clears the bit if the NC clears the S-0-0170, Probing cycleprocedure command or if S-0-0405, Probe 1 enable has been set from1 to 0.

The parameter "Probe 1 positive latched" can be assigned to a real-timestatus bit and thus be continuously communicated to the NC in the drivestatus word (see S-0-0305, Allocation of real-time status bit 1).


Bit 0: Probe 1positive

0: not latched


Fig. 2-45: S-0-0409, Probe 1 positive latched


S-0-0409 - AttributesPara. Name: DE Messtaster 1 positiv gelatcht

EN Probe 1 positive latched

FR Sonde 1 déclenchée sur front montant

ES Teclas de medición 1 bloqueado positivo

IT Probe 1 positivo rilevato











S-0-0410, Probe 1 negative latchedBit 0 in this parameter will be set by the drive if



• S-0-0405, Probe 1 enable is present and

• the negative edge of S-0-0401, Probe 1 is recognized.

The drive simultaneously stores the value of the selected signal in S-0-0131, Probe value 1 negative edge.


The parameter "probe 1 negative latched" can be assigned to a real-timestatus bit and thus be continuously communicated to the NC in the drivestatus word (see S-0-0305, Allocation of real-time status bit 1).


Bit 0: Probe 1 negative0: not latched1: latched


Fig. 2-46: S-0-0410, Probe 1 negative latched

See also the functional description: "Probe Input Feature"

S-0-0410 - AttributesPara. Name: DE Messtaster 1 negativ gelatcht

EN Probe 1 negative latched

FR Sonde 1 déclenchée sur front descendant

ES Teclas de medición 1 bloqueado negativo

IT Probe 1 negativo rilevato











S-0-0411, Probe 2 positive latchedBit 0 in this parameter will be set by the drive if



• S-0-0406, Probe 2 enable is present, and

• the positive edge of S-0-0402, Probe 2 is recognized.

The drive simultaneously stores the value of the selected signal in S-0-0132, Probe value 2 positive edge.


The parameter "Probe 2 positive latched" can be assigned to a real-timestatus bit and thus be continuously communicated to the NC in the drivestatus word (see S-0-0305, Allocation of real-time status bit 1).


Bit 0: Measurement 2 positive0: not latched1: latched


Fig. 2-47: S-0-0411, Probe 2 positive latched


S-0-0411 - AttributesPara. Name: DE Messtaster 2 positiv gelatcht

EN Probe 2 positive latched

FR Sonde 2 déclenchée sur front montant

ES Teclas de medición 2 bloqueado positivo

IT Probe 2 positivo rilevato








S-0-0412, Probe 2 negative latchedDescription:

Bit 0 in this parameter will be set by the drive if



• S-0-0406, Probe 2 enable is present, and

• the negative edge of S-0-0402, Probe 2 is recognized.




The drive simultaneously stores the value of the selected signal inS-0-0133, Probe value 2 negative edge.

The drive clears the bit if the NC clears the S-0-0170, Probing cycleprocedure command or if S-0-0406, Probe 2 enable is set from 1 to 0.

The parameter "probe 2 negative latched" can be assigned to a real-timestatus bit and thus be continuously communicated to the NC in the drivestatus word (see S-0-0305, Allocation of real-time status bit 1).


Bit 0; Measurement 2 negative 0: not latched 1: latched


Fig. 2-48: S-0-0412, Probe 2 negative latched


S-0-0412 - AttributesPara. Name: DE Messtaster 2 negativ gelatcht

EN Probe 2 negative latched

FR Sonde 2 déclenchée sur front descendant

ES Teclas de medición 2 bloqueado negativo

IT Probe 2 negativo rilevato








S-7-0100, Velocity loop proportional gainThis parameter contains the default value for the velocity loop proportionalgain.

This value comes from the feedback data memory. With the Basic Loadprocedure, the S-7-xxxx parameters are copied into the S-0-xxxxparameters.

Note: S-0-0100 and S-7-0100 have different units/dimensions, e.g.for rotatory action As/rad vs. mAs/rad. The number of placesafter the decimal also differs.

See also the functional description: " Setting the Velocity Controller" andthe parameter description for S-0-0100.




S-7-0100 - AttributesPara. Name: DE Geschwindigkeitsregler-Proportionalverstärkung

EN Velocity loop proportional gain

FR Gain proportionnel de la boucle de vitesse

ES Amplificación proporcional de regulador de velocidad

IT Guadagno proporzionale Anello di Velocità


Data length: 2Byte Memory: Feedback-E²prom


Unit: mAs/rad Extreme value check: yes




S-7-0101, Velocity loop integral action timeThis parameter contains the default value for the integral action time ofthe integrator in the velocity loop controller.


See also the functional description: " Setting the Velocity Controller" andthe parameter description for S-0-0101.

S-7-0101 - AttributesPara. Name: DE Geschwindigkeitsregler-Nachstellzeit

EN Velocity loop integral action time

FR Temps d'action intégral de la boucle de vitesse

ES Tiempo de reajuste de regulador de velocidad

IT Tempo Integrazione Anello di Velocità






Input min/max: 0.0 / 6553.5


S-7-0104, Position loop Kv-factorThis parameter contains the default value for the proportional gain of theposition controller.


See also the functional description: " Setting the position controller" andthe parameter description for S-0-0104.




S-7-0104 - AttributesPara. Name: DE Lageregler Kv-Faktor

EN Position loop Kv-factor

FR Gain proportionnel de la boucle de position, Kv

ES Regulador de posición factor Kv

IT Fattore Kv Anello di Posizione




Unit: 1000/min Extreme value check: yes


Input min/max: 0.00 / 655.35


S-7-0106, Current loop proportional gain 1This parameter contains the appropriate value for the proportional gain ofthe current controller with the connected motor.


Note: Do not alter the values for the current controller set at thefactory.

See also function description: " Setting the Current Controller" and theparameter description for S-0-0106.

S-7-0106 - AttributesPara. Name: DE Stromregler-Proportionalverstärkung 1

EN Current loop proportional gain 1

FR Gain proportionnel de la boucle de courant 1

ES Amplificación proporcional 1 regulador de corriente

IT Guadagno proporzionale 1 Regolatore di Corrente




Unit: V/A Extreme value check: yes


Input min/max: 0.00 / 655.35


S-7-0107, Current loop integral action time 1This parameter contains the appropriate value for the integral action timeof the integrator in the current controller with the connected motor.


Note: Do not alter the values for the current controller set at thefactory.




See also function description: " Setting the Current Controller" and theparameter description for S-0-0107.

S-7-0107 - AttributesPara. Name: DE Stromregler-Nachstellzeit 1

EN Current loop integral action time 1

FR Temps d'action intégral de la boucle de courant 1

ES Tiempo de reajuste de regulador de corriente 1

IT Tempo Integrazione 1 Anello di Corrente






Input min/max: 0.0 / 6553.5


S-7-0109, Motor peak currentValue in the feedback memory which specifies the maximum currentwhich may flow in the motor for a short period without damaging it.

For MHD, MKD and MKE motors, the value will be copied into the activeparameter S-0-0109, Motor peak current when the amplifier is turnedon.

See also the functional description: "Current Limit"

S-7-0109 - AttributesPara. Name: DE Spitzenstrom Motor

EN Motor peak current

FR Courant crête du moteur

ES Corriente punta de motor

IT Corrente di Picco Motore




Unit: A Extreme value check: no


Input min/max: 0 / 2147483647


S-7-0111, Motor current at standstillValue in the feedback memory for the current which can continuously flowin the motor without damaging it.

For MHD, MKD and MKE motors, the value will be copied into the activeparameter S-0-0111, Motor current at standstill when the amplifier isturned on.

See also the functional description: "Motor Feedback-Data Memory"




S-7-0111 - AttributesPara. Name: DE Stillstandsstrom Motor

EN Motor current at standstill

FR Courant du moteur à l'arrêt

ES Corriente de parada motor

IT Corrente Motore con Asse fermo






Input min/max: 0 / 2147483647


S-7-0113, Maximum motor speed (nmax)Value in the feedback memory for the maximum possible motor speed.

For MHD, MKD and MKE motors, the value will be copied into the activeparameter S-0-0113, Maximum motor speed (nmax) when the amplifier isturned on.

See also the functional description: "Limiting Velocity".

S-7-0113 - AttributesPara. Name: DE Maximal-Geschwindigkeit des Motors

EN Maximum motor speed (nmax)

FR Vitesse maximale du moteur

ES Velocidad máxima del motor

IT Velocità massima Motore (nmax)






Input min/max: 0 / 2147483647


S-7-0116, Feedback 1 ResolutionValue in the feedback memory for resolution of the motor encoder.

For MHD, MKD and MKE motors, the value will be copied into the activeparameter S-0-0116, Feedback 1 Resolution when the amplifier is turned on.















Input min/max: 0 / 2147483647


S-7-0117, Feedback 2 ResolutionValue in the feedback memory for resolution of the motor encoder.

The value will be copied into the active parameter S-0-0117, Feedback 2Resolution when the amplifier is turned on.














S-7-0141, Motor typeText in the feedback memory for the motor type.

For MHD, MKD and MKE motors, the value will be copied into the activeparameter S-0-0141, Motor type when the amplifier is turned on.

The diagnostic message „F208 UL motor type has changed“ is based ona comparison between S-0-0141 and S-7-0141.

Examples:

MKD 071B-061-KP1-BN

MKE 096B-047-GG0-KN

See also the functional description: "Drive Controllers".

S-7-0141 - AttributesPara. Name: DE Motor-Typ

EN Motor type

FR Type de moteur

ES Tipo de motor

IT Tipo Motore





Data length: 1Byte var. Memory: Feedback-E²prom






S-7-0177, Absolute distance 1This parameter is used for the homing procedure of an absolute motorfeedback. It describes the offset between the zero point of the motorfeedback and the machine’s zero-point.

S-7-0177 - AttributesPara. Name: DE Absolutgeber-Offset 1









Input min/max: 0 / 2147483647


S-7-0178, Absolute distance 2This parameter is used for the homing procedure of an absolute optionalfeedback. It describes the offset between the zero point of the optionalfeedback and the machine’s zero-point.

S-7-0178 - AttributesPara. Name: DE Absolutgeber-Offset 2









Input min/max: 0 / 2147483647





Notes


DIAX04 SSE-03VRS Product Specific Parameters 3-1


3 Product Specific Parameters

P-0-0004, Velocity loop smoothing time constantThe time constant that can be activated in this parameter affects theoutput of the velocity loop controller. It can be used to suppressquantization effects and limit the bandwidth of the velocity loop controller.The limit frequency is derived from smoothing time constant T resultingfrom the relationship

f g =⋅ ⋅

1

2 π Τ

Inputting the minimum input value turns the filter off.


P-0-0004 - AttributesPara. Name: DE Drehzahlregler-Glättungszeitkonstante

EN Velocity loop smoothing time constant

FR Temps de filtrage boucle de vitesse

ES Tiempo de alisamiento n.d.r.

IT Tempo di Smorzamento nell'Anello di Velocità








P-0-0005, Language selectionAll parameter names, units and diagnostic / fault messages are stored inseveral languages in the drive controller. The language to be used for textoutput is set in this parameter.

• 0 : German

• 1 : English

• 2 : French

• 3 : Spanish

• 4 : Italian

Note: Functions like S-0-0265, Language selection.

See also the functional description: "Language Selection".

P-0-0005 - AttributesPara. Name: DE Sprach-Umschaltung

EN Language selection

FR Sélection de langue

ES Conmutación de lengua

IT Selezione Lingua


3-2 Product Specific Parameters DIAX04 SSE-03VRS







Input min/max: 00000 / 00001


P-0-0008, Activation E-Stop functionParameter P-0-0008 can be used to activate the E-Stop input and toselect a response for bringing the drive to standstill.


Bit 0: E-Stop activation0: inactive1: active

Bit 1: Error class in case ofinterpretation as error (bit 2 = 0)0: Best possible standstill (P-0-0119)1: Set velocity command value to zero

Bit 2: Interpretation0: as non-fatal error1: as fatal warning

Fig. 3-1:: P-0-0008, Activation of E-Stop function

Note: The input polarity is always 0-active.

Note: For DIAX devices, bit 0 also activates the monitoring of theexternal 24V supply.

See also the functional description: "Activation and Polarity of the E-StopInput".

P-0-0008 - AttributesPara. Name: DE Aktivierung E-Stop-Funktion

EN Activation E-Stop function

FR Activation fonction Arrêt d'urgence

ES Activación función parada de emergencia

IT Attivazione della Funzione E-Stop











P-0-0009, Error message numberIf the drive identifies a class 1 diagnostic error, then a bit gets set inparameter S-0-0011, Class 1 diagnostics. Bit 13 is set in the operationstatus word for ‘’Error in class 1 diagnostic’’.

Additionally, for a precise diagnosis,

• the diagnosis number is displayed in the 7-segment display and storedin parameter S-0-0390, Diagnostic message number,

• the plain text diagnosis is stored in parameter S-0-0095, Diagnosticmessage

• and the relevant error number is stored in parameter P-0-0009, Errormessage number.

If no error is pending, then the value of parameter P-0-0009 Errormessage number is 0.

Example for a diagnostic:

S-0-0390 F822 (hex)

P-0-0009: 822 (decimal)

S-0-0095: F822 Motor encoder failure: signal too small

7-segment display: Changing between F8 and 22

See also the functional description: "Error Number".

P-0-0009 - AttributesPara. Name: DE Fehler-Nummer

EN Error message number

FR Numéro erreur

ES Error numero

IT Numero Messaggio Errore








P-0-0010, Excessive position command valueIn position control mode (S-0-0032..35 = 0x0003, 0x0004, 0x000B or0x000C), the NC sets position commands at constant intervals (all S-0-0001, NC Cycle time (TNcyc)). Within the drive, the difference of twosequential position commands are monitored for excessive values, i.e.,the position commands must satisfy:

0091000010

)1()(−−≤

−−−−

SS

kXkX SollSoll

whereby:Xsoll(k) = NC position command in current cycleXsoll(k-1) = NC position command in previous cycleS-0-0091, Bipolar velocity limit valueS-0-0001, NC Cycle time (TNcyc)

Fig. 3-2: Monitoring of the position command for excessive values for in theposition control mode




If the above condition is violated, then error F237, Excessive positioncommand difference is triggered and the drive decelerates as set inparameter P-0-0119, Best possible deceleration.

The error triggering excessive position command value (Xsoll(k)) is storedin parameter P-0-0010, Excessive position command value, the lastvalid position command (Xsoll(k-1)) in parameter P-0-0011, Last validposition command value.

See also the functional description: "Position Command ValueMonitoring".

P-0-0010 - AttributesPara. Name: DE Exzessiver Lagesollwert

EN Excessive position command value

FR Consigne de position excessive

ES Valor nominal de posición excesivo

IT Posizione comandata eccessiva








P-0-0011, Last valid position command valueIn position control mode (S-0-0032..35 = 0x0003, 0x0004, 0x000B or0x000C), the NC sets position commands at constant intervals (everyS-0-0001, NC Cycle time TNcyc). The difference of two sequentialposition commands is monitored for excessive value. The positioncommand values must satisfy the following relation:

0091000010

)1()(−−≤

−−−−

SS

kXkX ComCom

whereby:Xcom(k) = NC-position command in current cycleXcom(k-1) = NC-position command in previous cycleS-0-0091, Bipolar velocity limit valueS-0-0001, NC Cycle time (TNcyc)

Fig. 3-3: Monitoring of the position command for excessive values in theposition control mode

If the above condition is violated, then error F237, Excessive positioncommand difference is triggered, and the drive decelerates as set inparameter P-0-0119, Best possible declaration.

The error triggering excessive position command value Xcom(k) is storedin parameter P-0-0010, Excessive position command value, the lastvalid position command Xcom(k-1) in parameter P-0-0011, Last validposition command value.

See also the functional description: "Position Command ValueMonitoring".




P-0-0011 - AttributesPara. Name: DE Letzter gültiger Lagesollwert

EN Last valid position command value

FR Dernière consigne de position valable

ES Valor nominal de posición ultimo valido

IT Ultima Posizione comandata valida








P-0-0012, C300 Command ’Set absolute measurement’When an absolute measuring system is started for the first time, the drivewill indicate a random feedback value that is not referenced to themachine zero-point.

The position feedback of this measuring system can be set to the desiredvalue with the command "Set absolute measurement". After the "Setabsolute measurement" command is executed, the position feedbackvalue of the measurement-supplied encoder will contain a definedreference to the machine zero-point. Thereafter, the value of parameterS-0-0403, Position feedback value status is 1. The corresponding bit inthe parameter S-0-0403, Position feedback status is set for the selectedencoder.

All information will be available after reset because all necessary datafrom the absolute measurement system is buffered in feedback datamemory or in parameter data memory. The position feedback valuepermanently retains its reference to the machine zero-point.

Parameter P-0-0012 can be used to execute this function.

See also the functional description: " Set Absolute Measuring".

P-0-0012 - AttributesPara. Name: DE C300 Kommando Absolutmaß setzen

EN C300 Command 'Set absolute measurement'

FR C300 Commande du chargement de valeur absolue

ES C300 Comando Poner medición absoluta

IT C300 Comando Azzeramento Encoder assoluto











P-0-0014, D500 Command determine marker positionThe command P-0-0014, D500 Command determine marker positionis used to check the detection of the reference marker of an incrementalmeasuring system. If there is an incremental measuring system and thecommand has been activated, then once the reference mark is detected,the actual position of the measuring systems stored in parameter S-0-0173, Marker position A. It is then signalled that the command iscompleted. Given 2 measuring systems, the bit 3 in S-0-0147, Homingparameter determines which measuring system is used.

See also the functional description: "Command - detect marker position"

P-0-0014 - AttributesPara. Name: DE D500 Kommando Markerposition ermitteln

EN D500 Command determine marker position

FR D500 Commande évaluation position marqueur

ES D500 Comando calcular posición de marcador

IT D500 Comando prendere posizione marca








P-0-0015, Memory addressThis parameter can be used to select a memory address in the drive foroperation-internal test purposes. The contents will be displayed in theparameter P-0-0016, Content of memory address.

P-0-0015 - AttributesPara. Name: DE Speicheradresse

EN Memory address

FR Adresse mémoire

ES Dirección de memoria

IT Indirizzo Memoria






Input min/max: 0x0000 / 0xffff

Default value: 0x8000 Cyc. transmittable: no




P-0-0016, Content of memory addressThis parameter displays the contents of the memory address set inparameter P-0-0015, Memory address (only for test purposes).

P-0-0016 - AttributesPara. Name: DE Inhalt der Speicheradresse

EN Content of memory address

FR Contenu de l'adresse mémoire

ES Contenido de la dirección de memoria

IT Contesto degli Indirizzi di Memoria








P-0-0018, Number of pole pairs/pole pair distanceThis indicates the number of pole pairs per motor revolution forrotating motors.

For linear motors, the length of a pole pair must be indicated here.

This value does not need to be indicated here for motors with motorfeedback data memory, like MKD.

See also the functional description: "Motor Feedback-Data Memory".

P-0-0018 - AttributesPara. Name: DE Polpaarzahl/Polpaarweite

EN Number of pole pairs/pole pair distance

FR Nombre de paires de pôles/distance polaire

ES Numero de par de polo/espacio de par de polo

IT Numero di Coppie Poli




Unit: Pole pairs or mm Extreme value check: no







P-0-0019, Position start valueThe position start value sets a defined initialization value for positionfeedback values 1 and 2 in non-absolute measurement systems.

During initialization of the position feedback value with commandS-0-0128, C200 Communication phase 4 transition check, the drivechecks whether the position start value has been written incommunications phase 2 or 3. Only then will position feedback values 1and 2 be set to that value. The position start value is used only for non-absolute encoders.

To preset the actual position value of the drive, the parameter P-0-0019,Position start value is used.

See also the functional description: "Actual Feedback Values of Non-Absolute Measurement Systems After Initialization".

P-0-0019 - AttributesPara. Name: DE Lageanfangswert

EN Position start value

FR Position à la mise sous tension

ES Valor inicial de posición

IT Valore di Posizione di Partenza






Input min/max: -214748.3648 / 0214748.3647


P-0-0021, List of scope data 1The measured values of channel 1 of the oscilloscope function are storedin chronological sequence in parameter P-0-0022, List of scope data 2.(The oldest scope value is the first element of the list.)

See also the functional description: "Oscilloscope Feature".

P-0-0021 - AttributesPara. Name: DE Messwertliste 1

EN List of scope data 1

FR Liste des valeurs mesurées 1

ES Lista de valor de medición 1

IT Lista Misure 1



Format: P-0-0023 Validity check: no

Unit: P-0-0023 Extreme value check: no

Decimal places: P-0-0023 Combination check: no






P-0-0022, List of scope data 2The measured values of channel 2 of the oscilloscope function are storedin chronological sequence in parameter P-0-0022, List of scope data 2.(The oldest scope value is the first element of the list.)


P-0-0022 - AttributesPara. Name: DE Messwertliste 2

EN List of scope data 2

FR Liste des valeurs mesurées 2

ES Lista de valor de medición 2

IT Lista Misure 2



Format: P-0-0024 Validity check: no

Unit: P-0-0024 Extreme value check: no

Decimal places: P-0-0024 Combination check: no



P-0-0023, Signal select scope channel 1Parameter P-0-0023 determines the signal that will be recorded. Thefollowing fixed predefined signals are available:

Number Signal selectionUnit of thescope data list

0 x 00 Channel not activated --

0 x 01 Actual feedback valuedependent on operating modeS-0-0051 or S-0-0053

Dependent on positionscaling

0 x 02 Velocity value parameter(S-0-0040)

Dependent on velocityscaling

0 x 03 Velocity control deviation(S-0-0347)


0 x 04 Following error parameter(S-0-0189)


0 x 05 Torque/force command valueparameter S-0-0080

Percent

0 x 06 Position feedback 1, S-0-0051 Dependent on positionscaling


0 x 08 Position command value Dependent on positionscaling

Fig. 3-4: P-0-0023, Signal select scope channel 1

Expanded oscilloscope recording feature:

In addition to the fixed predefined signal selection, it is also possible torecord any memory address of the drive. To do this, bit 12 = 1 must beset. Bit 13 defines the data length of the memory signal in question.




Bit 13: Data width of measurements0 = 16 bits1 = 32 bits

Bit 12: Expanded oscilloscope function on

Fig. 3-5: P-0-0023 & P-0-0024, Oscilloscope function signal selection


P-0-0023 - AttributesPara. Name: DE Signalauswahl 1 Oszilloskop-Funktion

EN Signal select scope channel 1

FR Fonction oscilloscope, sélection signal 1

ES Selección de señal 1 función de osciloscopio

IT Segnale Selezionato Canale 1



Format: HEX Validity check: Phase3


Decimal places: -- Combination check: no



P-0-0024, Signal select scope channel 2Parameter P-0-0024 determines the signal that will be recorded. Thefollowing fixed predefined signals are available:

Number Signal selectionUnit of thescope data list

0 x 00 Channel not activated --

0 x 01 Actual feedback value dependenton operating mode S-0-0051 orS-0-0053


0 x 02 Velocity value parameter(S-0-0040)


0 x 03 Velocity control deviation(S-0-0347)


0 x 04 Following error parameter(S-0-0189)


0 x 05 Torque/force command valueparameter S-0-0080

Percent



0 x 08 Position command value Dependent on positionscaling

Fig. 3-6: P-0-0024, Signal select scope channel 2




Expanded oscilloscope recording feature:

In addition to the fixed predefined signal selection, it is also possible torecord any memory address of the drive. To do this, bit 12 = 1 must beset. Bit 13 defines the data length of the memory signal in question.

Bit 13: Data width of measurements0 = 16 bits1 = 32 bits

Bit 12: Expanded oscilloscope function on

Fig. 3-7: P-0-0023, and P-0-0024, Oscilloscope function signal selection


P-0-0024 - AttributesPara. Name: DE Signalauswahl 2 Oszilloskop-Funktion

EN Signal select scope channel 2

FR Fonction oscilloscope, sélection signal 2

ES Selección de señal 2 función de osciloscopio

IT Segnale Selezionato Canale 2








P-0-0025, Trigger sourceParameter P-0-0025 defines the source that initiates the trigger signal.There is a choice between

• External trigger

• Internal trigger

External trigger (P-0-0025 = 0x01)

If the external trigger is chosen, then the trigger will be initiated by bit 0 ofP-0-0036, Trigger control word

Internal trigger (P-0-0025 = 0x02)

If the internal trigger is selected, then the trigger signal set by parameterwill be monitored for the trigger condition, and the trigger will be initiatedas soon as the condition is met.


P-0-0025 - AttributesPara. Name: DE Triggerquelle Oszilloskop-Funktion

EN Trigger source

FR Source de déclenchement pour fonction oscilloscope

ES Origen de trigger osciloscopio

IT Sorgente Trigger









Input min/max: 00001 / 00002


P-0-0026, Trigger signal selectionFor internal trigger sources, the parameter P-0-0026, Trigger signalselection defines the signal that is monitored for the parameterized triggercondition. The following fixed predefined signals are available:

Trigger signalnumbers Trigger signal

Correspondingtrigger threshold

0 x 00 Not defined Not defined

0 x 01 Actual feedback valuebased onmode of operation

Position data P-0-0027

0 x 02 Velocity feedback valueParameter S-0-0040

Velocity data P-0-0028

0 x 03 Velocity deviationparameter --

Velocity data P-0-0028

0 x 04 Following error, parameterS-0-0189

Position data P-0-0027

0 x 05 Torque command value,parameter S-0-0080

Torque data P-0-0029

0 x 06 Position feedback 1,S-0-0051

Depending on positionscaling

0 x 07 Position feedback 2,S-0-0053

Depending on positionscaling

0 x 08 Position command value Depending on positionscaling

Fig. 3-8: P-0-0026, Trigger signal selection

Additional trigger signals can also be defined by setting bit 12.

Bit 12: Expanded trigger function On

Fig. 3-9: P-0-0026, Trigger signal selection


P-0-0026 - AttributesPara. Name: DE Triggersignalauswahl Oszilloskop-Funktion

EN Trigger signal selection

FR Fonction oscilloscope, sélection signal de déclenc.

ES Selección de señal de trigger función osciloscopio

IT Segnale di Trigger selezionato









Input min/max: 0x0000 / 0x0005


P-0-0027, Trigger level for position dataIf P-0-0026, Trigger signal selection = “1“or “4“, then Parameter P-0-0027, Trigger level for position data determines the position value atwhich the trigger will be released as long as the correct edge has beenrecognized.


P-0-0027 - AttributesPara. Name: DE Triggerschwelle für Lagedaten

EN Trigger level for position data

FR Seuil de déclenchement données de position

ES Umbral de trigger para datos de posición

IT Livello di Trigger per Dati di Posizione






Input min/max: -214748.3648 / 0214748.3647

Default value: 0,0 Cyc. transmittable: no

P-0-0028, Trigger level for velocity dataIf P-0-0026, Trigger signal selection = “2“ or “3“, then Parameter P-0-0028, Trigger level for velocity data determines the velocity feedbackvalue at which the trigger will be released as long as the correct edge hasbeen recognized.


P-0-0028 - AttributesPara. Name: DE Triggerschwelle für Geschwindigkeitsdaten

EN Trigger level for velocity data

FR Seuil de déclenchement données de vitesse

ES Umbral de trigger para datos de velocidad

IT Livello di Trigger per Dati di Velocità






Input min/max: -000060000.0 / 0000060000.0





P-0-0029, Trigger level for torque/force dataIf P-0-0026, Trigger signal selection = “5“, then Parameter P-0-0029,Trigger level for torque data determines the torque/force value at whichthe trigger will be released as long as the correct edge has beenrecognized.


P-0-0029 - AttributesPara. Name: DE Triggerschwelle für Drehmoment/Kraftdaten

EN Trigger level for torque/force data

FR Seuil de déclenchement données de couple/force

ES Umbral de trigger para datos de par/fuerza

IT Livello di Trigger per Dati Coppia/Forza






Input min/max: -0099.6 / 00099.6


P-0-0030, Trigger edgeParameter P-0-0030 Trigger edge defines the signal change at which atrigger event can be initiated.

Number: Trigger edge:

1 Triggering on the positive edge of the trigger signal

2 Triggering on the negative edge of the trigger signal

3 Triggering on both the positive edge and negative edge of thetrigger signal

4 Triggering if the trigger signal equals the trigger levelFig. 3-10: Selection of trigger edges


P-0-0030 - AttributesPara. Name: DE Triggerflanke

EN Trigger edge

FR Front de déclenchement

ES Lado de trigger

IT Fronte di Trigger






Input min/max: 00001 / 00004





P-0-0031, TimebaseThe Timebase defines the time intervals in which the probe values of theselected signals are sampled. Possible time intervals range from 250 µs(resp. 500 µs) to 100 ms.

Note that in general:

Recording duration = Time resolution • Size of memory [µs]


P-0-0031 - AttributesPara. Name: DE Zeitauflösung

EN Timebase

FR Base de temps

ES Resolución de tiempo

IT Base dei Tempi






Input min/max: 0000000250 / 0000100000


P-0-0032, Size of memoryThe size of memory determines the number of recorded probe values permeasurement. A maximum of 512 probe values can be recorded perchannel.

The memory size and time resolution together determine the recordingduration. The minimum recording duration is 128 ms, and the maximumduration is 51.2 s.

Note that in general:

Recording duration = Time resolution • Size of memory [us]


P-0-0032 - AttributesPara. Name: DE Speichertiefe

EN Size of memory

FR Taille mémoire

ES Tamaño de memoria

IT Dimensione Memoria






Input min/max: 00002 / 00512





P-0-0033, Number of samples after triggerParameter P-0-0033 defines the number of probe values, or samples, thatwill be entered in the probe value list after the trigger event. In this way itis possible to set a parameter to define a trigger delay. Parameter P-0-0033 is used for this.

Trigger signalTriggerthreshold

Trigger status(bit 0)

Trigger delay

Recording duration

P-0-0033: Number ofmeasurements afterthe trigger action

Fig. 3-11: Triggering


P-0-0033 - AttributesPara. Name: DE Anzahl der Messwerte nach Triggerereignis

EN Number of samples after trigger

FR Nombre de mesures après déclenchement

ES Numero de muestras despues de trigger

IT Numero di Campionamenti dopo Trigger






Input min/max: 00000 / 00512


P-0-0035, Delay from trigger to startParameter P-0-0035 indicates the number of cycles between the triggerevent (internal) and the release of the trigger (bit 0 trigger control word) inexternal triggering.

Trigger signal

Trigger

Trigger status(bit 0)

Triggersteuer(Bit 0)

P-0-0035Trigger control mixing

Trigger delay

Recording duration

P-0-0033:Number of measurementsafter the trigger action

Fig. 3-12: Triggering




Since there is a delay between the transmission of the trigger event by thecontrol system and the release of the trigger, the delay is measured bythe drive controller and stored in parameter P-0-0035, Delay from triggerto start. A time-correct display of signals is ensured by using thisparameter for visualizing the probe values.


P-0-0035 - AttributesPara. Name: DE Triggersteuerversatz

EN Delay from trigger to start

FR Délai de déclenchement

ES Retardo de mando de trigger

IT Ritardo del Trigger dopo Start








P-0-0036, Trigger control wordParameter P-0-0036 controls the oscilloscope function.

• Bit 2 activates the function, i.e., the lists of scope data are filled withthe selected data.

• Bit 1 activates trigger monitoring.

• Bit 0 can initiate a trigger event. If a valid edge is recognized, theprobe-value memory will be completed as specified by parameterP-0-0033, Number of samples after the trigger, and the oscilloscopefunction will be deactivated by resetting bits 1 and 2 in the triggercontrol word.


Bit 0: Trigger action (input with external triggering)

Bit 1: Trigger release

Bit 2: Oscilloscope function active

Fig. 3-13: P-0-0036, Trigger control word


P-0-0036 - AttributesPara. Name: DE Triggersteuerwort

EN Trigger control word

FR Mot de commande déclenchement

ES Palabra de mando de trigger

IT Controllo Trigger











P-0-0037, Trigger status wordStatus messages for the oscilloscope function.

The parameter P-0-0037 offers various pieces of information about thecurrent status of the oscilloscope function.


Bit 0: Trigger actionexternal: message to control

systeminternal: activation of the trigger

delay function

Bit 1: Signal < Trigger threshold

Bit 3: Signal > Trigger threshold

Bit 2: is recording

Fig. 3-14: P-0-0037, Trigger status word


P-0-0037 - AttributesPara. Name: DE Triggerstatuswort

EN Trigger status word

FR Mot d'état déclenchement

ES Palabra de estado de trigger

IT Stato Trigger








P-0-0051, Torque/force constantThe torque/force constant determines what drive torque or force themotor will deliver at a specific effective current.

For synchronous motors, this value depends entirely on the design of themotor.

In asynchronous motors, this value is valid as long as the motor is notoperated in the field-weakening range.

For MHD, MKD and MKE motors, this parameter is stored in the feedbackdata memory and cannot be changed.




MA [Nm, N] = (P-0-0051)•(S-0-0111)•(S-0-0080)where:

MA = Drive torqueP-0-0051 = Torque/force constant, [Nm/A] or [N/A]S-0-0111 = Motor current at standstill [A]S-0-0080 = Torque/force command [%]

Fig. 3-15: Drive torque


P-0-0051 - AttributesPara. Name: DE Drehmoment/Kraft-Konstante

EN Torque/force constant

FR Constante de couple/force

ES Constante de par/fuerza

IT Costante di Coppia/Forza




Unit: Nm/A Extreme value check: no


Input min/max: 000.01 / 655.35


P-0-0074, Feedback 1 typeThis parameter determines the encoder interface to which the motorencoder is connected. The number of the corresponding interface moduleshould be entered in this parameter.

Module: P-0-0074: Measurement system:

- 0 None (only with rotary asynchronous motors)

Standard 1 Digital servo feed back or resolver

DLF01.1M 2 Incremental encoder with sine signals fromthe Heidenhain company, with either µA or 1Vsignals

DZF02.1M 3 Indramat gear-type encoder

DEF01.1M 5 Incremental encoder with square-wavesignals from the Heidenhain company

DAG01.2M 8 Encoder with EnDat interface from theHeidenhain company

DZF03.1M 9 Gearwheel with 1Vpp signals

Standard 10 Resolver without feedback data memory

Standard +DLF01.1M

11 Resolver without feedback data memory plusincremental encoder with sine signals

Fig. 3-16: P-0-0037, Trigger status word

Restrictions:

Modules DLF, DZF, DRF and DEF 1 must not be operated simultaneouslyin a controller. => Danger of Damage!

It is not possible to combine DLF and DZF.Module DEF 2 can be used to operate an incremental encoder along withDLF or DZF.




See also the functional description: "Determining the Feedback Interfaceof the Motor Feedback".

P-0-0074 - AttributesPara. Name: DE Geber-Typ 1

EN Feedback 1 type

FR Type de codeur 1

ES Tipo de encoder 1

IT Tipo di Feedback 1






Input min/max: --- / 00015


P-0-0075, Feedback 2 typeThis parameter determines the encoder interface to which the externalencoder is connected. The number of the corresponding interface moduleshould be entered in this parameter.

Module: P-0-0075: Measurement system:

-- 0 None

Standard 1 Digital servo feedback (resolver)

DLF01.1M 2 Incremental encoder with sine signals from theHeidenhain Company, with either uA or 1Vsignals

DZF02.1M 3 Indramat gear-type encoder

DFF01.1M 4 Digital servo feedback from the Heidenhain orStegmann companies

DEF01.1M 5 Incremental encoder with square-wave signalsfrom the Heidenhain company

DEF02.1M 6 Incremental encoder with square-wave signalsfrom the Heidenhain company

DAG01.2M 7 Encoder with SSI interface

DAG01.2M 8 Encoder with EnDat interface

DZF03.1M 9 Gearwheel encoder with 1Vpp signalsFig. 3-17: P-0-0075, Interface feedback 2, external

Restrictions:

Modules DLF, DZF, DRF and DEF 1 must not be operated simultaneouslyin a controller. => Danger of Damage!

It is not possible to combine DLF and DZF.Module DEF 2 can be used to operate an incremental encoder along withDLF or DZF.

See also the functional description: "Determining the Feedback Interfaceof the Motor Feedback".




P-0-0075 - AttributesPara. Name: DE Geber-Typ 2

EN Feedback 2 type

FR Type de codeur 2

ES Tipo de encoder 2







Input min/max: 00000 / 00009


P-0-0081, Parallel I/O output 1The control system can use this parameter to address the outputs of theDEA 4.1 I/O card.

See also the functional description: "Digital Input/Output".

P-0-0081 - AttributesPara. Name: DE Paralleler Ausgang 1

EN Parallel I/O output 1

FR Sortie parallèle 1

ES Salida paralela 1

IT Uscita parallela 1








P-0-0082, Parallel I/O input 1The control system can use this parameter to address the inputs of theDEA 4.1 I/O card.

See also the functional description: "Digital Input/Output"

P-0-0082 - AttributesPara. Name: DE Paralleler Eingang 1

EN Parallel I/O input 1

FR Entrée parallèle 1

ES Entrada paralela 1

IT Ingressi paralleli 1











P-0-0090, Travel limit parameterParameter P-0-0090 activates the travel limit switches. In addition, theinputs can be inverted ( 0V on input Limit+/- Õ Travel limit exceeded ).


Bit 0 : Negation0: Limit+/- not inverted,

24 V => travel range exceeded1: Limit+/- inverted,0: V => travel range is exceeded

Bit 1 : Activation0: Travel range switch is not active.1: Travel range switch is active.

Bit 2 : Response0: Overtravel is handled as an error.1: Overtravel is handled as a warning.

Fig. 3-18: P-0-0090, Travel limit parameter

Note: In addition, for DIAX drives, bit 1 activates the monitoring ofthe external 24V supply.

See also the functional description: "Travel Range Limits".

P-0-0090 - AttributesPara. Name: DE Fahrbereichsgrenzschalter-Parameter

EN Travel limit parameter

FR Paramètres de butées hardware

ES Parámetro limite de desplazamiento

IT Parametro Limite Percorso








P-0-0096, Distance to move in error situationBy inputting a 3 in parameter P-0-0119, Best possible declaration, thereaction "return motion“ can be set.

A switch into best possible standstill takes place and the drive traversesthe path from the current feedback position value to the valueparametrized here (the qualifying sign is noted). The S-0-0091, Bipolar




velocity limit value, S-0-0138, Bipolar acceleration limit value and S-0-0349, Jerk limit bipolar are used as limiting factors.

It is necessary to parametrize a sufficiently sized value in P-0-0126,Maximum braking time to give the drive enough time to traverse thespecified path.

If the position limit values are active, then the drive keeps the returnmotion from travelling over them. The drive then stops at the S-0-0057,Position window at the respective position limit value.

See also the functional description: "Return motion".

P-0-0096 - AttributesPara. Name: DE Verfahrweg im Fehlerfall

EN Distance to move in error situation

FR Déplacement en cas de défaut

ES Recorrido de desplazamiento en caso de error

IT Distanza Movimento in Caso di Errore






Input min/max: S-0-0076 / S-0-0076


P-0-0097, Absolute encoder monitoring windowDuring S-0-0128, C200 Communication phase 4 transition check, theabsolute encoder monitoring compares the position saved during the lastpowering down with the current absolute feedback.

If the difference is greater than the value set in parameter P-0-0097,Absolute encoder monitoring window, the error message F276Absolute encoder out of allowed window will be generated. This canhappen when the axis has been moved with the power off, or afterchanging the motor.

Note: If a 0 is parametrized in P-0-0097, Absolute encodermonitoring window, the absolute encoder monitor isdeactivated.

As a standard value, 0.1 motor revolution ( = 36 degrees in reference tothe motor shaft ) can be programmed if the axis has an electricallyreleased brake or an electrically activated braking mechanism.

See also the functional description: "Absolute Encoder Monitoring".

P-0-0097 - AttributesPara. Name: DE Absolutgeber-Überwachungsfenster

EN Absolute encoder monitoring window

FR Fenêtre de surveillance du codeur absolu

ES Ventana de control de encoder absoluto

IT Finestra di Controllo del Encoder assoluto









Input min/max: 0000000.0000 / 0214748.3647


P-0-0098, Max. model deviationThe maximum model deviation is the maximum deviation between thereal position feedback value and the model position feedback valuecalculated by the drive.

This parameter can be read out by the user to help set the parameter forS-0-0159, Monitoring window.

Two cases must be distinguished for determining the model positionfeedback value:

1) Position control with following (lag) error

In this operating mode, the controlled system is simulated by a model.

The maximum deviation between the calculated position feedback modulevalue and the real position feedback value is stored in the parameterP-0-0098.

2) Position control without following (lag) error

In this operating mode, the position command value is compared to theposition feedback value. The maximum deviation encountered is stored inP-0-0098.

Note: This parameter can be write accessed so that it can be setback to 0, for example.

See also the functional description: " Position Control Loop Monitoring".

P-0-0098 - AttributesPara. Name: DE Max. Modellabweichung

EN Max. model deviation

FR Ecart maxi. au modèle

ES Desviación máx. del modelo

IT Deviazione mass. da Modello






Input min/max: 0000000.0000 / 0214748.3647





P-0-0099, Position command smoothing time constantThe position command smoothing time constant determines the maximum jerkpossible in operation modes with closed loop position control.

The maximum jerk is determined by:

2nd derivative of the positioncommand values

max. jerk = P-0-0099 Position command valuesmoothing filter time constant

Fig. 3-19: Max. jerk

If you don’t want to activate a filter, set P-0-0099 >= S-0-0001, NC Cycletime (TNcyc) (greater or equal).

See also the functional description: "Command value processing: PositionControl".

P-0-0099 - AttributesPara. Name: DE Lagesollwert-Glättungsfilter-Zeitkonstante

EN Position command smoothing time constant

FR Temps de filtrage consigne de pos.

ES Tiempo de alisamiento posición comando

IT Tempo per Smorzamento Comandi Posiz.






Input min/max: 000.00 / 655.35


P-0-0109, Torque/force peak limitThe maximum peak torque of a drive can be limited in a manner suitableto an application with the use of parameter P-0-0109, Torque/ force peaklimit. In other words, the parameter ensures that the max. torque specificto the application is not exceeded even if S-0-0092, Bipolar torque/forcelimit value is set exceedingly high.

See also functional description: "Torque Limit".

P-0-0109 - AttributesPara. Name: DE Spitzendrehmoment/-Kraft-Begrenzung

EN Torque/force peak limit

FR Limitation couple/force crête

ES Limite par/fuerza punta

IT Limitazione Picco Coppia/Forza






Input min/max: 0000.0 / 0099.6





P-0-0117, NC reaction on errorThis parameter allows the NC 30 seconds to bring the drive controller to acoordinated deceleration in an error situation if the parameter is set with a"1“. The drive follows the command for this period. The drive reacts withthe preset P-0-0119, Best possible deceleration.

This feature works for non-fatal errors.


Bit 0: Activation 0: instant control drive reaction to

non-fatal errors with"best possible standstill"

1: reaction to non-fatal errors delayed 30 sec

Fig. 3-20: P-0-0117, NC reaction on error

See also the functional description: "NC Response in Error Situation"

P-0-0117 - AttributesPara. Name: DE Aktivierung NC-Reaktion im Fehlerfall

EN NC reaction on error

FR Activation réaction CN en cas de défaut

ES Activación reaccion NC en caso de error

IT Reazione in Presenza Errore NC






Input min/max: 00000 / 00001


P-0-0118, Power off on errorHow a drive error is signalled to the drive pack or to the supply module,can be activated in the parameter P-0-0118, Power off on error.

Moreover, there are the following possibilities to set the reaction uponerror:

• Power off / packet reaction in case of error (bit 0)

• Condition for power up (bit 1)

• Time for switching the power off (bit 2)

• Reaction upon undervoltage (bit 3)

• Undervoltage as fatal warning (bit 4)

• Automatic clearance of undervoltage (bit 5)





Bit 0 : Packet reaction or power cutoff onerror

0: For modular devices: No packet reaction(do not cutoff the common DC busvoltage) on error

For compact devices: no power cutoff onerror

1: Packet reaction and power cutoff on error

Bit 1 : Condition for power on0: Power on allowed, if no error and operation

mode (comm. phase 4)1: Power on allowed, if no error ("passive

axis“)

Bit 2 : At what time power cutoff happens incase of an error

(only if bit 0 = 1)0: Modular devices: The message is output

immediately when the error happens.(packet response of all drive controllersmounted to the same supply module,prefered setting for modular devices)

Compact devices: The power is switched offimmediately when the error happens.

1: Modular devices: The message is only outputafter the end of the error reaction.

Compact devices: The Power is only switched offafter the end of the error reaction.(preferred setting for compact devices)

Bit 3 : Reaction to DC bus undervoltage0: Undervoltage is treated as an error or a non-

fatal warning.1: Undervoltage is treated as a fatal warning with

suppression of driving operation.

Bit 4 : Automatic reset of the undervoltage error0: Undervoltage error is stored.1: Undervoltage error is reset by the drive upon

dropping drive enable (RF) to 0.

Bit 5 : Undervoltage as warning0: Undervoltage with error or non-fatal warning1: Undervoltage is treated as non-fatal warning.

Fig. 3-21: P-0-0118, Power off on error

See also the functional description: " Power off on error".

P-0-0118 - AttributesPara. Name: DE Leistungsabschaltung im Fehlerfall

EN Power off on error

FR Mise hors tension en cas de défaut

ES Desconexion de potencia en caso de error

IT Spegnimento Potenza in Caso di Errore


Data length: -- Memory: Param. EE




Input min/max: 00000 / 00001





P-0-0119, Best possible decelerationThis parameter specifies the type of braking to standstill for the drive inthe event of

• a non-fatal error

• an interface error

• a phase regression

• switching off the drive enable signal

P-0-0119: Reaction type:

0 Velocity command value set to zero

The motor brakes in regard to the torque limit value.The Braking time is set in parameter P-0-0126. Assoon as the braking time elapses, the motor holdingbrake is activated. If the velocity has previously fallenbelow 10 rpm (rotational motors) or below 10 mm/min(linear motors), then the motor holding brake will beengaged immediately. 150 milliseconds after themechanical brake is set, the motor is torque free.

1 Switch to torque-free state

2 Velocity command to zero with command ramp andfilter.

The ramp, i.e. the maximum acceleration, is set viaP-0-1201, Ramp 1 pitch, the jerk filter via P-0-1222,Velocity command filter.

3 Return motion

The drive generates a position command profile fortraversing the set "path on error“ in which case arelative path is activated which is defined with

P-0-0096, Distance to move in error situation,

S-0-0091, Bipolar Velocity Limit Value,

S-0-0138, Bipolar acceleration limit value and

S-0-0349, Jerk Limit bipolar.Fig. 3-22: Deceleration mode for the drive

The drive enable can be set again, at the earliest, after the operation ofthe error reaction.

See also the functional description: "Best Possible Deceleration".

P-0-0119 - AttributesPara. Name: DE Bestmögliche Stillsetzung

EN Best possible deceleration

FR Arrêt au plus vite

ES La mejor parada posible

IT Decellerazione massima






Input min/max: 00000 / 00002





P-0-0121, Velocity mix factor feedback 1 & 2The Velocity mix factor parameter determines the ratio of the velocityfeedback values between the motor encoder and the optional encoder.

The input is percentage-based. Note the following:

0 % : The velocity controller works solely with the velocity of the motorencoder ( = encoder 1).

100 % : The velocity controller works solely with the velocity of the opt.encoder ( = encoder 2).

If no optional encoder is available, then the parameter is set to 0 % .

See also the functional description: " Setting the Velocity Mix Factor".

P-0-0121 - AttributesPara. Name: DE Geschwindigkeits-Mischfaktor Geber 1 & Geber 2

EN Velocity mix factor feedback 1 & 2

FR Facteur de mixage vitesse codeur 1 & codeur 2

ES Factor mixto de velocidad encoder 1 & 2

IT Fattore di Correzione Feedback 1 & 2






Input min/max: 0000.0 / 0100.0


P-0-0126, Maximum braking timeThe maximum braking time for the drive is set in this parameter.

The value should always be set higher then the time needed to decelerate theshaft from maximum velocity to zero using the error reaction “ Velocitycommand value set to zero.”

The velocity command value is switched to zero if P-0-0119, Bestpossible deceleration is set to 0 and either

• The drive enable (RF) is removed

• The drive is switched to parameter mode with RF switched on

• A drive error is recognized that still allows a reaction from the drive (allnon-fatal errors)

• In the case of separately supplied devices, a drive connected to thesame supply module reports an error to that module, so that theintermediate voltage is switched off.

P-0-0126 - AttributesPara. Name: DE Maximale Bremszeit

EN Maximum braking time

FR Temps de freinage max.

ES Tiempo máx. de frenado

IT Tempo massimo di Frenata









Input min/max: 0000000500 / 0000100000


P-0-0127, Overload warningTo protect the power stage, the temperature is calculated with atemperature model for the transistor output stage. If the temperatureexceeds 125°C, then the torque-producing command current will belimited.

To avoid an unexpected disruption of the torque from the drive, a warningthreshold can be set in this parameter.

If the thermal load rises above the set value, warning E261 Continuouscurrent limiting prewarning will be generated.

If 100% is entered, this warning will be deactivated, because then themessage E257 Continuous current limit active will be generatedinstead.


P-0-0127 - AttributesPara. Name: DE Überlastwarnung

EN Overload warning

FR Alerte surcharge

ES Aviso de sobrecarga

IT Preallarme Sovracarico






Input min/max: 00000 / 00100


P-0-0139, Analog output 1The parameter P-0-0139, Analog output 1 sets the voltage value for theanalog output 1 of the drive controller.

See also the functional description: "Analog Output".

P-0-0139 - AttributesPara. Name: DE Analogausgang 1

EN Analog output 1

FR Sortie analogique 1

ES Salida analogica 1

IT Uscita analogica 1







Unit: V Extreme value check: yes




P-0-0140, Analog output 2The parameter P-0-0140, Analog output 2 sets the voltage value for theanalog output 2 of the drive controller.


P-0-0140 - AttributesPara. Name: DE Analogausgang 2

EN Analog output 2

FR Sortie analogique 2

ES Salida analogica 2

IT Uscita analogica 2








P-0-0141, Thermal drive loadThe parameter P-0-0141, Thermal drive load is for diagnostic purposes.In this parameter, 0% corresponds to a chip over-temperature of 0 Kelvin,100% corresponds to the maximum chip over-temperature. The thermalload should not exceed a value of 80% for the applied operating cycles ifthe drive is set up correctly.

It typically takes about 10 minutes to warm up a drive controller end stageto its final temperature. To check the thermal load of a drive duringinstallation without having to run operating cycles during this period oftime, the drive controller load can be preset with 80%. This can happen bywriting an arbitrary value to the parameter P-0-0141, Thermal drive load.


P-0-0141 - AttributesPara. Name: DE Thermische Regelgeräte-Auslastung

EN Thermal drive load

FR Charge thermique variateur

ES Descarga termica de reguladores

IT Carico termico Azionamento









Input min/max: 00000 / 00100


P-0-0145, Expanded trigger levelThis parameter is for service purposes only.

If bit 12, Expanded trigger level is selected using parameter P-0-0026,Trigger signal selection, then an address can be selected withparameter P-0-0145 that is monitored for the threshold parameter value.


31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1 0

16 bit threshold fortrigger signals

16 bit mask fortrigger signals

Fig. 3-23: P-0-0145, Expanded trigger level (oscilloscope function)

See also the functional description: "Oscilloscope feature".

P-0-0145 - AttributesPara. Name: DE Triggerschwelle erw.Oszilloskopfunktion

EN Expanded trigger level

FR Seuil de déclenchement fonction oscill. élargie

ES Umbral de trigger función ampliada de osciloscopio

IT Superamento Soglia Fronte di Trigger








P-0-0146, Expanded trigger addressThis parameter is for service purposes only.

If bit 12 Expanded trigger level is selected in using parameter P-0-0026,Trigger signal selection, then an address can be selected withparameter P-0-0146 that is monitored for the threshold parameter value.





31 30 29 28 27 2625 2423 2221 2019 1817 16 15 14 13 1211 10 9 8 7 6 5 4 3 2 1 0

16 bit address fortrigger signals

Fig. 3-24: P-0-0146, Expanded trigger address

The 16-bit value of the trigger edge is monitored. Before, the trigger signalis ANDed with the mask for trigger signals.


P-0-0146 - AttributesPara. Name: DE Triggersignaladresse erw. Oszilloskopfunktion

EN Expanded trigger address

FR Adresse déclenchement fonction ocill. élargie

ES Dirección de trigger función de osciloscopio ampliada

IT Superamento Indirizzo del Segnale di Trigger








P-0-0147, Expanded signal K1 addressIf an expanded signal selection is made with parameters P-0-0023,Signal select scope channel 1 and P-0-0024, Signal select scopechannel 2, then an address to be recorded can be chosen in the drivewith parameter P-0-0147.


P-0-0147 - AttributesPara. Name: DE Signaladresse K1 erw. Oszilloskopfunktion

EN Expanded signal K1 address

FR Adresse signal K1 fonction oscill. élargie

ES Dirección de señal K1 función de osciloscopio ampliada

IT Indirizzo Segnale K1











P-0-0148, Expanded signal K2 addressIf an expanded signal selection is chosen with parameters P-0-0023,Signal select scope channel 1 and P-0-0024, Signal select scopechannel 2, then an address to be recorded can be chosen in the drivewith parameter P-0-0148.


P-0-0148 - AttributesPara. Name: DE Signaladresse K2 erw. Oszilloskopfunktion

EN Expanded signal K2 address

FR Adresse signal K2 fonction oscill. élargie

ES Dirección de señal K2 función de osciloscopio ampliada

IT Indirizzo Segnale K2








P-0-0149, List of selectable signals for oscilloscope functionThe control system can read drive-supported, predefined signals withparameter P-0-0149. This permits a user interface to prepare a signalselect menu using the information in the listed parameters in the drive.

List entries: ID number of:

1 S-0-0051 or S-0-0053

2 S-0-0040

3 S-0-0347

4 S-0-0189

5 S-0-0080

6 S-0-0051

7 S-0-0053

8 S-0-0047

9 P-0-0147

10 P-0-0148Fig. 3-25: P-0-0149, List of selectable signals for oscilloscope function


P-0-0149 - AttributesPara. Name: DE Signalauswahlliste für Oszilloskopfunktion

EN List of selectable signals for oscilloscope function

FR Liste sélection signaux pour fonction oscilloscope

ES Lista de selección de señal para función de osciloscopio

IT Lista dei Segnali validi per Funzione Oscilloscopio











P-0-0150, Number of valid samples for oscilloscope functionIf the oscilloscope function is activated then the signal to be recorded iscontinuously fed to a value memory. If triggering occurs, then therecording procedure is stored and the value list can be read out. Theoldest measured value is the first element of this list, the newest value thelast.

If triggering occurs before the memory is completely filled, then a numberof values at the start of the list are invalid. The number of valid valuesbefore triggering is available in parameter P-0-0150, Number of validsamples for oscilloscope function.


P-0-0150 - AttributesPara. Name: DE Anzahl gültiger Messwerte für Oszilloskopfunktion

EN Number of valid samples for oscilloscope function

FR Nombre de mesures valides pour fonction oscilloscope

ES Numero valores de medición validos para función osciloscopio

IT Numero dei Campionamenti validi per Funz. Oscill.








P-0-0153, Optimal distance home switch - reference markDuring command "Drive-controlled homing" when the home switchedge and reference mark evaluation are activated, the distance betweenthe home-switch edge and the reference mark is monitored. Forreference marks with equal intervals, the optimal distance is half thereference mark interval. The optimal distance can be entered inparameter P-0-0153, Optimal distance home switch - reference mark asper the following table:




Encoder type P-0-0153 Function

Rotational 0 The home-switch - reference mark interval is monitored. The optimal distancewill be calculated internally, and is equal to 1/2 of an encoder revolution forDSF or incr. rotary encoders, or 1/2 of an encoder revolution / S-0-0116,Rotary encoder resolution - 1 for resolvers.

Rotational x The home-switch - reference mark interval is monitored. Half the referencemark distance must be entered in P-0-0153, Optimal distance home switch -reference mark.

Linear 0 The home-switch - reference mark interval is not monitored. The linearencoder does not affect reference marks with constant intervals. The realdistance between the home-switch and the reference mark must be largeenough to ensure recognition of the home-switch edge, taking into account themaximum homing velocity and the cycle time for the home-switch inputrequest.

Linear x The home-switch - reference mark interval is monitored. Half the referencemark distance must be entered in P-0-0153, Optimal distance home switch -reference mark.

Fig. 3-26: Interval monitoring, home switch - reference mark


P-0-0153 - AttributesPara. Name: DE Optimaler Abstand Referenzschalter-Referenzmarke

EN Optimal distance home switch - reference mark

FR Distance optimale entre contact d’origine et marque de réf.

ES Distancia optima marca de puesta a cero

IT Distanza ottimale Camma di Zero



Format: S-0-0076 Validity check: Phase3



Input min/max: -214748.3648 / 0214748.3647


P-0-0170, Parallel I/O output 4Parameter P-0-0170, Parallel I/O Output 4 displays the parallel outputsof the DEA. 8.1 I/O module which can address the outputs of this module.


P-0-0170 - AttributesPara. Name: DE Paralleler Ausgang 4

EN Parallel I/O output 4

FR Sortie parallèle 4

ES Salida paralela 4

IT Uscita parallela 4


Data length: 4Byte Memory: -




Default value: - Cyc. transmittable: -




P-0-0171, Parallel I/O input 4Parameter P-0-0171, Parallel I/O Input 4 displays the parallel inputs ofthe DEA. 5.1 I/O module which can address the inputs of this module.


P-0-0171 - AttributesPara. Name: DE Paralleler Eingang 4

EN Parallel I/O input 4

FR Entrée parallele 4

ES Entrada paralela 4

IT Ingressi paralleli 4







P-0-0176, Torque/Force command smoothing time constantThe parameter P-0-0176, Torque/force command smoothing timeconstant is only active during the operation mode Torque control.

During torque control, the time constant input here is used to filter thecommand value given by S-0-0080, Torque/Force command via a lowpass filter. This can smoothen acceleration jumps in successivecommand values.

See also the functional description: "Operating Mode: Torque Control".

P-0-0176 - AttributesPara. Name: DE Drehmoment/Kraft-Sollwert Glättungszeitkonstante

EN Torque/Force command smoothing time constant

FR Temps de filtrage pour consigne de couple/force

ES Tiempo de alisamiento para comando par/fuerza

IT Tempo di Smorzamento per Coppia/Forza comandata








P-0-0177, Absolute encoder buffer 1All the data that the absolute encoder needs for position initialization isstored in this parameter.

See also the functional description: "Supplementary Settings for AbsoluteMeasuring Systems".




P-0-0177 - AttributesPara. Name: DE Absolutgeber-Puffer 1

EN Absolute encoder buffer 1

FR Tampon codeur absolu 1

ES Buffer de encoder absoluto 1

IT Buffer Encoder assoluto 1






Default value: -- Cyc. transmittable: no

P-0-0178, Absolute encoder buffer 2All the data that the absolute encoder needs for position initialization isstored in this parameter.

See also the functional description: "Supplementary Settings for AbsoluteMeasuring Systems".

P-0-0178 - AttributesPara. Name: DE Absolutgeber-Puffer 2

EN Absolute encoder buffer 2

FR Tampon codeur absolu 2

ES Buffer de encoder absoluto 2

IT Buffer Encoder assoluto 2






Default value: -- Cyc. transmittable: no

P-0-0180, Rejection frequency velocity loopTo suppress the mechanical resonance frequency, a band filter can beactivated at the output of the velocity controller .It is parametrized withparameters P-0-0180, Rejection frequency velocity loop andP-0-0181, Rejection bandwidth velocity loop.

P-0-0180, Rejection frequency velocity loop indicates the mostattenuated frequency.

See also the functional description: "Filtering oscillations from mechanicalresonance".

P-0-0180 - AttributesPara. Name: DE Sperrfrequenz Geschwindigkeitsregler

EN Rejection frequency velocity loop

FR Fréquence á supprimer, boucle de vitesse

ES Frecuencia a eliminar Regulador de velocidad

IT Frequenza da sopprimere, Anello di Velocità







Unit: Hz Extreme value check: yes


Input min/max: 00150 / 01950


P-0-0181, Rejection bandwidth velocity loopTo supress the mechanical resonance frequency, a band filter can beactivated at the output of the velocity controller.

It is parametrized with parameters:

• P-0-0180, Rejection frequency velocity loop and

• P-0-0181, Rejection bandwidth velocity loop.

P-0-0181, Rejection bandwidth velocity loop sets the frequency rangefor the rejection frequency with an attenuation smaller than -3dB.

Example:

P-0-0180 = 500 Hz,

P-0-0181 = 200 Hz;

then: attenuation < -3dB in range of 400..600 Hz.

Parametercontent Effect of P-0-0181

-1 Low pass filter with time constant P-0-0004

0 Filter is off

>0 bandwidth of suppression (notch) filter

Fig. 3-27: P-0-0181, Rejection bandwidth velocity loop

See also the functional description: "Filtering oscillations from mechanicalresonance".

P-0-0181 - AttributesPara. Name: DE Bandbreite Sperrfilter Geschwindigkeitsregler

EN Rejection bandwidth velocity loop

FR Gamme de bande à supprimer, boucle de vitesse

ES Ancho de banda a eliminar regulador de velocidad

IT Larghezza Banda da sopprimere, Anello di Velocità




Unit: Hz Extreme value check: yes


Input min/max: 00000 / 03900





P-0-0185, Function of encoder 2Parameter P-0-0185 can be used to allocate a specific function to anexternal encoder. The following functions are defined:

P-0-0185 Function of the external encoder

0 ext. control function

2 Load side motor encoderFig. 3-28: Ext. encoder function

Explanation:

• If the ext. encoder is used as a control encoder, it can be used toclose the control loop. All modes are possible with ext. enc. Theposition value is set in S-0-0053, Position feedback value 2 (ext.feedback)

• If the ext. enc. is used as a motor encoder, the control loop andcommutation are generated from this encoder. Only S-0-0053,Position feedback value 2 (ext. feedback) is supported.

See also the functional description: "Optional encoder".

P-0-0185 - AttributesPara. Name: DE Funktion Geber 2

EN Function of encoder 2

FR Fonction du codeur 2

ES Función del encoder 2

IT Funzione del Encoder 2








P-0-0187, Position command processing modeParameter Structure:

Bit 0: Select com.val. interpolator0: linear1: cubic

Fig. 3-29: Structure of parameter P-0-0187

Description of bit 0: Selecting command value interpolator

For a jerk-free motion in position control mode, the position commandvalues transmitted via the command value channel are interpolated.Using bit 0 of parameter P-0-0187 Position command processingmode it is possible to select either a linear or cubic interpolator. The useof the cubic interpolator is generally recommended unless the timingbehaviour of the linear interpolator is required (see individual descriptionbelow).




The default setting is the linear interpolator.

Bit 0 = 0: Linear interpolator

The linear interpolator generates interim values that are on a straightconnection between two position command values. As two positioncommand values are needed for interpolation, the drive achieves thecommand position of a command cycle as per the default.

Bit 0 = 1: Cubic interpolator

Using four command values, the cubic interpolator determines apolynomial of the third order that supports the generation of interimvalues. To do so and in contrast to a linear interpolator, an additional andnew position command value is required. This is why the drive needs twocommand value cycles to reach the command value position.

The maximum value of the NC cycle time for a cubic interpolator equals amaximum of (Parameter S-0-0001) 20ms.

P-0-0187 - AttributesPara. Name: DE Modus der Lagesollwertverarbeitung

EN Position command processing mode



Format: BIN Validity check: P3-4

Decimal places: - Combination check: yes



P-0-0190, Operating hours control sectionThe operating hours of the control section are displayed here. With thisparameter, the entire on time of control electronics since installation of theunit can be displayed. If a class 1 error occurs, the contents of thisparameter at that time is first stored in P-0-0193, Error recorder,operating hours control section.

See also the functional description: "Error memory and operating hourcounter".

P-0-0190 - AttributesPara. Name: DE Betriebsstunden Steuerteil

EN Operating hours control section

FR Heures de fonctionnement contrôle

ES Horas de servicio sesión de control

IT Ore d'Operazione Sezione Controllo




Unit: h Extreme value check: no


Input min/max: 0 / 2147483647





P-0-0191, Operating hours power sectionWith this parameter, the entire on time of power electronics sinceinstallation of the unit can be displayed. This is the time over which thedrive was operated with drive enable on.


P-0-0191 - AttributesPara. Name: DE Betriebsstunden Leistungsteil

EN Operating hours power section

FR Heures de fonctionnnement puissance

ES Horas de servicio parte de potencia

IT Ore d’Operazione Sezione Potenza




Unit: h Extreme value check: no


Input min/max: 0 / 2147483647


P-0-0192, Error recorder, diagnosis numberIf the drive reports a class 1 error (C1D), a bit is set in S-0-0011, Class 1diagnostics C1D. In the drive status word Bit 13 for "Error C1D“ is set.


• the diagnosis number is shown in the 7- segment display and stored inS-0-0390, Diagnostic message number,

• the plain text diagnosis is stored in S-0-0095, Diagnostic message,

• and the relevant error number in P-0-0009, Error message number.

When the error is cleared, then the diagnosis number of the errordisplayed in S-0-0390, Diagnostic message number is stored inP-0-0192, Error recorder diagnosis number. This parameter shows thediagnosis numbers of the last 19 errors in chronological order in the formof a stack memory. The last cleared error is on top.

The status of P-0-0190, Operating hours control section at the time theerror was deleted is stored in P-0-0193, Error recorder, operating hourscontrol section.


P-0-0192 - AttributesPara. Name: DE Fehlerspeicher Diagnosenummer

EN Error recorder, diagnosis number

FR Enregistrement d'erreurs, numéros de diagnostique

ES Memoria de errores número de diagnóstico

IT Memoria dei Guasti, Numeri Diagnosi










Default value: leer C5959yc. transmittable: no

P-0-0193, Error recorder, operating hours control sectionIf the drive reports a class 1 error (C1D), then a bit is set in S-0-0011,Class 1 diagnostics C1D. Bit 13 for "Error C1D“ is set in the drive statusword.


• the diagnosis number is shown in the 7-segment display and stored inS-0-0390, Diagnostic message number,

• the clear text diagnosis is stored in S-0-0095, Diagnostic message,

• and the relevant error number in P-0-0009, Error message number.

When the error is reset, then the status of P-0-0190, Operating hourscontrol section at the time the error was detected is stored in P-0-0193,Error recorder, operating hours control section. This parametershows the diagnosis numbers of the last 19 errors in chronological order.The first position is the counter value of the last error to occur.

The status of P-0-0192, Error recorder diagnosis number at the timethe error was deleted is stored in S-0-0390, Diagnostic messagenumber.


P-0-0193 - AttributesPara. Name: DE Fehlerspeicher Betriebsstunden Steuerteil

EN Error recorder, operating hours control section

FR Enregistrement d’erreurs, heures de fonctionnement cont.

ES Memoria de errores horas de servicio parte de control

IT Memoria dei Guasti, Ore d’Operazione






Input min/max: 0 / 2147483647





P-0-0194, List of present plug-in modulesEach plug-in module is assigned a card code. The code for the cardsinstalled in the controller can be read off in the list below.

There is the following relationship between plug-in card and card code:

Cardcode

Plug-inmodule

Cardcode

Plug-in module

1 DEF2.1 17 DEA10.1

2 DEF1.1 18 DEA11.1

3 DLF1.1 19 DEF4.1

4 DAE1.1 20 DEF3.1

5 DQM1.1 21 DLC1.1

6 DAE2.1 22 DSS1.1

7 DAA1.1 23 DSS2.1

8 DEA4.1 24 DBS2.1

9 DEA5.1 25 DPF2.1

10 DEA6.1 26 DPF3.1

11 DFF1.1 27 DPF4.1

12 free 28 DRF1.1

13 DAG1.2 29 DBS1.1

14 DAF1 30 DSA1.1

15 DEA8.1 31 DZF1.1 or DZF2.1

16 DEA9.1 32 DZF3.1

P-0-0194 - AttributesPara. Name: DE Liste der gesteckten Einschubmodule

EN List of present plug-in modules

FR Liste des modules branchés

ES Lista de los módulos introducidos

IT Lista dei moduli collegati


Data length: 2Byte var. Memory: -






P-0-0200, Signal select probe 1This parameter is used to select what measured quantity will be used forprobe input 1.

The following signals can be selected:

P-0-0200: Selected signal:

0 Position feedback value 1 or 2, dependent onS-0-0169, Probe control parameter bit 4

1 Time measurement in µsFig. 3-30: P-0-0200, Signal select probe 1





P-0-0200 - AttributesPara. Name: DE Signal-Auswahl Messtaster 1

EN Signal select probe 1

FR Sélection signal pour sonde 1

ES Selección de señal muestra 1

IT Selezione Segnale Probe 1






Input min/max: 00000 / 00001


P-0-0201, Signal select probe 2This parameter is used to select what measured quantity will be used forprobe input 2.

The following signals can be selected:

P-0-0201: Selected signal:

0 Position feedback value 1 or 2, dependent onS-0-0169, Probe control parameter bit 4

1 Time measurement in µsFig. 3-31: P-0-0201, Signal select probe 2


P-0-0201 - AttributesPara. Name: DE Signal-Auswahl Messtaster 2

EN Signal select probe 2

FR Sélection signal pour sonde 2

ES Selección de señal muestra 2

IT Selezione Segnale Probe 2






Input min/max: 00000 / 00001


P-0-0202, Difference probe values 1The difference between the S-0-0130, Probe value 1 positive edge andthe S-0-0131, Probe value 1 negative edge of probe 1 is stored in thisparameter. The value is always recalculated when a new positive ornegative probe value is latched.





P-0-0202 - AttributesPara. Name: DE Differenz Messwerte 1

EN Difference probe values 1

FR Différence mesure 1

ES Diferencia valores de medición 1

IT Differenza Valore Misurato 1








P-0-0203, Difference probe values 2The difference between the S-0-0132, Probe value 2 positive edge andthe S-0-0133, Probe value 2 negative edge of probe 2 is stored in thisparameter. The value is always recalculated when a new positive ornegative probe value is latched.


P-0-0203 - AttributesPara. Name: DE Differenz Messwerte 2

EN Difference probe values 2

FR Différence mesure 2

ES Diferencia valores de medición 2

IT Differenza Valore Misurato 2








P-0-0222, State of Travel range limit inputsThis parameter displays the inputs of the travel range limit switches. Theparameter is used for diagnostic purposes of the limit switches. Thestructure is as follows :

Bit 0: Travel range limit switchpositive activated

0: 0V at Limit+ input1: +24V at Limit+ input

Bit 1: Travel range limit switchnegative activated

0: 0V at Limit- input1: +24V an Limit- input

Fig. 3-32: Structure P-0-0222, Travel range limit inputs

See also the functional description: "Travel Zone Limit Switch Monitoring"




P-0-0222 - AttributesPara. Name: DE Status Fahrbereichsgrenzschalter-Eingänge

EN State of Travel range limit inputs

FR Etat entrées fin de course

ES Estado entradas fin de curso

IT Stato Ingressi Finecorsa








P-0-0223, Status Input E-Stop functionThis Parameter shows the state of the emergency stop input. Theparameter can be used to read back the E-Stop input or for display in aset-up program.

P-0-0223, Input E-Stop function

Bit 0 : State of the E-Stop input0: not actuated (0 V)1: actuated (+24 V)

Fig. 3-33: Structure of the parameter P-0-0223, Input E-Stop function

For normal operation of the drive, the hardware input must be actuatedwith 24V.

See also the functional description: " Emergency stop feature"

P-0-0223 - AttributesPara. Name: DE Status E-Stop-Eingang

EN Status Input E-Stop function

FR Etat entrée Arrêt d'urgence

ES Estado entrada parada de emergencia

IT Stato Ingresso E-Stop








P-0-0247, Version of safety functionsThis parameter shows the version of the safety functions implemented inthe firmware release.

Example: "FWC-HSM1.1-IST-01V03".

See also the functional description: "Intelligent Safety Technology IST".




P-0-0247 - AttributesPara. Name: DE Version der Sicherheitsfunktionen

EN Version of safety functions

FR Version des fonctions de sécurité

IT Versione dei Funzioni di Sicurezza


Data length: 2Byte var. Memory: Eprom



Input min/max: 0 / -


P-0-0248, Checksum over scaled data, driveA checksum is determined from all the parameters which influence theactual position evaluation by the drive.

This checksum must be parametrized on the control’s side, when thesafety functions are used.


P-0-0248 - AttributesPara. Name: DE Checksumme über Wichtungsdaten, Antrieb

EN Checksum over scaled data, drive






Default value: 0 Cyc. transmittable: AT

P-0-0249, Activation of the safety functionsWhen the safety functions are used, the bit 0 must be set to 1.

The safety functions can only be switched on together with a controlwhich supplies them as well.


P-0-0249 - AttributesPara. Name: DE Aktivierung der Sicherheitsfunktionen

EN Activation of the safety functions

FR Activation des fonctions de sécurité

ES Activación de las funciones de seguridad

IT Attivazione delle Funzione di Securità



Format: BIN Validity check: P3-4







P-0-0250, Safety input signals of the driveThe safety input signals are transferred to the drive in the 2 high bytes ofthe 4 byte parameter P-0-0250, Safety input signals of the drive.

In this parameter, the following bits are used:

Bit 16 : Deactivation Safe Halt0: Safe Halt activated1: Safe Halt not activated

P-0-0250, Safety input signals of the drive

Bit 17 : Deactivation Safe stop operation0: Safe stop operation activated1: Safe stop operation not activated

Bit 18 : Deactivation of safety reduced speed 1with safety limited absolute position 10: Monitoring active1: Monitoring not active

Bit 19 : Deactivation of safety reduced speed 2with safety limited absolute position 20: Monitoring active1: Monitoring not active

Bit 20 : Confirmation key0 : not active1 : active

Bit 21 : Reference cam for safe homing0 : cam not activated1 : cam activated

16 15 031

Bit 0..7 : CRCchecksum

Bit 8..15 : Safety I/O counter

Fig. 3-34: Safety inputs of the drive

The lower 2 bytes contain a counter value (bits 8..15) and a CRCchecksum (bits 0..7).


P-0-0250 - AttributesPara. Name: DE Sicherheits-Eingangssignale des Antriebs

EN Safety input signals of the drive

FR Entrées de sécurité de l'entraînement

ES Entradas de seguridad del azionamiento

IT Ingressi di Sicurezza del Azionamento







Decimal places: - Combination check: -

Input min/max: 0 / 2147483647


P-0-0251, Safety output signals of the driveThe safety output signals are transferred to the drive in the 2 highsignificant bytes of the 4 byte parameter P-0-0251, Safety outputsignals of the drive.

In this parameter, the following bits are occupied:

Bit 16 : Safety function active0: No safety function active1: Safety function active

P-0-0251 Safety output signals of the drive

Bit 17 : Switchover finished0: Switchover active1: Switchover not active

Bit 18 : Position switch 10: act. position value < P-0-0260 or > P-0-02591: P-0-0260 < act. position value < P-0-0259




16 15 031

Bit 0..7 : CRCchecksum

Bit 8..15 : Drive counter

Fig. 3-35: Safety outputs of the drive

The bits 16 and 17 are both 1, when the selected safety functions areactive. This is the case, when the selection acknowledge bits 24..28 inP-0-0252, State of safety function, drive are the same as the preset bits16..20 in P-0-0250, Safety input signals of the drive and the activationof the selected safety functions was without error.




A change of the selection resets the bit 17 (switchover finished) to 0 untilthe newly selected safety function is active.

The lower 2 bytes contain a counter value (bits 8..15) and a CRCchecksum (bits 0..7).

The counter value is incremented by 1 every 100 ms by the drive.

The CRC checksum is determined from the 2 high significant bytes of theoutput signals, the counter and a further byte containing the driveaddress.


P-0-0251 - AttributesPara. Name: DE Sicherheits-Ausgangssignale des Antriebs

EN Safety output signals of the drive

FR Sorties de sécurité de l'entraînement

ES Salidas de seguridad del azionamiento

IT Uscite di Sicurezza del Azionamento





Input min/max: 0 / 2147483647





P-0-0252, State of safety function, driveThe state of the safety function can be seen in the most significant byte ofthe 4 byte parameter P-0-0252, State of safety function, drive.

In this parameter, the following bits are occupied:

Bit 24 : Acknowledge Safe Halt0: Safe Halt selected1: Safe Halt not selected

P-0-0252, State of the safety function, drive

Bit 25 : Acknowledge safe stop operation0: Safe stop operation selected1: Safe stop operation not selected

Bit 26 : Acknowledge safety reduced speed 1 withsafety limited absolute position 10: Red. speed 1 and lim. absolute position 1 selected1: Red. speed 1 and lim. absolute position 1 not selected

Bit 28 : Acknowledge Confirmation key0: Confirmation key not activated1: Confirmation key activated

Bit 29 : Signal Motion enabled0: Motion is not enabled1: Motion is enabled

16 15 031 24

Bit 27 : Acknowledge safety reduced speed 2 withsafetylimited absolute position 20: Red. speed 2 and lim. absolute position 2 selected1: Red. speed 2 and lim. absolute position 2 not selected

Bit 0..15 : Life-counterBit 16..23 : Drive address

Fig. 3-36: State of the safety function

The signal ‚Enable Motion‘ is set, when no safety function is active (bit24..27 = 1) or when Safe reduced speed with safe limited absoluteposition is active (bit 26 or 27 = 0) and the confirmation key is pushed (bit28 = 1).

The bits 16 to 23 show the drive address.

In the bits 0..15, there is the life-counter of the drive. Upon reaching theoperation mode (Communication phase 4), this counter is initialized with astart value calculated after the following equation :

Start value = ( ( Drive address - 1 ) mod 64 ) • 1024.

From then on, the life-counter is incremented by 1 in every SERCOScycle.





P-0-0252 - AttributesPara. Name: DE Status der Sicherheitsfunktion, Antrieb

EN State of safety function, drive

FR Etat fonction sécurité, entraînement

ES Estado función seguridad, azionamiento

IT Stato Funzione Sicurezza, Azionamento





Input min/max: 0 / 2147483647


P-0-0253, Max. speed 1 for safety function, driveThis parameter sets the maximum speed which is allowable with active safetyfunction "Safe reduced speed 1 with safely limited absolute position 1“.


P-0-0253 - AttributesPara. Name: DE Maximale Geschwindigkeit 1 für Sicherheitsfkt., Antrieb

EN Max. speed 1 for safety function, drive

FR Vitesse maxi. 1 pour fonction de sécurité, entraînement

ES Velocidad max. 1 por función seguridad, azionamiento

IT Velocità mass. 1 per Funzione Sicurezza, Azionamento



Unit: S-0-0044 Extreme value check: -




P-0-0254, Upper position limit 1 for safety function, driveThis parameter sets the upper position limit which is allowable with active safetyfunction „Safe reduced speed 1 with safely limited absolute position 1“.


P-0-0254 - AttributesPara. Name: DE Oberes Positionslimit 1 für Sicherheitsfkt., Antrieb

EN Upper position limit 1 for safety function, drive

FR Limite de position supérieure 1, fonct. de sécurité, entr.

IT Límite di Posizione sup. 1, Funz. Sicurezza, Azion.










P-0-0255, Lower position limit 1 for safety function, driveThis parameter sets the lower position limit which is allowable with active safetyfunction "Safe reduced speed 1 with safely limited absolute position 1".


P-0-0255 - AttributesPara. Name: DE Unteres Positionslimit 1 für Sicherheitsfkt., Antrieb

EN Lower position limit 1 for safety function, drive

FR Limite de position inférieure 1, fonct. de sécurité, entr.

IT Límite di Posizione inf. 1, Funz. Sicurezza, Azion.







P-0-0256, Max. speed 2 for safety function, driveThis parameter sets the maximum speed which is allowable with active safetyfunction „Safe reduced speed 2 with safely limited absolute position 2“.


P-0-0256 - AttributesPara. Name: DE Maximale Geschwindigkeit 2 für Sicherheitsfkt., Antrieb

EN Max. speed 2 for safety function, drive

FR Vitesse maxi. 2 pour fonction de sécurité, entraînement

ES Velocidad max. 2 por función seguridad, azionamiento

IT Velocità mass. 2 per Funzione Sicurezza, Azionamento








DIAX04 SSE-03VRS Product-specific parameters 3-55


P-0-0257, Upper position limit 2 for safety function, driveThis parameter sets the upper position limit which is allowable with activesafety function „Safety reduced speed 2 with safety limited absoluteposition 2“.


P-0-0257 - AttributesPara. Name: DE Oberes Positionslimit 2 für Sicherheitsfkt., Antrieb

EN Upper position limit 2 for safety function, drive

FR Limite de position supérieure 2, fonct. de sécurité, entr.

IT Límite di Posizione sup. 2, Funz. Sicurezza, Azion.





Input min/max: S-0-0076 / S-0-0076


P-0-0258, Lower position limit 2 for safety function, driveThis parameter sets the lower position limit which is allowable with activesafety function "Safety reduced speed 2 with safety limited absoluteposition 2".


P-0-0258 - AttributesPara. Name: DE Unteres Positionslimit 2 für Sicherheitsfkt., Antrieb

EN Lower position limit 2 for safety function, drive

FR Limite de position inférieure 2, fonct. de sécurité, entr.

IT Límite di Posizione inf. 2, Funz. Sicurezza, Azion.





Input min/max: S-0-0076 / S-0-0076


P-0-0259, Upper position limit for position switch 1, driveThis parameter sets the upper position limit for the position switch 1.



3-56 Product-specific parameters DIAX04 SSE-03VRS


P-0-0259 - AttributesPara. Name: DE Oberes Pos.-Limit für Positionsschaltpunkt 1, Antrieb

EN Upper position limit for position switch 1, drive





Input min/max: S-0-0076 / S-0-0076


P-0-0260, Lower position limit for position switch 1, driveThis parameter sets the lower position limit for the position switch 1.


P-0-0260 - AttributesPara. Name: DE Unteres Pos.-Limit für Positionsschaltpunkt 1, Antrieb

EN Lower position limit for position switch 1, drive





Input min/max: S-0-0076 / S-0-0076










Input min/max: S-0-0076 / S-0-0076













Input min/max: S-0-0076 / S-0-0076










Input min/max: S-0-0076 / S-0-0076










Input min/max: S-0-0076 / S-0-0076













Input min/max: S-0-0076 / S-0-0076










Input min/max: S-0-0076 / S-0-0076


P-0-0267, Pos. monitoring window for safe stop operation, driveThis parameter sets the position window which may not be exceededduring active safety function „Safe stop operation“.


P-0-0267 - AttributesPara. Name: DE Pos.-Überwachungsfenster für sicheren Betriebshalt, Antrieb

EN Pos. monitoring window for safe stop operation, drive

FR Fenêtre de surveillance en pos. pour arrêt sûr, entraînement







P-0-0268, Reference position for safe homing, driveThis parameter sets the position where the signal for the safe referencecam comes. The signal is requested during the „P-0-0272, CommandCheck reference“.





P-0-0268 - AttributesPara. Name: DE Referenzposition für sicheres Referenzieren, Antrieb

EN Reference position for safe homing, drive

FR Position de réf. pour prise d'origine sûre, entraînement





Input min/max: S-0-0076 / S-0-0076


P-0-0269, Selection safety functions, driveThis parameter masks out unused safety functions. The usage of the bitsin this parameter is as follows :

Bit 0 : Mask out Safe Halt0: Safe Halt is possible.1: Safe Halt is masked out.

P-0-0269 Selection safety functions, drive

Bit 1 : Mask out safe stop operation0: Safe stop operation is possible.1: Safe stop operation is masked out.

Bit 2 : Mask out safety reduced speed 1 withsafety limited absolute position 10: Safety reduced speed 1 with safety limitedabsolute position 1 is possible.1: Safety reduced speed 1 with safety limitedabsolute position 1 is masked out.

Bit 3 : Mask out safety reduced speed 2 withsafety limited absolute position 20: Safety reduced speed 2 with safety limitedabsolute position 2 is possible.1: Safety reduced speed 2 with safety limitedabsolute position 2 is masked out.

Bit 4 : Mask out transition to safe stopoperation0: Transition to safe stop operation1: Transition to Safe Halt

Fig. 3-37:: P-0-0269 Selection safety functions, drive


P-0-0269 - AttributesPara. Name: DE Auswahl Sicherheitsfunktionen, Antrieb

EN Selection safety functions, drive

FR Sélection fonctions de sécurité, entraînement

IT Selezione Funzioni di Sicurezza, Azionamento










P-0-0270, Changeover time for safety function, driveThis parameter sets how long it takes during switching of safety functionsuntil the selected one becomes active. The changeover time is only takeninto account when the new safety function allows a smaller speed thanthe one active before.


P-0-0270 - AttributesPara. Name: DE Übergangszeit für Umschaltung der Sicherheitsfkt., Antrieb

EN Changeover time for safety function, drive

FR Temps de transition pour fonction de sécurité, entraînement

IT Tempo di Transizione per Funzione di Sicurezza, Azionamento



Unit: ms Extreme value check: -




P-0-0271, Time interval for forced dynamization, driveThis parameter sets the time intervals, how often the communications forshut-off are monitored by drive and control.


P-0-0271 - AttributesPara. Name: DE Zeitintervall für Zwangsdynamisierung, Antrieb

EN Time interval for forced dynamization, drive

FR Lapse de temps pour dynamisation forcée, entraînement



Unit: h Extreme value check: -







P-0-0272, C000 Command Check referenceThe successful execution of this command is a precondition for thosesafety functions, where the absolute reference of the actual positionvalues is necessary.

In this command, the drive checks whether the following conditions aremet :

• The axis has been homed(S-0-0403, Position feedback value status = 1).

• The actual position may differ by less than the P-0-0267, Pos.monitoring window for safe stop operation from the P-0-0268,Reference position for safe homing.

• The signal for the safe reference cam is set.


P-0-0272 - AttributesPara. Name: DE C000 Kommando Überprüfung der Referenz

EN C000 Command Check reference

FR C000 Commande Vérification de l'origine

IT C000 Comando Verificazione Azzeramento

Function: Command Editability: -






P-0-0273, Monitored actual position, driveThis parameter displays the value of the actual position that the driveuses for the safety functions.


P-0-0273 - AttributesPara. Name: DE Überwachter Lageistwert, Antrieb

EN Monitored actual position, drive

FR Position actuelle surveillée, entraînement





Input min/max: S-0-0076 / S-0-0076





P-0-0274, Preset forced dynamizationThe forced dynamization is used for the monitoring of the switch-off signalpaths of drive and control. This way, drive and control survey each other.

Seven different steps are designed into the procedure which are doneone after the other. Inputting the actual step is done with this parameter.The drive acknowledges the actual step with the parameter P-0-0275,Acknowledge forced dynamization.


P-0-0274 - AttributesPara. Name: DE Vorgabe Zwangsdynamisierung

EN Preset forced dynamization







P-0-0275, Acknowledge forced dynamizationThe forced dynamization is used for the monitoring of the switch-off signalpaths of drive and control. This way, drive and control survey each other.

Seven different steps are foreseen in the procedure which are done oneafter the other. Inputting the actual step is done with the parameter P-0-0274, Preset forced dynamization. The drive acknowledges the actualstep with this parameter.


P-0-0275 - AttributesPara. Name: DE Rückmeldung Zwangsdynamisierung

EN Acknowledge forced dynamization

FR Aquittement dynamisation forcée







P-0-0276, State of safety function, controlThe state of the safety function from the control is analogous to the onefrom the drive (P-0-0252).

The value is transferred to the drive for monitoring purposes.





P-0-0276 - AttributesPara. Name: DE Status der Sicherheitsfunktion, Steuerung

EN State of safety function, control

FR Etat fonction sécurité, contrôle

IT Stato Funzione Sicurezza, Controllo





Input min/max: 0 / 2147483647


P-0-0277, Max. speed 1 for safety function, controlThis parameter sets the maximum speed which is allowable withactivated safety function „Safety reduced speed 1 with safety limitedabsolute position 1“.

The value has been parametrized on the control side and is transferred tothe drive for monitoring purposes.


P-0-0277 - AttributesPara. Name: DE Maximale Geschwindigkeit 1 für Sicherheitsfkt., Steuerung

EN Max. speed 1 for safety function, control

FR Vitesse maxi. 1 pour fonction de sécurité, contrôle

ES Velocidad max. 1 por función seguridad, mando

IT Velocità mass. 1 per Funzione Sicurezza, Controllo







P-0-0278, Upper position limit 1 for safety function, controlThis parameter sets the upper position limit which is allowable with activesafety function „Safety reduced speed 1 with safety limited absoluteposition 1“.



P-0-0278 - AttributesPara. Name: DE Oberes Positionslimit 1 für Sicherheitsfunktion, Steuerung

EN Upper position limit 1 for safety function, control

FR Limite de position supérieure 1, fonct. de sécurité, contr.

IT Límite di Posizione sup. 1, Funz. Sicurezza, Contr.








Input min/max: S-0-0076 / S-0-0076


P-0-0279, Lower position limit 1 for safety function, controlThis parameter sets the lower position limit which is allowable with activesafety function „Safety reduced speed 1 with safety limited absoluteposition 1“.



P-0-0279 - AttributesPara. Name: DE Unteres Positionslimit 1 für Sicherheitsfunktion, Steuerung

EN Lower position limit 1 for safety function, control

FR Limite de position inférieure 1, fonct. de sécurité, contr.

IT Límite di Posizione inf. 1, Funz. Sicurezza, Contr.





Input min/max: S-0-0076 / S-0-0076


P-0-0280, Max. speed 2 for safety function, controlThis parameter sets the maximum speed which is allowable with activesafety function „Safety reduced speed 2 with safety limited absoluteposition 2“.



P-0-0280 - AttributesPara. Name: DE Maximale Geschwindigkeit 2 für Sicherheitsfkt., Steuerung

EN Max. speed 2 for safety function, control

FR Vitesse maxi. 2 pour fonction de sécurité, contrôle

ES Velocidad max. 2 por función seguridad, mando

IT Velocità mass. 2 per Funzione Sicurezza, Controllo










P-0-0281, Upper position limit 2 for safety function, controlThis parameter sets the upper position limit which is allowable with activesafety function „Safety reduced speed 2 with safety limited absoluteposition 2“.



P-0-0281 - AttributesPara. Name: DE Oberes Positionslimit 2 für Sicherheitsfunktion, Steuerung

EN Upper position limit 2 for safety function, control

FR Limite de position supérieure 2, fonct. de sécurité, contr.

IT Límite di Posizione sup. 2, Funz. Sicurezza, Contr.





Input min/max: S-0-0076 / S-0-0076


P-0-0282, Lower position limit 2 for safety function, controlThis parameter sets the lower position limit which is allowable with activesafety function „Safety reduced speed 2 with safety limited absoluteposition 2“.



P-0-0282 - AttributesPara. Name: DE Unteres Positionslimit 2 für Sicherheitsfunktion, Steuerung

EN Lower position limit 2 for safety function, control

FR Limite de position inférieure 2, fonct. de sécurité, contr.

IT Límite di Posizione inf. 2, Funz. Sicurezza, Contr.





Input min/max: S-0-0076 / S-0-0076


P-0-0283, Upper position limit for position switch 1, controlThis parameter sets the upper position limit for the position switch point 1.






P-0-0283 - AttributesPara. Name: DE Oberes Positionslimit für Positionsschaltpunkt 1, Steuerung

EN Upper position limit for position switch 1, control





Input min/max: S-0-0076 / S-0-0076


P-0-0284, Lower position limit for position switch 1, controlThis parameter sets the lower position limit for the position switch point 1.



P-0-0284 - AttributesPara. Name: DE Unteres Positionslimit für Positionsschaltpunkt 1, Steuerung

EN Lower position limit for position switch 1, control





Input min/max: S-0-0076 / S-0-0076











Input min/max: S-0-0076 / S-0-0076














Input min/max: S-0-0076 / S-0-0076











Input min/max: S-0-0076 / S-0-0076











Input min/max: S-0-0076 / S-0-0076














Input min/max: S-0-0076 / S-0-0076











Input min/max: S-0-0076 / S-0-0076


P-0-0291, Pos. monitoring window for safe stop operation, controlThis parameter sets the position window which may not be exceeded withactive safety function „Safe stop operation“.



P-0-0291 - AttributesPara. Name: DE Pos.-Überwachungsfenster für sicheren Betriebshalt, Stg.

EN Pos. monitoring window for safe stop operation, control

FR Fenêtre de surveillance en pos. pour arrêt sûr, contrôle










P-0-0292, Reference position for safe homing, controlThis parameter sets the position where the signal for the safe referencecam comes. The signal is asked for during the command P-0-0272,Check reference“.



P-0-0292 - AttributesPara. Name: DE Referenzposition für sicheres Referenzieren, Steuerung

EN Reference position for safe homing, control

FR Position de réf. pour prise d'origine sûre, contrôle





Input min/max: S-0-0076 / S-0-0076


P-0-0293, Selection safety functions, controlWith this parameter, the safety functions which are not needed aremasked out.



P-0-0293 - AttributesPara. Name: DE Auswahl Sicherheitsfunktionen, Steuerung

EN Selection safety functions, control

FR Sélection fonctions de sécurité, entraînement

IT Selezione Funzioni di Sicurezza, Controllo










P-0-0294, Changeover time for safety functions, controlThis parameter sets how long it takes during switching between safetyfunctions, until the target safety function becomes active. The changeovertime is only taken into account when the new safety function allows asmaller speed than the one active before.



P-0-0294 - AttributesPara. Name: DE Übergangszeit für Umschaltung der Sicherheitsfkt., Steuerung

EN Changeover time for safety functions, control

FR Temps de transition pour fonctions de sécurité, contrôle

IT Tempo di Transizione per Funzioni di Sicurezza, Controllo



Unit: ms Extreme value check: -




P-0-0295, Time interval for forced dynamization, controlThis parameter sets the time intervals, how often the switch-off signalpaths of drive and control are checked.



P-0-0295 - AttributesPara. Name: DE Zeitintervall für Zwangsdynamisierung, Steuerung

EN Time interval for forced dynamization, control

FR Lapse de temps pour dynamisation forcée, contrôle

Function: parameter Editability: -


Unit: h Extreme value check: -




P-0-0296, Monitored actual position, controlThe control transfers the actual position value, which it uses for the safetyfunctions, into this parameter.





P-0-0296 - AttributesPara. Name: DE Überwachter Lageistwert, Steuerung

EN Monitored actual position, control

FR Position actuelle surveillée, contrôle





Input min/max: S-0-0076 / S-0-0076


P-0-0297, Checksum over scaled data, controlA checksum is determined from all parameter values which influence theactual position value composed by the drive.

This checksum built by the drive must be parametrized on the control sidewhen the safety functions are in use.

With this parameter, the value is transferred to the drive for monitoringpurposes.


P-0-0297 - AttributesPara. Name: DE Checksumme über Wichtungsdaten, Steuerung

EN Checksum over scaled data, control







P-0-0400, Pos. corr., external correction valueThe control system can use parameter P-0-0400, Pos. corr., externalcorrection value to assign correction values directly for the encoderspecified by S-0-0147, Homing parameter. The correction value set inthe parameter will be added to the appropriate actual feedback value.

See also the functional description: "Axis Error Correction"

P-0-0400 - AttributesPara. Name: DE Pos.-Korr., Korrekturwert extern

EN Pos. corr., external correction value

FR Corr. de pos., valeur externe de correction

ES Corrección de posición, valor de corrección externo

IT Correzione Valore esterna






Format: S-0-0076 Validity check: no



Input min/max: -214748.3648 / 214748.3647


P-0-0401, Pos. corr., active correction valueParameter P-0-0401, Pos. corr., active correction value indicates thecorrection value used to correct the encoder defined with S-0-0147,Homing parameter. It contains the sum of the correction values from thevarious correction functions.


P-0-0401 - AttributesPara. Name: DE Pos.-Korr., aktiver Korrekturwert

EN Pos. corr., active correction value

FR Corr. de pos., valeur active de correction

ES Corrección de posición, valor de corrección interno

IT Correzione Valore interna



Format: S-0-0076 Validity check: no



Input min/max: -214748.3648 / 0214748.3647


P-0-0408, Pos. corr., prec. corr. start positionThe precision correction function is for use in extremely accurateapplications. It consists of a table of correction values which are assignedto specific positions of the encoder. Parameter P-0-0408, Pos. corr.,prec. corr. start position, defines the start position of the correctiontable. It is the smallest position in the correction range.

0 42 5 763 n

Starting position (X0)Support point distance (ds)

Correction value (xk)

Actual feedback value,uncorrected

Fig. 3-38: Graphic representation of start position and distance betweensupport point.





P-0-0408 - AttributesPara. Name: DE Pos.-Korr., Startposition Präz.

EN Pos. corr., prec. corr. start position

FR Corr. de pos., position initiale préc.

ES Corrección de pos., factor de temp. depend. de pos.

IT Corr. Pos., Posizione iniziale prec.






Input min/max: -214748.3648 / 0214748.3647


P-0-0409, Pos. corr., correction table for prec. corr.For highly accurate applications, correction values for the encoder aredetermined by measuring the axis. These correction values are stored inparameter P-0-0409, Pos. corr., correction table for prec. corr.. 500correction values can be stored for motion in each direction. The first 500correction values are reserved for motion in the positive direction, and thesecond 500 are reserved for motion in the negative direction.

A correction value is defined as a 2-byte unit of data, which limits inputvalues to ±2^15 in the selected direction of motion.

The difference between two adjacent correction values must not begreater than the value of parameter P-0-0410, Pos. corr., support pointdistance for prec. corr..

To avoid excessive leaps in feedback values, the first and last correctionvalue in each direction must be defined as 0. All 1000 correction valuesmust always be written. Support points which are not needed can be setto 0.

The table is composed as follows:

Actual length

Maximum length

Correction value 1 = 0

Correction value 2


Correction value 502



Correction values fornegative direction of motion

Correction values forpositive direction of motion

Fig. 3-39: Structure of the correction table





P-0-0409 - AttributesPara. Name: DE Pos.-Korr., Korrekturtabelle Präz.

EN Pos. corr., correction table for prec. corr.

FR Corr. de pos., table de corr. préc.

ES Corrección de pos., tabla corrección de precisión

IT Corr. Pos., Tabella di Precisione






Input min/max: -3.2768 / 03.2767


P-0-0410, Pos. corr., support point distance for prec. corr.Parameter P-0-0410, Pos. corr., support point distance for prec. corr.,defines the distance between two adjacent correction values.

It is constant for the entire correction range (=start position + 499*supportpoint distance), depending on P-0-0408, Pos. corr., prec. corr. startposition, and defines the positions for which correction values in thetable must be determined.


P-0-0410 - AttributesPara. Name: DE Pos.-Korr., Stützpunktabstand Präz.

EN Pos. corr., support point distance for prec. corr.

FR Corr. de pos., écartement des points d'appui préc.

ES Corr. pos, distancia de puntos de apoyo prec.

IT Corr. Pos., Distanza di Campionamento per prec.






Input min/max: -214748.3648 / 0214748.3647


P-0-0420, Analog output 1 signal selectionUsing P-0-0420, Analog output 1 signal selection, an ID no. can beassigned to the analog AK1 output channel of the drive controller. Theparameter with the assigned ID no. can be viewed with an oscilloscope inthe form of an analog voltage. Only those ID no. contained in the list P-0-0426, Analog outputs, IDN list of assignable parameters can be used.





P-0-0420 - AttributesPara. Name: DE Analog-Ausgang 1, Signalauswahl

EN Analog output 1 signal selection

FR Sortie analogique 1, sélection de signal

ES Salida analógica 1, selección de señal

IT Uscita analogica 1, Scelta del Segnale






Input min/max: 0 / 2^32-1


P-0-0421, Analog output 1, expanded signal selectionTo be able to show signals as analog voltage, which are not in theparameter P-0-0426, Analog outputs, IDN list of assignableparameters, the option of an expanded signal selection is possible. Thisbecomes active as long as no parameter is assigned via P-0-0420,Analog output 1 signal selection.

The following expanded signal select options are available:

• expanded signal select with permanently defined signals

• byte output

• bit output

1) Expanded signal selection with fixed signals

Internal signals are assigned to numbers which are not in the drive in theform of ident numbers. These signals get permanent units making anevaluation via P-0-0422, Analog output 1, scaling per 10V full scalepossible. The evaluation factor 1.0 equals the permanent unit. Thefollowing permanently defined signals are possible:

Signal numberP-0-0421 Output signal

Ref. Unit:scaling factor = 1.0

0x00000001 motor encoder sine signal 0.5V/10V

0x00000002 motor encoder cosine signal 0.5V/10V

0x00000003 Opt. enc. sine signal 0.5V/10V

0x00000004 Opt. enc. cosine signal 0.5V/10V

0x00000005 Position command differenceon the pos. controler

rot. =>1000rpm/10Vlin. =>100m/min/10V

0x00000006 DC bus power 1kW/10V

0x00000007 absolute DC bus power value 1kW/10V

0x00000008 effective current S-0-0110/10V

0x00000009 relative current S-0-0110/10V

0x0000000a thermal load 100%/10V,no scaling possible

0x0000000b motor temperature 150°C/10V

0x0000000c magnetizing current S-0-0110/10V

0x0000000d velocity command at thevelocity controller

rot. => 1000rpm/10Vlin. => 100m/min/10V

Fig. 3-40: Signal select list with predefined signal selection




The outputs are not scaling dependent, and position and velocity dataalways refer to the motor shaft.

2) Byte output

With this option it is possible to output memory locations of the datamemory as an analog voltage. It can only be practically applied if the datastorage structure is known. As this is, however, different from version toversion, the function can only be used by the respective developer. Thefunction is activated by setting bit 28 in P-0-0421, Analog output 1,expanded signal selection. The address of the memory cell is defined inthe least significant 24 bit of the expanded signal selection.

31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1 0

Bit 28 :Byte output

Bit 0..2324 Bit address

Fig. 3-41: Definition P-0-0421, Analog output 1, expanded signal selectionwith byte output

3) Bit output

With this option individual bits of the data memory can be shown as ananalog voltage. If the respective bit is set, then 10V is output at the analogoutput. A cleared bit outputs -10V. The function is activated by setting bit29 and inputting the desired memory address in P-0-0421, Analogoutput 1, expanded signal selection.

31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1 0


Bit 29 :Bit output

Fig. 3-42: Definition P-0-0421, Analog output 1, expanded signal selectionwith bit output


P-0-0421 - AttributesPara. Name: DE Analog-Ausgang 1, erweiterte Signalauswahl

EN Analog output 1, expanded signal selection

FR Sortie analogique 1, sélection de signal élargie

ES Salida analógica 1, selección de señal ampliada

IT Uscita analogica 1, Superamento Scelta











P-0-0422, Analog output 1, scaling per 10V full scaleThe resolution of the selected signal can be varied with parameterP-0-0422, Analog output 1 scaling per 10V full scale. If an ID no. isassigned via P-0-0420, Analog output 1, signal selection, the evalutionis assigned the same unit as the parameter with the assigned ID number.

The output of pre-defined signals means that the scaling has a decimalfactor of 4 decimal places. It has a permanent reference with fixed unit.

The scaling defines the least significant bit for bit and byte outputs. Theinput is an integer value without decimal places.


P-0-0422 - AttributesPara. Name: DE Analog-Ausgang 1, Bewertung [1/10V]

EN Analog output 1, scaling per 10V full scale

FR Sortie analogique 1, calibrage [1/10V]

ES Salida analógica 1, calibrado [1/10V]

IT Uscita analogica 1, Scala per 10V fondo scala


Data length: --- Memory: Param. EE

Format: P-0-0420/P-0-0421 Validity check: no

Unit: P-0-0420/P-0-0421 Extreme value check: no

Decimal places: P-0-0420/P-0-0421 Combination check: no



P-0-0423, Analog output 2, signal selectionUsing P-0-0423, Analog output 2, signal selection, an ID no. can beassigned to the analog AK2 output channel of the drive controller. Theparameter with the assigned ID no. can be viewed with an oscilloscope inthe form of an analog voltage. Only those ID no. contained in the list P-0-0426, Analog outputs, IDN list of assignable parameters can be used.


P-0-0423 - AttributesPara. Name: DE Analog-Ausgang 2, Signalauswahl

EN Analog output 2, signal selection

FR Sortie analogique 2, sélection de signal

ES Salida analógica 2, selección de señal

IT Uscita analogica 2, Scelta del SegnaleAusnahme: B000











P-0-0424, Analog output 2, expanded signal selectionTo be able to show signals as analog voltage, which are not in theparameter P-0-0426, Analog outputs, IDN list of assignableparameters, the option of an expanded signal selection is possible. Thisbecomes active as long as no parameter is assigned via P-0-0423,Analog output 2 signal selection.

The following expanded signal select options are available:

• expanded signal select with permanently defined signals

• byte output

• bit output

1) Expanded signal selection with fixed signals

Internal signals are assigned to numbers which are not in the drive in theform of ident numbers. These signals have permanent units making anevaluation via P-0-0425, Analog output 2, scalling per 10V full scalepossible. The evaluation factor 1.0 equals the permanent unit.

The following permanently defined signals are possible:

Signal numberP-0-0424 Output signal

Ref. Unit:scaling factor = 1.0

0x00000001 motor encoder sine signal 0.5V/10V

0x00000002 motor encoder cosinesignal

0.5V/10V

0x00000003 Opt. enc. sine signal 0.5V/10V

0x00000004 Opt. enc. cosine signal 0.5V/10V

0x00000005 Position commanddifference on the pos.controler

rot. =>1000rpm/10Vlin. =>100m/min/10V

0x00000006 DC bus power 1kW/10V

0x00000007 absolute DC bus powervalue

1kW/10V

0x00000008 effective current S-0-0110/10V

0x00000009 relative current S-0-0110/10V

0x0000000a thermal load 100%/10Vno scaling possible

0x0000000b motor temperature 150°C/10V

0x0000000c magnetizing current S-0-0110/10V

0x0000000d velocity command at thevelocity controller

rot. =>1000rpm/10Vlin. => 100m/min/10V

Fig. 3-43: Signal select list with predefined signal selection

The outputs are not scaling dependent, and position and velocity dataalways refer to the motor shaft.




2) Byte output

With this option it is possible to output memory locations of the datamemory as an analog voltage. It can only be practically applied if the datastorage structure is known. As this is, however, different from version toversion, the function can only be used by the respective developer. Thefunction is activated by setting bit 28 in P-0-0424, Analog output 2,expanded signal selection. The address of the memory cell is defined inthe least significant 24 bit of the expanded signal selection.

31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1 0

Bit 28 :Byte output


Fig. 3-44: Definition P-0-0424, Analog output 2, expanded signal selectionwith byte output

3) Bit output

With this option individual bits of the data memory can be shown as ananalog voltage. If the respective bit is set, then 10V is output at the analogoutput. A cleared bit outputs -10V. The function is activated by setting bit29 and inputting the desired memory address in P-0-0424, Analogoutput 2, expanded signal selection.

31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1 0


Bit 29 :Bit output

Fig. 3-45: Definition P-0-0424, Analog output 2, expanded signal selectionwith bit output


P-0-0424 - AttributesPara. Name: DE Analog-Ausgang 2, erweiterte Signalauswahl

EN Analog output 2, expanded signal selection

FR Sortie analogique 2, sélection de signal élargie

ES Salida analógica 2, selección de señal ampliada

IT Uscita analogica 2, Superamento Scelta











P-0-0425, Analog output 2, scaling per 10V full scaleThe resolution of the selected signal can be varied with parameterP-0-0425, Analog output 2 scaling per 10V full scale. If an ID no. isassigned via P-0-0423, Analog output 2, signal selection, the evalutionis assigned the same unit as the parameter with the assigned ID number.

The output of pre-defined signals means that the scaling has a decimalfactor of 4 decimal places. It has a permanent reference with fixed unit.

The scaling defines the least significant bit for bit and byte outputs. Theinput is an integer value without decimal places.


P-0-0425 - AttributesPara. Name: DE Analog-Ausgang 2, Bewertung [1/10V]

EN Analog output 2, scaling per 10V full scale

FR Sortie analogique 2, calibrage [1/10V]

ES Salida analógica 2, calibrado [1/10V]

IT Uscita analogica 2, Scala per 10V fondo scala


Format: P-0-0420/P-0-0421 Validity check: no

Unit: P-0-0420/P-0-0421 Extreme value check: no

Decimal places: P-0-0420/P-0-0421 Combination check: no



P-0-0426, Analog outputs, IDN list of assignable parametersThe parameter P-0-0426, Analog outputs, IDN list of assignableparameters contains a list of all parameters assignable via P-0-0420,Analog output 1 signal selection and P-0-0423, Analog output 2, signalselection.


P-0-0426 - AttributesPara. Name: DE Analog-Ausgabe, IDN-Liste der zuweisbaren Parameter

EN Analog outputs, IDN list of assignable parameters

FR Sorties analog., liste des paramètres pouvant être assignés

ES Salida analógica, lista IDN de los números ID asignables

IT Uscite analogiche, Lista IDN dei Parametri assignabili











P-0-0508, Commutation offsetFor synchronous motors, this parameter indicates the offset between theinitial position value of the motor encoder and the resulting absoluteelectrical angle between the stator current vector and the rotor flux vector.For motors with motor feedback data memory, like MKD, thecommutation offset is stored in the feedback and therefore does not needto be entered.

This value must always be redetermined, if

• the motor feedback system encounters a change in its mechanicalstructure,

• A mechanical restructuring of primary and secondary portions takesplace.

For asynchronous motors, this parameter has no meaning.

See also the functional description: "Synchronous-Asynchronous".

P-0-0508 - AttributesPara. Name: DE Kommutierungs-Offset

EN Commutation offset

FR Offset de commutation

ES Offset de conmutación

IT Offset di Commutazione






Input min/max: 00000 / 65535


P-0-0509, Slot angleThis parameter is not currently available for use.

P-0-0509 - AttributesPara. Name: DE Passfedernut-Winkel

EN Slot angle

FR Angle de clavette

ES Angulo de chavetero

IT Angolo di Inserzione











P-0-0510, Moment of inertia of the rotorThis parameter indicates the moment of inertia of the rotor without load.For motors with feedback memory (e.g. MKD), it is saved in the feedback.


P-0-0510 - AttributesPara. Name: DE Rotor-Trägheitsmoment

EN Moment of inertia of the rotor

FR Couple d'inertie du rotor

ES Par de inercia de rotor

IT Coppia di Inerzia del Rotore




Unit: kgm² Extreme value check: no


Input min/max: 00000.00001 / 00100.00000


P-0-0511, Brake currentThe brake current is monitored by the drive controller if the motor isequipped with a blocking brake and a value other than 0 is entered in thisparameter. If the brake current lies outside the range

(0.4 . . . 1.6) • P-0-0511,

then error message F268 Brake fault will be generated.

See also the functional description: "Motor Holding Brake"

P-0-0511 - AttributesPara. Name: DE Haltebremsenstrom

EN Brake current

FR Courant frein

ES Corriente de freno

IT Corrente Freno






Input min/max: 0000000.000 / 0000500.000





P-0-0518, Amplifier nominal current 2The parameter specifies the maximum nominal current of the amplifier atreduced peak current.

It specifies together with the parameters

• S-0-0110, Amplifier peak current

• S-0-0112, Amplifier nominal current

• P-0-0519, Amplifier peak current 2

the length of the peak current characteristics line for the peak current limitof the amplifier.

No value can be entered, since it is permanently programmed within theamplifier.

P-0-0518 - AttributesPara. Name: DE Verstärker-Nennstrom 2

EN Amplifier nominal current 2

FR Courant nominal variateur 2

ES Amplificador corriente nominal 2

IT Corrente Nominale Azionamento 2






Input min/max: 0000000.001 / 0000500.000


P-0-0519, Amplifier peak current 2The drive offers the possibility to define a different continuous/peakcurrent characteristic line with reduced amplifier peak current, andtherefore an increased amplifier continuous current.

Parameter P-0-0519 specifies an amplifier peak current for this case.

It determines the working points on the peak current characteristic line.

No value for this parameter can be entered, since it is permanentlyprogrammed in the amplifier.

P-0-0519 - AttributesPara. Name: DE Verstärker-Spitzenstrom 2

EN Amplifier peak current 2

FR Courant crête variateur 2

ES Amplificador corriente punta 2

IT Corrente di Picco Azionamento 2






Input min/max: 0000000.001 / 0000500.000





P-0-0523, Commutation, probe valueIf the commutation offset for linear synchronous motors is to be set withthe P-0-0524, Commutation adjustment command, then the settingprobe value should be entered in the P-0-0523, Commutation, probevalue parameter.

See also the functional description: "Determining commutation offset".

P-0-0523 - AttributesPara. Name: DE Kommutierungseinstellung Messwert

EN Commutation, probe value

FR Mesure reglage de commutation

ES Ajuste de conmutación, valor de medición

IT Commutazione, Valore di Probe






Input min/max: -214748.3648 / 0214748.3647


P-0-0524, D300 Commutation adjustment commandParameter P-0-0524 can activate the command for setting thecommutation offset. The command can only be used when:

• the appropriate password is entered

• torque control mode is active

• drive enable is on

If these criteria are met, the drive will automatically set the appropriatecommutation offset for synchronous motors.

See also the functional description: "Determining commutation offset"

P-0-0524 - AttributesPara. Name: DE D300 Kommando Kommutierungseinstellung

EN D300 Commutation adjustment command

FR D300 Commande reglage de commutation

ES D300 Comando ajuste de conmutación

IT D300 Commutazione - Comando

Function: Command Editability: no










P-0-0525, Type of motor brakeThis parameter specifies whether an electrically released or electricallyengaged brake is being used. If an MHD or MKD motor is used, then thebrake will be electrically released, if there is one. The bit 0 will be setautomatically to 0. If other motor types are used, this bit must be enteredduring the start-up procedure.

P-0-0525, Type of motor brake

Bit 0 : 0 - electrically released brake0V applied engages the brake.1 - electrically engaged brake24V applied engages the brake.

Bit 1 : 0 - Servo brakeThe brake will be engaged after max.braking time.1 - Main spindle brakeThe brake will only be engaged below10 Rpm.

Fig. 3-46: Setting the type of motor brake

See also the functional description: "Motor Holding Brake".

P-0-0525 - AttributesPara. Name: DE Haltebremsentyp

EN Type of motor brake

FR Type de frein

ES Tipo de freno

IT Tipo di Freno








P-0-0526, Brake control delayIf a holding brake is used, the time delay between the activation of thebrake and the time when it gets its full force must be set in this parameter.

It must be sure that the drive is still electrically controlled as long as thebrake does not grip firmly.

This value is entered automatically when MHD, MKD or MKE motors areused. When using Indramat brakes in conjunction with asynchronousmotors, then the standard value to be entered is 150 ms.




Sv5051f1.fh7

Brakeis active

t

Internalcontroller enable

tBrake control delay

Fig. 3-47: Haltebremsen-Verzugszeit


P-0-0526 - AttributesPara. Name: DE Haltebremsen-Verzugszeit

EN Brake control delay

FR Délai frein

ES Retardo de freno

IT Ritardo Freno






Input min/max: 0000000000 / 0000100000


P-0-0530, Slip increaseIn an asynchronous motor, the rotor resistance and consequently therotor time constant changes with the temperature. The slip increasecompensates for this change.

The slip increase per 100K(elvin) is motor-specific and is specified byIndramat for each individual motor.

See also the functional description: "Asynchronous Motors".

P-0-0530 - AttributesPara. Name: DE Schlupfanhebung

EN Slip increase

FR Accroissement de glissement par température

ES Aumento de deslizamiento

IT Incremento Slip




Unit: 1/100K Extreme value check: yes


Input min/max: 001.00 / 003.00





P-0-0531, Stall current factorThe stall current limit is used to limit the peak current of the motor toreasonable values when operating at high velocities. Higher currents leadonly to higher losses, not to more shaft output power.

This limit value is set by Indramat. If 0 is entered, the limit is inactive.


P-0-0531 - AttributesPara. Name: DE Kippstromfaktor

EN Stall current factor

FR Facteur de courant bascule

ES Factor de corriente de volcado

IT Fattore di Corrente di Inversione




Unit: A/Vmin Extreme value check: yes


Input min/max: 0000000000 / 4294967295


P-0-0532, Premagnetization factorThe pre-magnetization factor is used for application-dependent decreasesin the Servo magnetization current. Together with parameter P-0-4004,Magnetizing current, it specifies the motor’s magnetization current.

Effective magnetization current =

magnetization current • pre-magnetization scaling factor

With a pre-magnetizing factor of 100%, the Servo magnetization currentin the motor will flow so that in the constant Torque range, a torqueproportional to the moment-producing current will result.

See also the functional description: "Scaling Factor Pre-Magnetizing".

P-0-0532 - AttributesPara. Name: DE Vormagnetisierungsfaktor

EN Premagnetization factor

FR Facteur de pré-magnétisation

ES Factor de magnetización previa

IT Fattore di Premagnetizzazione






Input min/max: 00025 / 00100





P-0-0533, Flux loop prop. gainThe flux loop controls the magnetization current in the field-weakeningrange.

The parameter value is set by Indramat.


P-0-0533 - AttributesPara. Name: DE Feldregler Prop.verst.

EN Flux loop prop. gain

FR Gain prop. de l’asservissement de flux

ES Regulador de campo amplificación proporcional

IT Guadagno prop. Anello di Flusso




Unit: A/V Extreme value check: yes


Input min/max: 00.100 / 65.535


P-0-0534, Flux loop integral action timeThe flux loop controls the magnetization current in the field-weakeningrange.

The parameter value is set by Indramat.


P-0-0534 - AttributesPara. Name: DE Feldregler Nachstellzeit

EN Flux loop integral action time

FR Part intégrale de l'asservissement de flux

ES Regulador de campo tiempo de reajuste

IT Tempo Integrazione Anello di Flusso






Input min/max: 0000.0 / 6553.5


P-0-0535, Motor voltage at no loadThe motor voltage in the field-weakening range is set so that it reaches avalue lower than or equal to the DC bus voltage.

Under load, the motor voltage will be raised to the maximum motorvoltage.





P-0-0535 - AttributesPara. Name: DE Motorleerlaufspannung

EN Motor voltage at no load

FR Tension moteur á vide

ES Tension de marcha en vacio de motor

IT No Carico Tensione Motore




Unit: %Uzwk Extreme value check: yes


Input min/max: 0050.0 / 0100.0


P-0-0536, Motor voltage max.The motor voltage in the field-weakening range is set so that it reaches avalue lower than or equal to the DC bus voltage.

At full load, the motor voltage will rise to the maximum motor voltage. Theoutput voltage will be sinusoidal up to a value of 90% .


P-0-0536 - AttributesPara. Name: DE Motormaximalspannung

EN Motor voltage max.

FR Tension max. moteur

ES Tensión máxima de motor

IT Tensione Motore massima




Unit: %Uzwk Extreme value check: yes


Input min/max: 0050.0 / 0100.0


P-0-0537, S1-Kink-speedFrom the S1 kink speed on, core losses result in a drop in power. Thismotor-specific velocity determined by Indramat is only useful for the "S1operating mode". From this velocity on, the field is weakened earlyenough as to keep the motor temperature low.


P-0-0537 - AttributesPara. Name: DE S1-Eckdrehzahl

EN S1-Kink-speed

FR Vitesse coin S1

ES S1-N.d.r. angular

IT S1 Velocità di Curvatura







Unit: Rpm Extreme value check: yes


Input min/max: 000000.0000 / 429496.7295


P-0-0538, Motor function parameter 1Structure:

P-0-0538, Motor function parameter

Bit 0: Function S1 operation1: active

Bit 1: Field weakening forsynchronous motors

1: active

Bit 8: Velocity loop monitoring0: active1: off, deactivated

Bit 7: Velocity actual valuefilter for S-0-0040

1: active

Bit 9: Enable Command Releaseholding brake1: Command possible

Fig. 3-48: P-0-0538, Motor function parameter

DANGER

Missing monitoring of the velocity loop can lead tounwanted movements of the axis, if incorrectlyparametrized.

Danger for life.

⇒ If you switch off the velocity loop monitor, check thevelocity command settings carefully.

See also function description " Velocity Control Loop Monitoring".

See also function description "S1-Operation" Function".

See also function description "Command Release Holding Brake".

P-0-0538 - AttributesPara. Name: DE Motorfunktionsparameter 1

EN Motor function parameter 1

FR Paramètre de fonctions 1 moteur

ES Parámetro de funciones 1 de motor

IT Parametro Funzioni 1 Motore







Unit: --- Extreme value check: no

Decimal places: -- Combination check: yes



P-0-0542, B100 Command Release motor holding brakeThe command is used to release the motor holding brake when the driveenable is switched off.

The command must be enabled via the motor function parameterP-0-0538, bit 7, before activating it.

When activating the command, the motor holding brake is opened andstays open until the command is finished or until the brake is closed byanother switching off the drive enable.


P-0-0542 - AttributesPara. Name: DE B100 Kommando Öffnen der Motorhaltebremse

EN B100 Command Release motor holding brake

FR B100 Commande Lâcher frein

ES B100 Comando Abrir del freno de motor

IT B100 Comando Sblocco Freno








P-0-0560, Commutation adjustment currentThe parameter commutation adjustment current contains the currentvalue with which the automatic commutation adjustment is performed.The value is displayed as a percentage of the motor current at standstill.

If the automatic commutation adjustment aborts with the error„Commutation adjustment not possible“, you can change the value so thatthe automatic commutation adjustment runs successfully.

If the value represents a current greater than the motor peak current, thevalue is set to 100 % when the automatic commutation adjustment isstarted.

One input or displayed value is used for a first try to adjust thecommutation. If the commutation could not be adjusted with this value,the firmware will change the value and start another try; depending on thecircumstances, this might happen several times.

See also the functional description: „Asynchronous Motors".




P-0-0560 - AttributesPara. Name: DE Kommutierungseinstellung Strom

EN Commutation adjustment current

FR Justage de commutation, courant


Data length: 2Byte Memory: Prog.-Modul






P-0-0562, Commutation adjustment periodic timeThe parameter commutation adjustment periodic time contains theperiodic time of the stimulus for the automatic commutation adjustment.

If the automatic commutation adjustment aborts with the error„Commutation adjustment not possible“, you can change the value so thatthe automatic commutation adjustment runs successfully. Find a valuewhich is not in the range of a mechanical resonance point, if possible.

One input or displayed value is used for a first try to adjust thecommutation. If the commutation could not be adjusted with this value,the firmware will change the value and start another try; depending on thecircumstances, this might happen several times.

See also the functional description: „Asynchronous Motors".

P-0-0562 - AttributesPara. Name: DE Kommutierungseinstellung Periodendauer

EN Commutation adjustment periodic time

FR Justage de commutation, période


Data length: 2Byte Memory: prog.-Modul


Unit: ms Extreme value check: no




P-0-0640, Cooling typeThe parameter P-0-0640 Cooling type indicates, how the motor is cooled.Dependent from the cooling type, the reference value of the Force/Torquevalues is adjusted, so that the following applies:

100% Force/Torque value are equivalent to

Motor current at standstill S-0-0111 • Factor for cooling type • Torqueconstant

Cooling type Parametervalue

Factor

without blower 0 100 %

with forced air flow 1 150 %

Water_cooled 2 190 %




Parameter, which show a force or torque as a percentage, are:

S-0-0080 Torque/Force command value

S-0-0084 Torque/Force actual value

S-0-0092 Torque/Force limit bipolar

P-0-0109 Torque/Force peak limit

and others.

P-0-0640 - AttributesPara. Name: DE Kühlart

EN Cooling type

FR Type de refroidissement

IT Tipo di Raffreddamento







P-0-1201, Velocity control, deceleration ramp 1The parameter P-0-1201, Ramp 1 pitch, takes effect in

• "Velocity control" operating mode and

• during the error response "Velocity command value zero-switch withpitch and filter".

The acceleration and delay entered here are used to create a pitchstarting from the last effective command value to the new commandvalue.

During the error response "Velocity command value, zero-switch withpitch and filter", velocity proceeds from the current feedback velocity to 0,using the effective velocity command value with the deceleration specifiedby the parameter P-0-1201, Ramp 1 pitch.

Note: With the value in the parameter P-0-1201, Ramp 1 pitch = 0,the ramp is not active.

See also the functional description: "Velocity command value to zero withfilter and ramp".

P-0-1201 - AttributesPara. Name: DE Geschwindigkeitsregelung, Verzögerungsrampe 1

EN Velocity control, deceleration ramp 1

FR Régulation de vitesse, décélération rampe 1

IT Controllo di Velocità, decellerazione 1






Input min/max: 00000000.000 / 02147483.647





P-0-1222, Velocity command filterThe parameter P-0-1222, Velocity command filter works

• in the Velocity control operating mode and

• during the error response "Velocity command value zero-switch withslope and filter."

The time constant entered here is used in the velocity control operatingmode to pass the value in S-0-0036, Velocity command value, which islimited to the acceleration set in P-0-1201, Ramp 1 pitch, through a low-pass filter. This serves to smooth abrupt changes in acceleration over thecourse of command value changes.

When error response "Velocity command value to zero-switch with pitchand filter" is executed, velocity proceeds from the current feedbackvelocity to 0, using the effective velocity command value with the delayspecified by the parameter in P-0-1201, Ramp 1 pitch. It is also passedthrough the low pass filter specified by P-0-1222, Velocity commandfilter.

See also the functional description: "Velocity command value to zero withfilter and ramp".

P-0-1222 - AttributesPara. Name: DE Geschwindigkeits-Sollwert-Filter

EN Velocity command filter

FR Filtrage de consigne vitesse

ES Filtro para valor nominal de velocidad

IT Filtro su Velocità comandata






Input min/max: 00000 / 00999


P-0-4000, Current-zero-trim phase UThis parameter serves to display the determined result of the zero-trimprocedure for the current feedback sensor of phase U.

P-0-4000 - AttributesPara. Name: DE Strommess-Nullabgleich Phase U

EN Current-zero-trim phase U

FR Reglage courant nul phase U

ES Compensación cero de medición de corriente fase U

IT Regolazione Corrente 0 Fase U






Input min/max: 0000.00 / 0100.00





P-0-4001, Current-zero-trim phase VThis parameter serves to display the determined result of the zero-trimprocedure for the current feedback sensor of phase V.

P-0-4001 - AttributesPara. Name: DE Strommess-Nullabgleich Phase V

EN Current-zero-trim phase V

FR Reglage courant nul phase V

ES Compensación cero de medición de corriente fase V

IT Regolazione Corrente 0 Fase V






Input min/max: 0000.00 / 0100.00


P-0-4002, Current-amplify-trim phase UFor trimming of the current sensor regarding its gain error, this parameteris determined in the test area for the Indramat drive controllers.

P-0-4002 - AttributesPara. Name: DE Strommess-Verst.abgleich Phase U

EN Current-amplify-trim phase U

FR Reglage amplification courant phase U

ES Compensación de amplif. de medición de corriente fase U

IT Regolaz. Aplif. Corrente Fase U






Input min/max: 0.0000 / 6.5535


P-0-4003, Current-amplify-trim phase VFor trimming of the current sensor regarding its gain error, this parameteris determined in the test area for the Indramat drive controllers.

P-0-4003 - AttributesPara. Name: DE Strommess-Verst.abgleich Phase V

EN Current-amplify-trim phase V

FR Reglage amplification courant phase V

ES Compensación de amplif. de medición de corriente fase V

IT Regolaz. Amplif. Corrente Fase V









Input min/max: 0.0000 / 6.5535


P-0-4004, Magnetizing currentThis parameter indicates the nominal or servo-magnetization current setby Indramat for asynchronous motors. The magnetizing current actuallyflowing is also dependent on the pre-magnetization scaling factor.


P-0-4004 - AttributesPara. Name: DE Magnetisierungsstrom

EN Magnetizing current

FR Courant de magnétisation

ES Corriente de magnetización

IT Corrente di Magnetizzazione






Input min/max: 0000000.000 / 0000025.000


P-0-4011, Switching frequencyThis parameter is used to set the switching frequency of the pulse-width-modulation controller to 4 kHz or 8 kHz.


P-0-4011 - AttributesPara. Name: DE Schaltfrequenz

EN Switching frequency

FR Fréquence de coupure

ES Frecuencia de conexión

IT Frequenza di Commutazione




Unit: kHz Extreme value check: yes


Input min/max: 00004 / 00008





P-0-4012, Slip factorThe slip factor is the most important parameter for asynchronous motors.It indicates the rotor frequency in relation to the torque-producing current.The lower the rotor time constant is, the higher the slip factor.

This parameter is set motor-specifically by Indramat.


P-0-4012 - AttributesPara. Name: DE Schlupffaktor

EN Slip factor

FR Facteur de glissement

ES Factor de deslizamiento

IT Fattore di Slip




Unit: Hz/100A Extreme value check: yes


Input min/max: 000.01 / 500.00


P-0-4014, Motor typeThe motor type can be selected with this parameter. The following motortypes are supported:

• 1: MHD

• 2: 2AD / 1MB with NTC sensor

• 3: LSF

• 4: LAR / LAF

• 5: MKD / MKE

• 6: 2AD /1MB with PTC sensor

• 7: synchronous kit motor

See also the functional description: "Setting of the Motor Type through P-0-4014, Motor Type".

P-0-4014 - AttributesPara. Name: DE Motorart

EN Motor type

FR Type de moteur

ES Tipo de motor

IT Tipo Motore






Input min/max: 00001 / 00006





P-0-4015, Intermediate DC bus voltageThe intermediate voltage of the DC bus is stored in the amplifier as aparameter.

The parameter cannot be edited and is only for display and for internalcalculations (PWM).

P-0-4015 - AttributesPara. Name: DE Zwischenkreisspannung

EN Intermediate DC bus voltage

FR Tension du circuit intermédiaire CD

ES Tensión de circuito intermedio

IT Tensione sul Bus DC






Input min/max: 00000 / 01000


P-0-4035, Trim-currentIn this parameter, the current value is stored with which the currentmeasurement of the drive control is precisely adjusted in the factory. Thiseliminates systematical errors in the current measurement. The value hasno meaning to the user and cannot be changed.

P-0-4035 - AttributesPara. Name: DE Abgleichstrom

EN Trim-current

FR Courant pour le calibrage

ES Corriente para calibrar

IT Corrente per calibrare






Input min/max: 0000000.001 / 0000500.000


P-0-4045, Active permanent currentThis parameter shows how much current the drive can supply in theactual combination in continual operation. Multiplying with the P-0-0051,torque constant of the motor yields the continual operational torque.

With this current, the device is not overloaded. It is also the current towhich the current limit reduces.

This parameter is calculated by the drive control during switching to theoperating mode and is not changeable.




Determining this limit is influenced by the following current and torquelimitations and settings:

ID-Nr. Name Unit

S-0-0111 Motor continuous current at standstill 1) A

S-0-0112 Amplifier nominal current A

P-0-4058 Amplifier type data

S-0-0092 Torque limit bipolar %

Fig. 3-49: Active continuous current, dependencies

Note: The continuous current at standstill of the motor is the valuethat the percentage specifications refers to: it corresponds to100%.


P-0-4045 - AttributesPara. Name: DE Wirksamer Dauerstrom

EN Active permanent current

FR Courant permanent actuel

ES Corriente continua activa

IT Corrente continuativa attiva








P-0-4046, Active peak currentThis parameter shows how much current the drive can supply in theactual combination momentarily (0.4 s). Multiplying with the P-0-0051,torque constant of the motor yields the momentary operation torque (i.e.for acceleration operations).

This parameter is calculated and preset by the drive control duringswitching to the operating mode. The dynamic current limiting reducesthis value according to the load of the amplifier.

Determining this limit is influenced by the following current and torquelimitations and settings:

ID-Nr. Name Unit

S-0-0109 Motor peak current A

S-0-0110 Amplifier peak current A

P-0-4058 Amplifier type data

S-0-0092 Torque limit bipolar %

Fig. 3-50: Active peak current, dependencies





P-0-4046 - AttributesPara. Name: DE Wirksamer Spitzenstrom

EN Active peak current

FR Courant crête actuel

ES Corriente punta activa

IT Corrente di Picco Attiva








P-0-4047, Motor inductanceInductance of the motor, measured between two terminals (phase to phase).

The parameter is set at the factory and cannot be changed.

P-0-4047 - AttributesPara. Name: DE Motor-Induktivität

EN Motor inductance

FR Inductance moteur

ES Inductividad de motor

IT Induttanza Motore



Format: DEC_OV Validity check: -

Unit: mH Extreme value check: -


Input min/max: 0 / 655,36


P-0-4094, C800 Command Base-parameter loadWith the execution of this command, all parameters in S-0-0192, IDN listof backup operation data are set to their base values.

If the firmware in theprogramming module is replaced with anotherversion and the parameter memory is incompatible, then error F209 PLLoad parameter default values is generated. “PL“ appears on thedisplay. (At this time, the SERCOS interface is not yet active.)

Afterwards, execute the command by pressing the S1 button.

See also the functional description: "Basic parameter block".

P-0-4094 - AttributesPara. Name: DE C800 Kommando Basisparameter laden

EN C800 Command Base-parameter load

FR C800 Commande chargement des paramètres de base

ES C800 Comando cargar parámetros base

IT C800 Comando Caricare Parametri di Base











P-7-0004, Velocity loop smoothing time constantThe time constant that can be activated in this parameter acts on thevelocity loop controller.

This is the default value from the feedback data memory. With the BasicLoad procedure, the P-7-parameters are copied into the P-0-parameters.

See also the parameter description for P-0-0004.

P-7-0004 - AttributesPara. Name: DE Drehzahlregler-Glättungszeitkonstante

EN Velocity loop smoothing time constant

FR Temps de filtrage boucle de vitesse

ES Tiempo de alisamiento n.d.r.

IT Tempo di Smorzamento nell'Anello di Velocità








P-7-0018, Number of pole pairs/pole pair distanceFor motors with feedback data memory, e.g. MKD, this parameter showsthe value stored there for the number of pole pairs of the motor.

P-7-0018 - AttributesPara. Name: DE Polpaarzahl/Polpaarweite

EN Number of pole pairs/pole pair distance

FR Nombre de paires de pôles/distance polaire

ES Numero de par de polo/espacio de par de polo

IT Numero di Coppie Poli


Data length: 4Byte Memory: Feedb. EE

Format: DEC_OV Validity check: -

Unit: pairs of poles/mm Extreme value check: no







P-7-0051, Torque/force constantThe Torque/Force constant indicates, how much torque or force themotor delivers at a certain real current.

For motors with feedback data memory, e.g. MKD, this parameter showsthe value stored there for the torque constant of the motor.

P-7-0051 - AttributesPara. Name: DE Drehmoment/Kraft-Konstante

EN Torque/force constant

FR Constante de couple/force

ES Constante de par/fuerza

IT Costante di Coppia/Forza




Unit: Nm/A Extreme value check: no


Input min/max: 000.01 / 655.35


P-7-0508, Commutation offsetFor motors with feedback data memory, e.g. MKD, this parameter showsthe value stored there for the commutation offset of the motor. Thecommutation offset contains the angle of the rotor in relation to the motorencoder.

P-7-0508 - AttributesPara. Name: DE Kommutierungs-Offset

EN Commutation offset

FR Offset de commutation

ES Offset de conmutación

IT Offset di Commutazione





Input min/max: 00000 / 65535


P-7-0509, Slot angleFor motors with feedback data memory, e.g. MKD, this parameter showsthe value stored there for the slot angle of the motor.




P-7-0509 - AttributesPara. Name: DE Passfedernut-Winkel

EN Slot angle

FR Angle de clavette

ES Angulo de chavetero

IT Angolo di Inserzione







P-7-0510, Moment of inertia of the rotorFor motors with feedback data memory, e.g. MKD, this parameter showsthe value stored there for the moment of inertia of the motor’s rotor.

P-7-0510 - AttributesPara. Name: DE Rotor-Trägheitsmoment

EN Moment of inertia of the rotor

FR Couple d'inertie du rotor

ES Par de inercia de rotor

IT Coppia di Inerzia del Rotore




Unit: kgm² Extreme value check: no


Input min/max: 00000.00001 / 00100.00000


P-7-0511, Brake currentFor motors with feedback data memory, e.g. MKD, this parameter showsthe value stored there for the brake current of the motor.

P-7-0511 - AttributesPara. Name: DE Haltebremsenstrom

EN Brake current

FR Courant frein

ES Corriente de freno

IT Corrente Freno






Input min/max: 0000000.000 / 0000500.000





P-7-0513, Feedback type 1For motors with feedback data memory, e.g. MKD, this parameter showsthe value stored there for the kind and type of the feedback.

P-7-0513 - AttributesPara. Name: DE Feedback-Typ 1

EN Feedback type 1

FR Type de feedback 1

ES Tipo de retroalimentación 1









P-7-0517, Feedback type 2For optional encoder with feedback data memory, this parameter showsthe value stored there for the kind and type of the feedback 2.

P-7-0517 - AttributesPara. Name: DE Feedback-Typ 2

EN Feedback type 2

FR Type de feedback 2

ES Tipo de retroalimentación 2









P-7-4014, Motor typeThis parameter defines the motor type. The parameter is stored in thefeedback data memory of the motor, if present. Upon power-up, it istransferred into the parameter P-0-4014, if it is valid and defines a motortype > 0.

See also functional description: "Setting of the Motor Type through P-0-4014, Motor Type".




P-7-4014 - AttributesPara. Name: DE Motorart

EN Motor type

FR Type de moteur

ES Tipo de motor

IT Tipo Motore








P-7-4028, Impulse wire feedback - offsetThe offset of the impulse wires referred to the resolver is saved in thisparameter. It is measured in the factory and stored in the feedbackmemory.

P-7-4028 - AttributesPara. Name: DE Impulsdrahtgeber-Offset

EN Impulse wire feedback - offset

FR Offset codeur impulsionnel câblé

ES Offset de encoder de cable de impulsos

IT Offset Impulso di Zero








P-7-4029, Impulse wire feedback - PIC counter valueThis parameter contains the information of the absolute position of theencoder.

The value is updated at every position initialization. The value is read-onlyand cannot be edited by the user.

P-7-4029 - AttributesPara. Name: DE Impulsdrahtgeber-Zählerstand

EN Impulse wire feedback - PIC counter value

FR Valeur du compteur codeur impulsionnel câblé

ES Nivel de contador encoder de cable de impulsos

IT Contatore Impulsi di Zero











P-7-4047, Motor inductanceInductance of the motor, measured between two terminals.

This is the value from the feedback data memory. During Basic Load, theP-7 parameters are copied into the P-0 parameters.

The parameter is set at the factory and cannot be changed.

P-7-4047 - AttributesPara. Name: DE Motor-Induktivität

EN Motor inductance

FR Inductance moteur

ES Inductividad de motor

IT Induttanza Motore




Unit: mH Extreme value check: no





DIAX04 SSE-03VRS Index 4-1


4 Index

AAbsolute distance 1 2-77, 2-119Absolute distance 2 2-78, 2-119Absolute encoder buffer 1 3-37Absolute encoder buffer 2 3-38Absolute encoder monitoring window 3-23Acceleration data scaling exponent 2-73Acceleration data scaling factor 2-72Acceleration data scaling type 2-71Acceleration feedforward gain 2-97Acknowledge forced dynamization 3-62Activation E-Stop function 3-2Activation of the safety functions 3-48Active peak current 3-99Active permanent current 3-98Additive velocity command value 2-21Addressing for data container A 2-100Allocation of real-time control Bit 1 2-94Allocation of real-time control Bit 2 2-94Allocation of real-time status Bit 1 2-95Allocation of real-time status Bit 2 2-95Amplifier nominal current 2-51Amplifier nominal current 2 3-83Amplifier peak current 2-50Amplifier peak current 2 3-83Analog output 1 3-30Analog output 1 signal selection 3-74Analog output 1, expanded signal selection 3-75Analog output 1, scaling per 10V full scale 3-77Analog output 2 3-31Analog output 2, expanded signal selection 3-78Analog output 2, scaling per 10V full scale 3-80Analog output 2, signal selection 3-77Analog outputs, IDN list of assignable parameters 3-80Application type 2-64Assign list signal status word 2-96AT Data container A 2-99AT Transmission starting time (T1) 2-3

BB100 Command Release motor holding brake 3-91Beginning address in master data telegram 2-5Best possible deceleration 3-28Bipolar acceleration limit value 2-62Bipolar torque/force limit value 2-41Bipolar velocity limit value 2-40Brake control delay 3-85Brake current 3-82, 3-103

CC000 Command Check reference 3-61C100 Communication phase 3 transition check 2-56C200 Communication phase 4 transition check 2-57C300 Command ’Set absolute measurement’ 3-5C500 Reset class 1 diagnostic 2-44C600 Drive controlled homing procedure command 2-67C700 Command basic load 2-88C800 Command Base-parameter load 3-100Changeover time for safety function, drive 3-60Changeover time for safety functions, control 3-70


4-2 Index DIAX04 SSE-03VRS


Checksum over scaled data, control 3-71Checksum over scaled data, drive 3-48Class 1 diagnostics 2-6Class 2 diagnostics 2-7Class 3 diagnostics 2-8Command valid time (T3) 2-4Command value mode 2-105Command value transmit time (TMTSG) 2-40Commutation adjustment current 3-91Commutation adjustment periodic time 3-92Commutation offset 3-81, 3-102Commutation, probe value 3-84Config. list of the master data telegram 2-14Configuration list for MDT data container 2-101Configuration list for the AT data container 2-101Configuration list signal status word 2-15Content of memory address 3-7Controller type 2-63Cooling type 3-92Current loop integral action time 1 2-48, 2-115Current loop proportional gain 1 2-47, 2-115Current-amplify-trim phase U 3-95Current-amplify-trim phase V 3-95Current-zero-trim phase U 3-94Current-zero-trim phase V 3-95Custom amplifier telegram configuration list 2-11

DD300 Commutation adjustment command 3-84D400 Positive stop drive procedure command 2-68D500 Command determine marker position 3-6D600 Cancel reference point procedure command 2-82D700 Command Parking axis 2-62Delay from trigger to start 3-16Diagnostic message 2-42Diagnostic message number 2-104Difference probe values 1 3-45Difference probe values 2 3-46Distance coded reference offset 1 2-73Distance coded reference offset 2 2-74Distance to move in error situation 3-22Drive status word 2-61

EEncoder 1, absolute range 2-102Encoder 2, absolute range 2-103Error message number 3-3Error recorder, diagnosis number 3-42Error recorder, operating hours control section 3-43Excessive position command value 3-3Expanded signal K1 address 3-33Expanded signal K2 address 3-34Expanded trigger address 3-32Expanded trigger level 3-32

FFeed constant 2-54Feedback 1 Resolution 2-52, 2-117Feedback 1 type 3-19Feedback 2 Resolution 2-53, 2-118Feedback 2 type 3-20Feedback acquisition starting time (T4) 2-4Feedback type 1 3-104Feedback type 2 3-104Feedrate override 2-48Flux loop integral action time 3-88Flux loop prop. gain 3-88




Following error 2-82Friction compensation 2-69Function of encoder 2 3-40

HHome switch 2-106Home switch offset 2-93Homing acceleration 2-22Homing parameter 2-66Homing velocity 2-22

IIDN-list of all operation data 2-11IDN-list of all procedure commands 2-14IDN-list of backup operation data 2-83IDN-list of invalid op. data for comm. Ph. 2 2-13IDN-list of invalid op. data for comm. Ph. 3 2-13IDN-list of operation data for CP2 2-12IDN-list of operation data for CP3 2-12Impulse wire feedback - offset 3-105Impulse wire feedback - PIC counter value 3-105Input revolutions of load gear 2-53Interface status 2-9Intermediate bus power 2-103Intermediate DC bus voltage 3-98

JJerk limit bipolar 2-98

LLanguage selection 2-88, 3-1Last valid position command value 3-4Length of master data telegram 2-5Length of the configurable data record in the AT 2-79Length of the configurable data record in the MDT 2-80Linear position data scaling exponent 2-35Linear position data scaling factor 2-34List of all operating modes 2-92List of configurable data in the AT 2-80List of configurable data in the MDT 2-81List of diagnostic numbers 2-102List of present plug-in modules 3-44List of scope data 1 3-8List of scope data 2 3-9List of selectable signals for oscilloscope function 3-34Lower position limit 1 for safety function, control 3-64Lower position limit 1 for safety function, drive 3-54Lower position limit 2 for safety function, control 3-65Lower position limit 2 for safety function, drive 3-55Lower position limit for position switch 1, control 3-66Lower position limit for position switch 1, drive 3-56Lower position limit for position switch 2, control 3-67Lower position limit for position switch 2, drive 3-56Lower position limit for position switch 3, control 3-67Lower position limit for position switch 3, drive 3-57Lower position limit for position switch 4, control 3-68Lower position limit for position switch 4, drive 3-58

MMagnetizing current 3-96Manufacturer class 3 diagnostics 2-78Manufacturer version 2-16Marker position A 2-77Mask class 2 diagnostic 2-43




Mask class 3 diagnostic 2-44Master control word 2-61Max. model deviation 3-24Max. speed 1 for safety function, control 3-63Max. speed 1 for safety function, drive 3-53Max. speed 2 for safety function, control 3-64Max. speed 2 for safety function, drive 3-54Maximum braking time 3-29Maximum motor speed (nmax) 2-51, 2-117Maximum travel range 2-91MDT Data container A 2-99MDT error counter 2-16MDT Transmit starting time (T2) 2-39Memory address 3-6Minimum AT transmit starting time (T1min) 2-2Minimum feedback acquisition time(T4min) 2-3Modulo value 2-46Moment of inertia of the rotor 3-82, 3-103Monitored actual position, control 3-70Monitored actual position, drive 3-61Monitoring window 2-70Monitoring window feedback 2 2-105Motor current at standstill 2-50, 2-116Motor function parameter 1 3-90Motor inductance 3-100, 3-106Motor peak current 2-49, 2-116Motor shutdown temperature 2-85Motor temperature 2-104Motor type 2-64, 2-118, 3-97, 3-104Motor voltage at no load 3-88Motor voltage max. 3-89Motor warning temperature 2-84MST error counter 2-15Multiplication 1 2-85Multiplication 2 2-86

NNC Cycle time (TNcyc) 2-1NC reaction on error 3-26Negative position limit value 2-27Number of pole pairs/pole pair distance 3-7, 3-101Number of samples after trigger 3-16Number of valid samples for oscilloscope function 3-35

OOperating hours control section 3-41Operating hours power section 3-42Optimal distance home switch - reference mark 3-35Output revolutions of load gear 2-54Overload warning 3-30

PParallel I/O input 1 3-21Parallel I/O input 4 3-37Parallel I/O output 1 3-21Parallel I/O output 4 3-36Parameter buffer mode 2-89Password 2-89Pos. corr., active correction value 3-72Pos. corr., correction table for prec. corr. 3-73Pos. corr., external correction value 3-71Pos. corr., prec. corr. start position 3-72Pos. corr., support point distance for prec. corr. 3-74Pos. monitoring window for safe stop operation, control 3-68Pos. monitoring window for safe stop operation, drive 3-58Position command processing mode 3-40Position command smoothing time constant 3-25




Position command value 2-25Position data scaling type 2-33Position feedback 1 type 2-90Position feedback 1 value 2-27Position feedback 2 type 2-52Position feedback 2 value 2-29Position feedback value status 2-108Position loop Kv-factor 2-47, 2-114Position polarities 2-30Position start value 3-8Position window 2-31Positioning Acceleration 2-87Positioning Deceleration 2-98Positioning Jerk 2-84Positioning Velocity 2-87Positive position limit value 2-26Power off on error 3-26Premagnetization factor 3-87Preset forced dynamization 3-62Primary mode of operation 2-17Probe 1 2-106Probe 1 enable 2-109Probe 1 negative latched 2-111Probe 1 positive latched 2-110Probe 2 2-107Probe 2 enable 2-109Probe 2 negative latched 2-112Probe 2 positive latched 2-112Probe control parameter 2-74Probe value 1 negative edge 2-59Probe value 1 positive edge 2-59Probe value 2 negative edge 2-60Probe value 2 positive edge 2-60Probing cycle procedure command 2-76

RReceive to receive recovery time (TMTSG) 2-39Reference cam shift 2-92Reference distance 1 2-28Reference distance 2 2-29Reference offset 1 2-68Reference offset 2 2-69Reference position for safe homing, control 3-69Reference position for safe homing, drive 3-58Rejection bandwidth velocity loop 3-39Rejection frequency velocity loop 3-38Reversal clearance 2-32Rotational position resolution 2-36

SS1-Kink-speed 3-89Safety input signals of the drive 3-49Safety output signals of the drive 3-50Secondary operation mode 1 2-18Secondary operation mode 2 2-19Secondary operation mode 3 2-19Selection safety functions, control 3-69Selection safety functions, drive 3-59SERCOS Cycle time (Tscyc) 2-1Signal select probe 1 3-44Signal select probe 2 3-45Signal select scope channel 1 3-9Signal select scope channel 2 3-10Signal status word 2-65Size of memory 3-15Slave arrangement (SLKN) 2-43Slip factor 3-97Slip increase 3-86




Slot angle 3-81, 3-102Speed deviation 2-96Stall current factor 3-87Standstill window 2-55State of safety function, control 3-62State of safety function, drive 3-52State of Travel range limit inputs 3-46Status Input E-Stop function 3-47Switching frequency 3-96System interface version 2-65

TTarget position 2-86Telegram type parameter 2-10Thermal drive load 3-31Time interval for forced dynamization, control 3-70Time interval for forced dynamization, drive 3-60Timebase 3-15Torque/Force command 2-36Torque/Force command smoothing time constant 3-37Torque/force constant 3-18, 3-102Torque/force data scaling exponent 2-42Torque/force data scaling factor 2-41Torque/Force data scaling type 2-38Torque/Force feedback value 2-37Torque/force peak limit 3-25Torque/Force polarity parameter 2-37Transmit/receive transition time (TATMT) 2-2Travel limit parameter 3-22Trigger control word 3-11, 3-17Trigger edge 3-14Trigger level for position data 3-13Trigger level for torque/force data 3-14Trigger level for velocity data 3-13Trigger signal selection 3-12Trigger source 3-11Trigger status word 3-18Trim-current 3-98Type of motor brake 3-85

UUpper position limit 1 for safety function, control 3-63Upper position limit 1 for safety function, drive 3-53Upper position limit 2 for safety function, control 3-65Upper position limit 2 for safety function, drive 3-55Upper position limit for position switch 1, control 3-65Upper position limit for position switch 1, drive 3-55Upper position limit for position switch 2, control 3-66Upper position limit for position switch 2, drive 3-56Upper position limit for position switch 3, control 3-67Upper position limit for position switch 3, drive 3-57Upper position limit for position switch 4, control 3-68Upper position limit for position switch 4, drive 3-57

VVelocity command filter 3-94Velocity command value 2-20Velocity control, deceleration ramp 1 3-93Velocity data scaling exponent 2-25Velocity data scaling factor 2-25Velocity data scaling type 2-24Velocity feedback value 2-21Velocity loop integral action time 2-45, 2-114Velocity loop proportional gain 2-45, 2-113Velocity loop smoothing time constant 3-1, 3-101Velocity mix factor feedback 1 & 2 3-29Velocity polarity parameter 2-23




Velocity threshold nx 2-56Velocity window 2-70Version of safety functions 3-47


DIAX04 SSE-03VRS Kundenbetreuungsstellen - Sales & Service Facilities 5-1


5 Kundenbetreuungsstellen - Sales & ServiceFacilities

Kundenbetreuungsstellen - Sales & Service Facilities

Deutschland – Germany vom Ausland: (0) nach Landeskennziffer weglassen!!from abroad: don’t dial (0) after country code!

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SERVICE - Hotline - 7 Tage / 24h -

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Kundenbetreuungsstellen in Deutschland - Service agencies in Germany


5-2 Kundenbetreuungsstellen - Sales & Service Facilities DIAX04 SSE-03VRS


Europa – Europe vom Ausland: (0) nach Landeskennziffer weglassen, 0 nach Landeskennziffer mitwählen!from abroad: don’t dial (0) after country code, dial 0 after country code!

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Denmark SALES Service

BEC ASZinkvej 6DK-8900 Randers

Telefon: +45 (0)87/11 90 60Telefax: +45 (0)87/11 90 61

England SALES Service

Mannesmann Rexroth Ltd.Rexroth Indramat DivisionBroadway Lane, South CerneyGB - Cirencester, Glos GL7 5UH

Telefon: +44 (0)1285/863000Telefax: +44 (0)1285/863030

Finland SALES Service

Rexroth Mecman OyRexroth Indramat divisionAnsatie 6SF-017 40 Vantaa

Telefon: +358 (0)9/84 91-11Telefax: +358 (0)9/84 91-13 60

France SALES Service

Mannesmann Rexroth S.A.Division Rexroth IndramatParc des Barbanniers4, Place du VillageF-92632 Gennevilliers Cedex

Telefon: +33 (0)141 47 54 30Telefax: +33 (0)147 94 69 41Hotline: +33 (0)6 08 33 43 28


Mannesmann Rexroth S.A.Division Rexroth Indramat270, Avenue de LardenneF - 31100 Toulouse

Telefon: +33 (0)5 61 49 95 19Telefax: +33 (0)5 61 31 00 41


Mannesmann Rexroth S.A.Division Rexroth Indramat91, Bd. Irène Joliot-CurieF - 69634 Vénissieux – Cedex

Telefon: +33 (0)4 78 78 53 65Telefax: +33 (0)4 78 78 53 62

Italy SALES Service

Mannesmann Rexroth S.p.A.Divisione Rexroth IndramatVia G. Di Vittoria, 1I - 20063 Cernusco S/N.MI

Telefon: +39 02/92 36 52 70Telefax: +39 02/92 36 55 12

Italy SALES Service

Mannesmann Rexroth S.p.A.Divisione Rexroth IndramatVia Borgomanero, 11I - 10145 Torino

Telefon: +39 011/7 50 38 11Telefax: +39 011/7 71 01 90

Italy SALES Service

Mannesmann Rexroth S.p.A.Divisione Rexroth IndramatVia del Progresso, 16 (Zona Ind.)I - 35020 Padova

Telefon: +39 049/8 70 13 70Telefax: +39 049/8 70 13 77

Italy SALES Service

Mannesmann Rexroth S.p.A.Divisione Rexroth IndramatVia Mascia, 1I - 80053 Castellamare di Stabia NA

Telefon: +39 081/8 71 57 00Telefax: +39 081/8 71 68 86

Italy SALES Service

Mannesmann Rexroth S.p.A.Divisione Rexroth IndramatViale Oriani, 38/AI - 40137 Bologna

Telefon: +39 051/34 14 14Telefax: +39 051/34 14 22

Netherlands SALES Service

Hydraudyne Hydrauliek B.V.Kruisbroeksestraat 1(P.O. Box 32)NL - 5281 RV Boxtel

Telefon: +31 (0)411/65 19 51Telefax: +31 (0)411/65 14 83e-mail: [email protected]

Netherlands SALES Service

Hydrocare B.V.Kruisbroeksestraat 1(P.O. Box 32)NL - 5281 RV Boxtel

Telefon: +31 (0)411/65 19 51Telefax: +31 (0)411/67 78 14

Norway SALES Service

Rexroth Mecman ASRexroth Indramat DivisionBerghagan 1 or: Box 3007N -1405 Ski-Langhus N -1402 Ski

Telefon: +47 (0)64 86 41 00Telefax: +47 (0)64 86 90 62

Poland SALES Service

Mannesmann Rexroth Sp.zo.o.Biuro Poznanul. Dabrowskiego 81/85PL - 60-529 Poznan

Telefon: +48 061/847 67 99Telefax: +48 061/847 64 02

Russia SALES Service

Tschudnenko E.B.Arsenia 22RUS - 153000 IvanovoRußland

Telefon: +7 093/223 96 33oder/or +7 093/223 95 48Telefax: +7 093/223 46 01

Spain SALES Service

Mannesmann Rexroth S.A.Divisiòn Rexroth IndramatCentro Industrial SantigaObradors s/nE-08130 Santa Perpetua de MogodaBarcelona

Telefon: +34 937 47 94 00Telefax: +34 937 47 94 01

Spain SALES Service

Goimendi S.A.División Rexroth IndramatJolastokieta (Herrera)Apartado 11 37E - 20017 San Sebastian

Telefon: +34 9 43/40 01 63Telefax: +34 9 43/39 17 99

Sweden SALES Service

Rexroth Mecman Svenska ABRexroth Indramat DivisionVaruvägen 7S - 125 81 Stockholm

Telefon: +46 (0)8/727 92 00Telefax: +46 (0)8/647 32 77

Slowenia SALES Service

Rexroth Indramatelektromotorji d.o.o.Otoki 21SLO - 64 228 Zelezniki

Telefon: +386 64/61 73 32Telefax: +386 64/64 71 50

Turkey SALES Service

Mannesmann Rexroth Hidropar A..S.Fevzi Cakmak Cad No. 3TR - 34630 Sefaköy Istanbul

Telefon: +90 212/541 60 70Telefax: +90 212/599 34 07

SwitzerlandSALES

-East- Service

Mannesmann Rexroth Schweiz AGGesch.ber. Rexroth IndramatGewerbestraße 3CH - 8500 Frauenfeld

Telefon: +41 (0)52/720 21 00Telefax: +41 (0)52/720 21 11

SwitzerlandSALES

-West- Service

Mannesmann Rexroth Suisse SADépartement Rexroth IndramatRue du village 1CH - 1020 Renens

Telefon: +41 (0)21/632 84 20Telefax: +41 (0)21/632 84 21

Europäische Kundenbetreuungsstellen (ohne Deutschland)European Service agencies (without Germany)


DIAX04 SSE-03VRS Kundenbetreuungsstellen - Sales & Service Facilities 5-3


Außerhalb Europa - outside Europe vom Ausland: (0) nach Landeskennziffer weglassen!from abroad: don’t dial (0) after country code!

Argentina SALES Service

Mannesmann Rexroth S.A.I.C.Division Rexroth IndramatAcassusso 48 41/7RA - 1605 Munro (Buenos Aires)

Telefon: +54 (0)11/4756 01 40Telefax: +54 (0)11/4762 6862e-mail:[email protected]

Argentina SALES Service

NAKASEServicio Tecnico CNCCalle 49, No. 5764/66RA - 1653 Villa BalesterProv. - Buenos Aires

Telefon: +54 (0) 11/4768 36 43Telefax: +54 (0) 11/4768 24 13e-mail: [email protected]

[email protected]

Australia SALES Service

AIMS - Australian IndustrialMachinery Services Pty. Ltd.Unit 3/45 Horne STCampbellfield , VIC 3061AUS - Melbourne

Telefon: +61 (0)3/93 59 02 28Telefax: +61 (0)3/93 59 02 86

Australia SALES Service

Mannesmann Rexroth Pty. Ltd.No. 7, Endeavour WayBraeside Victoria, 31 95AUS – Melbourne

Telefon: +61 (0)3/95 80 39 33Telefax: +61 (0)3/95 80 17 33Email: [email protected]

Brazil SALES Service

Mannesmann RexrothAutomação Ltda.Divisão Rexroth IndramatRua Georg Rexroth, 609Vila Padre AnchietaBR - 09951-270 Diadema-SP[ Caixa Postal 377 ][ BR-09901-970 Diadema-SP ]

Telefon: +55 (0)11/745 90 60+55 (0)11/745 90 70

Telefax: +55 (0)11/745 90 50e-mail: [email protected]

Brazil SALES Service

Mannesmann RexrothAutomação Ltda.Divisão Rexroth IndramatR. Dr.Humberto Pinheiro Vieira, 100Distrito IndustrialBR - 89220-390 Joinville - SC[ Caixa Postal 1273 ]

Tel./Fax: +55 (0)47/473 58 33Mobil: +55 (0)47 974 66 45e-mail: [email protected]

Canada SALES Service

Basic Technologies CorporationBurlington Division3426 Mainway DriveBurlington, OntarioCanada L7M 1A8

Telefon: +1 905/335 55 11Telefax: +1 905/335-41 84

China SALES Service

Mannesmann Rexroth (China) Ldt.Shanghai Parts & Service Center199 Wu Cao Road, Hua CaoMinhang DistrictPRC - Shanghai 201 103

Telefon: +86 21/62 20 00 58Telefax: +86 21/62 20 00 68

China SALES Service

Mannesmann Rexroth (China) Ldt.15/F China World Trade Center1, Jianguomenwai AvenuePRC - Beijing 100004

Telefon: +86 10/65 05 03 80Telefax: +86 10/65 05 03 79

China SALES Service

Mannesmann Rexroth (China) Ldt.A-5F., 123 Lian Shan StreetSha He Kou DistrictPRC - Dalian 116 023

Telefon: +86 411/46 78 930Telefax: +86 411/46 78 932

Hongkong SALES Service

Rexroth (China) Ldt.1/F., 19 Cheung Shun StreetCheung Sha Wan,Kowloon, Hongkong

Telefon: +852 22 62 51 00Telefax: +852 27 44 02 78

India SALES Service

Mannesmann Rexroth (India) Ltd.Rexroth Indramat DivisionPlot. 96, Phase IIIPeenya Industrial AreaIND - Bangalore - 560058

Telefon: +91 (0)80/8 39 73 74Telefax: +91 (0)80/8 39 43 45

India SALES Service

Mannesmann Rexroth (India) Ltd.Rexroth Indramat DivisionPlot. A-58, TTC Industrial AreaThane Turbhe Midc RoadMahape VillageIND - Navi Mumbai - 400 701

Telefon: +91 (0)22/7 61 46 22Telefax: +91 (0)22/7 68 15 31

Indonesia SALES Service

PT. Rexroth WijayakusumaJl. Raya Bekasi Km 21PulogadungRI - Jakarta Timur 13920

Telefon: +62 21/4 61 04 87+62 21/4 61 04 88

Telefax: +62 21/4 60 01 52

Japan SALES Service

Rexroth Automation Co., Ltd.Service Center JapanYutakagaoka 1810, Meito-ku,NAGOYA 465-0035, Japan

Telefon: +81 (0)52/777 88 41+81 (0)52/777 88 53+81 (0)52/777 88 79

Telefax: +81 (0)52/777 89 01

Japan SALES Service

Rexroth Automation Co., Ltd.Rexroth Indramat Division1F, I.R. BuildingNakamachidai 4-26-44, Tsuzuki-kuYOKOHAMA 224-0041, Japan

Telefon: +81 (0)45/942 72 10Telefax: +81 (0)45/942 03 41

Mexico SALES Service

Mannesmann Rexroth Mexico S.A.de C.V.Calle Neptuno 72Unidad Ind. VallejoMEX - 07700 Mexico, D.F.

Telefon: +52 5 754 17 11+52 5 754 36 84+52 5 754 12 60

Telefax: +52 5 754 50 73+52 5 752 59 43

e-mail: [email protected]

Korea SALES Service

Mannesmann Rexroth-Seki Co Ltd.1500-12 Da-Dae-DongROK - Saha-Ku, Pusan, 604-050

Telefon: +82 (0)51/2 60 06 18Telefax: +82 (0)51/2 60 06 19

Korea SALES Service

Seo Chang Corporation Ltd.Room 903, Jeail Building44-35 Yeouido-DongYeoungdeungpo-KuC.P.O.Box 97 56ROK - Seoul

Telefon: +82 (0)2/7 80 82 08+82 (0)2/7 80 82 09

Telefax: +82 (0)2/7 84 54 08

South Africa SALES Service

TECTRA Automation (Pty) Ltd.28 Banfield Road,Industria NorthRSA - Maraisburg 1700

Telefon: +27 (0)11/673 20 80Telefax: +27 (0)11/673 72 69

Taiwan SALES Service

Rexroth Uchida Co., Ltd.No.1, Tsu Chiang StreetTu Cheng Ind. EstateTaipei Hsien, Taiwan, R.O.C.

Telefon: +886 2/2 68 13 47Telefax: +886 2/2 68 53 88

Kundenbetreuungsstellen außerhalb Europa - Service agencies outside Europe


5-4 Kundenbetreuungsstellen - Sales & Service Facilities DIAX04 SSE-03VRS


Außerhalb Europa / USA - outside Europe / USAUSA SALES Service

Mannesmann Rexroth CorporationRexroth Indramat Division5150 Prairie Stone ParkwayUSA -Hoffman Estates, IL 60192-3707

Telefon: +1 847/6 45 36 00Telefax: +1 847/6 45 62 01 [email protected]

USA SALES Service

Mannesmann Rexroth CorporationRexroth Indramat DivisionCentral Region Technical CenterUSA - Auburn Hills, MI 48326

Telefon: +1 248/3 93 33 30Telefax: +1 248/3 93 29 06

USA SALES Service

Mannesmann Rexroth CorporationRexroth Indramat DivisionSoutheastern Technical Center3625 Swiftwater Park DriveUSA - SuwaneeGeorgia 30174

Telefon: +1 770/9 32 32 00+1 770/9 32 19 03

USA SALES Service

Mannesmann Rexroth CorporationRexroth Indramat DivisionNortheastern Technical Center99 Rainbow RoadUSA - East Granby,Connecticut 06026

Telefon: +1 860/8 44 83 77+1 860/8 44 85 95

USA SALES Service

Mannesmann Rexroth CorporationRexroth Indramat DivisionCharlotte Regional Sales Office14001 South Lakes DriveUSA - Charlotte,North Carolina 28273

Telefon: +1 704/5 83 97 62+1 704/5 83 14 86

USA Service HOTLINE

+1-800-860-1055

- 7 days / 24hrs -

Kundenbetreuungsstellen außerhalb Europa / USA Service agencies outside Europe / USA


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