application electronic cam - demero...ductive properties inside the inverter can cause short...

from V 5.6-F

01/2013 EN

APPLICATIONElectronic Cam FUNCTIONS

DETAILS

PARAMETER5th Generation of STÖBER Inverters

Table of Contents

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STÖBER ANTRIEBSTECHNIK

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Table of Contents

1. Introduction ............................................................. 1

2. Notes on Safety ...................................................... 3 2.1 Software ................................................................................. 8

2.2 Presentation of notes on safety .............................................. 9

3. Function Description .............................................. 10 3.1 Cam Profiles ............................................................................ 10

3.2 Table Coupling ........................................................................ 12

3.3 PLCopen Programming …………............................................ 17

3.3.1 MC_MoveAbsolute ………........................................................ 22

3.3.2 MC_MoveRelative ………......................................................... 24

3.3.3 MC_MoveAdditive ………......................................................... 26

3.3.4 MC_MoveVelocity ………......................................................... 28

3.3.5 MC_Stop ………....................................................................... 30

3.3.6 MC_Home ………..................................................................... 30

3.3.7 MC_Reset ………..................................................................... 36

3.3.8 MC_CamIn ……….................................................................... 36

3.3.9 MC_CamOut ………................................................................. 36

3.3.10 MC_MoveSuperimposed ……….............................................. 37

3.3.11 End of command ……….......................................................... 38

3.4 Interface ……………………..…................................................ 41

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4. Additional Functions …………............................... 42 4.1 Cams ………………………………………................................. 42

4.2 Jogging (Tipping) ……………………….................................... 44

4.3 Master Slave Coupling …………………................................... 45

4.3.1 External Encoder ………...…................................................... 47

4.3.2 Main drive ………………..…………….…………..………….….. 48

4.3.3 Virtual Master with Positioning Capability …..…….................. 49

4.4 Application-Specific Solutions …..…….................................... 53

4.5 Operating indicators …..……................................................... 54

5. Application Examples ………………...................... 56 5.1 Flying Saw .............................................................................. 56

5.2 Synchronizer/Switching Cycle Coupler/Uncoupler .................. 59

5.3 Cross Sealing with Welding Bars ........................................... 62

5.4 Printing Mark Offset …………………....................................... 63

6. Used Parameters ……..……………......................... 65 6.1 Parameter Legend .................................................................. 65

6.2 Parameter List ........................................................................ 66

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- This page was purposely left blank -

Introduction

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1 Introduction The Electronic Cam is a drive-based drive architecture. This application enables you to implement applications such as the flying saw or the rotating knife.

Servomotors

SSI-Motionbus

PO

SID

RIV

E®

MD

S 5

000

PO

SID

YN

®

SD

S 5

000

Fieldbus

SPS

Figure 1-1 Drive-based drive architecture with SDS 5000 and MDS 5000 You can interconnect PLCopen blocks to program the final sequence of movement. Movements are implemented such as absolute target specification,

relative positioning paths, endless positioning, or synchronous movements.

When the MC_Camin block is triggered the "table coupling" between a master and the axis is activated. This "table coupling" is called the electronic cam. An

electronic cam establishes a unique relationship between a position of the master drive/master axis and a position of the next/slave axis. Implementation of an electronic cam in a machine differs from the construction

of the mechanical cam. The electronic cam offers the following advantages over the mechanical version:

No jolting

Maximum accelerations

Introduction

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No excitation from mechanical vibrations

No mechanical changes required for format changes

Diagnostic capabilities

No wear

Hygienic design

The cam can be used in many applications, but primarily with packaging machines, printing presses, robots and the wood industry.

The cam technology function is a standard part of the device firmware and the POSITool configuration and commissioning software starting with version 5.2.

Prior to commissioning the cam, your participation in the training course Free Programming is required See the following manuals for more information:

Projecting manuals for projecting the FDS 5000 (ID 442269) or for projecting the MDS 5000 (ID 442273) or for projecting the SDS 5000 (ID 442277).

Programming manual (ID 441693) for a detailed description of the system and the Free Programming option.

Block description (ID 441692) with the description of the blocks required for

programming. If you have questions on the use of the devices of the 5th generation of STÖBER inverters and the POSITool software which are not answered in this

manual, we will be glad to help. Just call us at 07231 582 0. To make it easier for you to get started with our software applications we offer courses. Please contact our Training Center at the following address:

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG Trainings Center Kieselbronner Straße 12

75177 Pforzheim

Electronic cam

Notes on Safety

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2 Notes on Safety When in operation, inverters from STÖBER ANTRIEBSTECHNIK GmbH + Co. KG may have energized or rotating parts depending on their protection rating.

Surfaces may heat up. For these reasons, comply with the following:

The safety notes listed in the following sections and points

The technical rules and regulations

In addition, always read the mounting instructions and the short commissioning instructions. STÖBER ANTRIEBSTECHNIK GmbH + Co. KG accepts no liability for

damages caused by non-adherence to the instructions or applicable regulations. Subject to technical changes to improve the devices without prior notice.

This documentation is purely a product description. It does not represent promised properties in the sense of warranty law.

Component part of the product

The technical documentation is a component part of a product.

Since the technical documentation contains important information, always

keep it handy in the vicinity of the device until the machine is disposed of.

If the product is sold, disposed of, or rented out, always include the technical documentation with the product.

Operation in accordance with its intended use

In the sense of DIN EN 50178 (previously VDE 0160), the POSIDRIVE®

FDS 5000 and MDS 5000 and the POSIDYN® SDS 5000 model series represent the electrical equipment of power electronics for the control of power flow in high-voltage current systems. They are designed exclusively to power:

Servo motors (MDS 5000, SDS 5000)

Asynchronous motors (FDS 5000, MDS 5000 and SDS 5000)

Operation for purposes other than the intended use include the connection of other electrical loads! Before the manufacturer is allowed to put a machine on the market, he must

have a danger analysis prepared as per machine guideline 98/37/EG. This analysis establishes the dangers connected with the use of the machine. The danger analysis is a multi-stage, iterative process. Since this documentation

cannot begin to provide sufficient insight into the machine guidelines, please carefully study the latest standards and legal situation yourself. After the drive controller has been installed in machines, it cannot be commissioned until it

has been determined that the machine complies with the regulations of EG guideline 98/37/EG.

Notes on Safety

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Ambient conditions

Model series POSIDRIVE® FDS 5000 and MDS 5000 and POSIDYN® SDS 5000 are products of the restricted sales class as described in IEC 61800-3. This product may cause high-frequency interference in residential zones and

the user may be asked to take suitable measures. The inverters are not designed for use in public low-voltage networks which

power residential areas. High-frequency interference must be expected when the inverters are used in such a network. The inverters are only intended for use in TN networks.

The inverters are only designed for use on supply current networks which can delivery at the most a maximum of symmetrical rated short circuit current at 480 Volts as per the following table:

Device family Size Max. symmetrical rated short circuit

current

FDS 5000, MDS 5000,

SDS 5000

BG 0 and BG 1

5000 A

MDS 5000 SDS 5000

BG 2 5000 A

BG 3 10000 A

Install the inverter in a switching cabinet in which the permissible maximum surrounding air temperature is not exceeded (see mounting instructions).

The following applications are prohibited:

Use in potentially explosive areas

Use in environments with harmful substances as per EN 60721 (e.g., oils,

acids, gases, fumes, powders, irradiation)

Use with mechanical vibration and impact stresses which exceed the information in the technical data of the mounting instructions

Implementation of the following applications is only permitted when STÖBER ANTRIEBSTECHNIK GmbH + Co. KG has been contacted first for permission:

Use in non-stationary applications

Qualified personnel

Since the drive controllers of the model series POSIDRIVE® FDS 5000, POSIDRIVE® MDS 5000 and POSIDYN® SDS 5000 may harbor residual risks,

all configuration, transportation, installation and commissioning tasks including operation and disposal may only be performed by trained personnel who are aware of the possible risks.

Notes on Safety

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Personnel must have the qualifications required for the job. The following table lists examples of occupational qualifications for the jobs:

Activity Possible occupational qualifications

Transportation and storage Worker skilled in storage logistics or comparable training

Configuration Graduate engineer (electro-technology or electrical power technology)

Technician (m/f) (electro-technology)

Installation and connection Electronics technician (m/f)

Commissioning (of a standard application)

Technician (m/f) (electro-technology)

Master electro technician (m/f)

Programming Graduate engineer (electro-technology or electrical power technology)

Operation Technician (m/f) (electro-technology)

Master electro technician (m/f)

Disposal Electronics technician (m/f)

In addition, the valid regulations, the legal requirements, the reference books, this technical documentation and, in particular, the safety information contained

therein must be carefully:

read

understood and

complied with.

Transportation and storage

Immediately upon receipt, examine the delivery for any transportation damages. Immediately inform the transportation company of any damages. If damages are found, do not commission the product.

If the device is not to be installed immediately, store it in a dry, dust-free room. Please see the mounting instructions for how to commission an inverter after it has been in storage for a year or longer.

Installation and connection

Installation and connection work are only permitted after the device has been

isolated from the power! The accessory installation instructions allow the following actions during the installation of accessories:

The housing of the MDS 5000, SDS 5000 and FDS 5000 in the upper slot can be opened.

The housing of the MDS 5000 and SDS 5000 in the bottom slot can be

opened. Opening the housing in another place or for other purposes is not permitted.

Notes on Safety

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Use only copper lines. For the line cross sections to be used, see table 310-16 of the NEC standard for 60 oC or 75 oC.

Protect the device from falling parts (pieces of wire, leads, metal parts, and so on) during installation or other tasks in the switching cabinet. Parts with con-ductive properties inside the inverter can cause short circuits or device failure.

The motor must have an integrated temperature monitor with basic isolation in acc. with EN 61800-5-1 or external motor overload protection must be used. The permissible protection class is protective ground. Operation is not

permitted unless the protective conductor is connected in accordance with the regulations. Comply with the applicable instructions for installation and commissioning of

motor and brakes.

Commissioning, operation and service

Remove additional coverings before commissioning so that the device cannot overheat. During installation, provide the free spaces specified in the mounting instructions to prevent the inverter from overheating.

The housing of the drive controller must be closed before you turn on the supply voltage. When the supply voltage is on, dangerous voltages can be present on the connection terminals and the cables and motor terminals

connected to them. Remember that the device is not necessarily de-energized after all indicators have gone off. When network voltage is applied, the following are prohibited:

Opening the housing

Connecting or disconnecting the connection terminals

Installing accessories

Proceed as shown below to perform these tasks: 1. Disable the enable (X1). 2. Turn off the supply voltage (power pack and controller power supply

as well as any auxiliary voltages for encoder, brake, etc.). 3. Protect the supply voltages from being turned on again. 4. Wait 5 minutes (time the DC link capacitors need to discharge).

5. Determine isolation from the voltage. 6. Short circuit the network input and ground it. 7. Cover the adjacent, voltage-carrying parts.

You can then start your work on the drive controller. Repairs may only be performed by STÖBER ANTRIEBSTECHNIK GmbH +

Co. KG. Send defective devices together with a fault description to:

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG

Abteilung VS-EL Kieselbronner Str. 12 75177 Pforzheim

GERMANY

Notes on Safety

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Disposal

Please comply with the latest national and regional regulations! Dispose of the individual parts separately depending on their nature and currently valid regulations such as, for example:

Electronic scrap (PCBs)

Plastic

Sheet metal

Copper

Aluminum

Residual dangers

The connected motor can be damaged with certain settings of drive controllers. Longer operation against an applied motor halting brake

Longer operation of self-cooled motors at slow speeds Drives can reach dangerous excess speeds (e.g., setting of high output frequencies for motors and motor settings which are unsuitable for this).

Secure the drive accordingly.

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2.1 Software

Using the POSITool software

The POSITool software package can be used to select the application and adjust the parameters and signal monitoring of the 5th generation of STÖBER inverters. The functionality is specified by selecting an application and

transmitting these data to an inverter. The program is the property of STÖBER ANTRIEBSTECHNIK GmbH + Co. KG and is copyrighted. The program is licensed for the user.

The software is only provided in machine-readable form. STÖBER ANTRIEBSTECHNIK GmbH + Co. KG gives the customer a non-exclusive right to use the program (license) provided it has been legitimately

obtained. The customer is authorized to use the program for the above activities and functions and to make copies of the program, including a backup copy for

support of this use, and to install same. The conditions of this license apply to each copy. The customer promises to affix the copyright notation to each copy of the program and all other property

notations. The customer is not authorized to use, copy, change or pass on/transmit the program for purposes other than those in these regulations. The customer is

also not authorized to convert the program (i.e., reverse assembly, reverse compilation) or to compile it in any other way. The customer is also not authorized to issue sublicenses for the program, or to rent or lease it out.

Product maintenance

The obligation to maintain refers to the two latest program versions created by

STÖBER ANTRIEBSTECHNIK GmbH + Co. KG and approved for use. STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will either correct program errors or will provide the customer with a new program version. This choice will

be made by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG. If, in individual cases, the error cannot be immediately corrected, STÖBER ANTRIEBS-TECHNIK GmbH + Co. KG will provide an intermediate solution which may

require the customer to comply with special operation regulations. A claim to error correction only exists when the reported errors are reproducible or can be indicated with machine-generated outputs. Errors must be reported in

a reconstructable form and provide information which is useful to error correction. The obligation to correct errors ceases to exist for such programs which the customer changes or edits in any way unless the customer can prove that such

action is not the cause of the reported error. STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will keep the respective valid program versions in an especially safe place (fireproof data safe, bank deposit

box).

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2.2 Presentation of notes on safety

Notice

means that property damage may occur if the stated

precautionary measures are not taken.

Caution

with warning triangle means that minor injury may occur if

the stated precautionary measures are not taken.

Warning

means that there may be a serious danger of death if the

stated precautionary measures are not taken.

Danger

means that serious danger of death exists if the stated

precautionary measures are not taken.

Information

indicates important information about the product or a

highlighted portion of the documentation which requires

special attention.

CAUTION

WARNING

DANGER

NOTICE

Function Description

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3 Function Description This chapter explains terms such as the configuration of a cam profile and functions such as the integration of table coupling and the PLCopen blocks.

3.1 Cam Profiles The relationship of the positions is illustrated in a 2-dimensional system of coordinates. The horizontal line shows the position of the master axis while the vertical line shows the position of the slave axis. The master circular length

corresponds to the position circumference of the horizontal line. The position circumference of the vertical line corresponds to the slave circular length. A straight line with a slope of 1 corresponds to a 1:1 coupling of master to slave

axis. Up to 4 different cam profiles can be stored on the inverter with the Electronic Cam application. You can switch between the cam profiles of congruent cam

sections at any time.

0

y

x

= =

Figure 3-1 Open (red, green)/closed cam profile (blue) Repeated execution of a cam profile is called cyclic (periodic) processing. Both

open and closed cam profiles are possible (Figure 3-1). Behavior for an open and a closed cam profile after a master overflow differs. An open cam profile is when the slave axis is not located at the starting point again after a master

circular length. Open cam profiles are used for endless positioning. Closed cam profiles are used for axes with a limited position range. Both endless and limited axis types can be used for the master and slave axis. There are no

restrictions on the combination of axis types between master and slave. You specify the kind of slave axis type by selecting the application in the Configuration Assistant.

The axis type of the master is set with the parameter G30 master axis type.

Slave scaling

Master circular length

greenred blue


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The relationship between master and slave can be evaluated absolutely or relatively. The absolute relationship requires master referencing. It can be

reconstructed so that only a one-time referencing procedure is necessary. Master referencing is executed via the signal master reference position. The source of the signal is set in parameter G103. When the signal has a positive

change in edge the current master position is set to the value entered in the parameter G38 master reference position.

Information

When the master encoder triggers event 37:Encoder, the In

Reference bit of the master is deleted regardless of the encoder

being used.

After power OFF/ON the position is reconstructed correctly even

though the bit remains deleted. The In Reference signal of the

slave is not affected by this (see chap. 3.3).

Master referencing


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3.2 Table Coupling The coordinates of the cams are stored standardized to 230 on the device. Master and slave scaling and master and slave offset are then performed.

00

230

230

0

50

-50

[mm]

18090 270 360

[°]

Figure 3-2 Scaling of a standardized cam The scaling values are transferred by calling the MC_CamIn command. The values for master and slave scaling are specified on the inputs of the block

(see Figure 3-3).

Figure 3-3 Example of interconnection for MC_CamIn

Master circular length = 360°

Master offset = 90°

Master scaling = 180°

Slave scaling= 100 mm

Slave offset= -50 mm

Position Position


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The respective current values are indicated in the following parameters:

G854 Master scaling G855 Master offset G856 Slave scaling G857 Slave offset

Figure 3-4 illustrates how scaling procedures and offset values work.

+

+

+

-

230

2300

0

G348

Figure 3-4 Calculation of the scaling and offset values

When the MastrAbs input of the MC_CamIn block is active when a rising edge occurs on the Execute input, the master position is evaluated absolutely and is used directly for indexing in the cam table. When the input is inactive, indexing

always starts at the beginning of the table. The SlaveAbs input must always be inactive at this time. Remember that this means that, when the cam starts, the value indicated in G862 output table coupling velocity must match the speed in I88. If not, ramping is performed with I11 maximum acceleration to the cam speed. This causes a position difference in the result

If the Periodic input is active when there is a rising edge on Execute, the curve is executed cyclically. The prerequisite for this is that the master position must also be cyclic (i.e., the master type must be endless position range). If the input

is inactive when there is a rising edge, the cam is executed before the next overflow of the master position via the circular length (or underflow under 0).

Input MstrOffs*

Input MstrScal*

Input SlaveScal*

Input SlavOffs*

G80 Master positio

Master-filter


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If the cam profile is to be changed during the motion

or the scaling is to be modified, always remember to execute this in cam sections which must be congruent in both cam profiles to prevent the axis

from jolting. The position cams in the application can be used for this

purpose.

The master filter is activated by parameter G340. When the master filter is deactivated, the master position is processed unfiltered.

Figure 3-5 shows the setup of the master filter.

+

+

+

+

G348

G344G343G342G341 G349

12n

2n

2n

ddt

Modulo2

PT1

PT1

G80

Figure 3-5 Setup of the master filter The standardized cam disk can be linked in in csv format. Any cam profiles can

be calculated with this by existing table calculation programs (Excel, OpenOffice, and others) and imported to the POSITool software. Another option is to create cam profiles with the Optimus Motus® software. You will find

the software on the STÖBER Electronics 5000 CD or on the Internet at www.stoeber.de. You will need a dongle to use this software. This dongle is available from STÖBER Antriebstechnik GmbH & Co. KG under following

article no.:

Optimus Motus® version Article no.

Introductory packet 49780

Standard packet 49781

Masterfilter

1 Will be considered in due course.2 Only for circular axes

NOTICE

Master speed

Masterfilter increment multiplier 1

Filtered master-position

Master position

Master period

Over/And

Master speed

Masterfilter position low pass

Masterfilter speed

low pass

Masterfilter dead time

compensation

Filtered master-speed

Filter dead time compensation

Master position


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After you have installed the software on your PC and connected the dongle,

you can call the software from the wizard Master scaling/Optimus Motus® on the Cams page (see Figure 3-7). For a description of the software, see Online Help (F1 key). Remember that when you use Optimus Motus®, you must

always import the cam tables via Optimus Motus®. Cam profiles exported by POSITool can also be processed. The csv file of an

exported cam is shown below:

Figure 3-6 View of a CSV file in Excel The first line contains the original source parameters (in Figure 3-6, G64 and G65). These parameters tell you which of the four cam profiles were exported

(in our example, cam table 3). These two values can be disregarded when importing a cam profile since each of the four cams can be imported with the Import Assistant.

The position coordinates of master and slave axis which do not have to be equidistant are listed starting with the second line. On the master side they must ascend monotonically. In our example point 0 contains the 0 coordinates

for master and slave position. The first point x0 is used for values less than 0 on the cam input. The last point xn is used for values greater than 230.

Figure 3-7 shows the page “cams” of the cam table / master scaling assistant. The first cam profile can be imported and exported on this page. You can access the other cam profiles from the tabs at the bottom.


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Figure 3-7 Cam table / master scaling assistant

Information

Cam data can be imported during online operation of POSITool

as long as the number of reference points remains the same. If

the number of reference points changes cam data can only be

imported in offline operation and in configuration mode of

POSITool.

New cam profiles can only be imported in a configuration. Import

in a reverse documentation is not possible. A cam profile can

always be exported.


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3.3 PLCopen Programming The Electronic Cam application offers the following commands:

MC_MoveAbsolute MC_MoveSuperimposed MC_MoveRelative MC_Home MC_MoveAdditve MC_Stop MC_MoveVelocity MC_Reset MC_CamIn MC_CamOut The PLCopen blocks interface with the system via parameters I400 ff. When a PLCopen block is called in the program it uses the parameters starting at I400

ff to communicate with position control within the application and passes on such data as command, target position and speed. The commands change the current state of position control. The following

diagram shows the possible states and state changes


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4:ContinuousMotion

5:SynchronizedMotion

3:DiscreteMotion

12

14

15

28

29

18

20

21

30

17

22

24

23

26

27

31

25

13

32

35

7:Errorstop

6:Stopping

2:Standstill

8:Homing

78

9

3

4

5

19

6

10

16

11

1:Passive

12 33

34

Figure 3-8 State diagram and presentation of the transitions


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Description of the transitions

Changeover Triggering

1 : Passive to Standstill MC_AktivierePositionierung when the device is enabled

Automatic when I52 = active and when

the device is enabled

2: Standstill to Passive

MC_DeaktivierePosi MC_Reset Enable off

3: Standstill to Homing MC_Home

4: Homing to Standstill Done

5: Homing to Errorstop Error1

6: Standstill remains

Default

With MC_Stop "Standstill" is retained without any other state change

7: Standstill to Errorstop Error1

8: Errorstop to Standstill MC_Reset when no further quick stop request is queued. Otherwise Errorstop is retained.

9: Stopping to Errorstop Error1

10: Errorstop remains Default

11: Stopping to Standstill When the profile generator outputs 0 as

the reference value speed

12: Standstill to Continuous

Motion

MC_MoveVelocity Jog +/-

MC_Continue when the command MC_MoveVelocity was aborted with

MC_Stop before

13: Standstill to Synchronized

Motion

MC_CamIn

1 Cause of the error condition:

Falling edge on a hardware limit switch (except in the Homing state)

Quick stop request from the device state machine

Motion jobs rejected because of the following reasons:

Impermissible direction

Target is outside the software limit switches

Absolute motion job in unreferenced state

Circular axis absolute target position greater than circular length


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14: Continuous Motion to Errorstop

Error1

15: Continuous Motion to Stopping

MC_Stop Jogging is activated

16: Stopping remains As long as the profile generator outputs a reference value speed other than 0.

17: Discrete Motion to Standstill Done

18: Standstill to Discrete Motion MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive TipStep

MC_Continue if MC_MoveAbsolute, MC_MoveRelative or

MC_MoveAdditive was aborted by MC_Stop before

19: Homing to Stopping MC_Stop

20: Discrete Motion to Errorstop Error1

21: Discrete Motion to Stopping MC_Stop Jogging is activated

22: Discrete Motion remains As long as the motion is moving

MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive

23: Synchronized Motion to Discrete Motion


24: Discrete Motion to Synchronized Motion

MC_CamIn

25: Continuous Motion remains As long as no new command is being executed, no quick stop request is issued

and no software limit switch is reached .







Absolute motion job in unreferenced state Circular axis absolute target position greater than circular length


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26: Continuous Motion nach Synchronized Motion

MC_CamIn

27: Synchronized Motion nach Continuous Motion

MC_MoveVelocity MC_CamOut

28: Discrete Motion nach Continuous Motion

MC_MoveVelocity

29: Continuous Motion nach Discrete Motion


30: Synchronized Motion nach

Stopping

MC_Stop Jogging is activated

31: Synchronized Motion bleibt As long as no command other than

MC_CamIn or MC_MoveSuperimposed is being executed, no quick stop request is issued and no software limit switch is

reached.

32: Synchronized Motion nach

Errorstop

Error1

33: Aus allen Zuständen außer

Errorstop nach Passive

MC_Reset

34: In den Zustand Homing aus

den Zuständen Continous Motion, Discrete Motion und Synchronized Motion

MC_Home

35: Continuous Motion nach Standstill

Software limit switches are reached

The commands will now be described. For a description of the block inputs and

outputs see block description documentation (ID 441692).







Absolute motion job in unreferenced state Circular axis absolute target position greater than circular length


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3.3.1 MC_MoveAbsolute

The MC_MoveAbsolute command is triggered via blocks 100257 (with time stamp) and 100258 (without time stamp). It causes a movement to an absolute

position. The drive must be referenced before the command can be triggered (see MC_Homing below). With an endless axis this command only accepts target positions which are less than the circular length I01. Figure 3-9 shows an

example of the interconnection of two MC_MoveAbsolute blocks. The time diagram in Figure 3-10 shows two processing procedures. In the first case the block with the target position P00 = 500 mm and the speed P01 = 5000 mm/s

is started (BE1) and finished. The Done signal of the first block causes the second motion job with the target position P02 = 800 mm and the speed P04 = 3000 mm/s to be executed. The two separate motion profiles can be

clearly seen.

In the second case the next process block is already started before the target position of the first process block was reached. This causes the process block

data of the second process block (target position, speed and acceleration ramps) to become valid at the rising edge of the signal on BE2. The second motion profile differs from the first case.

Figure 3-9 Example of interconnection for MC_MoveAbsolute


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1

1

1

1

0

0

0

0

5000

800

3000

500

~ ~~ ~

~ ~~ ~

~ ~~ ~

~ ~ t

t

t

t

t

t

Figure 3-10 Time diagram for MC_MoveAbsolute

Actual position [mm]

BE2

Done (2nd block)

BE1

Speed [mm/s]

Done (1st block)


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3.3.2 MC_MoveRelative

The MC_MoveRelative triggers a movement for a specified distance. It is triggered with the blocks 100266 (with time stamp) and 100267 (without time

stamp). With an endless axis the distance to be traveled may be much greater than the circular length I01.

Figure 3-11 shows an example of the interconnection of two MC_MoveRelative

blocks. The time diagram in Figure 3-12 shows two processing procedures for the interconnection. In the first case the left-hand block with the relative target position P00 = 500 mm and the speed P01 = 5000 mm/s is finished. The Done

signal of the block starts the second block with the relative target position P02 = 300 mm and the speed P04 = 3000 mm/s. The two separate motion profiles can be clearly seen.

In the second case the second process block is already started before the target position of the first process block was reached. The relative target position of 300 is added to the current actual position of the drive.

The end positions of the drive are different in the two cases.

Figure 3-11 Example of interconnection for MC_MoveRelative


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~ ~~ ~

~ ~~ ~

~ ~~ ~

~ ~ t

t

t

t

t

t

1

1

1

1

0

0

0

0

5000

800

3000

500480

180

Figure 3-12 Time diagram for MC_MoveRelative

Speed [mm/s]


BE2

Done (1st block)

BE1

Done (2nd block)


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3.3.3 MC_MoveAdditive

Blocks 100268 (with time stamp) and 100269 (without time stamp) can trigger the MC_MoveAdditive command. The command causes a motion for a

specified distance. In contrast to the MC_MoveRelative command the target position is calculated from the addition of the positioning length specified on the block and the current reference position.

With an endless axis the distance to be traveled can be much greater than the circular length I01.

Figure 3-13 shows an example of the interconnection of two MC_MoveAdditive

blocks. The time diagram in Figure 3-14 shows two processing cases. In the first case the left-hand block with the speed P01 = 5000 mm/s and the positioning path P00 = 500 mm are completely processed. The Done signal

triggers the processing of the second block with the speed P04 = 3000 mm/s and the positioning path P02 = 300 mm. In the second case the first block is interrupted by the signal of BE2. Since the

positioning path is added to the current reference position when MC_MoveAdditive is used, the end positions of the drive are the same in both cases.

Information

If, for example, a rotary attachment is to be repeatedly moved by

60°, the MC_MoveRelative command is not suitable since, at

every start, the actual position may differ by several increments

from the reference position. Over time this error can accumulate.

It can be avoided with the command MC_MoveAdditive.

Figure 3-13 Example of interconnection with MC_MoveAdditive


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1

1

1

1

0

0

0

0

5000

800

3000

500

~ ~~ ~

~ ~~ ~

~ ~~ ~

~ ~ t

t

t

t

t

t

Figure 3-14 Time diagram for MC_MoveAdditive

Speed [mm/s]


BE2

Done (1st block)

BE1

Done (2nd block)


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3.3.4 MC_MoveVelocity

Block 1002736 triggers the MC_MoveVelocity command. The command causes endless positioning at the specified speed. When a second

MC_MoveVelocity block is triggered with a different speed profile the speed is adjusted with the specified accelerations (see Figure 3-15 and Figure 3-16). The MC_MoveAbsolute command with the target position P04 = 0 must be

used to stop a movement such as the one shown in our example.

Figure 3-15 Example of interconnection for MC_MoveVelocity and MC_MoveAbsolute


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1

1

1

0

0

0

5000

3000

100

t

t

t

t

t

Figure 3-16 Time diagram for MC_MoveVelocity and MC_MoveAbsolute

BE2

BE1

Speed

Actual position

BE3

Circular length 100


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3.3.5 MC_Stop

The command MC_Stop is triggered by block 100275. It decelerates the speed down to zero with the specified deceleration ramp. The PLCopen state

machine is in the Stopping state. The message 22:abortedX (X = motion block number of the motion block interrupted by MC_Stop) appears on the display. When the speed 0 is reached the state machine changes to the Standstill state.

3.3.6 MC_Home

When the 24 V voltage is turned on the actual position is not known. Referencing provides a defined original position. Referencing of the slave is triggered with block 100249 (with time stamp) or 100254 (without time stamp).

Absolute motions can only be executed in the referenced state.

Information

Referencing of the slave axis is triggered by the MC_Home

command. See chap. 3.1 for how to reference the master axis.

Hardware limit switches do not trigger malfunctions during referencing. When a

hardware limit switch is reached the direction of revolution is reversed and referencing is continued. However, when reversal is blocked (I04 move direction) for an endless axis, the drive stops at the limit switch.

Reference mode is parameterized in the Posi Maschine Assistant with the parameters I30 to I41. The next command cannot be started until referencing is concluded or

terminated. Termination is done with MC_Stop or MC_Reset. The referenced state is signaled with I86 in reference = 1 and can be output via binary output or a bus system.

When an absolute value encoder is used for position control, the in reference signal is retained when the device is switched on and off. When an absolute value encoder is not used referencing must be performed again every time an

axis is initialized. An axis is initialized when the device starts up and when an axis is switched. When absolute value encoders are used and devices are exchanged, the in reference signal can be transferred to the new device by exchanging Paramodul. Remember that, in this case, the action A00 Save values must be performed before the exchange. When a motor is exchanged new referencing

is always required.


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The primary parameters for referencing will now be discussed.

When the motor encoder triggers the event

37:Encoder, the in reference signal of the drive is deleted regardless of what encoder is being used.

After power OFF/ON referencing must be performed

again.

Parameter I30 specifies the required initiators or the functions for binary inputs. There are three modes of referencing: 0:reference input, 1: encoder signal 0

and 2:define home. When 0:reference input mode is used, a sensor signal or a signal of a controller can be used as the reference point, for example. The interface is selected in

parameter I103. A limit switch can also be used as the reference input (see Figure 3-17 examples of referencing, example 4). In this case parameters I101 or I102 and I103 must be set to the same interface (e.g., BE1). The function of

the reference input must be inverse to that of the limit switch (e.g., BE1-inverse) since the limit switches are evaluated at LOW-active.

When mode 1:encoder signal 0 is selected, the reference position is set up the

first time the zero signal is reached after start. This setting can only be used when an encoder with zero signals or zero information (e.g., EnDat®, SSI and resolver) is used.

When 2:define home mode is selected, the current position is replaced by the reference position when triggered by the Execute signal. This referencing mode can be used to reference a drive even in the device states switchon disable,

ready for switchon and fault (for device states, see chap. 3.1 of the application manual). Referencing mode 2:define home can also be started during a motion. When the Execute signal is detected the actual position is set as the reference

position and the drive is then decelerated with ramp I39 (see below) to a standstill. I31 determines the (search) direction when referencing starts. When the

reference (or limit switch) is active the direction is reversed (cf. example further down). The correct value for I31 can be checked by positioning the axis by hand, for example.

Two speeds (I32 and I33) are specified when the reference position must be approached precisely. Referencing begins with the fast speed I32. When the reference signal is detected the drive decelerates and moves in the opposite

direction at the slow speed (see Figure 3-17 ). The two different speeds are useful particularly with large linear axes. When I32 or I33 is set to greater than I10 the referencing speeds are limited to

I10. I32 and I33 can be changed with the Override function (up to I10). When endless axes are being used and the parameter I04 move direction only permits one direction of revolution, the drive uses only the slow speed during

I30 Referenzfahrt-Typ

I31 referencing direction

I32 referencing speed fast

and

I33 referencing speed slow

NOTICE


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referencing. When the drive reaches the reference position it stops. A reversal of revolution direction does not take place.

When the reference point is detected the actual position is set as I34 reference position. When switch or sensor signals are used as reference points for the machine,

the function of parameter I35 can be used to increase precision. The drive travels to the reference switch at the fast speed. The direction of revolution is then reversed and the slow speed is used. The drive stops when the next zero-

pulse signal is detected (see Figure 3-17 , examples of referencing). I35 specifies whether the zero track signal of the motor encoder or the position encoder is to be used. Naturally, this function requires the use of an encoder

with a zero signal. I37=1 starts the referencing process automatically when the axis is initialized. There are two cases in which axis initialization takes place.

At power on if an axis is selected (A63 and A64, no axis active via A65, see chap. 1.2.1).

When axes are switched

For referencing types 0:reference input and 1:Encoder signal 0 referencing is started as soon as the enable is issued. With type 2:define home the current position immediately becomes the reference position.

When a valid position can be reconstructed while the axis is being initialized (e.g., by using a multi-turn absolute value encoder), automatic referencing does not take place.

When the setting I37=2:reconstruct angle is used the current position of the position encoder is saved for 100 ms after removal of the device enable and reconstructed after the device is turned off and on. With single-turn absolute

value encoders (e.g., resolvers) when the device is turned on again the position is only reconstructed when the angle of deviation was less than 5°. With incremental encoders the position is always reconstructed with

I37=2:reconstruct angle. However, it must be ensured that the axis cannot move when the device is off.

I34 Reference position

I35 referencing on encoder

signal 0

I37 automatic referencing

during axis initialization


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The ramps for referencing can be set separately. When the reference position

is reached the drive decelerates to a standstill. The distance required for reversal or deceleration is generally: v² with v: Speed

Distance = ------- a: Acceleration (here I39). 2a After conclusion of referencing the drive stops after the required deceleration

distance I332 / (2*I39) and does not return to the reference position. The Override function (see chap. 2.3.3) changes the speed and thus also the deceleration distance!

When I39 greater than I11 is set, referencing acceleration is limited to I11.

Example 1 I30=0:Ref.Schalter, I31=0:positiv Example 2 I30=0:Ref.Schalter, I31=0:positiv

Since the reference switch divides the entire positioning range into two halves no further switch is needed.

The direction defined in I31 is reversed when the reference switch is active at the beginning!

Example 3 I30=0:Ref.Schalter, I31=0:positiv Example 4 I30=0:Ref.Schalter, I31=0:positiv

REF END+END-

v

I35=1

I35=0

x

The reference switch (cam) only reacts briefly. A limit switch handles the reversal.

A limit switch can be used for referencing instead of a reference switch I101 = /I103

Figure 3-17 Examples of referencing

I39 referencing acceleration

Reference switch

Fast (I32)

Slow (I33) Zero pulsesIncremental encoder

Ref. direction reversed

activeReference switch

Fast (I32)

Slow (I33) Zero pulses Incremental encoder

Fast (I32)

Zero pulsesIncremental encoder

Limit switch + Reference switch

Fast (I32)

Zero pulses Incremental encoder

Limit switch +


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These parameters are used to automatically compensate for slip or an imprecise gear ratio. After the first referencing procedure the actual position I80

is overwritten with the reference position I34 over and over again when the reference switch is traveled over. The distance still to be covered is corrected and the axis is able to execute any number of relative movements in one

direction without drifting away, even with slip-prone drives.

Information

With continuous referencing, referencing is always performed on

the same side of the reference switch regardless of the current

direction of revolution of the drive.

The side is specified with the parameter I31. The side that the

drive reaches first while revolving in the direction I31 is used.

In our example referencing is performed on side A when

I31=0:positive is set.

Figure 3-18 Sides of the reference switch

I36=1:standard is used when there is a reference switch within the entire position range or within a circular length I01. When the reference switch is

reached I80 is offset with I34 reference position. When rotary attachment applications are used the circular length I01 must correspond as precisely as possible to the distance between two reference

signals. For example, the same position must be indicated again after one belt rotation. The actual position I80 must be checked during one rotation at I36=0:inactive and, if necessary, I07 adjusted. The distance per revolution I07

must always be rounded to the next higher number to prevent bothersome backward motion offsets. If possible the reference switch should not be triggered during a deceleration ramp since this would cause a negative offset to

be executed for a backwards movement. The setting I36=2:periodic is used when several reference switches are located along the positioning range. The distance between the reference switches is

entered in I41 reference period. With this function the device takes along a potential reference position which it would expect at the next reference point. When a signal occurs at the reference point the device compares the distance

of its own actual position with the last and the expected reference position. The nearest position is selected as the new reference position and is declared the actual position at the time of the initiator.

I41 is visible in the POSI Machine Assistant if I36 was set to 2:periodic.

I36 continuous referencing

and I41 reference period

A B

I31=1:negative

Ref. switch signal

I31=0:positive


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Information

When a referencing procedure is to be performed first during

continuous, periodic referencing (e.g., to specify the machine

zero point), remember that, for continuous periodic referencing,

all reference switches are connected in parallel to one binary

input. The signal evaluated by the inverter cannot differentiate

between the various switches. Referencing (I30 = 0:reference switch) produces correspondingly different machine zero points.

This is why referencing should only be performed with the

referencing type I30 = 2:define home.

When I01, I07, I08 or other important positioning

parameters are changed, it is mandatory that the axis

be referenced again for each encoder system so that the relevant data on the inverter are kept consistent.

Information

1. With slip-prone drives, the target window I22 must be greater

than the maximum mechanical inaccuracy!

2. With a multi-turn absolute value encoder, referencing is

usually necessary only once during commissioning.

3. To be able to replace the inverter for a referenced drive the

action A00 save values must be used to save to Paramodul so

that the referenced state is retained. The device can then be

replaced and the new device uses the old Paramodul. This

means the drive retains its reference.

NOTICE


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3.3.7 MC_Reset

Acknowledging an error with MC_Reset in the status Errostop changes the state to Standstill. The command is triggered by block 100276.

It has no effect on device malfunctions. This is a command which resets the PLCopen positioning controller. Device malfunctions must be reset with the acknowledgment signal (for selector A61, see chap. 1.2.1; for STÖBER state

machine, see chap. 3 of the application manual). Note: A MC_Reset command resets the current reference position to the current actual position. A running movement can be interrupted.

3.3.8 MC_CamIn

Block 100813 (with time stamp) triggers the MC_Camin command which causes an electronic cam to be coupled in. For details on the electronic cam, see chapters 3.1 and 3.2.

3.3.9 MC_CamOut

Block 100814 triggers the MC_CamOut command which causes an electronic cam to be coupled out. The last valid slave speed is retained. The command MC_Stop must be used to decelerate the drive.


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3.3.10 MC_MoveSuperimposed

A permanent reference exists between master and slave position when the PLCopen state synchronized motion is reached. The reference can be changed

with MC_MoveSuperimposed (block 100288). Before the change can be executed the speeds of the motion profile linked with MC_MoveSuperimposed are added to the current speed.

1

250

0

0

100

150

50

t

t

t

Figure 3-19 Time diagram for the command MC_MoveSuperimposed

When coupled in, slave speed and slave acceleration

are no longer limited to the values in I10 and I11!

The parameter C01 n-max is the limit for the speed.

BE1

Additive speed

Slave position

NOTICE


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3.3.11 End of command The Done signal tells you whether a command has been processed or not. You can read the Done signal in parameter I189 or I201 Bit 4.

Command Condition for

I189 = 0:inactive I189 = 1:active

MC_MoveAbsolute

MC_MoveRelative MC_MoveAdditive MC_Continue

The Done signal becomes 0:inactive as

soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this

state does not change.

The command is finished when the

motion profile has been covered and the difference between reference and actual position is less than the position

window. Internal state changes can delay the change of the Done signal to 1:active by up to 3 cycles (A150). Once

the signal is 1:active, a departure from the position window can also not cause the signal to become 0:inactive again.

MC_MoveVelocity The Done signal becomes 0:inactive as soon as you start the command with a

rising edge of the Execute signal. If the Done signal was already 0:inactive, this state does not change.

The command is finished when the profile generator has reached the

reference speed. Internal state changes can delay the change of the Done signal to 1:active by up to 3 cycles

(A150).

MC_Stop The Done signal becomes 0:inactive as




profile generator has reached the reference speed 0. Internal state changes can delay the change of the

Done signal to 1:active by one cycle (A150).

MC_Home The Done signal becomes 0:inactive as soon as you start the command with a rising edge of the Execute signal. If the

Done signal was already 0:inactive, this state does not change.

The command is finished when the referencing procedure is concluded and the drive has come to a standstill after

the reference positioning. With the "set reference" type of reference positioning, the Done signal becomes 1:active

again 6 cycles (A150) after the rising edge of the Execute signal.

MC_Reset The Done signal becomes 0:inactive as soon as you start the command with a rising edge of the Execute signal. If the

Done signal was already 0:inactive, this state does not change.

—


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Command Condition for

I189 = 0:inactive I189 = 1:active

AktivierePosi — The Done signal becomes 1:active as soon as you start the command with a rising edge of the Execute signal. If the

Done signal was already 1:active, this state does not change.

DeaktivierePosi — —

MC_CamIn The Done signal becomes 0:inactive as



The Done signal becomes 1:active

when the profile generator reaches the master speed. This state is also indicated by I192 Bit 1.

MC_CamOut — The Done signal becomes 1:active as

soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 1:active, this


MC_Move-

Superimposed

The Done signal becomes 0:inactive as




higher-level motion profile was covered. Internal state changes can delay the change of the Done signal to 1:active

by up to 3 cycles (A150).


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3.4 Interface The interface to the outside is divided into 2 parts.

Control word for basic functions (contained in the template)

Customer-specific control word for application-specific bits The control word for the basic functions is located at parameter address I223.

The control word is allocated with the following signals:

Bit Signal

0 In reserve

1 Hardware limit switch +

2 Hardware limit switch -

3 Ref. switch, axis

4 Jog enable

5 Jog +

6 Jog -

7 TipStep +

8 TipStep -

9 Ref. switch, master axis

10- In reserve

Status word I200 of the basic functions is set up as shown below:

Bit Signal Meaning

0 Limit switch Group message of one of the two hardware limit switches or software limit switch has tripped. See bits 5

... 8 in I91 profile generator flags.

1 Rejected

Group message: The last command could not be executed due to no referencing, software limit switch or

disabled direction of rotation. Error code I90 is between 1 and 4.

2 Limit Group message: M-limit, following error, M limit due to i²t

3 Terminated Group message: MC_Stop, enable off, quick stop

4 Constant speed The ramp generator specifies constant speed.

5 In-position Reference value reached.

6 In-reference Drive referenced.

7 Standstill After PLCopen I89=2

8 Hand or local

mode Hand is active (also applies to local mode via keyboard).

9 Cam 1 The electrical cam is in the active range (I60, I61).

10 Switching point Bits 10 to 12 are not used by the "electronic cam" application. 11 Latch status bit

Basic functions


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Bit Signal Meaning

12 Latch status bit

13-

15

Motion ID bit 0 -

Motion ID bit 2

Identifier of the last processed positioning job (lower 3

bits). The motion ID is specified in Posi control word I210 / I222 and is used in status word I200 for the unique allocation of the status bits to a certain

positioning job.

To make adjustments for the interface signals, see the programming manual

(ID 441693).

Customer-specific

adjustments

Additional Functions

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4 Additional Functions This chapter will give you information on:

Cams,

SSI Motionbus and

Jogging In addition section 4.4 gives you several solutions for application-specific,

special situations such as opening a protective hood.

4.1 Cams Activation of glue jets or similar can be controlled with a cam-operated master controller on the inverter. The Electronic Cam application offers you two

possible solutions:

Technology cam

Fast cam

The technology cam is calculated in the cycle time A150 of the technology task (e.g., 2 ms). If, as shown in Figure 4-1, I80 current position is used as the position, this is a

slave cam. In our example cam beginning is entered in P60 and cam end in P61. The cam state is indicated in P62. When you connect G80 this is a master cam. The output of the cam can be used as desired in free graphic

programming or it can be assigned to a binary output. When defining parameters for cam beginning and cam end remember that master and slave cams refer to differently scaled systems.

Any desired number of technology cams can be configured. Cams can be used for limited and endless position ranges based on the application. Cams with pre-triggering can also be used for time-critical applications.

Figure 4-1 Programming a slave cam


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Information

Please note that the described function is also available with

block 101081. You can use the block starting with version V5.3.

Regardless of the cycle time set in A150, the fast cam is calculated in 1 ms

increments (MDS 5000, FDS 5000) or in 250 µs increments (SDS 5000) together with position control. It can also be used as a master or slave cam. The number of fast cams is limited to 4. The fast cams have a speed

dependent dead time compensation. The fast cam does not need to be wired in free graphic programming. The function can be set with parameters N100 to N136.

The cam output signal is indicated in parameters N107 (fast cam 1), N117 (fast cam 2), N127 (fast cam 3) and N137 (fast cam 4).

Please remember that the output signals of the fast

cams are always indicated on binary outputs BA3 to BA6.

If you decide to use the fast cams, you must first delete the default entries in parameters F63 BA3-source to F66 BA6-source.

Fast cam

NOTICE


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4.2 Jogging (Tipping) Jog mode is started by the binary signal TipEnable (selection of the signal source in I104) and not by a block. A stop command is triggered when it is

activated. The drive decelerates down to a standstill and then sets the output signal Tip active. Afterward four other signals become effective: Tip+, Tip-, HandStep+ and

HandStep-. If the drive is already at a standstill when TipEnable is activated, exactly one cycle time passes before the tip signals became effective.

Tip+ and Tip- allow continuous manual positioning in positive or negative direction. When both signals are active, no movement takes place. The signals HandStep+ and HandStep- allow positioning relative to the current actual value

by the step specified in I14. The signals Tip+ and Tip- have priority over the signals HandStep+ and HandStep-. When at least one of the signals Tip+ or Tip- is active, HandStep

positioning is no longer considered. This also applies when both signals are active and no movement takes place. A running Step movement can be interrupted by MC_Stop but not by Tip+,

Tip-, HandStep+ or HandStep-. When TipEnable is inactive and continuous manual positioning is being performed, a stop command is sent to the positioning controller. As soon as the

drive is at a standstill the signal I188 tipping active becomes inactive. Jogging mode is deactivated. If the drive is executing a step when TipEnable is deactivated the drive

completes the step. When the drive comes to a standstill Tip active becomes inactive. Jogging mode is deactivated. A motion block with the MC_Stop command can interrupt continuous manual

positioning or a step. The value specified in the MC_Stop block is used for the deceleration ramp Related parameters:

I12 Tip speed I13 Tip acceleration I14 TipStep

Deactivating “TipEnable”

Interrupting manual

positioning or a step


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4.3 Master Slave Coupling In the Electronic Cam application the master axis may be

an external encoder,

an existing drive (main drive) or

a virtual master axis

To achieve precise coupling the drives should be coupled via

the IGB Motionbus or

the SSI Motionbus

The IGB-Motionbus can only be set up with inverters of the SDS 5000 device series. For how to set up a coupling with the IGB-Motionbus, see the operating

manual SDS 5000 (ID 442289). You will require the following for the coupling with the SSI-Motionbus:

Inverter of the MDS 5000 or SDS 5000 device series

Option card XEA 5001 or REA 5001 For how to set up an SSI-Motionbus, see the mounting guidelines of the

inverters:

MDS 5000: ID 441688

SDS 5000: ID 442084

Only the coupling via SSI-Motionbus will be described here. With the SSI-Motionbus, the absolute multi-turn position (motor shaft or virtual

master) is transferred as an SSI simulation. The master position can be scaled and referenced in every slave. The remainder increments are considered in master scaling.

The position is reconstructed after power returns to the master position. For information on the topology of an SSI Motionbus see also the mounting instructions.

Coupling of master and slave

Precision


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Information

Operation of the SSI-Motionbus is blocked if the SSI master does

not send a clock signal or the SSI simulant does not send data. If

an inverter is parameterized to use the SSI-Motionbus, it will

trigger the malfunction 37:Encoder if the clock signal or the data

are missing. Such a lack of signals occurs, for example, during

commissioning when inverters are switched on in succession.

For this reason, STÖBER ANTRIEBSTECHNIK recommends

first commissioning the inverters without the SSI-Motionbus. To

do this, deactivate interface X120. The interface must be

activated again before the SSI-Motionbus can be commissioned.

In addition, all stations must be switched on at the same time

during commissioning of the SSI-Motionbus and during

operation.

When an error occurs on the SSI Motionbus the fault 37:Encoder is triggered by various causes. For a list of causes, see the event list in chap. 4 of the

application manual.


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4.3.1 External Encoder

This section describes the parameterization of the SSI Motionbus when an external encoder (real master encoder) specifies the position.

Information

If you set up the SDS 5000 with the MDS 5000, STÖBER

ANTRIEBSTECHNIK GmbH+Co. KG recommends using an

SDS 5000 as the SSI master since the SDS 5000 uses shorter

scanning times.

Figure 4-2 Diagram of the coupling with the master encoder In this case, DIP switches S4 and S5 must be set on Motionbus to ON on the

last slave (31 in our example) (terminating resistor).

Slave 1 (SSI master) H120 = 67:SSI master H125 = Gray / binary (as per encoder system used) H130 as per encoder system used 1 G27 = 4:X120-encoder

Ab Slave 2 (SSI slave) H120 = 67:SSI slave H125 = Gray / binary (as per encoder system used)

H130 as per encoder system used 1 G27 = 4:X120-encoder

1 Parameter H126 is used for this setting with version V 5.2.

Setting the DIP switches

Parameterizing the encoder

interfaces

Slave 1 Slave 2 Slave 3

Slave 31

SSI Master SSI Slave SSI Slave SSI Slave

SSI Encoder

Data

Clock

…


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4.3.2 Main drive

This section describes the parameterization of the SSI Motionbus when an MDS 5000 or SDS 5000, as real master, specifies the position via an SSI

simulation.

Information

If you set up the SSI-Motionbus with SDS 5000 and MDS 5000,

STÖBER ANTRIEBSTECHNIK GmbH+Co. KG recommends

using an SDS 5000 as the main drive (SSI simulation) and as

SSI master since the SDS 5000 uses shorter scanning times.

Figure 4-3 Diagram of the coupling with the real master

In this case, clock pulse and data must be set to ON via DIP switches S4 and S5 on the last slave (31 in our example) and on the main drive (terminating resistor).

Main drive H120 = 82:SSI simulation

H125 = 0:gray H130 = 0:252 H127 = 0:motor encoder G27 = 0:inactive

Slave1 H120 = 67:SSI master H125 = 0:gray


Setting the DIP switches

Parameterizing the encoder

interfaces

Slave 1 Slave 2

Slave 3

Slave 31


Data

Clock

…Main

drive

SSI Simulation


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H130 = 0:252 G27 = 4:X120-encoder

Ab Slave 2 H120 = 68:SSI slave H125 = 0:gray

H130 = 0:252 G27 = 4:X120-encoder

4.3.3 Virtual Master with Positioning Capability

The virtual master is used when a position reference value from a virtual

master axis is to be supplied to a network of several axes. Distribution of a real master position creates a problem in that all slave axes experience the control oscillations and load jolts of the main or master drive.

This may cause uneven running at some speeds. When you use a virtual master instead, all axes receive an error-free reference value. This eliminates time delays and position differences since all axes of the

Motionbus read the master position "simultaneously."

Information

If you set up the SSI-Motionbus with SDS 5000 and MDS 5000,

STÖBER ANTRIEBSTECHNIK GmbH+Co. KG recommends

using an SDS 5000 as slave 1 with virtual master (SSI

simulation) and as SSI master since the SDS 5000 uses shorter

scanning times.

Figure 4-4 Diagram of the coupling with a virtual master

Slave 2 Slave 3 Slave 4

Slave 32


Data

Clock

…Slave 1

SSI Simulation

virtual Master


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To use the SSI-Motion bus with the virtual master proceed as described below:

Parameterizing SSI-Motionbus for virtual Master

1. Make the following settings on Slave 1:

H120 = 82:SSI simulation H125 = 0:gray

H130 = 0:253

H127 = 1:configuration

G27 = 5:virtual master 2. Make the following settings on Slave 2:

H120 = 67:SSI master H125 = 0:gray H130 = 0:253

G27 = 4:X120-encoder 3. Make the following settings on Slave 3 and all subsequent slaves:

H120 = 68:SSI Slave

H125 = 0:gray

H130 = 0:253

G27 = 4:X120-encoder 4. On Slave 1 (Figure 4-4) set the DIP switches S4 CLOCK and S5 DATA

on additional PCB XEA 5001 to ON.

5. On the last slave (Figure 4-4, Slave 32) set the DIP switches S4 CLOCK

and S5 DATA on additional PCB XEA 5001 to ON (terminating resistor).

You have parameterized the SSI Motion Bus for the virtual master function

Activate positioning capability by using master PLCopen blocks in the configuration user interface of the axes (similar to PLCopen programming in chapter 3.3). When a master PLCopen block is called, it communicates via the

parameters (starting at G400) with the positioning controller and passes on data such as command, target position and speed. The commands change the current state on the master positioning controller. The following diagram shows

the possible states and the changes in state:


Activating positioning

capability by using the

master blocks in the

configuration user interface


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Figure 4-5 State diagram of the master positioning controller Although the functions of the commands specified in the diagram correspond to the PLCopen commands in chapter 3.3, they only apply to the virtual master.

The following blocks are available to trigger the commands:

Command

Block

Time Stamp

Function

No Time Stamp

Function

MC_MasterHome 101037 101038

MC_MasterMoveAbsolute 101039 101040

MC_MasterMoveRelative 101041 101042

MC_MasterMoveAdditive 101043 101044

MC_MasterMoveVelocity 101046 –

MC_MasterStop 101048 –

MC_MasterReset 101049 –


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Information

Remember the differences between the commands

MC_MasterHome and MC_Home (see chapter 3.3). Since the

MC_MasterHome command triggers referencing of the virtual

master axis, it only contains the referencing type set reference.

This means that the actual position of the virtual master is set to

the value on the Position input after a rising edge on the Execute

input of the block 101037 or 101038. At the same time parameter

G150 In Reference = 1:active is set.

The following parameters are available for the Master Tipping function:

G140 Master tip enable: This signal activates the function.

G141 Master tip +: This signal starts manual positioning in the positive direction when the Master Tip Enable signal is active.

G142 Master tip -: This signal starts manual positioning in the negative direction when the Master Tip Enable signal is active.

G144 Master tip velocity: Velocity of manual operation.

G145 Master tip acceleration: Acceleration of manual operation. You can use the software limit switches for the virtual master when the virtual

master is referenced (G155 in reference = 1:active). The software limit switches of the virtual master are active when the parameters

G146 Master software limit switch + and

G147 Master software limit switch - have different values. The limit switches are deactivated when the values are

the same. The values entered in the parameters G146 and G147 are interpreted as positions. Motion jobs are refused when their target exceeds the limit switches.

In this case the drive changes to the state Errorstop. When the command MC_MasterMoveVelocity is executed, target braking is performed when the software limit switch is approached. The virtual master stops at the software

limit switch. The limit switches are also active in tipping mode. You can affect the speed of the virtual master with the master velocity override.

This master velocity override is a factor which is used to calculate the current speed of the virtual master. Enter the factory in the parameter G143 Master velocity override Example:

G84 master velocity = 150 °/s

G143 Master velocity override = 80 %

The speed evaluated by the slave is: s/120%80s/150

Tipping

Master software limit

switches

Master-Geschwindigkeits-

Override


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4.4 Application-Specific Solutions Every system has several special situations that must be considered in addition to normal operating states. Some examples are listed below:

Reaction to protective hood open

Quick stop behavior

Reconstruction of the synchronous position after an emergency off

Executing an axis network quick stop Implementation of these special situations with a device of the 5th generation of STÖBER inverters will be illustrated here. Many machines are equipped with

a protective hood. When this hood is open the operator's personal safety is in jeopardy and the drives must be brought to a standstill in accordance with machine guidelines. Depending on the particular application, a fixed position

can be approached, the drive can be shut down as quickly as possible, or a coupled axis network can be shut down.

Shutting down a network of axes (emergency halt)

When an axis network is to be shut down it must be ensured that all involved inverters are supplied with 400 V during the deceleration time. Braking is

implemented via the master drive (real or virtual master) while all slave axes must remain coupled until standstill. The power may then be turned off via delayed safety switchgear.

Moving to a fixed position when protective hood is open

When the protective hood is opened cutter drives must often move to a fixed

position. This is simple to implement using PLCopen programming. MC_MoveAbsolute at the standstill position interrupts the motion command which is currently being executed. Also here, 400 V must be available on the

controller while positioning is still being executed before the power is interrupted at a certain later time. You can specify in the block of the command whether positioning is to be performed only forward, only backward or using the

shortest path (only circular axes).


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Shutting down all drives as soon as possible

The enable can be withdrawn from all involved drives when an emergency off requires that all drives be brought to a standstill as quickly as possible without regard for existing master-slave cam couplings. This is triggered by a quick

stop that interrupts any running cam. Also here, you must ensure that power remains available for the deceleration time.

Reconstructing the synchronous position after an emergency halt

After an emergency halt/emergency off it is often desirable to move the system

to the point at which it was interrupted. The drives may be located anywhere since material may have been removed and the axes may have also been moved by hand. This means that all involved drives must move to the position

which is specified after the current master position in the particular cam. This is done with the command MC_MoveAbsolute with the reference position from the cam output G860 (limited positioning range) or G861 (endless positioning

range) plus basic position (position during activation of the cam). After the axis has reached the position the cam can be activated since the axis was adjusted to the right position. When this is done for all involved axes production can be

directly started up again. If it is impossible to reconstruct the position (e.g., danger of the axes colliding) all axes must be moved to the basic position and the system then started up at the beginning of the cycle.

4.5 Operating indicators In device state 4:Enabled, the electronic cam application gives you information on device states. In addition, the value of parameter E80 appears in the bottom line of the display. Parameter E80 can assume the follow values in the

electronic cam application:

E80 Description

10: PLCO_init Initialize position control.

11: PLCO_Passive Position control is in the state 1:passive. 12: standstill Position control is in the state 2:standstill. 13: discr.Motion Position control is in the state 3:discrete motion.

14: cont.Motion Position control is in the state 4:continuous motion. 15: sync.Motion Position control is in the state 5:synchronized motion.

16: stopping Position control is in the state 6:stopping. 17: errorStop Position control is in the state 7:errorstop

(applications motion block positioning or electronic

cam)

18: homing Position control is in the state 8:homing. 19: limit switch One of the limit switches has tripped.


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E80 Description

20: denied Position control has determined one of the following events:

The drive is not referenced but the motion job requires the reference.

A motion job was triggered whose target position

is located outside the software limit switch.

A motion job was triggered which moved in a direction of rotation which is inhibited.

The message combines faults 1 to 4 in /90 ErrorCode.

21: limited Position control has determined that one of the following limits was reached:

Torque limit

Following error

M-limitation by i2t

22: aborted Position control has determined one of the following events:

A MC_Stop was triggered.

The enable was switched off.

A quick stop was triggered.

Application Examples

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5 Application Examples STÖBER ANTRIEBSTECHNIK GmbH+Co. KG offers examples for all of the following applications which make commissioning much easier. They are

always ready to run and can also be expanded. If you'd like more information please call STÖBER ANTRIEBSTECHNIK at 07231 582 0. In most cases it is sufficient to set the ratios of the system, cams, system

speed and related ramp. The cam profiles are imported to the project. After this you can begin optimizing the drive directly.

5.1 Flying Saw If you don't want a continuous material flow to be interrupted while the material

is being processed (e.g., being printed, cut or tested) a repeated sequence of movement is required. The following axis waits in the start position for a start signal. During

processing this axis must run synchronously with the material flow. Afterwards it returns to its original position. This function is called flying saw. It can be implemented with PLCopen blocks

on a device of the 5th generation of STÖBER inverters. All you have to do is set the necessary parameters (such as start position, length of cut, reverse speed, etc.).

There are 2 ways to implement a flying saw:

Synchronous return stroke (stored on the cam)

Asynchronous return stroke (via separate, asynchronously started return

stroke command) With synchronous return stroke the cam is started again each time, and, at the end of the cam, the flying saw is back at its starting point.

Since the cam is not to be executed repeatedly the block input Periodic must be set to 0:inactive. The cam should be started with a binary input with time stamp (BE1 – BE5) so

that the synchronous position can be maintained with maximum possible accuracy. When the cam is executed cyclically the product length results automatically (i.e., master scaling corresponds to the resulting product length).

Synchronous return stroke


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Locations (scaled presentation) could look like this.

200

200

400

400

600

600

800

800

1000

1000

0

0

100

200

300

Figure 5-1 Closed cam profile – the flying saw With asynchronous return stroke the cam is only used for coupling and

synchronous movement. Synchronization is interrupted at the starting position with an MC_MoveAbsolute. The advantage of the asynchronous return stroke is the adaptation of the return

stroke speed to the switching cycle which is easier on the mechanical parts. When a long product is cut with low switching cycle the return stroke can take place slowly. However, with the same cam, short products and a high switching

cycle, the return stroke must take place faster.

Asynchroner Rückhub


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Figure 5-2 shows the relationship between position and speed.

0

0

100

200

300

Figure 5-2 Open cam profile – the flying saw

Slave position

Time

Slave speed

Time

Synchronous Asynchronous return stroke


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5.2 Synchronizer/Switching Cycle

Coupler/Uncoupler

A drive can be specifically coupled or uncoupled for a switching cycle with the synchronizer function. Synchronous operation or remaining at a standstill for several switching cycles is also possible. Conceivable applications are the

product carrousel,

input worm drive synchronization

collection of products when a product is missing from the continuous flow of

goods or

a product ejector. The ramp for the use/don't use function can be specified as the distance (i.e.,

independent of the speed). The axis always comes to a standstill at a defined parking position. The task is implemented by switching the tables at fixed positions.

One cam exists for every system state (i.e., standstill, coupling, synchronous motion, and decoupling). The tables are switched so that the cams are switched congruently.

Zero cam:

This cam is the trivial case since, when called, it is always written to 0 by slave

scaling = 0. This means that the slave reference value always remains zero regardless of the master axis.

Coupling cam:

The coupling cam is always calculated so that a master cycle corresponds to half a slave cycle (i.e., when master scaling is 360 ° slave scaling must be

180 °). This means that coupling and decoupling can take place within one cycle.


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Figure 5-3 shows an example of a coupling cam.

900

180

90

360

270

180 270 3600

Figure 5-3 Einkoppelkurve

Synchronous cam

The synchronous cam is usually also the trivial case in which one circular length on the master side corresponds to one circular length on the slave side.

The table contains only 2 points - 0.0 and 230, 230. For our case here, scaling means one master scaling = 360 ° and one slave scaling = 360 °.

Decoupling cam

The decoupling cam is designed like the coupling cam (i.e., at the zero crossing of the slave position decoupling to standstill occurs again within a half a switching cycle length (180 °).

Slave position

Master position

Master position: 360 ° S

lave

pos

itio

n: 1

80 °


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Figure 5-4 gives you an example of a decoupling cam.

0

180

90

90 180 270 3600

Figure 5-4 Decoupling cam To avoid jolting, the cams are overlapped by 10 ° for example. The position cams which trigger the switch are placed in the middle of this area.

Slave position

Master position

Master position: 360 °

S

lave

pos

itio

n: 1

80 °


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5.3 Cross Sealing with Welding Bars A constant welding time is the primary concern for a welding bar application regardless of the current system speed. When this time is not adhered to,

shorter welding times mean poorer material connections and longer welding times mean burning and material damage. This time which is so important to the process can be implemented on the drive with a high time-discrete

resolution. Figure 5-5 shows a diagram of how this requirement can be implemented.

Figure 5-5 Welding time is independent of system (master) speed This application is implemented with a timer together with two consecutive cam calls using free graphic programming. First the downwards motion is initiated

with a non-cyclic cam. When this reaches the end the status bit cam end reached becomes active and the welding timer begins to run. When this timer expires, upward return stroke motion is initiated with a non-cyclic cam upwards.

When the upwards end position is reached the status message done is output. The procedure can start at the beginning again.

Slave position

Master position

Welding active

Time

Time

Time


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Figure 5-6 Diagram of an example of programming the constant welding time

5.4 Printing Mark Offset Printing mark control (position offset) is used together with suitable readers to

align master and slave drives. The synchronization signal is evaluated with one of the fast inputs with time stamp (BE1 - BE5) with a time resolution in the µs range. The speed at which the alignment or the offset motion takes place can

be adjusted as can the acceleration of the motion. Examples of printing mark control are found in packaging technology (e.g., goods are constantly passing by which are to be packaged in printed foil). The

job is to see that the printed image is always located at the same position on the packaging. The printing mark on the foil makes it possible to detect and automatically correct foil expansion or foil shrinkage (i.e., a slip). Drift which

would otherwise take place during operation without printing mark control is eliminated.

Figure 5-7 shows a diagram of how printing mark control works. Without printing mark control the actual position and the real position of the foil are misaligned and this misalignment increases with each product.

In our example the error is corrected within the printing mark window with a rising edge of the printing mark. This means that the position of the foil is correct for each product in succession. Axis motion is not triggered by a rising

edge outside the permissible printing mark window and this prevents a misprint.


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Figure 5-7 Printing mark offset

Implementation on the inverter can be obtained via the PLCopen command MC_MoveRelative with time stamp for processes which come to a standstill.

For processes which run continuously the PLCopen command MC_MoveSuperimposed is used. Implementation of a printing mark window is the result of the logical link of the

printing mark signal with a position cam. The time resolution is 1 µs since the time stamp function can be used.

Printing mark window

Printing mark

Printing mark offset

Printing mark error

Master

Master position

Slave speed

Used Parameters

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6 Used Parameters

6.1 Parameter Legend Par. Description Fieldbus-

address

C230 Global

r=2, w=2

Torque limit: Specification for the torque limit (absolute value) via fieldbus if the signal source is C130=4:Parameter. Value range in %: -200 to 200 to 200 Fieldbus: 1LSB=1·%; PDO ; Type: I16; (raw value: 32767 = 200 %); USS address: 03 39 80 00 hex

24E6h 0h

Access level for read (r=2) and write accesses (w=2)

PROFIBUS, PROFINET = PNU (PKW1) CAN-Bus = Index

Value range: Specification of unit, minimum and maximum value The default setting is underlined.

Fieldbus: 1st position: Scaling for integer (PROFIBUS and CAN bus) 2nd position: - PDO – Parameters can be imaged as process data. - Blank – Parameter can only be accessed via PKW (PROFIBUS) or SDO

(CAN bus). 3rd position: Data type. See operating manuals, chapter 3.2. 4th position: Scaling for raw values 5th position: USS address

Global – Parameter is not dependent on axis. Achse – Parameter is axis-specific. Off – Parameter can only be changed when enable is off.

PROFIBUS, PROFINET = Subindex CAN-Bus = Subindex

Used Parameters

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6.2 Parameter List A.. Inverter Par. Description Fieldbus-

address

A00.0 Global

r=0, w=0

Save values & start: When this parameter is activated, the inverter saves the current configuration and the parameter values in the Paramodul. After power-off, the inverter starts with the saved configuration. If the configuration data on the inverter and Paramodul are identical, only the parameters are saved (speeds up the procedure).

NOTE Do not turn off the power of the control section (device version /L:24V, device version /H: supply voltage) while the action is being executed. If the power is turned off while the action is running this causes incomplete storage. After the device starts up again the fault "*ConfigStartERROR parameters lost" appears on the display. Approx. 1000 storage procedures are possible per Paramodul. When this limit has almost been reached, result 14 is indicated after the storage procedure. When this happens, replace Paramodul as soon as possible.

0: error free; 10: write error; 11: invalid data; 12: write error; 14: warning;

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 00 00 00 hex

2000h 0h

A00.1 Global

read (0)

Process: Shows the progress of the "save vales" action in %.

0: error free; 10: write error; 11: invalid data; 12: write error; 14: warning;

Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 01 00 00 01 hex

2000h 1h

A00.2 Global

read (0)

Result: Result of the "save values" action

0: error free 10: write error while opening a file: No Paramodul is installed or Paramodul is full or is damaged. 11: The inverter's configuration memory area that is to be saved is not written 12: write error while write-accessing Paramodul. Paramodul was removed, is full or is damaged. 14: Warning. Paramodul has already been write-accessed many times. The memory chip is

reaching the end of its ability to be write-accessed without errors. Error-free saving is still possible. Replace the Paramodul as soon as possible!


2000h 2h

A09.0 Global,

OFF

r=3, w=3

System reset & start: A reset of the microprocessor in the inverter is triggered if the parameter is activated. A restart occurs as it does after switching off/on the control part supply (device version /L: 24 V, device version /H: power supply).


2009h 0h

A09.1 Global

read (3)

Progress: displays the progress of the action System Reset in %. As the action causes a restart of the control part, no action progress can be observed. The value is always 0 %.


2009h 1h

Used Parameters

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A.. Inverter Par. Description Fieldbus-

address

A09.2 Global

read (3)

Result: Result of action System Reset. As the action causes a restart of the control part, no action result can be calculated. The value is always 0:error free.


2009h 2h

A10.0 Global

r=0, w=0

Userlevel: Specifies the access level of the user for the parameters via the "Display" communication path. Each parameter has one level for read or write accesses. A parameter can only be read or changed with the necessary access level. The higher the set level the more parameters can be accessed. Possible settings: 0: Monitor; The elementary indicators can be monitored. General parameters can be changed. 1: Standard; The primary parameters of the selected application can be monitored and changed. 2: Extended; All parameters for commissioning and optimization of the selected application can be

monitored and changed. 3: Service; Service parameters. Permit a comprehensive diagnosis.

Value range: -32768 ... 1 ... 32767

Fieldbus: 1LSB=1; Type: I16; USS-Adr: 01 02 80 00 hex

200Ah

Array

0h

A10.1 Global

r=0, w=0

Userlevel: Specifies the access level of the user for the parameters via the RS232 (X3) communication path. Each parameter has one level each for read or write accesses. A parameter can only be read or changed with the necessary access level. The higher the set level the more parameters can be accessed. Possible settings: 0: Monitor; The elementary indicators can be monitored. General parameters can be changed. 1: Standard; The primary parameters of the selected application can be monitored and changed. 2: Extended; All parameters for commissioning and optimization of the selected application can be


Value range: -32768 ... 3 ... 32767


200Ah

Array

1h

A10.2 Global

r=0, w=0

Userlevel: Specifies the access level of the user for the parameters via the CAN-bus (SDO) communication path. Each parameter has one level each for read or write accesses. A parameter can only be read or changed with the necessary access level. The higher the set level the more parameters can be accessed. Possible settings: 0: Monitor; The elementary indicators can be monitored. General parameters can be changed. 1: Standard; The primary parameters of the selected application can be monitored and changed. 2: Extended; All parameters for commissioning and optimization of the selected application can be


Value range: -32768 ... 3 ... 32767


200Ah

Array

2h

Used Parameters

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address

A10.3 Global

r=0, w=0

Userlevel: Specifies the access level of the user for the parameters via the PROFIBUS communication path with the PKW0 or PKW1 protocol. Each parameter has one level each for read or write accesses. A parameter can only be read or changed with the necessary access level. The higher the set level the more parameters can be accessed. Possible settings: 0: Monitor; The elementary indicators can be monitored. General parameters can be changed. 1: Standard; The primary parameters of the selected application can be monitored and changed. 2: Extended; All parameters for commissioning and optimization of the selected application can be


Value range: -32768 ... 3 ... 32767


200Ah

Array

3h

A10.4 Global

r=0, w=0

Userlevel: Specifies the access level of the user for the parameters via the "system bus" communication path. Each parameter has one level each for read or write accesses. A parameter can only be read or changed with the necessary access level. The higher the set level the more parameters can be accessed. Possible settings: 0: Monitor; The elementary indicators can be monitored. General parameters can be changed. 1: Standard; The primary parameters of the selected application can be monitored and changed. 2: Extended; All parameters for commissioning and optimization of the selected application can be


Value range: -32768 ... 3 ... 32767


200Ah

Array

4h

A11.0 Global

r=1, w=1

Edited Axe: Specifies the axis to be edited via device display. Axis to be edited (A11) and active axis (operating indicator, E84) must not be identical (e.g., axis 1 can be edited while the inverter continues with axis 2).

0: axis 1; 1: axis 2; 2: axis 3; 3: axis 4;

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 C0 00 hex

200Bh

Array

0h

A11.1 Global

r=1, w=1

Edited Axe: Selects the axis to be parameterized which is addressed with CANopen® with SDO channel 1 or with PROFIBUS DP-V0. The axis to be edited (A11) and the active axis (operation indicator, E84) must not be identical (e.g., axis 1 can be edited while the inverter continues with axis 2). With PROFIBUS DP-V0, a distinction can be made between two axes with the PKW service. Axis 1 or axis 2 is selected with A11.1 = 0. Axis 3 or axis 4 is selected with A11.1 = 1.



200Bh

Array

1h

Used Parameters

Electronic Cam

ID 441778.04 69


06


address

A11.2 Global

r=1, w=1

Edited Axe: Selects the axis to be parameterized which is addressed with CANopen® with SDO channel 2. The axis to be edited (A11) and the active axis (operation indicator, E84) must not be identical (e.g., axis 1 can be edited while the inverter continues with axis 2).



200Bh

Array

2h

A11.3 Global

r=1, w=1




200Bh

Array

3h

A11.4 Global

r=1, w=1




200Bh

Array

4h

A12 Global

r=1, w=1

Language: Language on the display.

0: German; 1: English; 2: French;


200Ch 0h

A21 Global,

OFF

r=1, w=2

Brake resistor R: Resistance value of the brake resistor being used.

Value range in Ohm: 100.0 ... 100 ... 600.0

Fieldbus: 1LSB=0,1Ohm; Type: I16; USS-Adr: 01 05 40 00 hex

2015h 0h

A22 Global,

OFF

r=1, w=2

Brake resistor P: Power of the brake resistor used. A22 = 0 means the brake chopper is deactivated. Only values in 10 W increments can be entered.

Value range in W: 0 ... 600 ... 6400

Fieldbus: 1LSB=1W; Type: I16; (raw value:1LSB=10·W); USS-Adr: 01 05 80 00 hex

2016h 0h

Used Parameters

Electronic Cam

ID 441778.04 70


06


address

A23 Global,

OFF

r=1, w=2

Brake resistor thermal: Thermal time constant of the brake resistor.

Value range in s: 1 ... 40 ... 2000

Fieldbus: 1LSB=1s; Type: I16; USS-Adr: 01 05 C0 00 hex

2017h 0h

A29 Global

r=2, w=2

Fault quick-stop: If the parameter is inactive, the power section is turned off when a fault occurs. The motor coasts down. If the parameter is active, a quick stop is executed when a fault occurs if the event permits (see event list). When the enable signal is LOW during a fault quick stop, the quick stop is interrupted and the motor coasts down. This also applies when A44 enable quick-stop is active.

0: inactive; Coast down (disable power section immediately). 1: active; Execute quick stop.


201Dh 0h

A34 Global

r=2, w=2

Auto-start: When A34 = 1 is set, the device state "switch-on disable" to "ready for switch-on" is exited both during first startup and after a fault reset although the enable is active. With fault reset via enable, this causes an immediately restart! A34 is only supported with standard device state machines and not with DSP402 device state machine. WARNING Before activation of auto-start with A34 = 1, check to determine whether an automatic restart is allowed (for safety reasons). Only use auto-start under consideration of the standards and regulations which are applicable to the plant or machine.

0: inactive; After power on, a change of the enable from L-level to H-level is necessary to enable the drive ( message "1:switch-on disable"). This prevents an undesired startup of the motor (machine safety).

1: active; If auto-start is active, the drive can start running immediately after power on and existing enable.


2022h 0h

A35 Global,

OFF

r=2, w=2

Low voltage limit: When the inverter is enabled and the DC link voltage goes lower than the value set here, the inverter triggers the indication of the event "46:Low voltage." A35 should be approximately 85 % of the applied power voltage so that the possible failure of a network phase is absorbed.

Value range in V: 180.0 ... 350 ... 570.0

Fieldbus: 1LSB=0,1V; Type: I16; USS-Adr: 01 08 C0 00 hex

2023h 0h

A36 Global,

OFF

r=2, w=2

Mains voltage: Maximum voltage which the inverter provides to the motor. Usually the power (mains) voltage. Starting with this voltage, the motor runs in the weak field range.

Value range in V: 220 ... 400 ... 480

Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 2317 V); USS-Adr: 01 09 00 00 hex

2024h 0h

A37.0 Global

r=2, w=2

Reset memorized values & start: The six different memorized values E33 to E37 and E41 (max. current, max. temperature, and so on) are reset.

0: error free;


2025h 0h

Used Parameters

Electronic Cam

ID 441778.04 71


06


address

A37.1 Global

read (2)

Process: Progress of the reset-memorized-values action in %.

0: error free;


2025h 1h

A37.2 Global

read (2)

Result: After conclusion of the reset-memorized-values action, the result can be queried here.

0: error free;


2025h 2h

A38 Global

r=2, w=2

DC power-input: This parameter is effective for the following inverters: SDS 5000 SDS 5000A MDS 5000A FDS 5000A With this parameter you set whether the inverter is only supplied via the intermediate circuit with direct voltage. Also observe the DC-link connection section in the projecting manuals SDS 5000 (ID 442277), MDS 5000 (ID 442273) and FDS 5000 (ID 442269). Groups 2 and 3 are exclusively powered via the DC link. Set A38 = 1:active for these inverters. Set A38 = 1:inactive for group 1 inverters. If you do not set a DC link coupling at all, always set parameter A38 to 0:inactive.

0: inactive; Inverter is powered by the three-phase network. 1: active; Inverter is powered with direct current exclusively via the terminals U+ and U- (size 0 to

size 2) or ZK+ and ZK- (MDS size 3).

Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 09 80 00 hex

2026h 0h

A39 Global

r=2, w=2

t-max. quickstop: Maximum time available to a quick stop during enable=LOW or in the device state "fault reaction active." After this time expires, the motor is de-energized (A900 = low). This switch-off also occurs even when the quick stop has not yet been concluded.

Value range in ms: 0 ... 400 ... 32767

Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 01 09 C0 00 hex

2027h 0h

A41 Global

read (1)

Axis-selector: Indicates the selected axis. The selected axis does not have to be the active axis.

0: Axis 1; 1: Axis 2; 2: Axis 3; 3: Axis 4; 4: inactive; The last selected axis was axis 1. 5: inactive; The last selected axis was axis 2. 6: inactive; The last selected axis was axis 3. 7: inactive; The last selected axis was axis 4.

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0A 40 00 hex

2029h 0h

Used Parameters

Electronic Cam

ID 441778.04 72


06


address

A43 Global

r=3, w=3

Enable off delay: For suppression of short low-pulses on the X1.Enable. This finction is required for the connection of safety devices which use OSSD pulses for the diagnosis of switching cabability. WARNING The delay time is set always causes an A43-delayed reaction to the switch-off of the X1.Enable. This Time must be considered when a stopping distance is calculated.

Value range in ms: 0.0 ... 0 ... 10.0

Fieldbus: 1LSB=0,1ms; Type: I16; (raw value:32767 = 32.8 ms); USS-Adr: 01 0A C0 00 hex

202Bh 0h

A44 Global

r=2, w=3

Enable quick-stop: If the parameter is inactive, the power pack is turned off immediately when enable = LOW. The motor coasts down. When A44 is active, a quick stop is executed when enable = LOW.

0: inactive; 1: active;

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0B 00 00 hex

202Ch 0h

A45 Global

r=2, w=2

Quickstop end: When this parameter is set to "0:Standstill," the quick stop ends with standstill. With the setting "1:no stop," the quick stop ends when the quick stop request is deleted.

0: standstill; 1: no stop;


202Dh 0h

A55 Global

r=2, w=3

Key hand function: With A55 = 1, the "HAND" key is enabled for turning local mode on/off. During local mode, the device enable is granted with the "I/O" key. Local mode is indicated on the display with an "L" at the bottom right. The arrow keys on the operator panel can be used to traverse with the drive enabled with "I/O." The speed reference value is calculated during speed mode from A51. In positioning applications, this corresponds to the hand speed I12. NOTE In local mode the regular enable via terminals or from the fieldbus is ignored!

0: inactive; - key has no function. 1: active; - key enabled for activation of local mode.

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0D C0 00 hex

2037h 0h

Used Parameters

Electronic Cam

ID 441778.04 73


06


address

A60 Global,

OFF

r=1, w=1

Additional enable source: The additional enable signal functions the same as the enable signal on terminal X1. Both signals are AND linked. The power end state of the inverter is only enabled when both signals are HIGH. The A60 parameter specifies where the additional enable signal comes from. The selection "1:High" has the same meaning as a fixed value. With A60 = 1:High, only the enable via the terminal is active. With A60 = 3:BE1 ... 28:BE13-inverted, the additional enable is fed by the respective binary input (either direct or inverted). With A60 = 2:Parameter, the signal comes from bit 0 in parameter A180 Device Control Byte (global parameter).

1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted;

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0F 00 00 hex

203Ch 0h

Used Parameters

Electronic Cam

ID 441778.04 74


06


address

A61 Global,

OFF

r=1, w=1

Fault reset source: The fault reset signal triggers a fault reset. If the inverter has a malfunction, a change from LOW to HIGH resets this fault. The fault reset is not possible as long as A00 Save values is active or the cause of the fault still exists. Remember that not every fault can be acknowledged. The A61 parameter specifies where the fault reset signal comes from. With "0:Low" and "1:High," a fault reset is only possible with the <ESC> key at the device operator panel or with a LOW-HIGH-LOW change of the enable. With A61 = 3:BE1 ... 28:BE13-inverted, faults can be reset via the selected binary input. With A61 = 2:Parameter, the signal comes from bit 1 of parameter A180 Device Command Byte (global parameter).

0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted;


203Dh 0h

Used Parameters

Electronic Cam

ID 441778.04 75


06


address

A62 Global,

OFF

r=1, w=1

Quick stop source: The quick stop signal triggers a quick stop of the drive. With positioning mode, the acceleration specified in I17 determines the braking time. When the axis is in speed mode, the D81 parameter determines the braking time. (See also A45.) The A62 parameter specifies where the signal is coming from which causes the quick stop. "0:Low" means that no quick stop is executed. "1:High" means that the drive is permanently in quick stop mode. With A62 = 3:BE1 ... 28:BE13-inverted, the quick stop is triggered by the selected binary input. With A62 = 2:Parameter, A180 bit 2 is used as the signal source (global parameter).



203Eh 0h

Used Parameters

Electronic Cam

ID 441778.04 76


06


address

A63 Global,

OFF

r=1, w=1

Axis selector 0 source: There are 2 "axis selector 0/1" signals with which one of the max. of 4 axes are selected in binary coding. The A63 parameter specifies where bit 0 for the axis selection is coming from. The possible selections "0:Low" and "1:High" are the same as fixed values. With A63 = 0:Low, the bit is set permanently to 0. With A63 = 1:High, it is permanently set to 1. With A63 = 3:BE1 ... 28:BE13-inverted, the axis selection can be made via the selected binary input. With A63 = 2:Parameter, A180, bit 3 is used as the signal source (global parameter). NOTE - Axis switchover is not possible unless the enable is off and E48 device control state is not 5:fault. - With the FDS 5000, the axes can only be used as parameter records for a motor. The

POSISwitch® AX 5000 option cannot be connected.


Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0F C0 00 hex

203Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 77


06


address

A64 Global,

OFF

r=1, w=1

Axis selector 1 source: There are 2 "axis selector 0/1" signals with which one of the max. of 4 axes are selected in binary coding. The A64 parameter specifies where bit 0 for the axis selection is coming from. The possible selections "0:Low" and "1:High" are the same as fixed values. With A64 = 0:Low, the bit is set permanently to 0. With A64 = 1:High, it is permanently set to 1. With A64 = 3:BE1 ... 28:BE13-inverted, the axis selection can be made via the selected binary input. With A64 = 2:Parameter, A180, bit 4 is used as the signal source (global parameter). NOTE - Axis switchover is not possible unless the enable is off and E48 device control state is not 5:fault. - With the FDS 5000, the axes can only be used as parameter records for a motor. The




2040h 0h

Used Parameters

Electronic Cam

ID 441778.04 78


06


address

A65 Global,

OFF

r=1, w=1

Axis disable source: The axis-disable signal deactivates all axes. The A65 parameter specifies where the signal comes from. With A65 = 3:BE1 ... 28:BE13-inverted, axis selection can be handled with the selected binary input. With A65 = 2:Parameter, A180, bit 5 is the signal source (global parameter). NOTE - Axis switchover is not possible unless the enable is off and E48 device control state is not 5:fault. - With the FDS 5000, the axes can only be used as parameter records for a motor. The




2041h 0h

A80 Global

r=2, w=2

Serial address: Specifies the address of the inverter for serial communication via X3 with POSITool or another USS master.

Value range: 0 ... 0 ... 31


2050h 0h

Used Parameters

Electronic Cam

ID 441778.04 79


06


address

A81 Global

r=1, w=1

Serial baudrate: Specifies the baud rate for serial communication via the X3 interface. Starting with V 5.1, writing to A81 no longer changes the baud rate immediately but now not until after device OFF-ON (previously with A00 save values) or A87 activate serial baud rate = 1 (activate baud rate). This makes the reaction identical to that of the fieldbuses.

0: 9600 Baud; 1: 19200 Baud; 2: 38400 Baud; 3: 57600 Baud; 4: 115200 Baud;


2051h 0h

A82 Global

r=0, w=0

CAN baudrate: Setting of the baud rate with which the CAN-Bus will be operated. Cf. operating manual CAN, ID 441686.

0: 10 kBit/s; 1: 20 kBit/s; 2: 50 kBit/s; 3: 100 kBit/s; 4: 125 kBit/s; 5: 250 kBit/s; 6: 500 kBit/s; 7: 800 kBit/s; 8: 1000 kBit/s;


Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration.

2052h 0h

A83 Global

r=0, w=0

Busaddress: Specifies the device address for operation with fieldbus. A83 has no effect on communication via X3 with POSITool or another USS master.

Value range: 0 ... 1 ... 125


2053h 0h

A84 Global

read (0)

PROFIBUS baudrate: When operated with a device of the 5th generation of STÖBER inverters with option board "PROFIBUS DP," the baud rate found on the bus is indicated. Cf. operating manual PROFIBUS DP, ID 441687.

0: Not found; 1: 9.6kBit/s; 2: 19.2kBit/s; 3: 45.45kBit/s; 4: 93.75kBit/s; 5: 187.5kBit/s; 6: 500 kBit/s; 7: 1500kBit/s; 8: 3000kBit/s; 9: 6000kBit/s; 10: 12000kBit/s;


Only visible when a PROFIBUS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

2054h 0h

Used Parameters

Electronic Cam

ID 441778.04 80


06


address

A85 Global

read (3)

PROFIBUS diagnostic: Indication of internal inverter diagnostic information on the PROFIBUS DP interface. See operating manual PROFIBUS DP, ID 441687.

Bit Name Meaning for bit = 1 0 Shutdown fail Problem when shutting down the PROFIBUS driver software. 1 Data exchange PROFIBUS is in the cyclic data exchange state with this subscriber. 2 Wait for Param Subscriber waits to be configured by the PROFIBUS master. 3 Bus failure Fault in PROFIBUS 4 Acyc. initiate 1 An acyclic connection is established. 5 Acyc. initiate 2 A second acyclic connection is established. 6 MDS configured Subscriber is configured by PROFIBUS master. 7 Driver error Fault in PROFIBUS driver software. 8 Application ready Inverter firmware is ready for connection to PROFIBUS. 9 LED red on The red LED of the DP 5000 lights up. 10 LED green on The green LED of the DP 5000 lights up.



2055h 0h

A86 Global

read (1)

PROFIBUS configuration: The inverter offers various ways (PPO types) to transfer cyclic user data via PROFIBUS DP. These can be configured in the GSD file STOE5005.gsd on the controller (bus master). This indication parameter can be used to check which of the possible configurations was chosen.

0: No data communication via PROFIBUS started 1: PPO1: 4 PKW, 2 PZD 2: PPO2: 4 PKW, 6 PZD 3: PPO3: 0 PKW, 2 PZD 4: PPO4: 0 PKW, 6 PZD 5: PPO5: 4 PKW, 10 PZD 6: PPO2: 4 PKW, 6 PZD consis. 2 W 7: PPO4: 0 PKW, 6 PZD consis. 2 W 8: PPO5: 4 PKW, 10 PZD consis. 2 W



2056h 0h

A87 Global

r=3, w=3

Activate serial baudrate: Starting with V 5.1, writing in A81 no longer changes the baud rate immediately. The change now takes place only after device OFF/ON (previously with A00 save values) or A87 = 1 (activate baud rate). This makes the reaction the same as the reaction of the fieldbuses.


2057h 0h

A90.0 Global

r=1, w=1

PZD Setpoint Mapping Rx 1. mapped Parameter: Address of the parameter which is imaged first from the contents of the process data channel (receiving direction as seen by the inverter).

Value range: A00 ... A180 ... A.Gxxx.yyyy (Parameter number in plain text)

Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 80 00 hex

205Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 81


06


address

A90.1 Global

r=1, w=1

PZD Setpoint Mapping Rx 2. mapped Parameter: Address of the parameter which is imaged second from the contents of the process data channel (receiving direction as seen by the inverter).

Value range: A00 ... I223 ... A.Gxxx.yyyy (Parameter number in plain text)


205Ah 1h

A90.2 Global

r=1, w=1

PZD Setpoint Mapping Rx 3. mapped Parameter: Address of the parameter which is imaged third from the contents of the process data channel (receiving direction as seen by the inverter).


205Ah 2h

A90.3 Global

r=1, w=1

PZD Setpoint Mapping Rx 4. mapped Parameter: Address of the parameter which is imaged fourth from the contents of the process data channel (receiving direction as seen by the inverter).


205Ah 3h

A90.4 Global

r=1, w=1

PZD Setpoint Mapping Rx 5. mapped Parameter: Address of the parameter which is imaged fifth from the contents of the process data channel (receiving direction as seen by the inverter).


205Ah 4h

A90.5 Global

r=1, w=1

PZD Setpoint Mapping Rx 6. mapped Parameter: Address of the parameter which is imaged sixth from the contents of the process data channel (receiving direction as seen by the inverter).


205Ah 5h

A91.0 Global

r=3, w=3

PZD Setpoint Mapping 2Rx 1. mapped Parameter: If more parameters are to be imaged than can be specified in A90, this parameter offers a possible extension. See A90.0.

Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 C0 00 hex

205Bh 0h

A91.1 Global

r=3, w=3

PZD Setpoint Mapping 2Rx 2. mapped Parameter: For extension of A90, see A90.1.


205Bh 1h

A91.2 Global

r=3, w=3

PZD Setpoint Mapping 2Rx 3. mapped Parameter: For extension of A90, See A90.2.


205Bh 2h

A91.3 Global

r=3, w=3



205Bh 3h

A91.4 Global

r=3, w=3



205Bh 4h

Used Parameters

Electronic Cam

ID 441778.04 82


06


address

A91.5 Global

r=3, w=3



205Bh 5h

A93 Global

read (1)

PZD Setpoint Len: Indicator parameter which indicates the length in bytes of the expected process data with reference values (data from PROFIBUS master to inverter) for the current parameterization.



205Dh 0h

A94.0 Global

r=1, w=1

PZD ActValue Mapping Tx 1. mapped Parameter: Address of the parameter which is imaged first in the contents of the process data channel (sending direction as seen by the inverter).

Value range: A00 ... E200 ... A.Gxxx.yyyy (Parameter number in plain text)


205Eh 0h

A94.1 Global

r=1, w=1

PZD ActValue Mapping Tx 2. mapped Parameter: Address of the parameter which is imaged second in the contents of the process data channel (sending direction as seen by the inverter).



205Eh 1h

A94.2 Global

r=1, w=1

PZD ActValue Mapping Tx 3. mapped Parameter: Address of the parameter which is imaged third in the contents of the process data channel (sending direction as seen by the inverter).



205Eh 2h

A94.3 Global

r=1, w=1

PZD ActValue Mapping Tx 4. mapped Parameter: Address of the parameter which is imaged fourth in the contents of the process data channel (sending direction as seen by the inverter).



205Eh 3h

A94.4 Global

r=1, w=1

PZD ActValue Mapping Tx 5. mapped Parameter: Address of the parameter which is imaged fifth in the contents of the process data channel (sending direction as seen by the inverter).


205Eh 4h

A94.5 Global

r=1, w=1

PZD ActValue Mapping Tx 6. mapped Parameter: Address of the parameter which is imaged sixth in the contents of the process data channel (sending direction as seen by the inverter).


205Eh 5h

A95.0 Global

r=3, w=3

PZD ActValue Mapping 2Tx 1. mapped Parameter: When more parameters are to be imaged than can be specified in A94, this parameter offers a possible extension. See A94.0.


205Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 83


06


address

A95.1 Global

r=3, w=3

PZD ActValue Mapping 2Tx 2. mapped Parameter: For extension of A94, see A94.1.


205Fh 1h

A95.2 Global

r=3, w=3



205Fh 2h

A95.3 Global

r=3, w=3



205Fh 3h

A95.4 Global

r=3, w=3



205Fh 4h

A95.5 Global

r=3, w=3



205Fh 5h

A97 Global

read (1)

PZD ActValue Len: Indicator parameter which indicates the length in bytes of the current process data with actual values (data from inverter to PROFIBUS master) for the current parameterization.



2061h 0h

A98 Global

r=3, w=3

DP time stamp mode: Currently has no function

Value range: 0 ... 0 ... 5



2062h 0h

A100 Global

r=3, w=3

Fieldbusscaling: The selection is made here between internal raw values and whole numbers for the representation/scaling of process data values during transmission via PZD channel. Regardless of this setting, the representation is always the whole number via PKW channel and the non cyclic parameter channel.

CAUTION When "0:integer" is parameterized (scaled values), the runtime load increases significantly and it may become necessary to increase A150 cycle time to avoid the fault "57:runtime usage" or "35:Watchdog." With few exceptions, the PKW channel is always transferred in scaled format.

0: integer without point; Values are transferred as whole number in user units * 10 to the power of the number of positions after the decimal point.

1: native; Values are transferred at optimized speed in the internal inverter raw format (e.g., increments).



2064h 0h

Used Parameters

Electronic Cam

ID 441778.04 84


06


address

A101 Global

r=3, w=3

Dummy-Byte: This variable is used to replace a piece of process data with the byte length when you want to test deactivation of the process variables via fieldbus. NOTE The parameter is only visible when fieldbus device control was selected in the configuration assistant.

Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 19 40 00 hex

2065h 0h

A102 Global

r=3, w=3

Dummy-Word: This variable is used to replace a piece of process data with the word length when you want to test deactivation of the process variables via fieldbus. NOTE The parameter is only visible when fieldbus device control was selected in the configuration assistant.


2066h 0h

A103 Global

r=3, w=3

Dummy-Doubleword: This variable is used to replace a piece of process data with the double-word length when you want to test deactivation of the process variables via fieldbus. NOTE The parameter is only visible when fieldbus device control was selected in the configuration assistant.

Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 01 19 C0 00 hex

2067h 0h

A109 Global

r=1, w=1

PZD-Timeout: To keep the inverter from continuing with the last received reference values after a failure of PROFIBUS or the PROFIBUS master, process data monitoring should be activated. The RX block monitors the regular receipt of process data telegrams (PZD) which the PROFIBUS master sends cyclically during normal operation. The A109 PZD-Timeout parameter is used to activate this monitoring function. A time is set here in milliseconds. The default setting is 200 msec. The values 65535 and 0 mean that monitoring is inactive This is recommended while the inverter is being commissioned on PROFIBUS and for service and maintenance work. Monitoring should only be activated for the running process during which a bus master cyclically sends process data to the inverter. The monitoring time must be adapted to the maximum total cycle time on PROFIBUS plus a sufficient reserve for possible delays on the bus. Sensible values are usually between 30 and 300 msec. When process data monitoring is triggered on the inverter, the fault "52:communication" is triggered. * The A109 PZD-Timeout parameter is also used for communication via USS protocol for the USS-PZD telegram.

Value range in ms: 0 ... 200 ... 65535

Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 1B 40 00 hex

206Dh 0h

A110.0 Global

r=1, w=1

USS PZD Mapping Rx 1. mapped Parameter: Address of the parameter which is imaged first from the contents of the process data telegram (receiving direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1B 80 00 hex

206Eh 0h

Used Parameters

Electronic Cam

ID 441778.04 85


06


address

A110.1 Global

r=1, w=1

USS PZD Mapping Rx 2. mapped Parameter: Address of the parameter which is imaged second from the contents of the process data telegram (receiving direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.


206Eh 1h

A110.2 Global

r=1, w=1

USS PZD Mapping Rx 3. mapped Parameter: Address of the parameter which is imaged third from the contents of the process data telegram (receiving direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.


206Eh 2h

A110.3 Global

r=1, w=1

USS PZD Mapping Rx 4. mapped Parameter: Address of the parameter which is imaged fourth from the contents of the process data telegram (receiving direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.


206Eh 3h

A110.4 Global

r=1, w=1

USS PZD Mapping Rx 5. mapped Parameter: Address of the parameter which is imaged fifth from the contents of the process data telegram (receiving direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.


206Eh 4h

A110.5 Global

r=1, w=1

USS PZD Mapping Rx 6. mapped Parameter: Address of the parameter which is imaged sixth from the contents of the process data telegram (receiving direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.


206Eh 5h

A113 Global

read (1)

USS PZD Rx Len: Indicator parameter which shows the length in bytes of the expected process data telegram with reference values of USS master for the current parameterization. NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: 0 ... 0 ... 255

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1C 40 00 hex

2071h 0h

Used Parameters

Electronic Cam

ID 441778.04 86


06


address

A114.0 Global

r=1, w=1

USS PZD Mapping Tx 1. mapped Parameter: Address of the parameter which is imaged first in the contents of the process data telegram (sending direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1C 80 00 hex

2072h 0h

A114.1 Global

r=1, w=1

USS PZD Mapping Tx 2. mapped Parameter: Address of the parameter which is imaged second in the contents of the process data telegram (sending direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.


2072h 1h

A114.2 Global

r=1, w=1

USS PZD Mapping Tx 3. mapped Parameter: Address of the parameter which is imaged third in the contents of the process data telegram (sending direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.


2072h 2h

A114.3 Global

r=1, w=1

USS PZD Mapping Tx 4. mapped Parameter: Address of the parameter which is imaged fourth in the contents of the process data telegram (sending direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.


2072h 3h

A114.4 Global

r=1, w=1

USS PZD Mapping Tx 5. mapped Parameter: Address of the parameter which is imaged fifth in the contents of the process data telegram (sending direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.


2072h 4h

A114.5 Global

r=1, w=1

USS PZD Mapping Tx 6. mapped Parameter: Address of the parameter which is imaged sixth in the contents of the process data telegram (sending direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.


2072h 5h

Used Parameters

Electronic Cam

ID 441778.04 87


06


address

A117 Global

read (1)

USS PZD Tx Len: Indicator parameter which indicates the length in bytes of the process data telegram to be sent with actual values to the USS master for the current parameterization. NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: 0 ... 0 ... 255

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1D 40 00 hex

2075h 0h

A118 Global

r=1, w=1

USS PZD scaling: The selection is made here between internal raw values and whole numbers for the representation/scaling of parameter values during transmission via the process data telegram. Regardless of this setting, the representation can be selected separately via the read-parameter or write-parameter services. NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

0: integer without point; Values are transferred as whole number in user units * number of positions after the decimal point to the 10th power.

1: native; Values are transferred in the internal inverter raw format (e.g., increments).


2076h 0h

A120 Global

r=3, w=3

IGB Address: The IGB address of the device is entered in this parameter. Since up to 32 inverters can be connected to one IGB network, enter a value between 0 and 31 in this parameter. Remember that each IGB address can only be allocated once within an IGB network if you want to utilize the functionality of the IGB Motionbus. This is why you should use the IGB Motionbus Configuration assistant to set this parameter. Remember that the parameter does not exist unless you activate the IGB Motionbus function in step 6 of the configuration assistant.

Value range: 0 ... 0 ... 31

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1E 00 00 hex

2078h 0h

A121 Global

r=3, w=3

IGB nominal number: The number of stations expected by the IGB Motionbus is entered in this parameter. If you plan to utilize the IGB Motionbus function, the parameter must be the same for all stations and must be set to the expected number of stations so that the state A155 = 3:IGB Motionbus is achieved. If the parameter is set to 0 or 1, the IGB Motionbus cannot be used.

Value range: 0 ... 0 ... 32


2079h 0h

Used Parameters

Electronic Cam

ID 441778.04 88


06


address

A124 Global

r=3, w=3

IGB exceptional motion: When an SDS 5000 is a station on the IGB Motionbus, the device state machine cannot exit the state 1:switch on inhibit (see E48 device state) if the IGB Motionbus cannot be established (A155 IGB-state does not indicate 3:IGB Motionbus). You can activate IGB exceptional motion in A124 so that the axes can still be individually positioned during commissioning and failure of the IGB or the device. When IGB exceptional motion is activated, enabling is possible regardless of A155 IGB-state. Warning When A124 is activated, non-synchronous, undefined movements are possible which can endanger personnel and machines. When you use A124, make sure that the movements cannot injure personnel or cause property damage. Information This parameter cannot be saved. It is preset with 0:inactive each time the device boots.

0: inactive; Normal operation. When an SDS 5000 is a station on the IGB Motionbus, the device state 1:switch on inhibit can only be exited if the IGB Motionbus can be established (A155 IGB-state indicates 3:IGB Motionbus).

1: active; IGB exceptional motion. When an SDS 5000 is a station on the IGB Motionbus, the device state machine can also exit the state 1:switch on inhibit via the IGB exceptional motion (see E48 device state) if the IGB Motionbus cannot be established (A155 IGB-state does not indicate 3:IGB Motionbus). This may be necessary during maintenance, for example, when not all the inverters for the IGB Motionbus are located at the same place.

Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 1F 00 00 hex

207Ch 0h

A126.0 Global

r=3, w=3

IGB Producer Mapping 1. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The first parameter which is sent on the bus is entered in A126.0. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6.

Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 00 hex

207Eh

Array

0h

Used Parameters

Electronic Cam

ID 441778.04 89


06


address

A126.1 Global

r=3, w=3

IGB Producer Mapping 2. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The second parameter which is sent on the bus is entered in A126.1. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6.


207Eh

Array

1h

A126.2 Global

r=3, w=3

IGB Producer Mapping 3. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The third parameter which is sent on the bus is entered in A126.2. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6.


207Eh

Array

2h

A126.3 Global

r=3, w=3

IGB Producer Mapping 4. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 4th parameter which is sent on the bus is entered in A126.3. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6.


207Eh

Array

3h

Used Parameters

Electronic Cam

ID 441778.04 90


06


address

A126.4 Global

r=3, w=3



207Eh

Array

4h

A126.5 Global

r=3, w=3



207Eh

Array

5h

A126.6 Global

r=3, w=3



207Eh

Array

6h

Used Parameters

Electronic Cam

ID 441778.04 91


06


address

A126.7 Global

r=3, w=3



207Eh

Array

7h

A126.8 Global

r=3, w=3



207Eh

Array

8h

A126.9 Global

r=3, w=3



207Eh

Array

9h

Used Parameters

Electronic Cam

ID 441778.04 92


06


address

A126.10 Global

r=3, w=3


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 0A hex

207Eh

Array

000

Ah

A126.11 Global

r=3, w=3


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 0B hex

207Eh

Array

000

Bh

A126.12 Global

r=3, w=3


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 0C hex

207Eh

Array

000

Ch

Used Parameters

Electronic Cam

ID 441778.04 93


06


address

A126.13 Global

r=3, w=3


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 0D hex

207Eh

Array

000

Dh

A126.14 Global

r=3, w=3


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 0E hex

207Eh

Array

000

Eh

A126.15 Global

r=3, w=3


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 0F hex

207Eh

Array

000

Fh

Used Parameters

Electronic Cam

ID 441778.04 94


06


address

A126.16 Global

r=3, w=3



207Eh

Array

10h

A126.17 Global

r=3, w=3



207Eh

Array

11h

A126.18 Global

r=3, w=3



207Eh

Array

12h

Used Parameters

Electronic Cam

ID 441778.04 95


06


address

A126.19 Global

r=3, w=3



207Eh

Array

13h

A126.20 Global

r=3, w=3



207Eh

Array

14h

A126.21 Global

r=3, w=3



207Eh

Array

15h

Used Parameters

Electronic Cam

ID 441778.04 96


06


address

A126.22 Global

r=3, w=3



207Eh

Array

16h

A126.23 Global

r=3, w=3



207Eh

Array

17h

A128.0 Global

r=3, w=3

IGB Consumer Mapping 1. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.0 enter the parameter to which the first value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.0. Remember that you can only use parameters with the PDO-Mapping characteristic.


2080h

Array

0h

Used Parameters

Electronic Cam

ID 441778.04 97


06


address

A128.1 Global

r=3, w=3

IGB Consumer Mapping 2. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.1 enter the parameter to which the second value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.1. Remember that you can only use parameters with the PDO-Mapping characteristic.


2080h

Array

1h

A128.2 Global

r=3, w=3

IGB Consumer Mapping 3. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.2 enter the parameter to which the third value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.2. Remember that you can only use parameters with the PDO-Mapping characteristic.


2080h

Array

2h

A128.3 Global

r=3, w=3

IGB Consumer Mapping 4. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.3 enter the parameter to which the fourth value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.3. Remember that you can only use parameters with the PDO-Mapping characteristic.


2080h

Array

3h

A128.4 Global

r=3, w=3

IGB Consumer Mapping 5. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.4 enter the parameter to which the fifth value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.4. Remember that you can only use parameters with the PDO-Mapping characteristic.


2080h

Array

4h

Used Parameters

Electronic Cam

ID 441778.04 98


06


address

A128.5 Global

r=3, w=3

IGB Consumer Mapping 6. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.5 enter the parameter to which the sixth value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.5. Remember that you can only use parameters with the PDO-Mapping characteristic.


2080h

Array

5h

A128.6 Global

r=3, w=3

IGB Consumer Mapping 7. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.6 enter the parameter to which the 7th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.6. Remember that you can only use parameters with the PDO-Mapping characteristic.


2080h

Array

6h

A128.7 Global

r=3, w=3



2080h

Array

7h

A128.8 Global

r=3, w=3



2080h

Array

8h

Used Parameters

Electronic Cam

ID 441778.04 99


06


address

A128.9 Global

r=3, w=3



2080h

Array

9h

A128.10 Global

r=3, w=3


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 0A hex

2080h

Array

000

Ah

A128.11 Global

r=3, w=3


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 0B hex

2080h

Array

000

Bh

A128.12 Global

r=3, w=3


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 0C hex

2080h

Array

000

Ch

Used Parameters

Electronic Cam

ID 441778.04 100


06


address

A128.13 Global

r=3, w=3


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 0D hex

2080h

Array

000

Dh

A128.14 Global

r=3, w=3


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 0E hex

2080h

Array

000

Eh

A128.15 Global

r=3, w=3


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 0F hex

2080h

Array

000

Fh

A128.16 Global

r=3, w=3



2080h

Array

10h

Used Parameters

Electronic Cam

ID 441778.04 101


06


address

A128.17 Global

r=3, w=3



2080h

Array

11h

A128.18 Global

r=3, w=3



2080h

Array

12h

A128.19 Global

r=3, w=3



2080h

Array

13h

A128.20 Global

r=3, w=3

IGB Consumer Mapping 21. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.20 enter the parameter to which the 21st value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.20. Remember that you can only use parameters with the PDO-Mapping characteristic.


2080h

Array

14h

Used Parameters

Electronic Cam

ID 441778.04 102


06


address

A128.21 Global

r=3, w=3

IGB Consumer Mapping 22. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.21 enter the parameter to which the 22nd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.21. Remember that you can only use parameters with the PDO-Mapping characteristic.


2080h

Array

15h

A128.22 Global

r=3, w=3

IGB Consumer Mapping 23. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.22 enter the parameter to which the 23rd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.22. Remember that you can only use parameters with the PDO-Mapping characteristic.


2080h

Array

16h

A128.23 Global

r=3, w=3



2080h

Array

17h

A128.24 Global

r=3, w=3



2080h

Array

18h

Used Parameters

Electronic Cam

ID 441778.04 103


06


address

A128.25 Global

r=3, w=3



2080h

Array

19h

A128.26 Global

r=3, w=3



2080h

Array

001

Ah

A128.27 Global

r=3, w=3



2080h

Array

001

Bh

A128.28 Global

r=3, w=3



2080h

Array

001

Ch

Used Parameters

Electronic Cam

ID 441778.04 104


06


address

A128.29 Global

r=3, w=3



2080h

Array

001

Dh

A128.30 Global

r=3, w=3

IGB Consumer Mapping 31. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.30 enter the parameter to which the 31rd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.30. Remember that you can only use parameters with the PDO-Mapping characteristic.


2080h

Array

001

Eh

A128.31 Global

r=3, w=3

IGB Consumer Mapping 32. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.31 enter the parameter to which the 32nd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.31. Remember that you can only use parameters with the PDO-Mapping characteristic.


2080h

Array

001

Fh

A129.0 Global

r=3, w=3

IGB Consumer Quelladresse 1. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the first source address in A129.0.

Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 00 hex

2081h

Array

0h

Used Parameters

Electronic Cam

ID 441778.04 105


06


address

A129.1 Global

r=3, w=3

IGB Consumer Quelladresse 2. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the second source address in A129.1.

Value range: 0 ... 6 ... 3131


2081h

Array

1h

A129.2 Global

r=3, w=3

IGB Consumer Quelladresse 3. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the third source address in A129.2.

Value range: 0 ... 6 ... 3131


2081h

Array

2h

A129.3 Global

r=3, w=3

IGB Consumer Quelladresse 4. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the fourth source address in A129.3.

Value range: 0 ... 6 ... 3131


2081h

Array

3h

Used Parameters

Electronic Cam

ID 441778.04 106


06


address

A129.4 Global

r=3, w=3

IGB Consumer Quelladresse 5. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the fifth source address in A129.4.

Value range: 0 ... 6 ... 3131


2081h

Array

4h

A129.5 Global

r=3, w=3

IGB Consumer Quelladresse 6. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the sixth source address in A129.5.

Value range: 0 ... 6 ... 3131


2081h

Array

5h

A129.6 Global

r=3, w=3

IGB Consumer Quelladresse 7. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 7th source address in A129.6.

Value range: 0 ... 6 ... 3131


2081h

Array

6h

Used Parameters

Electronic Cam

ID 441778.04 107


06


address

A129.7 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2081h

Array

7h

A129.8 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2081h

Array

8h

A129.9 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2081h

Array

9h

Used Parameters

Electronic Cam

ID 441778.04 108


06


address

A129.10 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 0A hex

2081h

Array

000

Ah

A129.11 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 0B hex

2081h

Array

000

Bh

A129.12 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 0C hex

2081h

Array

000

Ch

Used Parameters

Electronic Cam

ID 441778.04 109


06


address

A129.13 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 0D hex

2081h

Array

000

Dh

A129.14 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 0E hex

2081h

Array

000

Eh

A129.15 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 0F hex

2081h

Array

000

Fh

Used Parameters

Electronic Cam

ID 441778.04 110


06


address

A129.16 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2081h

Array

10h

A129.17 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2081h

Array

11h

A129.18 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2081h

Array

12h

Used Parameters

Electronic Cam

ID 441778.04 111


06


address

A129.19 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2081h

Array

13h

A129.20 Global

r=3, w=3

IGB Consumer Quelladresse 21. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 21rd source address in A129.20.

Value range: 0 ... 6 ... 3131


2081h

Array

14h

A129.21 Global

r=3, w=3

IGB Consumer Quelladresse 22. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 22nd source address in A129.21.

Value range: 0 ... 6 ... 3131


2081h

Array

15h

Used Parameters

Electronic Cam

ID 441778.04 112


06


address

A129.22 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2081h

Array

16h

A129.23 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2081h

Array

17h

A129.24 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2081h

Array

18h

Used Parameters

Electronic Cam

ID 441778.04 113


06


address

A129.25 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2081h

Array

19h

A129.26 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 1A hex

2081h

Array

001

Ah

A129.27 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 1B hex

2081h

Array

001

Bh

Used Parameters

Electronic Cam

ID 441778.04 114


06


address

A129.28 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 1C hex

2081h

Array

001

Ch

A129.29 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 1D hex

2081h

Array

001

Dh

A129.30 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 1E hex

2081h

Array

001

Eh

Used Parameters

Electronic Cam

ID 441778.04 115


06


address

A129.31 Global

r=3, w=3

IGB Consumer Quelladresse 32. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 32nd source address in A129.31.

Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 1F hex

2081h

Array

001

Fh

A130.0 Global

r=3, w=3

IGB Consumer2 Mapping 1. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x an. the same time, this also allows you to specify how many bytes will be read. In A130.0, enter the parameter to which the first value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.0. Remember that you can only use parameters with the PDO-Mapping attribute.


2082h

Array

0h

A130.1 Global

r=3, w=3

IGB Consumer2 Mapping 2. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.1 enter the parameter to which the second value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.1. Remember that you can only use parameters with the PDO-Mapping characteristic.


2082h

Array

1h

Used Parameters

Electronic Cam

ID 441778.04 116


06


address

A130.2 Global

r=3, w=3

IGB Consumer2 Mapping 3. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.2 enter the parameter to which the third value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.2. Remember that you can only use parameters with the PDO-Mapping characteristic.


2082h

Array

2h

A130.3 Global

r=3, w=3

IGB Consumer2 Mapping 4. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.3 enter the parameter to which the fourth value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.3. Remember that you can only use parameters with the PDO-Mapping characteristic.


2082h

Array

3h

A130.4 Global

r=3, w=3

IGB Consumer2 Mapping 5. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.4 enter the parameter to which the fifth value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.4. Remember that you can only use parameters with the PDO-Mapping characteristic.


2082h

Array

4h

Used Parameters

Electronic Cam

ID 441778.04 117


06


address

A130.5 Global

r=3, w=3

IGB Consumer2 Mapping 6. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.5 enter the parameter to which the sixth value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.5. Remember that you can only use parameters with the PDO-Mapping characteristic.


2082h

Array

5h

A130.6 Global

r=3, w=3

IGB Consumer2 Mapping 7. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.6 enter the parameter to which the 7th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.6. Remember that you can only use parameters with the PDO-Mapping characteristic.


2082h

Array

6h

A130.7 Global

r=3, w=3



2082h

Array

7h

Used Parameters

Electronic Cam

ID 441778.04 118


06


address

A130.8 Global

r=3, w=3

IGB Consumer2 Mapping 9. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.8 enter the parameter to which the 9. value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.8. Remember that you can only use parameters with the PDO-Mapping characteristic.


2082h

Array

8h

A130.9 Global

r=3, w=3



2082h

Array

9h

A130.10 Global

r=3, w=3



2082h

Array

000

Ah

Used Parameters

Electronic Cam

ID 441778.04 119


06


address

A130.11 Global

r=3, w=3



2082h

Array

000

Bh

A130.12 Global

r=3, w=3



2082h

Array

000

Ch

A130.13 Global

r=3, w=3



2082h

Array

000

Dh

Used Parameters

Electronic Cam

ID 441778.04 120


06


address

A130.14 Global

r=3, w=3



2082h

Array

000

Eh

A130.15 Global

r=3, w=3



2082h

Array

000

Fh

A130.16 Global

r=3, w=3



2082h

Array

10h

Used Parameters

Electronic Cam

ID 441778.04 121


06


address

A130.17 Global

r=3, w=3



2082h

Array

11h

A130.18 Global

r=3, w=3



2082h

Array

12h

A130.19 Global

r=3, w=3



2082h

Array

13h

Used Parameters

Electronic Cam

ID 441778.04 122


06


address

A130.20 Global

r=3, w=3

IGB Consumer2 Mapping 21. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.20 enter the parameter to which the 21rd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.20. Remember that you can only use parameters with the PDO-Mapping characteristic.


2082h

Array

14h

A130.21 Global

r=3, w=3

IGB Consumer2 Mapping 22. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.21 enter the parameter to which the 22st value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.21. Remember that you can only use parameters with the PDO-Mapping characteristic.


2082h

Array

15h

A130.22 Global

r=3, w=3

IGB Consumer2 Mapping 23. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.22 enter the parameter to which the 23rd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.22. Remember that you can only use parameters with the PDO-Mapping characteristic.


2082h

Array

16h

Used Parameters

Electronic Cam

ID 441778.04 123


06


address

A130.23 Global

r=3, w=3



2082h

Array

17h

A130.24 Global

r=3, w=3



2082h

Array

18h

A130.25 Global

r=3, w=3



2082h

Array

19h

Used Parameters

Electronic Cam

ID 441778.04 124


06


address

A130.26 Global

r=3, w=3



2082h

Array

001

Ah

A130.27 Global

r=3, w=3



2082h

Array

001

Bh

A130.28 Global

r=3, w=3



2082h

Array

001

Ch

Used Parameters

Electronic Cam

ID 441778.04 125


06


address

A130.29 Global

r=3, w=3



2082h

Array

001

Dh

A130.30 Global

r=3, w=3

IGB Consumer2 Mapping 31. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.30 enter the parameter to which the 31st value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.30. Remember that you can only use parameters with the PDO-Mapping characteristic.


2082h

Array

001

Eh

A130.31 Global

r=3, w=3

IGB Consumer2 Mapping 32. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.31 enter the parameter to which the 32nd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.31. Remember that you can only use parameters with the PDO-Mapping characteristic.


2082h

Array

001

Fh

Used Parameters

Electronic Cam

ID 441778.04 126


06


address

A131.0 Global

r=3, w=3

IGB Consumer2 Quelladresse 1. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the first source address in A131.0.

Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 00 hex

2083h

Array

0h

A131.1 Global

r=3, w=3

IGB Consumer2 Quelladresse 2. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the second source address in A131.1.

Value range: 0 ... 6 ... 3131


2083h

Array

1h

A131.2 Global

r=3, w=3

IGB Consumer2 Quelladresse 3. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the third source address in A131.2.

Value range: 0 ... 6 ... 3131


2083h

Array

2h

Used Parameters

Electronic Cam

ID 441778.04 127


06


address

A131.3 Global

r=3, w=3

IGB Consumer2 Quelladresse 4. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the fourth source address in A131.3.

Value range: 0 ... 6 ... 3131


2083h

Array

3h

A131.4 Global

r=3, w=3

IGB Consumer2 Quelladresse 5. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the fifth source address in A131.4.

Value range: 0 ... 6 ... 3131


2083h

Array

4h

A131.5 Global

r=3, w=3

IGB Consumer2 Quelladresse 6. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the sixth source address in A131.5.

Value range: 0 ... 6 ... 3131


2083h

Array

5h

Used Parameters

Electronic Cam

ID 441778.04 128


06


address

A131.6 Global

r=3, w=3

IGB Consumer2 Quelladresse 7. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 7th source address in A131.6.

Value range: 0 ... 6 ... 3131


2083h

Array

6h

A131.7 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2083h

Array

7h

A131.8 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2083h

Array

8h

Used Parameters

Electronic Cam

ID 441778.04 129


06


address

A131.9 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2083h

Array

9h

A131.10 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 0A hex

2083h

Array

000

Ah

A131.11 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 0B hex

2083h

Array

000

Bh

Used Parameters

Electronic Cam

ID 441778.04 130


06


address

A131.12 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 0C hex

2083h

Array

000

Ch

A131.13 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 0D hex

2083h

Array

000

Dh

A131.14 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 0E hex

2083h

Array

000

Eh

Used Parameters

Electronic Cam

ID 441778.04 131


06


address

A131.15 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 0F hex

2083h

Array

000

Fh

A131.16 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2083h

Array

10h

A131.17 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2083h

Array

11h

Used Parameters

Electronic Cam

ID 441778.04 132


06


address

A131.18 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2083h

Array

12h

A131.19 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2083h

Array

13h

A131.20 Global

r=3, w=3

IGB Consumer2 Quelladresse 21. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 21st source address in A131.20.

Value range: 0 ... 6 ... 3131


2083h

Array

14h

Used Parameters

Electronic Cam

ID 441778.04 133


06


address

A131.21 Global

r=3, w=3

IGB Consumer2 Quelladresse 22. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 22nd source address in A131.21.

Value range: 0 ... 6 ... 3131


2083h

Array

15h

A131.22 Global

r=3, w=3

IGB Consumer2 Quelladresse 23. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 23rd source address in A131.22.

Value range: 0 ... 6 ... 3131


2083h

Array

16h

A131.23 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2083h

Array

17h

Used Parameters

Electronic Cam

ID 441778.04 134


06


address

A131.24 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2083h

Array

18h

A131.25 Global

r=3, w=3


Value range: 0 ... 6 ... 3131


2083h

Array

19h

A131.26 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 1A hex

2083h

Array

001

Ah

Used Parameters

Electronic Cam

ID 441778.04 135


06


address

A131.27 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 1B hex

2083h

Array

001

Bh

A131.28 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 1C hex

2083h

Array

001

Ch

A131.29 Global

r=3, w=3


Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 1D hex

2083h

Array

001

Dh

Used Parameters

Electronic Cam

ID 441778.04 136


06


address

A131.30 Global

r=3, w=3

IGB Consumer2 Quelladresse 31. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 31st source address in A131.30.

Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 1E hex

2083h

Array

001

Eh

A131.31 Global

r=3, w=3

IGB Consumer2 Quelladresse 32. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 32nd source address in A131.31.

Value range: 0 ... 6 ... 3131

Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 1F hex

2083h

Array

001

Fh

A138 Global

read (3)

IGB motionbus time: This parameter indicates the global time (in milliseconds) on the IGB-Motionbus. The value runs from 0 to 232 -1 = 4 294 967 295 ms and then starts again at 0. All stations of the IGB-Motionbus run synchronously to each other and use the common device clock. With the help of this parameter, you can trigger Scope imagines on different inverters, for example, and then arrange the pictures in POSITool by time.

Value range in ms: 0 ... 0 ... 4294967295

Fieldbus: 1LSB=1ms; PDO ; Type: U32; USS-Adr: 01 22 80 00 hex

208Ah 0h

A140 Global

read (0)

LCD line0: Indication as character string of the top display line.

Fieldbus: Type: Str16; USS-Adr: 01 23 00 00 hex

208Ch 0h

A141 Global

read (0)

LCD line1: Indication as character string of the bottom display line.


208Dh 0h

Used Parameters

Electronic Cam

ID 441778.04 137


06


address

A142 Global

read (3)

Key code: Code of the effective key. 0=none, 1=LEFT, 2=RIGHT, 3=AB, 4=AUF, 5=#, 6=ESC, 7=F1, 8=F2, 9=F3, 10=F4, 11=HAND, 12= EIN, 13=AUS, 14=I/O


208Eh 0h

A144 Global

r=3, w=0

Remote key code: Key activations can be simulated by writing this parameter. For meaning, see A142.


2090h 0h

A150 Axis, OFF

r=1, w=3

Cycle time: Cycle time of the real-time configuration on the axis. The load of the real-time task can be checked in parameter E191 runtime usage. When the computing load becomes too great, the event "57:runtime usage" is triggered. NOTE Changing this parameter may mean that a changed configuration is detected when you go online with POSITool.

4: 1ms; 5: 2ms; 6: 4ms; 7: 8ms; 8: 16ms; 9: 32ms;


2096h 0h

A151 Global

read (2)

Session ID: The parameter indicates the current session ID which was assigned to the inverter by the Teleserver and the number which the person responsible for the machine gives the service employee (e.g., over the telephone). The service employee can only establish the remote service connection with the session ID if parameter A168 = 1:remote service with session ID is set. The entry 0 in A151 means that there is no session ID.


2097h 0h

A152 Global

read (2)

IGB position: The parameter indicates the current position of the inverter in the IGB network.

0: Single. The inverter is not connected with other SDS 5000s. 1: IGB-internal. Both RJ45 sockets are connected with other inverters (i.e., additional SDS 5000s

are connected on either side of the inverter). 2: Gateway X3 A. The inverter is located on the outer left-hand end of the IGB (i.e., a valid inverter

is not connected to its X3 A socket). 3: Gateway X3 B. The inverter is located on the outer right-hand end of the IGB (i.e., a valid

inverter is not connected to its X3 B socket) or more than 32 inverters are connected with each other. In this case, the IGB is logically terminated after the 32nd SDS 5000 and this status is indicated.


2098h 0h

A153 Global

read (2)

IGB Actual Node Number: The parameter specifies the number of stations which are currently registered with the IGB. 0: or 1: At this time no further station is connected with this inverter via IGB. 2 to 32: Indicated number corresponds to the number of inverters found in the IGB network.


2099h 0h

Used Parameters

Electronic Cam

ID 441778.04 138


06


address

A154.0 Global

read (2)

IGB Port X3 A State: The parameter indicates the status of the left-hand Ethernet socket X3 A.

0: ERROR. The status of the socket is not known. 1: NoConnection. The socket is not connected with other devices. 2: 10 MBit/s. A connection exists to a station with a transmission rate of 10 Mbit/s. The station is

not an SDS 5000. 3: 100 MBit/s. A connection exists to a station with a transmission rate of 100 Mbit/s.

Communication to this station does not have full-duplex capability and the station is not an SDS 5000.

4: link OK. A connection exists to a station with a transmission rate of 100 Mbit/s whose communication has full-duplex capability.


209Ah

Array

0h

A154.1 Global

read (2)

IGB Port X3 B State: The parameter indicates the status of the right-hand Ethernet socket X3 B.

0: ERROR. The status of the socket is not known. 1: NoConnection. The socket is not connected with other devices. 2: 10 MBit/s. A connection exists to a station with a transmission rate of 10 Mbit/s. The station is

not an SDS 5000. 3: 100 MBit/s. A connection exists to a station with a transmission rate of 100 Mbit/s.

Communication to this station does not have full-duplex capability and the station is not an SDS 5000.

4: link OK. A connection exists to a station with a transmission rate of 100 Mbit/s whose communication has full-duplex capability.


209Ah

Array

1h

A155 Global

read (3)

IGB-State: The parameter indicates the IGB status of the device.

0: Booting. The IGB is booting. The connected inverters register themselves on the IGB network and synchronize themselves.

1: Single. Currently there is no IGB network which is connected with other inverters. Either this SDS did not find another inverter with which an IGB network could be established, or an already existing connection to other inverters via IGB was disconnected. The functions Remote service or Direct link can be used.

2: IGB-Running. Several inverters have established an IGB network. The functions Remote service or Direct link (with POSITool) can be used. The function IGB-Motionbus is not used or cannot be used for one of the following reasons:

- because the function was not selected during configuration - because parameter A120 IGB Address was not set uniquely for all stations - because A121 IGB nominal number was not parameterized 3: IGB-Motionbus; The IGB-Motionbus was established. This means that:: - The IGB-Motionbus function was activated on all inverters in the IGB network and - There was no multiple assignment of IGB addresses (A120 IGB address) and - Each inverter found the same number of partners in the IGB network and this number

corresponds to the expected number in A121 for every inverter and - All inverters in the IGB network are synchronized and are receiving valid data. - No inverter has reported a double error (event 52, causes 9 and 10). In this state, the addition of further inverters has no effect on the existing IGB-Motionbus. 4: Motionbus error; The state A155 = 3:IGB-Motionbus was already reached once and exited

because of an error. Either an IGB cable was disconnected so that not all SDS 5000s in the IGB network were still connected or there was a massive EMC disturbance or the synchronicity of the inverters among each other was violated.


209Bh 0h

Used Parameters

Electronic Cam

ID 441778.04 139


06


address

A156 Global

read (3)

IGB Number Bootups: The parameter indicates the following information for each device: how often the device detected a bootup of the IGB since the last time its power was switched on or it triggered one itself.


209Ch 0h

A157.0 Global

read (0)

Active IP address X3A: The parameter indicates the current IP address which is used for X3 A. 0.0.0.0 is an invalid value. In this case, communication with POSITool via the interface is not possible. The active IP address is determined from the settings in A166.0 and is indicated in A157.0.

Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289).


209Dh

Array

0h

A157.1 Global

read (0)

Active IP address X3B: The parameter indicates the current IP address which is used for X3 B. 0.0.0.0 is an invalid value. In this case, communication with POSITool via the interface is not possible. The active IP address is determined from the settings in A166.1 and is indicated in A157.1.



209Dh

Array

1h

A158.0 Global

read (0)

Active Subnetmask X3A: The parameter indicates the current subnetwork mask which is used for X3 A. 0.0.0.0 is an invalid value. In this case, communication via X3 A is not possible.



209Eh

Array

0h

A158.1 Global

read (0)

Active Subnetmask X3B: The parameter indicates the current subnetwork mask which is used for X3 B. 0.0.0.0 is an invalid value. In this case, communication via X3 B is not possible.



209Eh

Array

1h

A160 Global

read (0)

Active DNS server address: The parameter indicates the IP address of the DNS server that is used by the inverter. The server is used to break down Internet addresses into IP addresses. The source for the DNS server shown here can be: - Parameter A179 (manual setting of the IP address of the DNS server) - The applicable DHCP server in the network


20A0h 0h

A161 Global

read (0)

Active Gateway: The parameter indicates the IP address of the standard gateway used by the inverter. The standard gateway is needed for the Internet connection via X3. The source of the IP address of the standard gateway shown here can be: -Parameter A175 (manual setting of the IP address) - The applicable DHCP server in the network


20A1h 0h

Used Parameters

Electronic Cam

ID 441778.04 140


06


address

A162.0 Global

read (3)

IGB Lost Frames.0: The parameter serves as a lost frames counter for the IGB-Motionbus. It indicates a value for the current lost frames of expected but not correctly received data during the millisecond cycle. When the IGB-Motionbus is running, each SDS sends its data to all other inverters once every millisecond. When at least one inverter fails to send its data cyclically, this is detected and registered in element 0 of the parameter. This counter is incremented by the value of the expected but not received data. When all data of all inverters connected to the IGB have been correctly received, the lost frame counter is decremented by 1. This parameter thus provides information on the quality of the IGB network. When this value increases rapidly, a connection cable of the IGB has probably become disconnected or an inverter has been switched off.


20A2h

Array

0h

A162.1 Global

read (3)

IGB Lost Frames.1: Indicates the sum of all registered errors of the IGB-Motionbus since the inverter was switched on. When the IGB-Motionbus is in operation, each SDS sends its data to all other inverters once every millisecond. This value is incremented for data which were expected and correctly received but not within the millisecond cycle. If you are using the IGB-Motionbus, the value is cleared the first time the state A155 = 3IGB-Motionbus is reached so that the not yet perfect synchronization while the IGB was booting will not be counted as an error. After this, the value of the parameter can only be cleared by turning off the inverter. This parameter thus provides information on the quality of the IGB network. When this value increases rapidly, a connection cable of the IGB has probably become disconnected or an inverter has been switched off. When this value increases irregularly, the cabling and the environment should be checked for EMC-suitable wiring.


20A2h

Array

1h

A163.0 Global

read (3)

IGB Systembits: The parameter is used for the internal activation of IGB functions. Bit 0: Activate remote service Bit 1&2: Progress of the remote service connection

0 0: Blue LED is off - no remote service requested. 0 1: Blue LED lights up like a bolt of lightning - connection to the Teleserver is being

established. 1 0: Blue LED flashes at regular intervals - device is waiting for connection of

POSITool to the Teleserver. 1 1: Blue LED on continuously - connection is completely established and remote service

can begin. Bit 3: Remote service response message Bit 4: This device is the active gateway at the moment. Bit 5: Reset inverter. Bit 6: The PLL of the device has been snapped onto the IGB. Bit 7: Remote service requires a valid session ID.


20A3h

Array

0h

A163.1 Global

read (3)

IGB Systembits: The parameter is used for the internal activation of IGB functions. Bit 0: Host controller is dead (is not living) Bit 1: Lost-frame series (double error) 0: All stations sent Motionbus data on time. 1: At least twice in succession at least one station did not send the data on time. Bit 2 - 7: Reserved


20A3h

Array

1h

Used Parameters

Electronic Cam

ID 441778.04 141


06


address

A164.0 Global

r=3, w=3

Manual IP address for X3A: The IP address for X3 A is entered in this parameter when an IP address must be assigned manually. This is the case when, for example, no DHCP server exists. If you connect X3 A to a PC or the Ethernet network, make sure that X3 A and X3 B are assigned manual IP addresses from different subnetworks. Do not connect X3 A and X3 B at the same time with the same LAN and obtain their IP address from the DHCP server. Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289). Information Remember that a parameter change does not take effect until: - the value is saved with action A00.0 and - the inverter has been turned off and on again.

Value range: 0 ... 192.168.3.2 ... 4294967295


20A4h

Array

0h

A164.1 Global

r=3, w=3

Manual IP address for X3B: The IP address for X3 B is entered in this parameter when an IP address must be assigned manually. This is the case when, for example, no DHCP server exists. If you connect X3 A to a PC or the Ethernet network, make sure that X3 A and X3 B are assigned manual IP addresses from different subnetworks. Do not connect X3 A and X3 B at the same time with the same LAN and obtain their IP address from the DHCP server. Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289). Information Remember that a parameter change does not take effect until: - the value is saved with action A00.0 and - the inverter has been turned off and on again.

Value range: 0 ... 192.168.4.2 ... 4294967295


20A4h

Array

1h

A165.0 Global

r=3, w=3

Manual IP subnetmask for X3A: The subnet mask for X3 A is entered in this parameter when an IP address has to be assigned manually. This is the case when, for example, no DHCP server exists. The subnet mask is needed in addition to the IP address before you can communicate via TCP/IP. Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289). Information Remember that a parameter change does not take effect until: - the value is saved with action A00.0 and - the inverter has been turned off and on again

Value range: 0 ... 255.255.255.0 ... 4294967295


20A5h

Array

0h

Used Parameters

Electronic Cam

ID 441778.04 142


06


address

A165.1 Global

r=3, w=3

Manual IP subnetmask for X3B: The subnet mask for X3 B is entered in this parameter when an IP address has to be assigned manually. This is the case when, for example, no DHCP server exists. The subnet mask is needed in addition to the IP address before you can communicate via TCP/IP. Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289). Information Remember that a parameter change does not take effect until: - the value is saved with action A00.0 and - the inverter has been turned off and on again

Value range: 0 ... 255.255.255.0 ... 4294967295


20A5h

Array

1h

A166.0 Global

r=3, w=3

IP-Address-Delivery: This parameter specifies how the IP address and subnet mask of X3 A are obtained. Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289). Information Remember that a parameter change does not take effect until: - the value is saved with action A00.0 and - the inverter has been turned off and on again

0: Only manual setting. The device only uses the information in the parameters: - A164.0 Manual IP address - A165.0 Manual IP subnet mask These values are indicated in the parameters: - A157.0 Active IP address - A158.0 Active subnet mask 1: Standard. After being connected to the local network, the device registers like the other

components automatically with the DHCP server to obtain its IP address and subnet mask. Depending on the settings in parameters A175 and A179, an attempt is made to obtain the IP address of the standard gateway and the DNS server from the DHCP server. If the device receives the information from the DHCP server within three minutes, this is entered in parameters A157 and A158. Depending on the settings in parameters A175 and A179, the just obtained IP address of the standard gateway and the DNS server are also indicated in parameters A161 and A160. When the device fails to receive any information from the DHCP server during this time, the manual values in A164.0 and A165.0 as well as A160 and A161 are used instead.

2: Only DHCP. After its connection to the local network, the device registers automatically with the DHCP server to obtain its information.

When the device receives the information from the DHCP server, this is entered in parameters A157 and A158. Depending on the settings in parameters A175 and A179, the just obtained IP address of the standard gateway and the DNS server are also indicated in parameters A161 and A160.


20A6h

Array

0h

Used Parameters

Electronic Cam

ID 441778.04 143


06


address

A166.1 Global

r=3, w=3

IP-Address-Delivery: This parameter specifies how the IP address and subnet mask of X3 B are obtained. Information Remember that a parameter change does not take effect until: - the value is saved with action A00.0 and - the inverter has been turned off and on again Information Discuss this parameter with your network administrator so that an optimum connection is achieved.

0: Only manual setting. The device only uses the information in the parameters: - A164.0 Manual IP address - A165.0 Manual IP subnet mask These values are indicated in the parameters: - A157.0 Active IP address - A158.0 Active subnet mask 1: Standard. After being connected to the local network, the device registers like the other

components automatically with the DHCP server to obtain its IP address and subnet mask. Depending on the settings in parameters A175 and A179, an attempt is made to obtain the IP address of the standard gateway and the DNS server from the DHCP server. If the device receives the information from the DHCP server within three minutes, this is entered in parameters A157 and A158. Depending on the settings in parameters A175 and A179, the just obtained IP address of the standard gateway and the DNS server are also indicated in parameters A161 and A160. When the device fails to receive any information from the DHCP server during this time, the manual values in A164.1 and A165.1 as well as A160 and A161 are used instead.

2: Only DHCP. After its connection to the local network, the device registers automatically with the DHCP server to obtain its information.

When the device receives the information from the DHCP server, this is entered in parameters A157 and A158. Depending on the settings in parameters A175 and A179, the just obtained IP address of the standard gateway and the DNS server are also indicated in parameters A161 and A160.


20A6h

Array

1h

Used Parameters

Electronic Cam

ID 441778.04 144


06


address

A167 Global

r=3, w=3

Remote Service Start: This parameter is used to set the source of the signal which you will use to start remote service. Information Read chapter integrated Bus of the Operating manual SDS 5000 before you start remote service! Remote service is started by a positive edge change (change from low to high) of the signal which you set in this parameter. The signal must then remain high. Remote service is finished as soon as the high level can no longer be detected on the source. Proceed as follows to control remote service via fieldbus: 1. Set A167 = 2:A181 Bit 0. In this case, parameter A181 Bit 0 is the signal source. 2. Now describe this source via fieldbus. Remember that you cannot start remote service while a direct connection from PC to inverter exists! Information This parameter determines the behavior of the inverter during remote service. It can be accidentally overwritten by a remote service procedure which may change the parameter to its disadvantage (termination of the connection, loss of data). There are two ways to prevent accidental changes: - While the connection is being established, read the data from the inverter. - Use a project file related to the inverter in which this parameter is correctly set.

0: inactive; No remote service wanted. 1: A800; Remote service is started by the parameter A800. 2: A181-Bit 0; Remote service is started by bit 0 in parameter A181 Device Control Byte 2. 3: BE1; Remote service is started by the signal on binary input 1. 4: BE1-inverted; Remote service is started by the inverted signal on binary input 1. 5: BE2; Remote service is started by the signal on binary input 2. 6: BE2-inverted; Remote service is started by the inverted signal on binary input 2. 7: BE3; Remote service is started by the signal on binary input 3. 8: BE3-inverted; Remote service is started by the inverted signal on binary input 3. 9: BE4; Remote service is started by the signal on binary input 4. 10: BE4-inverted; Remote service is started by the inverted signal on binary input 4. 11: BE5; Remote service is started by the signal on binary input 5. 12: BE5-inverted; Remote service is started by the inverted signal on binary input 5. 13: BE6; Die Fernwartung wird durch das Signal an Binäreingang 6 gestartet. 14: BE6-inverted; Remote service is started by the inverted signal on binary input 6. 15: BE7; Remote service is started by the signal on binary input 7. 16: BE7-inverted; Die Fernwartung wird durch das invertierte Signal an Binäreingang 7 gestartet. 17: BE8; Remote service is started by the signal on binary input 8. 18: BE8-inverted; Remote service is started by the inverted signal on binary input 8. 19: BE9; Die Fernwartung wird durch das Signal an Binäreingang 9 gestartet. 20: BE9-inverted; Remote service is started by the inverted signal on binary input 9. 21: BE10; Die Fernwartung wird durch das Signal an Binäreingang 10 gestartet. 22: BE10-inverted; Remote service is started by the inverted signal on binary input 10. 23: BE11; Remote service is started by the signal on binary input 11. 24: BE11-inverted; Die Fernwartung wird durch das invertierte Signal an Binäreingang 11 gestartet. 25: BE12; Remote service is started by the signal on binary input 12. 26: BE12-inverted; Die Fernwartung wird durch das invertierte Signal an Binäreingang 12 gestartet. 27: BE13; Remote service is started by the signal on binary input 13. 28: BE13-inverted; Remote service is started by the inverted signal on binary input 13.


20A7h 0h

Used Parameters

Electronic Cam

ID 441778.04 145


06


address

A168 Global

r=3, w=3

Remote service with session-ID option: This parameter is used to set whether remote service is to be performed with a session ID. The session ID makes remote service more secure. When the value 1 is entered in this parameter for the inverter to which the link to the Internet is connected, the POSITool user must also enter the session ID before starting remote service. CAUTION This parameter is only evaluated for the inverter which is the active gateway. The setting of this parameter is ignored for all other inverters. This means that the parameter must always be set for the inverter which is the active gateway when remote service with session ID is used. Information This parameter determines the behavior of the inverter during remote service. It can be accidentally overwritten by a remote service procedure which may change the parameter to its disadvantage (termination of the connection, loss of data). There are two ways to prevent accidental changes: - While the connection is being established, read the data from the inverter. - Use a project file related to the inverter in which this parameter is correctly set.

0: inactive; The service technician does not need a session ID to establish a remote service connection.

1: active; The service technician needs a session ID to establish a remote service connection.


20A8h 0h

A169 Global

read (3)

Remote service advance: The parameter indicates the progress of the establishment of the connection is. The parameter supplies the same information as the blue LED on the front of the device.

0: noRemoteService. Remote service is not desired. 1: connectToTeleser. The connection to the Teleserver is being established. 2: waitToPOSITool. The device is waiting for the connection to POSITool. 3: POSIToolOnline. The connection is established and remote service can begin.


20A9h 0h

A170 Global

read (3)

Remote Service Acknowledge: The parameter changes bit 0 at the same frequency as the

blue LED on the front with the following meaning:

-Bit 0 = 1:LED on

-Bit 0 = 0:LED off You can output this parameter to a binary output and then evaluate the signal of the blue LED. Information This parameter can be used to represent the status of the blue LED on an external signal lamp.


20AAh 0h

Used Parameters

Electronic Cam

ID 441778.04 146


06


address

A175 Global

r=3, w=3

Default gateway: This parameter is used to specify the IP address of the gateway for X3 A when this value cannot be obtained from a DHCP server. There are two ways to do this: When you enter an IP address in this parameter other than "0.0.0.0," this IP address is used by

the inverter without any further checks. When you enter the value "0.0.0.0" in this parameter, there are two possibilities: - If the value "1" or "2" is entered in parameter A166, the inverter automatically tries to obtain the

IP address of the standard gateway from the responsible DHCP server. - If the value "0" is entered in parameter A166, no standard gateway is available on the inverter!

Please remember that the DHCP server usually also supplies the IP address of the standard gateway. If you want the IP address of the standard gateway to be automatically set by the DHCP server, please be sure to enter the value "0.0.0.0" here. Otherwise the IP address of the standard gateway which is supplied by the DHCP server will be ignored.

Information Remember that a change in the parameter does not take effect until you: - save the value with the action A00.0 and - turn the inverter off and on again. Information Discuss this parameter with your network administrator so that an optimum connection is achieved.

Value range: 0 ... 0.0.0.0 ... 4294967295

Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 2B C0 00 hex

20AFh 0h

A176 Global

r=3, w=3

Teleserver Option: This parameter is used to set whether you want a remote service connection via Internet or a local network (LAN). Information This parameter determines the behavior of the inverter during remote service. It can be accidentally overwritten by a remote service procedure which may change the parameter to its disadvantage (termination of the connection, loss of data). There are two ways to prevent accidental changes: - While the connection is being established, read the data from the inverter. - Use a project file related to the inverter in which this parameter is correctly set.

0: Internet. A remote service connection is established via the Internet. 1: LAN. A remote service connection is established via the local network. In this case, be sure to

consider parameter A177.


20B0h 0h

Used Parameters

Electronic Cam

ID 441778.04 147


06


address

A177 Global

r=3, w=3

Name LAN teleserver: If you want to establish a remote service connection via the local network, enter the address of the computer here on which the LAN Teleserver will be running. The address can be entered in two formats: When the IP address is known, it can be entered directly (e.g., "192.168.3.2"). When the name of the LAN Teleserver is known and the inverter has an IP address via a valid

DNS server, the name of the LAN Teleserver can also be entered. The inverter then determines the IP address automatically.

CAUTION When the name of the LAN Teleserver is entered, this must be entered with the fully qualified domain name. Example: The PC on which the LAN Teleserver is running has the name "PcLanTeleserver." The PC is assigned to the domain with the domain address "MuellerGmbh.de." The following fully qualified domain name must then be entered in the parameter: "PcLanTeleserver.MuellerGmbh.de" Please also contact your network administrator in this matter. Information This parameter determines the behavior of the inverter during remote service. It can be accidentally overwritten by a remote service procedure which may change the parameter to its disadvantage (termination of the connection, loss of data). There are two ways to prevent accidental changes: - While the connection is being established, read the data from the inverter. - Use a project file related to the inverter in which this parameter is correctly set.

Fieldbus: Type: Str80; USS-Adr: 01 2C 40 00 hex

20B1h 0h

A178 Global

read (3)

Error remote service: The parameter indicates the status of remote service with a hexadecimal number (length: 32 bits). One diagnostic value is coded in each of the four bytes. For the meaning of the diagnostic values, see the operating manual SDS 5000 (ID 442289).

Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 01 2C 80 00 hex

20B2h 0h

A179 Global

r=3, w=3

Manual DNS server IP address: This parameter is used to configure the setting of the DNS server IP address on the inverter. There are two ways to do this: When you enter an IP address in this parameter other than "0.0.0.0," this IP address is used by

the inverter without any further checks. When you enter the value "0.0.0.0" in this parameter, there are two possibilities: - If the value "1" or "2" is entered in parameter A166, the inverter automatically tries to obtain the

IP address of the DNS server from the responsible DHCP server. - If the value "0" is entered in parameter A166, no DNS server is available on the inverter!

Please remember that the DHCP server usually also supplies the IP address of the DNS server. If you want the IP address of the DNS server to be automatically set by the DHCP server, please be sure to enter the value "0.0.0.0" here. Otherwise the IP address of the DNS server which is supplied by the DHCP server will be ignored. If you have questions concerning your DHCP or DNS server, please contact your network administrator.

Value range: 0 ... 0.0.0.0 ... 4294967295

Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 2C C0 00 hex

20B3h 0h

Used Parameters

Electronic Cam

ID 441778.04 148


06


address

A180 Global

r=2, w=2

Device control byte: This byte contains control signals for device control. It is designed for fieldbus communication. The particular bit is only active when 2:Parameter is set in the related source selector (A60 ... A65). The signals can be monitored directly via the parameters A300 ... A305 on the device controller.

Bit 0: Additional enable (A300): Takes effect in addition to terminal enable. Must be HIGH. Removal of the enable can also trigger a quick stop (set enable quick stop A44 =1:active). The brakes are applied and the end stage switches off.

Bit 1: Fault reset (A301): Reset faults Bit 2: Quick stop (A302): The active ramp is I17 (for positioning control) or D81 (speed control). Bit 3,4: Axis selector 0 (A303), axis selector 1 (A304): With multiple-axis operation, the axis to be

activated is selected here. Bit4 Bit3 Axis 0 0 Axis 1 0 1 Axis 2 1 0 Axis 3 1 1 Axis 4 Bit 5: Axis disable (A305): Deactivate all axes. No motor on. Bit 6: Open the brake unconditionally. Bit 7: Bit 7 in A180 (device control byte) is copied to bit 7 in E200 (device status byte) during each

cycle of the device controller. When bit 7 is toggled in A180, the host PLC is informed of a concluded communication cycle (send, evaluate and return data). This makes cycle time-optimized communication (e.g., with PROFIBUS) possible. The handshake bit 7 in A180 / E200 supplies no information on whether the application reacted to the process data. Depending on the application, other routines are provided (e.g., motion ID for command positioning).

Value range: 0 ... 00000001bin ... 255 (Representation binary)

Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 2D 00 00 hex

20B4h 0h

A181 Global

r=3, w=3

Device Control Byte 2: This parameter is used to control remote service via fieldbus. Proceed as follows: 1. Set A167 = 2:Parameter. In this case, parameter A181, bit 0 is the signal source. 2. Describe this source via fieldbus. Remember that since bits 1 to 7 of this parameter are reserved, they may not be write-accessed. Information This parameter determines the behavior of the inverter during remote service. It can be accidentally overwritten by a remote service procedure which may change the parameter to its disadvantage (termination of the connection, loss of data). There are two ways to prevent accidental changes: - While the connection is being established, read the data from the inverter. - Use a project file related to the inverter in which this parameter is correctly set.



20B5h 0h

Used Parameters

Electronic Cam

ID 441778.04 149


06


address

A182 Global

read (3)

IGB Motionbus conditions: This parameter indicates which of the conditions which are necessary for correct operation of the IGB Motionbus have been fulfilled. Bit 0: Indicates that the inverter processor is working correctly for other IGB subscribers. Bit 1: Indicates that the inverter processor is working correctly. Bit 2: Indicates that the other inverters have been correctly synchronized in IGB and that their

PLLs are engaged. Bit 3: Indicates that the inverter has been correctly synchronized and that its PLL is engaged. Bit 4: Indicates that the cyclical data has been correctly processed by the other IGB subscribers. Bit 5: Indicates, that the cyclical data has been correctly processed. Bit 6: Indicates whether the number of devices detected corresponds to the parameterized

number Bit 7: Indicates whether the parameter A120 IGB Address has been correctly set. The address must have a valid value and be unique in all inverters. Bit 8: Indicates whether the parameter A121 (nominal number) has been correctly set. The nominal number must have a valid value and be identical in all inverters.


20B6h 0h

A200 Global

r=3, w=3

COB-ID SYNC Message: Specifies the identifier for which the inverter expects the receipt of the SYNC telegrams from CAN-Bus. For most applications the default value should not be changed.

Value range: 1 ... 128 ... 2047



20C8h 0h

A201 Global

r=3, w=3

Communication Cycle Period: When SYNCs are specified in a fixed time frame for transmission of the PDO telegrams, A201 can be used for monitoring. The entry of 0 μsec means the parameter is deactivated. When activated the cycle time of the SYNC telegrams is entered in μsec. The threshold value for triggering a timeout is 150 % of this value. Monitoring takes place when the NMT status is Operational and at least one SYNC telegram was received. When the threshold value is exceeded, fault 52:Communication with cause 2:CAN SYNC Error is triggered. The red LED of the CAN 5000 option board flashes three times briefly and then goes off for 1 second. Monitoring is deactivated when the NMT status Operational is exited and the entered value is set to 0 μsec.

Value range in us: 0 ... 0 ... 32000000

Fieldbus: 1LSB=1us; Type: U32; USS-Adr: 01 32 40 00 hex


20C9h 0h

A203 Global

r=1, w=1

Guard Time: The master monitors the slaves with the node-guarding routine. The master polls node-guarding telegrams cyclically. Parameter A203 specifies the cycle time in msec. The routine is inactive when a cycle time of 0 msec is set.

Value range in ms: 0 ... 0 ... 4000

Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 32 C0 00 hex


20CBh 0h

Used Parameters

Electronic Cam

ID 441778.04 150


06


address

A204 Global

r=1, w=1

Life Time Factor: The parameter A204 is used during the node guard routine to monitor the master. When the queries of the master do not arrive at the slave within a certain amount of time, the inverter triggers the life guard event (i.e., fault 52:communication). The time is calculated by multiplying the parameters A204 and A203.

Value range: 0 ... 0 ... 255



20CCh 0h

A207 Global

r=3, w=3

COB-ID Emergency Object: Specifies the identifier for which the inverter sends the emergency telegrams to the CAN-Bus. Usually the default value should not be changed since this also deactivates the automatic identifier assignment after the Pre-Defined Connection Set.

Value range: 0 ... 128 ... 4294967295



20CFh 0h

A208 Global

r=3, w=3

Inhibit Time Emergency: Specifies the time in multiples of 100 µsec which the inverter must at least wait between the sending of emergency telegrams.

Value range in 100 us: 0 ... 0 ... 4294967295

Fieldbus: 1LSB=1·100 us; Type: U32; USS-Adr: 01 34 00 00 hex


20D0h 0h

A210 Global

r=1, w=1

Producer Heartbeat Time: In case the heartbeat protocol is to be used by the master for station monitoring on the CAN-Bus, this time specifies in msec how frequently the inverter will send heartbeat messages.

Value range in ms: 0 ... 0 ... 65535

Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 34 80 00 hex


20D2h 0h

A211 Global

r=3, w=3

Verify Config. Configuration date: The date on which the configuration and parameterization were finished can be stored here as the number of days since 01.01.1984.

Value range in days since 01.01.1984: 0 ... 0 ... 4294967295

Fieldbus: 1LSB=1days since 01.01.1984; Type: U32; USS-Adr: 01 34 C0 00 hex


20D3h 0h

A212 Global

r=3, w=3

Verify Config. Configuration time: The time at which the configuration and parameterization were finished can be stored here as the number of msec since 0:00 hours.

Value range in ms: 0 ... 0 ... 4294967295



20D4h 0h

Used Parameters

Electronic Cam

ID 441778.04 151


06


address

A213 Global

r=1, w=1

Fieldbusscaling: The selection is made here between internal raw values and whole numbers for the representation/scaling of process data values during transmission via the four PDO channels. Regardless of this setting, the representation via SDO is always the whole number. CAUTION When "0:integer" is parameterized (scaled values), the runtime load increases significantly and it may become necessary to increase A150 cycle time to avoid the fault "57:runtime usage" or "35:Watchdog."

0: integer without point; Values are transmitted as whole numbers in user units * the number of positions after the decimal place to the power of 10.

1: native; Values are transferred at optimized speed in internal inverter raw format (e.g., increments).


Only visible when option module CAN 5000 or ECS 5000 was recognized.

20D5h 0h

A214 Global

r=3, w=3

CAN Bit Sample-Access-Point: Specifies the position at which the bits received by CAN-Bus are scanned. Arbitrary changes of the default value may cause transmission problems.

-1: CIA; 0: SAP-1; 1: SAP-2; 2: SAP-3;



20D6h 0h

A218.0 Global

r=2, w=2

2. Server SDO Parameter . COB-ID Client -> Server: Specifies the identifier for which the inverter expects the telegrams for the 2nd SDO channel with the requests from the client. As soon as a station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or if bit 31 is 1, this SDO channel is turned off.

Value range: 0 ... 0 ... 4294967295



20DAh 0h

A218.1 Global

r=2, w=2

2. Server SDO Parameter . COB-Id Server -> Client: Specifies the identifier for which the inverter sends the telegrams for the 2nd SDO channel with the responses from the client. As soon as a station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or if bit 31 is 1, this SDO channel is turned off.

Value range: 0 ... 0 ... 4294967295



20DAh 1h

Used Parameters

Electronic Cam

ID 441778.04 152


06


address

A218.2 Global

r=2, w=2

2. Server SDO Parameter . Node-ID of SDO's Client: The client which uses this SDO channel can enter its own node ID here for information purposes.

Value range: 0 ... 0 ... 127



20DAh 2h

A219.0 Global

r=2, w=2

3. Server SDO Parameter . COB-ID Client -> Server: Specifies the identifier for which the inverter sends the telegrams for the 3rd SDO channel with the requests from the client. As soon as a station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or if bit 31 is 1, this SDO channel is turned off.

Value range: 0 ... 0 ... 4294967295



20DBh 0h

A219.1 Global

r=2, w=2

3. Server SDO Parameter . COB-Id Server -> Client: Specifies the identifier for which the inverter sends the telegrams for the 3rd SDO channel with the responses to the client. As soon as a station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or if bit 31 is 1, this SDO channel is turned off.

Value range: 0 ... 0 ... 4294967295



20DBh 1h

A219.2 Global

r=2, w=2

3. Server SDO Parameter . Node-ID of SDO's Client: The client which uses this SDO channel can enter its own node ID here for information purposes.

Value range: 0 ... 0 ... 127



20DBh 2h

A220.0 Global

r=2, w=2

4. Server SDO Parameter . COB-ID Client -> Server: Specifies the identifier for which the inverter expects the telegrams for the 4th SDO channel with the requests from the client. As soon as a station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or if bit 31 is 1, this SDO channel is turned off. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: 0 ... 0 ... 4294967295



20DCh 0h

Used Parameters

Electronic Cam

ID 441778.04 153


06


address

A220.1 Global

r=2, w=2

4. Server SDO Parameter . COB-ID Server -> Client: Specifies the identifier for which the inverter sends the telegrams for the 4th SDO channel with the responses to the client. As soon as a station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or if bit 31 is 1, this SDO channel is turned off. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: 0 ... 0 ... 4294967295



20DCh 1h

A220.2 Global

r=2, w=2

4. Server SDO Parameter . Node-Id of SDO's Client: The client which uses this SDO channel can enter its own node ID here for information purposes. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: 0 ... 0 ... 127



20DCh 2h

A221.0 Global

r=2, w=2

1. rec. PDO Parameter . COB-ID: Specifies the identifier for which the inverter expects the telegrams for the 1st PDO channel from the master. Usually the default value should not be changed since this also disables the automatic identifier assignment after the Pre-Defined Connection Set. If the value is 0 or bit 31 is 1, this service is off. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: 0 ... 512 ... 4294967295



20DDh 0h

A221.1 Global

r=2, w=2

1. rec. PDO Parameter . Transmission Type: Specifies the type of transmission (with or without SYNC, etc.) when received process data from this 1st PDO channel are accepted by the inverter. See operating manual CAN, ID 441686. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: 0 ... 254 ... 255



20DDh 1h

Used Parameters

Electronic Cam

ID 441778.04 154


06


address

A222.0 Global

r=2, w=2

2. rec. PDO Parameter . COB-ID: Identifier for the receiving direction of the 2nd PDO channel. See A221.0 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: 0 ... 768 ... 4294967295



20DEh 0h

A222.1 Global

r=2, w=2

2. rec. PDO Parameter . Transmission Type: Transmission type for 2nd PDO channel. See A221.1. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: 0 ... 254 ... 255



20DEh 1h

A223.0 Global

r=2, w=2

3. rec. PDO Parameter§COB-ID

Value range: 0 ... 1024 ... 4294967295



20DFh 0h

A223.1 Global

r=2, w=2

3. rec. PDO Parameter§transmission type

Value range: 0 ... 254 ... 255



20DFh 1h

A224.0 Global

r=2, w=2

4. rec. PDO Parameter§COB-ID

Value range: 0 ... 1280 ... 4294967295



20E0h 0h

A224.1 Global

r=2, w=2

4. rec. PDO Parameter§transmission type

Value range: 0 ... 254 ... 255



20E0h 1h

Used Parameters

Electronic Cam

ID 441778.04 155


06


address

A225.0 Global

r=1, w=1

1. rec. PDO Mapping Rx. 1. mapped Parameter: Address of the parameter which is imaged first from the contents of the 1st PDO channel (receiving direction as seen by the inverter).

NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: A00 ... A180 ... A.Gxxx.yyyy (Parameter number in plain text)



20E1h 0h

A225.1 Global

r=1, w=1

1. rec. PDO Mapping Rx. 2. mapped Parameter: Address of the parameter which is imaged second from the contents of the 1st PDO channel (receiving direction).





20E1h 1h

A225.2 Global

r=1, w=1

1. rec. PDO Mapping Rx. 3. mapped Parameter: Address of the parameter which is imaged third from the contents of the 1st PDO channel (receiving direction).




20E1h 2h

A225.3 Global

r=1, w=1

1. rec. PDO Mapping Rx. 4. mapped Parameter: Address of the parameter which is imaged fourth from the contents of the 1st PDO channel (receiving direction).




20E1h 3h

A225.4 Global

r=1, w=1

1. rec. PDO Mapping Rx. 5. mapped Parameter: Address of the parameter which is imaged fifth from the contents of the 1st PDO channel (receiving direction).




20E1h 4h

Used Parameters

Electronic Cam

ID 441778.04 156


06


address

A225.5 Global

r=1, w=1

1. rec. PDO Mapping Rx. 6. mapped Parameter: Address of the parameter which is imaged sixth from the contents of the 1st PDO channel (receiving direction). NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.



20E1h 5h

A226.0 Global

r=2, w=2

2. rec. PDO Mapping Rx. 1. mapped Parameter: For 2nd PDO channel, see A225.0. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.



20E2h 0h

A226.1 Global

r=2, w=2




20E2h 1h

A226.2 Global

r=2, w=2




20E2h 2h

A226.3 Global

r=2, w=2




20E2h 3h

Used Parameters

Electronic Cam

ID 441778.04 157


06


address

A226.4 Global

r=2, w=2




20E2h 4h

A226.5 Global

r=2, w=2




20E2h 5h

A229.0 Global

r=2, w=2

1. trans. PDO Parameter . COB-ID: Specifies the identifier for which the inverter sends the telegrams for the 1st PDO channel to the master. Usually the default value should not be changed since the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or bit 31 is 1, this service is off. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: 0 ... 384 ... 4294967295



20E5h 0h

A229.1 Global

r=2, w=2

1. trans. PDO Parameter . Transmission Type: Specifies the transmission type (with or without SYNC, etc.) when process data are sent via this 1st PDO channel. See operating manual CAN, ID 441686. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: 0 ... 254 ... 255



20E5h 1h

Used Parameters

Electronic Cam

ID 441778.04 158


06


address

A229.2 Global

r=2, w=2

1. trans. PDO Parameter . Inhibit Time: Specifies the time in multiples of 100 µsec which the inverter must adhere to between sending PDO telegrams on channel 1. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range in 100 us: 0 ... 0 ... 65535



20E5h 2h

A229.3 Global

r=2, w=2

1. trans. PDO Parameter . Event Timer: Not supported at present.

Value range in ms: 0 ... 0 ... 65535



20E5h 3h

A230.0 Global

r=2, w=2

2. trans. PDO Parameter . COB-ID: Identifier for sending direction of the 2nd PDO channel. See A230.1. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: 0 ... 640 ... 4294967295



20E6h 0h

A230.1 Global

r=2, w=2

2. trans. PDO Parameter . Transmission Type: Transmission type for 2nd PDO channel. See A229.1. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range: 0 ... 254 ... 255



20E6h 1h

Used Parameters

Electronic Cam

ID 441778.04 159


06


address

A230.2 Global

r=2, w=2

2. trans. PDO Parameter . Inhibit Time: Pause time for PDO channel 2. See A229.2. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.

Value range in 100 us: 0 ... 0 ... 65535



20E6h 2h

A230.3 Global

r=2, w=2

2. trans. PDO Parameter . Event Timer: Not supported at present.

Value range in ms: 0 ... 0 ... 65535



20E6h 3h

A231.0 Global

r=2, w=2

3. trans. PDO Parameter§COB-ID

Value range: 0 ... 896 ... 4294967295



20E7h 0h

A231.1 Global

r=2, w=2

3. trans. PDO Parameter§transmission type

Value range: 0 ... 254 ... 255



20E7h 1h

A231.2 Global

r=2, w=2

3. trans. PDO Parameter§inhibit time

Value range in 100 us: 0 ... 0 ... 65535

Fieldbus: 1LSB=1·100 us; Type: U16; USS-Adr: 01 39 C0 02 hex


20E7h 2h

A231.3 Global

r=2, w=2

3. trans. PDO Parameter§event timer

Value range in ms: 0 ... 0 ... 65535

Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 39 C0 03 hex


20E7h 3h

Used Parameters

Electronic Cam

ID 441778.04 160


06


address

A232.0 Global

r=2, w=2

4. trans. PDO Parameter§COB-ID

Value range: 0 ... 1152 ... 4294967295



20E8h 0h

A232.1 Global

r=2, w=2

4. trans. PDO Parameter§transmission type

Value range: 0 ... 254 ... 255



20E8h 1h

A232.2 Global

r=2, w=2

4. trans. PDO Parameter§inhibit time

Value range in 100 us: 0 ... 0 ... 65535

Fieldbus: 1LSB=1·100 us; Type: U16; USS-Adr: 01 3A 00 02 hex


20E8h 2h

A232.3 Global

r=2, w=2

4. trans. PDO Parameter§event timer

Value range in ms: 0 ... 0 ... 65535

Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 3A 00 03 hex


20E8h 3h

A233.0 Global

r=1, w=1

1. trans. PDO Mapping Tx. 1. mapped Parameter: Address of the parameter which is imaged first on the 1st PDO channel for sending. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 40 00 hex


20E9h 0h

Used Parameters

Electronic Cam

ID 441778.04 161


06


address

A233.1 Global

r=1, w=1

1. trans. PDO Mapping Tx. 2. mapped Parameter: Address of the parameter which is imaged second on the 1st PDO channel for sending. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.




20E9h 1h

A233.2 Global

r=1, w=1

1. trans. PDO Mapping Tx. 3. mapped Parameter: Address of the parameter which is imaged third on the 1st PDO channel for sending. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.




20E9h 2h

A233.3 Global

r=1, w=1

1. trans. PDO Mapping Tx. 4. mapped Parameter: Address of the parameter which is imaged fourth on the 1st PDO channel for sending. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.




20E9h 3h

A233.4 Global

r=1, w=1

1. trans. PDO Mapping Tx. 5. mapped Parameter: Address of the parameter which is imaged fifth on the 1st PDO channel for sending. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.



20E9h 4h

Used Parameters

Electronic Cam

ID 441778.04 162


06


address

A233.5 Global

r=1, w=1

1. trans. PDO Mapping Tx. 6. mapped Parameter: Address of the parameter which is imaged sixth on the 1st PDO channel for sending. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.



20E9h 5h

A234.0 Global

r=2, w=2

2. trans. PDO Mapping Tx. 1. mapped Parameter: For 2nd PDO channel. See A233.0. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.



20EAh 0h

A234.1 Global

r=2, w=2




20EAh 1h

A234.2 Global

r=2, w=2




20EAh 2h

A234.3 Global

r=2, w=2




20EAh 3h

Used Parameters

Electronic Cam

ID 441778.04 163


06


address

A234.4 Global

r=2, w=2




20EAh 4h

A234.5 Global

r=2, w=2




20EAh 5h

A237 Global

read (1)

1. rec. PDO-Mapped Len: Indication parameter indicating in bytes the size of the expected receive telegram of the 1st PDO channel for the current parameterization. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.



20EDh 0h

A238 Global

read (2)

2. rec. PDO-Mapped Len: For 2nd PDO channel. See A237. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.



20EEh 0h

A241 Global

read (1)

1. trans. PDO-Mapped Len: Indication parameter indicating in bytes the size of the expected send telegram of the 1st PDO channel for the current parameterization. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.



20F1h 0h

Used Parameters

Electronic Cam

ID 441778.04 164


06


address

A242 Global

read (2)

2. trans. PDO-Mapped Len: For 2nd PDO channel. See A241. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming.



20F2h 0h

A245 Global

r=3, w=3

CAN diagnostic: Indication of internal inverter diagnostic information via the CAN-Bus interface. Bits 0-2: NMT state, state of the CANopen® state machine: 0 = Inactive, 1 = Reset application, 2 = Reset communication, 3 = Bootup, 4 = Pre-operational, 5 = Stopped 6 = Operational Bit 3: CAN controller indicates warning level. Bit 4: CAN controller indicates bus off. Bit 5: Toggle bit: Telegrams are being received on SDO channel 1. Bit 6: Memory bit: Receiving FIFO of SDO channel 1 has exceeded the half-full filling level. (Client is sending telegrams faster than they can be processed by the inverter.) Bit 7: Toggle bit: Telegrams are being received on PDO channel 1 (only for Operational). Bit 8: Memory bit: Receiving FIFO of PDO channel 1 has exceeded the half-full filling level (only

for Operational). (Client is sending telegrams faster than they can be processed by the inverter.) Bit 9: Current state of the red LED on CAN 5000, is 1 when LED is on. Bit 10: Current state of the green LED on CAN 5000, is 1 when LED is on. Bit 11: PDO sync relationship error: PDO1 is using sync. All bits can be briefly deleted by sending NMT command Reset Node.



20F5h 0h

A252.0 Global

r=3, w=3

EtherCAT® Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT® Slave Controller (ESC) in which the process output data with reference values are sent by the EtherCAT® master to the inverter. These data specify which PDO mapping parameters are assigned to this Sync-Manager. This array contains four elements of the data type U16. We recommend entering the CANopen® index of parameter A225 (1600 hex) in element 0 of this parameter. The indices of the parameters A226 (1601 hex), A227 (1602 hex) or A228 (1603 hex) can then be entered as necessary in the other elements. The value 0 indicates a blank entry.

Value range: 0 ... 1600hex ... 65535 (Representation hexadecimal)



20FCh

Array

0h

Used Parameters

Electronic Cam

ID 441778.04 165


06


address

A252.1 Global

r=3, w=3

EtherCAT® Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT® Slave Controller (ESC) in which the process output data with reference values are sent by the EtherCAT® master to the inverter. These data specify which PDO mapping parameters are assigned to this Sync-Manager. This array contains four elements of the data type U16. We recommend entering the CANopen® index of parameter A226 (1601 hex) in element 1 of this parameter. The indices of the parameters A225 (1600 hex), A227 (1602 hex) or A228 (1603 hex) can then be entered as necessary in the other elements. The value 0 indicates a blank entry.




20FCh

Array

1h

A252.2 Global

r=3, w=3

EtherCAT® Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT® Slave Controller (ESC) in which the process output data with reference values are sent by the EtherCAT® master to the inverter. These data specify which PDO mapping parameters are assigned to this Sync-Manager. This array contains four elements of the data type U16. We recommend entering the value 0 (for unused) in element 2 of this parameter because the indices of parameters A225 (1600 hex) and A226 (1601 hex) have already been entered as default values in elements 0 and 1. Up to 12 parameters can already be transferred in this way. If more process data are required, the CANopen® index of parameter A227 (1602 hex) can be specified here. However, remember that the corresponding block 100921 ECS PDO3-rx Map must also be instanced here.




20FCh

Array

2h

A252.3 Global

r=3, w=3

EtherCAT® Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT® Slave Controller (ESC) in which the process output data with reference values are sent by the EtherCAT® master to the inverter. These data specify which PDO mapping parameters are assigned to this Sync-Manager. This array contains four elements of the data type U16. We recommend entering the value 0 (for unused) in element 3 of this parameter because the indices of parameters A225 (1600 hex) and A226 (1601 hex) have already been entered as default values in elements 0 and 1 and sometimes the index of A227 (1603 hex) in element 2. Up to 18 parameters can already be transferred in this way. If more process data are required, the CANopen® index of parameter A228 (1603 hex) can be specified here. However, remember that the corresponding block 100923 ECS PDO4-rx Map must also be instanced here.




20FCh

Array

3h

Used Parameters

Electronic Cam

ID 441778.04 166


06


address

A253.0 Global

r=3, w=3

EtherCAT® Sync Manager 3 PDO Assign: The Sync-Manager 3 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT® Slave Controller (ESC) in which the process input data with actual values are sent by the inverter to the EtherCAT® master. These data specify which PDO mapping parameters are assigned to this Sync-Manager. This array contains four elements of the data type U16. We recommend entering the CANopen® index of parameter A233 (1A00 hex) in element 0 of this parameter. The indices of the parameters A234 (1A01 hex), A235 (1A02 hex) or A236 (1A03 hex) can then be entered as necessary in the other elements. The value 0 indicates a blank entry.

Value range: 0 ... 1A00hex ... 65535 (Representation hexadecimal)



20FDh

Array

0h

A253.1 Global

r=3, w=3

EtherCAT® Sync Manager 3 PDO Assign: The Sync-Manager 3 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT® Slave Controller (ESC) in which the process input data with actual values are sent by the inverter to the EtherCAT® master. These data specify which PDO mapping parameters are assigned to this Sync-Manager. This array contains four elements of the data type U16. We recommend entering the CANopen® index of parameter A234 (1A01 hex) in element 1 of this parameter. The indices of the parameters A233 (1A00 hex), A235 (1A02 hex) or A236 (1604 hex) can then be entered as necessary in the other elements. The value 0 indicates a blank entry.

Value range: 0 ... 1A01hex ... 65535 (Representation hexadecimal)



20FDh

Array

1h

A253.2 Global

r=3, w=3

EtherCAT® Sync Manager 3 PDO Assign: The Sync-Manager 3 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT® Slave Controller (ESC) in which the process input data with actual values are sent by the inverter to the EtherCAT® master. These data specify which PDO mapping parameters are assigned to this Sync-Manager. This array contains four elements of the data type U16. We recommend entering the value 0 (for unused) in element 2 of this parameter because the indices of parameters A233 (1A00 hex) and A234 (1A01 hex) have already been entered as default values in elements 0 and 1. Up to 12 parameters can already be transferred in this way. If more process data are required, the CANopen® index of parameter A235 (1A02 hex) can be specified here. However, remember that the corresponding block 100922 ECS PDO3-rx Map must also be instanced here.




20FDh

Array

2h

Used Parameters

Electronic Cam

ID 441778.04 167


06


address

A253.3 Global

r=3, w=3

EtherCAT® Sync Manager 3 PDO Assign: The Sync-Manager 3 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT® Slave Controller (ESC) in which the process input data with actual values are sent by the inverter to the EtherCAT® master. These data specify which PDO mapping parameters are assigned to this Sync-Manager. This array contains four elements of the data type U16. We recommend entering the value 0 (for unused) in element 3 of this parameter because the indices of parameters A233 (1A00 hex) and A234 (1A01 hex) have already been entered as default values in elements 0 and 1 and sometimes the index of A235 (1A03 hex) in element 2. Up to 18 parameters can already be transferred in this way. If more process data are required, the CANopen® index of parameter A236 (1A03 hex) can be specified here. However, remember that the corresponding block 100924 ECS PDO4-tx Map must also be instanced here.




20FDh

Array

3h

A255 Global

read (3)

EtherCAT® Device State: Display of diagnostic information about the status of the EtherCAT® state machine in the ECS 5000 interface connection. Hexadecimal values are displayed. For this purpose, the "AL status" register of the EtherCAT® slave controller is evaluated. The following values are possible: 0x0001 Init State 0x0002 Pre-Operational State 0x0003 Requested Bootstrap State (not supported) 0x0004 Safe-Operational State 0x0008 Operational State 0x0011 Error for State INIT 0x0012 Error for State PREOP 0x0013 Error for State BOOTSTRAP (not supported) 0x0014 Error for State Safe-Operational 0x0018 Error for State Operational



20FFh 0h

A256 Global

r=3, w=3

EtherCAT® Address: Shows the address of the inverter within the EtherCAT® network. The value is usually specified by the EtherCAT® master. It is either derived from position of the station within the EtherCAT® ring or is purposely selected by the user. Values usually start at 1001 hexadecimal (1001h is the first device after the EtherCAT® master, 1002h is the second, and so on).

Value range: 0 ... 0 ... 65535



2100h 0h

Used Parameters

Electronic Cam

ID 441778.04 168


06


address

A257.0 Global

read (3)

EtherCAT® Diagnosis: Indication of internal inverter diagnostic information on the EtherCAT interface ECS 5000 and the connection to the EtherCAT®.

A text with the following format is indicated in element 0: "StX ErX L0X L1X"

Part 1 of the text means: St Abbreviation of EtherCAT® Device State (State of the EtherCAT® State Machine) X Digit for state: 1 Init State

2 Pre-operational state (3 Requested Bootstrap State is not supported.) 4 Safe-operational state 8 Operational state

Part 2 of the text means: Er Abbreviation of EtherCAT® Device Error X Digit for state: 0 No error

1 Booting error, ECS 5000 error 2 Invalid configuration, select configuration with EtherCAT® in

POSI Tool. 3 Unsolicited state change, inverter has changed state by itself. 4 Watchdog, no more data from EtherCAT® even though timeout

time expired. 5 PDI watchdog, host processor timeout

Part 3 of the text means: L0 Abbreviation for LinkOn of port 0 (the RJ45 socket labeled "IN") X Digit for state: 0 No link (no connection to other EtherCAT® device)

1 Link detected (connection to other device found) Part 4 of the text means: L1 Abbreviation for LinkOn of port 1 (the RJ45 socket labeled "OUT") X Digit for state: 0 No link (no connection to other EtherCAT® device)

1 Link detected (connection to other device found)



2101h

Array

0h

A257.1 Global

read (3)

EtherCAT® Diagnosis: Indication of internal inverter diagnostic information on the EtherCAT® interface ECS 5000 and the connection to the EtherCAT®. A text with the following format is indicated in element 1: „L0 xx L1 xx" Part 1 of the text means: L0 Abbreviation for Link Lost Counter Port 0 (RJ45 socket labeled "IN") xx Number of lost connections (hexadecimal) on the port Part 2 of the text means: L1 Abbreviation for Link Lost Counter Port 1 (RJ45 socket labeled "OUT") xx Number of lost connections (hexadecimal) on the port.



2101h

Array

1h

Used Parameters

Electronic Cam

ID 441778.04 169


06


address

A257.2 Global

read (3)

EtherCAT® Diagnosis: Indication of internal inverter diagnostic information on the EtherCAT® interface ECS 5000 and the connection to the EtherCAT®. A text with the following format is indicated in element 2: „R0 xxxx R1 xxxx" Part 1 of the text means: R0 Abbreviation for Rx ErrorCounter Port 0 (RJ45 socket labeled "IN") xxxx ErrorCounter in hexadecimal with number of registered errors such as, for example, FCS

checksum, … Part 2 of the text means: R0 Abbreviation for Rx ErrorCounter Port 1 (RJ45 socket labeled "OUT") xxxx ErrorCounter in hexadecimal with number of registered errors such as, for example, FCS

checksum, …



2101h

Array

2h

A258 Global

r=3, w=3

EtherCAT® PDO Timeout: This PDO monitoring function (PDO = Process Data Object) should be activated so that the inverter does not continue with the last received reference values after a failure of the EtherCAT® network or the master. After the EtherCAT® master has put this station (the inverter in this case) into the state "OPERATIONAL," it begins to send new process data (reference values, and so on) cyclically. When this monitor function has been activated, it is active in the "OPERATIONAL" state. When no new data are received via EtherCAT for longer than the set timeout time, the monitor function triggers the fault 52:communication with the cause of fault 6:EtherCAT PDO. If the EtherCAT® master shuts down this station correctly (exits the "OPERATIONAL" state), the monitoring function is not triggered. The timeout time can be set in milliseconds with this parameter. The following special setting values are available: 0: Monitoring inactive 1 to 99: Monitoring by STÖBER watchdog is active. Timeout time is always 1000 milliseconds. From 100: Monitoring by STÖBER watchdog is active. The numeric value is the timeout value in

milliseconds. 65534: Monitoring is not set by this value but by the "SM Watchdog" functionality of EtherCAT. For diagnosis of this externally set function, see parameter A259. 65535: Monitoring inactive Information You will only need the STÖBER watchdog function if your controller does not have a watchdog function itself. If your controller does have a watchdog function, STÖBER ANTRIEBSTECHNIK recommends the setting A258 = 65534 (EtherCAT® watchdog).

Value range in ms: 0 ... 65534 ... 65535



2102h 0h

Used Parameters

Electronic Cam

ID 441778.04 170


06


address

A259.0 Global

read (3)

EtherCAT SM-Watchdog: This PDO monitoring function (PDO = Process Data Object) should be activated so that the inverter does not continue with the last received reference values after a failure of the EtherCAT network or the master. If the value 65534 was set in another parameter A258 EtherCAT PDO-Timeout, the timeout can be set in the EtherCAT master (TwinCAT software). The result is then indicated in this parameter: Element 0 contains the resulting watchdog time in 1 milliseconds.



2103h

Array

0h

A259.1 Global

read (3)

EtherCAT SM-Watchdog: This PDO monitoring function (PDO = Process Data Object) should be activated so that the inverter does not continue with the last received reference values after a failure of the EtherCAT network or the master. If the value 65534 was set in another parameter A258 EtherCAT PDO-Timeout, the timeout can be set in the EtherCAT master (TwinCAT software). The result is then indicated in this parameter: Element 1 contains whether the watchdog was just triggered (1) or not (0). When the watchdog is triggered and the function is activated (see value 65534 in parameter A258), the fault 52:communication is triggered on the inverter with cause of fault 6:EtherCAT PDO.



2103h

Array

1h

A259.2 Global

read (3)

EtherCAT® SM-Watchdog: This PDO monitoring function (PDO = Process Data Object) should be activated so that the inverter does not continue with the last received reference values after a failure of the EtherCAT® network or the master. If the value 65534 was set in another parameter A258 EtherCAT PDO-Timeout, the timeout can be set in the EtherCAT® master (TwinCAT software). The result is then indicated in this parameter: Element 2 contains the number of times this watchdog has been triggered.



2103h

Array

2h

Used Parameters

Electronic Cam

ID 441778.04 171


06


address

A260 Global

r=3, w=3

EtherCAT® synchronization mode: This parameter activates EtherCAT® synchronization monitoring mode on the inverter. The inverter offers the option of monitoring the synchronization between master and inverter via Distributed Clock. A check is made to determine whether the time difference between the arrival of the EtherCAT® Frame at the inverter and the point in time of the SYNC0 signal on the inverter is within a tolerable time range. When monitoring is activated, Sync errors are counted with an error counter and indicated in parameter A261.2. Synchronization mode is deactivated and activated by entering the following values: 0:Synchronization deactivated 1:Synchronization active Other values are not defined and are therefore not permitted. CAUTION When the PLC cycle time is not the SYNC0 cycle time, all synchronization errors can no longer be detected. CAUTION Activation of synchronization mode requires different amounts of run time depending on the cycle time of the PLC and the inverter. With high-performance applications are being run on the inverter, activation of synchronization mode may cause the error "runtime load."

Value range: 0 ... 0 ... 65535



2104h 0h

A261.0 Global

read (3)

EtherCAT® Sync-Diagnostics: This parameter can be used to diagnose errors in synchronization mode. The parameter indicates the following error codes: 0: No error 1: Sync Manager 2 and Sync Manager 3 have different cycle times. 2: Cycle time < 1 ms: The cycle time must be ³ 1000 µs. 3: Uneven cycle time: Cycle time must be a whole-number multiple of 1000 µs. 4: Internal error: Internal device PLL could not be started. Possible cause: The project does not contain parameter G90. 5: A required EtherCAT parameter does not exist. Parameters A260 and A261 must be available for EtherCAT® with synchronization. 6: Internal error: Inverter interrupt could not be initialized. Possible cause: Firmware error Other values: Not defined



2105h

Array

0h

A261.1 Global

read (3)

EtherCAT® Sync-Diagnostics: This element is reserved.



2105h

Array

1h

Used Parameters

Electronic Cam

ID 441778.04 172


06


address

A261.2 Global

read (3)

EtherCAT® Sync-Diagnostics: This parameter indicates the synchronization errors which have occurred up to now between master and inverter. Synchronization mode must be activated in parameter A260 before the counter function becomes active. When the error counter is continuously incremented, this indicates a parameterization error on the master or the inverter. Occasional incrementing of the counter (e.g., in the minutes range) indicates a jitter in the total EtherCAT system.



2105h

Array

2h

A262.0 Global

r=3, w=3

EtherCAT® Sync Manager 0 Synchronization type: The parameter indicates the synchronization operating mode for Sync Manager 0 (write mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 0: not synchronized No other values possible. Information Please note that the synchronization operating mode is set exclusively by the controller. If you change the parameter, your settings will have no effect.

0: not synchronized; 1: synchronized with AL event on this Sync Manager; 2: synchronized with AL event Sync0; 3: synchronized with AL event Sync1; 32: synchronized with AL event of SM0; 33: synchronized with AL event of SM1; 34: synchronized with AL event of SM2; 35: synchronized with AL event of SM3;



2106h 0h

Used Parameters

Electronic Cam

ID 441778.04 173


06


address

A262.1 Global

r=3, w=3

EtherCAT® Sync Manager 0 Cycle time: The parameter indicates the value of the cycle time for Sync Manager 0 (write mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 0: not synchronized No other values possible. Information Please note that the cycle time is set exclusively by the controller. If you change the parameter, your settings will have no effect.




2106h 1h

A262.2 Global

r=3, w=3

EtherCAT® Sync Manager 0 Shift time: The parameter indicates the value of the shift time for Sync Manager 0 (write mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 0: not synchronized No other values possible. Information Please note that the shift time is set exclusively by the controller. If you change the parameter, your settings will have no effect.




2106h 2h

Used Parameters

Electronic Cam

ID 441778.04 174


06


address

A263.0 Global

r=3, w=3

EtherCAT® Sync Manager 1 Synchronization type: The parameter indicates the synchronization operating mode for Sync Manager 1 (read mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 0: not synchronized No other values possible. Information Please note that the synchronization operating mode is set exclusively by the controller. If you change the parameter, your settings will have no effect.




2107h 0h

A263.1 Global

r=3, w=3

EtherCAT® Sync Manager 1 Cycle time: The parameter indicates the value of the cycle time for Sync Manager 1 (read mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 0: not synchronized No other values possible. Information Please note that the cycle time is set exclusively by the controller. If you change the parameter, your settings will have no effect.




2107h 1h

Used Parameters

Electronic Cam

ID 441778.04 175


06


address

A263.2 Global

r=3, w=3

EtherCAT® Sync Manager 1 Shift time: The parameter indicates the value of the shift time for Sync Manager 1 (read mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 0: not synchronized No other values possible. Information Please note that the shift time is set exclusively by the controller. If you change the parameter, your settings will have no effect.




2107h 2h

A264.0 Global

r=3, w=3

EtherCAT® Sync Manager 2 Synchronization type: The parameter indicates the synchronization operating mode for Sync Manager 2 (output process data) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 0: not synchronized 2: Synchronized with AL Event Sync0: Synchronized operating mode (synchronous to sync 0 signal). No other values possible. Information Please note that the synchronization operating mode is set exclusively by the controller. If you change the parameter, your settings will have no effect.




2108h 0h

Used Parameters

Electronic Cam

ID 441778.04 176


06


address

A264.1 Global

r=3, w=3

EtherCAT® Sync Manager 2 Cycle time: The parameter indicates the value of the cycle time in ns for Sync Manager 2 (output process data) which was set by the controller on the inverter. Information Please note that the cycle time is set exclusively by the controller. If you change the parameter, your settings will have no effect.




2108h 1h

A264.2 Global

r=3, w=3

EtherCAT® Sync Manager 2 Shift time: The parameter indicates the value of the shift time in ns for Sync Manager 2 (output process data) which was set by the controller on the inverter. Information Please note that the shift time is set exclusively by the controller. If you change the parameter, your settings will have no effect.




2108h 2h

Used Parameters

Electronic Cam

ID 441778.04 177


06


address

A265.0 Global

r=3, w=3

EtherCAT® Sync Manager 3 Synchronization type: The parameter indicates the synchronization operating mode for Sync Manager 3 (input process data) which was set by the controller on the inverter. The parameter can only have the following values: 0: not synchronized 2: Synchronized with AL Event Sync0: Synchronized operating mode (synchronous to sync 0 signal) No other values possible. Information Please note that the synchronization operating mode is set exclusively by the controller. If you change the parameter, your settings will have no effect.




2109h 0h

A265.1 Global

r=3, w=3

EtherCAT® Sync Manager 3 Cycle time: The parameter indicates the value of the cycle time in ns for Sync Manager 3 (output process data) which was set by the controller on the inverter. Information Please note that the cycle time is set exclusively by the controller. If you change the parameter, your settings will have no effect.




2109h 1h

Used Parameters

Electronic Cam

ID 441778.04 178


06


address

A265.2 Global

r=3, w=3

EtherCAT® Sync Manager 3 Shift time: The parameter indicates the value of the shift time in ns for Sync Manager 3 (output process data) which was set by the controller on the inverter.

Information Please note that the shift time is set exclusively by the controller. If you change the parameter, your settings will have no effect.




2109h 2h

A266 Global

r=3, w=3

ECS Tolerance barrier: This parameter is used to specify the maximum permissible number of ECS 5000 events. When this threshold value is exceeded, the fault 55:option board with the cause 9:ECS5000failure is triggered. Never change this value without first contacting STÖBER ANTRIEBSTECHNIK GmbH & Co. KG.

Value range: 0 ... 1 ... 12


210Ah 0h

A267.0 Global

read (3)

ECS internal test counter: This parameter counts any ECS-5000 events which are detected between the control unit of the inverter and the ECS 5000. Different causes are counted separately in an array with 4 elements. When the counter is incremented rapidly, this may mean EMC interference.


210Bh

Array

0h

A267.1 Global

read (3)



210Bh

Array

1h

A267.2 Global

read (3)



210Bh

Array

2h

A267.3 Global

read (3)



210Bh

Array

3h

A267.4 Global

read (3)

ECS internal test counter


210Bh

Array

4h

Used Parameters

Electronic Cam

ID 441778.04 179


06


address

A268 Global

r=3, w=3

ECS compatibility mode: Adjustment of the behavior of the EtherCAT® firmware to ensure it can still be used with software in other devices which may possibly be outdated, for example in EtherCAT® Master.

0: current; This is the correct setting for the behavior for currently applicable EtherCAT® specifications. If possible, do not change this setting to produce and require behavior in accordance with current requirements.

1: No PDO test before OP; In this case the drive as an EtherCAT® slave no longer checks upon prompt for transition to OPERATIONAL whether PDOs have previously been received (in sync manager 2). Use this setting only if you do not need a workaround for non-problem free behavior of the EtherCAT® master!


210Ch 0h

A270.0 Global

read (2)

PN Port X200 state: For X200, the parameter shows whether a connection to another Ethernet subscriber exists and which properties it has.

0: Error; it is not possible to read this information from the PN 5000. 1: No connection; the port is not physically connected to another Ethernet port (e.g. a PROFINET

device). 2: 10 MBit/s; the port is connected to a device which does not support the necessary data rate and

is unsuitable for PROFINET communication. 3: 100 MBit/s; the port is connected to a device which does not support offer full duplex and is

unsuitable for PROFINET communication. 4: Connection OK; the port is correctly connected to other devices on the Ethernet level. Please

note that this is a necessary criteria for correctly functioning PROFINET communication, but not necessarily sufficient.


210Eh

Array

0h

A270.1 Global

read (2)

X20xstate

0: error; 1: co connection; 2: 10 MBit/s; 3: 100 MBit/s; 4: link OK;


210Eh

Array

1h

A271 Global

read (2)

PN state: The parameter shows the state of the PROFINET unification between a PROFINET IO controller (controller) and the inverter. Evaluate these parameters if there are any problems during booting up the PROFINET communication.

0:offline; error while detecting the PN 5000 in the inverter. 1: step 1; 2: step 2; 3: phase 1; 4: phase 2; 5: cyclic data exchange;


210Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 180


06


address

A272.0 Global

r=3, w=5

PN module/submodule list: STÖBER ANTRIEBSTECHNIK offers several combinations of modules and submodules. One of the combinations must be selected for configuring the PROFINET. The selected combination is then shown in these parameters when the booting process is completed. Evaluate these parameters if you have noted inconsistencies in the number of bytes between the process data formation and the quantity of data exchanged with the controller.The combination is displayed as a coded decimal number and contains four pieces of partial information: MMM-SSS-III-OOO MMM: Module ID SSS: Submodule ID III: Input data byte length OOO: Output data byte length Example: 103103012012 corresponds to Module ID: 103 Submodule ID: 104 Input data length: 12 byte Output data length: 12 byte


2110h

Array

0h

A273 Global

r=3, w=3

PN device name: The device name is of central importance for addressing in PROFINET. It replaces the bus address known from PROFIBUS and must be entered individually for every inverter in this parameter. When deciding on the device name, please observe the existing convention as described in the PROFINET manual. The device name will only become active when you have saved the parameters in the inverter (A00 save values) and you have switched the inverter off and on again.

Default setting: STOEBER-Inverter


2111h 0h

A274 Global

r=3, w=3

PN IP address: Display of the last IP address which the inverter took from a PROFINET IO controller. If there is no PROFINET communication, an old address will be displayed.

Value range: 0 ... 0.0.0.0 ... 4294967295


2112h 0h

A275 Global

r=3, w=3

PN subnet mask: Display of the last subnet mask which the inverter took from a PROFINET IO controller. If there is no PROFINET communication, an old subnet mask will be displayed.

Value range: 0 ... 0.0.0.0 ... 4294967295


2113h 0h

A276 Global

r=3, w=3

PN gateway: Display of the last gateway IP address which the inverter took from a PROFINET IO controller. If there is no PROFINET communication, an old address will be displayed.

Value range: 0 ... 0.0.0.0 ... 4294967295


2114h 0h

Used Parameters

Electronic Cam

ID 441778.04 181


06


address

A278.0 Global

read (3)

PN diagnosis: Parameter A278 is used for diagnosis of the PROFINET communication. Different values are displayed in the 9 elements of the parameter. Element 0 shows a text in the following form: CosXX StX ECntXX, this means: CosXX - Cos stands for Communication Change of State - XX shows the messages from the following bits as a hexadecimal number: Bit 0: Ready (RCX_COMM_COS_READY) The Ready flag is set as soon as the protocol stack

is started properly. Bit 1 Running (RCX_COMM_COS_RUN) The Running flag is set when the protocol stack has

been configured properly. Bit 2 Bus On (RCX_COMM_COS_BUS_ON) The Bus On flag is set to indicate to the host

system whether or not the protocol stack has the permission to open network connections. Bit 3 Configuration Locked (RCX_COMM_COS_CONFIG_LOCKED) The Configuration Locked

flag is set, if the communication channel firmware has locked the configuration database against being overwritten.

Bit 4 Configuration New (RCX_COMM_COS_CONFIG_NEW) The Configuration New flag is set by the protocol stack to indicate that a new configuration became available, which has not been activated.

Bit 5 Restart Required (RCX_COMM_COS_RESTART_REQUIRED) The Restart Required flag is set when the channel firmware requests to be restarted

Bit 6 Restart Required Enable (RCX_COMM_COS_RESTART_REQUIRED_ENABLE) The Restart Required Enable flag is used together with the Restart Required flag above

Bit 7 currently not used StX - St stands for Communication State - X shows the number of the state: 0 = UNKNOWN 1 = OFFLINE 2 = STOP 3 = IDLE 4 = OPERATE ECntXX - ECnt stands for Error Count - XX shows the number of errors determined since the last supply on or reset


2116h

Array

0h

A279.0 Global

read (3)

PN error history: Array A279 shows the PROFINET communication error history in its four elements. Element 0 shows the last (most up-to-date) error since the last time the inverter was switched on. If this parameter value is zero, no error has occurred. If the value is different to 0, please refer to the PROFINET documentation.


2117h

Array

0h

Used Parameters

Electronic Cam

ID 441778.04 182


06


address

A300 Global

read (2)

Additional enable: Indicates the current value of the AdditEna signal (additional enable) on the interface to the device control (configuration, block 100107). The "additional enable" signal works exactly like the enable signal on terminal X1. Both signals are AND linked. This means that the power end stage of the inverter is only enabled when both signals are HIGH.


Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4B 00 00 hex

212Ch 0h

A301 Global

read (2)

Fault reset: Indicates the current value of the FaultRes signal (fault reset) on the interface to the device control (configuration, block 100107). The Fault reset signal triggers a fault reset. When the inverter has malfunctioned, a change from LOW to HIGH causes this fault to be reset if the cause of the fault has been corrected. Reset is not possible as long as A00 Save values is active.



212Dh 0h

A302 Global

read (2)

Quick stop: Indicates the current value of the QuickStp signal (quick stop) on the interface to the device control (configuration, block 100107). The quick stop signal triggers a quick stop of the drive. During positioning mode, the acceleration specified in I17 determines the braking time. When the axis is in "revolutions" (speed) mode, the parameter D81 determines the braking time (see also A39 and A45).



212Eh 0h

A303 Global

read (2)

Axis selector 0: Indicates the current value of the AxSel0 signal (axis selector 0) on the interface to the device control (configuration, block 100107). There are two "axis selector 0 / 1" signals with which one of the max. of 4 axes can be selected in binary code. NOTE - Axis switchover is not possible unless the enable is off and E48 device control state is not 5:fault. - With the FDS 5000, the axes can only be used as parameter records for a motor. The



Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4B C0 00 hex

212Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 183


06


address

A304 Global

read (2)

Axis selector 1: Indicates the current value of the AxSel1 signal (axis selector 1) on the interface to the device control (configuration, block 100107). There are two "axis selector 0 / 1" signals with which one of the max. of 4 axes can be selected in binary code. NOTE - Axis switchover is not possible unless the enable is off and E48 device control state is not 5:fault. - With the FDS 5000, the axes can only be used as parameter records for a motor. The



Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4C 00 00 hex

2130h 0h

A305 Global

read (2)

Axis disable: Indicates the current value of the AxDis signal (axis disable) on the interface to the device control (configuration, block 100107). The axis-disable signal deactivates all axes. NOTE - Axis switchover is not possible unless the enable is off and E48 device control state is not 5:fault. - With the FDS 5000, the axes can only be used as parameter records for a motor. The




2131h 0h

A306 Global

read (2)

X1.Enable: The level of the X1.Enable binary input is displayed.


Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 01 4C 80 00 hex

2132h 0h

Used Parameters

Electronic Cam

ID 441778.04 184


06


address

A576 Global

r=1, w=1

Control word: Control word with control signals for the device state machine and the drive function. Note that this parameter is not available if you use a device state machine as per DSP 401 in your project. Select the device state machine in the configuration assistant, step 4. Parameter E53 displays the device controller that you have chosen. Bit 0: "Switch on" - is set to 1 for switchon when bit 0 in status word "Ready to Switch On" is 1. Bit 1: "Enable voltage" - should always be left at 1, is active. Bit 2: "Quick stop" - is set to 0 when the drive is to come to a standstill as soon as possible. Bit 3: "Enable operation" - is set to 1 for enable when bit 1 in status word "Switched on" is 1. Bit 4-6: "Operation mode specific" - see below. Bit 7: "Fault reset" - edge 0 -> 1 to acknowledge queued fault. Bit 8: "Halt" - is not supported, always leave 0 = inactive. Bit 9 and 10: "Reserved" - always leave 0 = inactive. Bit 11 and 12: Axis selector, bit 0 and 1. Select the axis here for multi-axis operation. 00 = axis1,

… Bit 13: Axis disable. Deactivate all axes. No motor connected. Bit 14: Release brake. Bit 15: "Reserved" - always leave 0 = inactive. On bits 4-6 "operation mode specific" - the meaning of the bits depends on the operating mode of the inverter. This is set in A608 (modes of operation). The following operating modes and related bit meanings are available at this time: Job mode: Bit-4: Jog + Bit-5: Jog - Bit-6: Reserved, always 0 Homing mode: Bit-4: Homing operation start Bit-5: Reserved, always 0 Bit-6: Reserved, always 0 Interpolated position mode: Bit-4: Interpolation mode active Bit-5: Reserved, always 0 Bit-6: Reserved, always 0 Comfort reference value: Bit-4: HLG block, ramp generator input = 0 Bit-5: HLG stop, freeze ramp generator input Bit-6: HLG zero, ramp generator input = 0 (same as bit 4) Can be accessed via CANopen® under:

Index 6040 hex Subindex 0



6040h 0h

Used Parameters

Electronic Cam

ID 441778.04 185


06


address

A577 Global

read (1)

Status word: The status word indicates the current state of the device. Some bits are operation mode specific. Note that this parameter is not available if you use a device state machine as per DSP 401 in your project. Select the device state machine in the configuration assistant, step 4. Parameter E53 displays the device controller that you have chosen. Bit-0: "Ready to switch on" Bit-1: "Switched on" Bit-2: "Operation enabled" Bit-3: "Fault" Bit-4: "Voltage enabled" Bit-5: "Quick stop" Bit 6: "Switch on disabled" Bit-7: "Warning" Bit-8: "Message" Bit-9: "Remote," corresponds to the negated output Local of block 320 Local Bit-10: "Target reached," see below Bit-11: "Internal limit active," 1 = limit is active Bit-12 and 13: "Operation mode specific," see below Bit-14 and 15: "PLL Bit0" and "PLL Bit1" with the meaning of interpolated position mode: 00: OK 01: Cycle time extended and still engaged 10: Cycle time shortened and still engaged 11: Not engaged Bit-10 "Target reached," bit-11 "Internal limit active" and bits 12 and 13 "Operation mode specific." The meaning of the bits depends on the operating mode of the inverter. This is set in the parameter A608 modes of operation. The following operating modes are currently available with their related bit meanings: Comfort reference value: Bit-10: "Target reached," reference-value-reached flag, same as D183 "n-window reached" Bit-11: "Internal limit active," 1 = limit is active, one of the following signals is active: D182, D185,

D186, D308, D309, D462 Homing mode: Bit-12: Homing attained: Reference point found Bit-13: Homing error: termination of referencing due to error Interpolated position mode: Bit-12: Interpolation mode active Bit-13: Reserved, always 0 Can be accessed via CANopen® under:

Index 6041hex Subindex 0


6041h 0h

Used Parameters

Electronic Cam

ID 441778.04 186


06


address

A800 Global

r=3, w=3

Remote service start: You can use this parameter to start remote service via the operator panel on the front of the inverter. The effectiveness of this parameter depends on how parameter A167 is set. Information Before you start remote service, read chapter Integrated Bus of the Operating Manual SDS 5000 and the description of parameter A167!

0: inactive; No remote service wanted. 1: active; Request remote service.

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 C8 00 00 hex

A890 Global

r=3, w=3

Para-Acc-Cntrl: You can activate an access logging function in this parameter. This can be useful in the diagnosis of parameter write modules or functions in conjunction with fieldbuses. This function logs the last 10 write accesses to parameters usingCANopen, EtherCAT, PROFIBUS and PROFINET. Even defective attempts which have been rejected by the inverter are logged here, in this case A894 shows an error code as a result.

0: inactive; No parameter accesses have been logged. 1: active; Access logging function is active. When changing from 0: inactive after 1: active the

previously logged values are deleted.

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 DE 80 00 hex

A891 Global

read (3)

Para-Acc-Next: If the access logging function is activated (see parameter A890 the element in which the next write access will be logged is displayed here. The element number applies to parameters - A892 Para-Acc-Address, - A893 Para-Acc-Value, - A894 Para-Acc-Result and - A895 Para-Acc-Time. You will find the last logged entry in the parameters one element before the number displayed here.

Value range: 0 ... 0 ... 255

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 DE C0 00 hex

A892.0 Global

read (3)

Para-Acc-Address: If the access locking function is activated (see parameter A890) the addresses of the last 10 write accesses will be logged in the elements. The array parameter is designed as a ring memory. If element 9 is described, the next entry will take place in element 0. Old entries will be overwritten. The element which is displayed in A891 Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next write access. The newest value is contained in the element which is smaller than A891 by 1.

Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 DF 00 00 hex

Array

A892.1 Global

read (3)



Array

Used Parameters

Electronic Cam

ID 441778.04 187


06


address

A892.2 Global

read (3)



Array

A892.3 Global

read (3)



Array

A892.4 Global

read (3)



Array

A892.5 Global

read (3)



Array

A892.6 Global

read (3)



Array

A892.7 Global

read (3)



Array

Used Parameters

Electronic Cam

ID 441778.04 188


06


address

A892.8 Global

read (3)



Array

A892.9 Global

read (3)



Array

A893.0 Global

read (3)

Para-Acc-Value: If the access locking function is activated (see parameter A890) the values of the last 10 write accesses will be logged in the elements. The values are displayed as 4-byte numbers in hexadecimal representation. The sequence of the bytes is displayed as they were originally received by the fieldbus, and is different depending on the fieldbus system being used: - in the case of PROFIBUS and PROFINET the data bytes are arranged readably as usual (00001234 hex = 4660 dez). - in the case of CANopen and EtherCAT the bytes are arranged otherwise (34120000 hex = 4660 dez). The array parameter is designed as a ring memory. If element 9 is described, the next entry will take place in element 0. Old entries will be overwritten. The element which is displayed in A891 Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next write access. The newest value is contained in the element which is smaller than A891 by 1.

Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 40 00 hex

Array

A893.1 Global

read (3)



Array

Used Parameters

Electronic Cam

ID 441778.04 189


06


address

A893.2 Global

read (3)



Array

A893.3 Global

read (3)



Array

A893.4 Global

read (3)



Array

Used Parameters

Electronic Cam

ID 441778.04 190


06


address

A893.5 Global

read (3)



Array

A893.6 Global

read (3)



Array

A893.7 Global

read (3)



Array

Used Parameters

Electronic Cam

ID 441778.04 191


06


address

A893.8 Global

read (3)



Array

A893.9 Global

read (3)



Array

A894.0 Global

read (3)

Para-Acc-Result: If the access locking function is activated (see parameter A890) the results of the last 10 write accesses will be logged in the elements. The following results are normally often displayed: - 00000000: The write access was successful, the parameter value has been accepted. - 0000004D: The parameter which was accessed does not exist. - 00000052: The parameter value to be transmitted is too small, it is not accepted. - 00000053: The parameter value to be transmitted is too large, it is not accepted. - other values: Please contact STÖBER ANTRIEBSTECHNIK. The array parameter is designed as a ring memory. If element 9 is described, the next entry will take place in element 0. Old entries will be overwritten. The element which is displayed in A891 Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next write access. The newest value is contained in the element which is smaller than A891 by 1.


Array

Used Parameters

Electronic Cam

ID 441778.04 192


06


address

A894.1 Global

read (3)



Array

A894.2 Global

read (3)



Array

A894.3 Global

read (3)



Array

Used Parameters

Electronic Cam

ID 441778.04 193


06


address

A894.4 Global

read (3)



Array

A894.5 Global

read (3)



Array

A894.6 Global

read (3)



Array

Used Parameters

Electronic Cam

ID 441778.04 194


06


address

A894.7 Global

read (3)



Array

A894.8 Global

read (3)



Array

A894.9 Global

read (3)



Array

Used Parameters

Electronic Cam

ID 441778.04 195


06


address

A895.0 Global

read (3)

Para-Acc-Time: If the access locking function is activated (see parameter A890) the times of the last 10 write accesses will be logged in the elements. The times are stated as values in milliseconds, the values are relative to each other and are not related to the operation duration in E30. The array parameter is designed as a ring memory. If element 9 is described, the next entry will take place in element 0. Old entries will be overwritten. The element which is displayed in A891 Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next write access. The newest value is contained in the element which is smaller than A891 by 1.

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 DF C0 00 hex

Array

A895.1 Global

read (3)



Array

A895.2 Global

read (3)



Array

A895.3 Global

read (3)



Array

Used Parameters

Electronic Cam

ID 441778.04 196


06


address

A895.4 Global

read (3)



Array

A895.5 Global

read (3)



Array

A895.6 Global

read (3)



Array

A895.7 Global

read (3)



Array

Used Parameters

Electronic Cam

ID 441778.04 197


06


address

A895.8 Global

read (3)



Array

A895.9 Global

read (3)



Array

A900 Global

r=3, w=4

SysEnableOut: Enable output of the device controller to the axis(axes). Indicates that the power section is on and enables reference value processing.

Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E1 00 00 hex

A901 Global

r=3, w=4

SysQuickstopOut: Quick stop output of the device controller to the axis(axes). Indicates that the device controller forces a quick stop which is executed by speed control. Reference value processing of the axis must support this with priority before axis reference value processing.


A902 Global

read (2)

SysStatusword: Status word of the device controller as per DSP402.

Bit Bit 0 Ready for switch-on 8 Message 1 Switched on 9 Remote 2 Oper. enabled 10 Reference value reached 3 Fault 11 Limit value 4 Voltage disabled 12...15 Reserved 5 Quick stop 6 Switch-on disable 7 Warning

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 E1 80 00 hex

A903 Global

r=3, w=4

SysOpenBrake: Command bit: Open halting brake. This signal bypasses brake control and goes directly to plug connector X2 (MDS/FDS) or X5 (SDS).

Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E1 C0 00 hex

A905 Global

r=3, w=3

New PDO1 data for Tx: The parameter is set to "1" when a PDO is received.


Used Parameters

Electronic Cam

ID 441778.04 198


06


address

A906 Global

r=3, w=3

Time stamp PDO1: Time relationship between PDO receipt and cycle time.

Fieldbus: 1LSB=1µs; Type: U32; USS-Adr: 01 E2 80 00 hex

A907 Global

r=3, w=3

Reference timestamp PLL: Time relationship of PLL to cycle time.

Fieldbus: 1LSB=1µs; Type: U16; USS-Adr: 01 E2 C0 00 hex

A910 Global

r=3, w=4

SysAdditionalEnableIn: Additional enable signal of the axis to the device controller. A logical AND link with the enable signal (usually from binary input X1.enable) occurs on the device controller. Information When POSITool establishes a connection to the inverter, this parameter is always read, even when "write parameter" was specified in POSITool as the data communication direction.


A911 Global

r=3, w=4

SysQuickstopIn: Quick stop request of the axis to the device controller.


A912 Global

r=3, w=4

SysFaultResetInput: Fault reset of the axis to the device controller.


A913 Global

r=3, w=4

SysQuickstopEndInput: Quick stop end signal of the axis to the device controller. Indicates that a quick stop was concluded. With applications without braking control, this is usually the "standstill reached" signal. With applications with braking control, this is usually the "brake closed" signal.


A914 Global

r=2, w=4

SysControlWord: Control word to DSP402 device controller.

Bit Bit 1 Switch on 9...15 Reserved 2 Disable voltage 3 Quick stop 4 Enable oper. 5 Disable HLG 6 Stop HLG 7 HLG zero 8 Reset fault


A916 Global

r=3, w=4

Reference cycle-time: Cycle time of the SYNC telegram. Is created from G98.

Fieldbus: 1LSB=1µs; Type: I16; USS-Adr: 01 E5 00 00 hex

Used Parameters

Electronic Cam

ID 441778.04 199


06


address

A918 Global

r=3, w=4

SysLocal: Signal of the device controller to the axis (axes). Indicates that local operation is activated ("hand" key).


A919 Global

r=3, w=4

SysEnableLocal: Signal of the device controller to the axis (axes). Indicates that local operation ("hand" key) and local enable ("I/O" or "I" key) are activated.


A922 Global

r=2, w=4

SysControlWordBit4: Signal of device control on the axis/axes. The function is application-specific. The parameter is only functional for the applications listed below. Application Meaning Comfort reference value Corresponds to the Stop signal


A923 Global

r=2, w=4

SysControlWordBit5: Signal of device control on the axis/axes. The function is application-specific. The parameter is only functional for the applications listed below. Application Meaning Comfort reference value Halt ramp generator (with lower priority than Stop and Quick

Stop)


A924 Global

r=2, w=4

SysControlWordBit6: Signal of device control on the axis/axes. The function is application-specific. The parameter is only functional for the applications listed below. Application Meaning Comfort reference value Corresponds to the Stop signal


A925 Global

read (2)

SysTargetReached: Signal of the axis to the device control. The reference value was reached. The function is application-specific. The parameter is only functional for the applications listed below. Application Meaning Comfort reference value Reference-value-reached flag, same as D183 n-window

reached


A926 Global

read (2)

SysTargetReached: Signal of the axis to the device control. The reference value was reached. The function is application-specific. The parameter is only functional for the applications listed below. Application Meaning Comfort reference value One of the following signals is active: D182, D185, D186, D308,

D309, D462


Used Parameters

Electronic Cam

ID 441778.04 200


06

B.. Motor Par. Description Fieldbus-

address

B00 Axis

r=1, w=1

Motor-type: Indication of the motor name as text. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Default setting: ED213U


2200h 0h

B01.0 Axis

read (3)

Job data: If an ED/EK motor with EnDat® encoder is connected to X4, the motor's job number can be displayed in this parameter element. The structure of the full number is as follows: AAAAAA/BBB/CCC-DDD/XX AAAAAA: Job number BBB: Job call number CCC: Job remainder number DDD: Job item number XX: Sequential item number in the job The numeric parts are displayed in the elements of parameter B01. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.


Only visible when B06 = 0:el. motor-type is set and the motor encoder is an EnDat®-Encoder on X4 or X140.

2201h

Array

0h

B01.1 Axis

read (3)

Job data: If an ED/EK motor with EnDat® encoder is connected to X4, the motor's Job call number can be displayed in this parameter element. The structure of the full number is as follows: AAAAAA/BBB/CCC-DDD/XX AAAAAA: Job number BBB: Job call number CCC: Job remainder number DDD: Job item number XX: Sequential item number in the job The numeric parts are displayed in the elements of parameter B01. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.



2201h

Array

1h

Used Parameters

Electronic Cam

ID 441778.04 201


06


address

B01.2 Axis

read (3)

Job data: If an ED/EK motor with EnDat® encoder is connected to X4, the motor's Job remainder numbercan be displayed in this parameter element. The structure of the full number is as follows: AAAAAA/BBB/CCC-DDD/XX AAAAAA: Job number BBB: Job call number CCC: Job remainder number DDD: Job item number XX: Sequential item number in the job The numeric parts are displayed in the elements of parameter B01. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.



2201h

Array

2h

B01.3 Axis

read (3)

Job data: If an ED/EK motor with EnDat® encoder is connected to X4, the motor's Job item number can be displayed in this parameter element. The structure of the full number is as follows: AAAAAA/BBB/CCC-DDD/XX AAAAAA: Job number BBB: Job call number CCC: Job remainder number DDD: Job item number XX: Sequential item number in the job The numeric parts are displayed in the elements of parameter B01. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.



2201h

Array

3h

Used Parameters

Electronic Cam

ID 441778.04 202


06


address

B01.4 Axis

read (3)

Job data: If an ED/EK motor with EnDat® encoder is connected to X4, the motor's sequential item number in the job can be displayed in this parameter element. The structure of the full number is as follows: AAAAAA/BBB/CCC-DDD/XX AAAAAA: Job number BBB: Job call number CCC: Job remainder number DDD: Job item number XX: Sequential item number in the job The numeric parts are displayed in the elements of parameter B01. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.



2201h

Array

4h

B02 Axis, OFF

r=1, w=1

Back EMF: Specifies the peak value of induced voltage between two phases at 1000 Rpm. When an effective value is specified for external motors, this must be multiplied by 1.41 before entry in B02. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in V/1000rpm: 5.0 ... 40 ... 3000.0

Fieldbus: 1LSB=0,1V/1000rpm; Type: I16; (raw value:1LSB=0,1·rpm); USS-Adr: 02 00 80 00 hex

Only visible with servo operation (B20 greater or equal to 64:Servo-control).

2202h 0h

Used Parameters

Electronic Cam

ID 441778.04 203


06


address

B04 Axis, OFF

r=1, w=1

El. motor-type: STÖBER motors of the ED, EK and EZ series are available with electronic single and multi-turn encoders. These encoders offer a special parameter memory. In all standard models STÖBER places all motor data in this memory including any existing halting brake ("electronic nameplate"). B04 is only used when B06 = 0 is set. With B04 = 0, B01 Job data is read. The other motor data can be entered as desired. The commutation is also internally affected. When B04 = 1 is set, the following parameters are read from the nameplate. B00, B01, B02, B10, B11, B12, B13, B16 bzw. B19, B17, B38, B39, B52, B53, B61, B62, B64, B65, B66, B67, B68, B70, B72, B73, B74, B82, B83 The commutation is also internally affected. For this setting, F06 and F07 are also read if B07 = 0:el. motor-type is set. If a KTY evaluation has been entered on the nameplate, U10 = 2:warning and U11 = 1 s will be set. With B04 = 1, the motor data are read from the encoder after each power-on. Any manual changes to motor data are only effective until the next power-off and power-on even when the changes are stored non-volatilely in Paramodule. For permanent changes to the motor data, set B04 = 0. Then store the changes with A00 = 1. Electronic nameplates of other motor manufacturers cannot be evaluated. NOTE Correct evaluation of the electronic nameplate after a change in parameter B04 is not ensured until after a device new start.

0: Commutation; 1: All data;



2204h 0h

B05 Axis, OFF

r=1, w=1

Commutation-offset: Shift the encoder zero position in comparison to the motor. STÖBER motors with resolvers are set to B05 = 0 at the plant and checked. Normally a change in the B05 parameter is not required. When phase test B40 produces a value B05 > 5° or B05 < 355°, a wiring or plug problem is probably the cause. With STÖBER motors with absolute value encoders, the commutation offset is written to the electronic nameplate at the plant and is read by the inverter during "startup." In this case, B05 is also set at the factory to 0. If B05 is changed, total offset = nameplate offset + B05 applies. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in °: 0.0 ... 0 ... 360.0

Fieldbus: 1LSB=0,1°; Type: I16; (raw value:32767 = 2879.9 °); USS-Adr: 02 01 40 00 hex


2205h 0h

Used Parameters

Electronic Cam

ID 441778.04 204


06


address

B06 Axis, OFF

r=1, w=1

Motor-data: STÖBER motors of the ED, EK and EZ series are available with electronic single and multi-turn encoders. These encoders offer a special parameter memory. In all standard models STÖBER places the entire motor data in this memory including any existing halting brake ("electronic nameplate"). For B06 = 0, the data is read from the encoder after each power on according to the settings in B07 (only for SDS 5000) and B04. Any manual changes in motor data only remain effective until the next power-off and power-on even when the changes are stored in Paramodule non-volatilely. Set B06 = 1 for motors without electronic nameplates. The default values of the motor data entered in the parameter list must then be checked and adjusted. The commutation offset can be auto-tuned with the action B40. The changes must then be stored with A00 = 1. Electronic nameplates of other motor manufacturers cannot be evaluated. NOTE Up to and including firmware status V 5.2, correct evaluation of the nameplate after a change in parameter B06 does not occur until a device new start. Starting with firmware status V 5.3, the nameplate is evaluated immediately. The parameter B06 only appears for inverters of the MDS 5000 and SDS 5000 series.

0: El. motor-type; 1: User defined;


Only visible when the motor encoder is an EnDat®-Encoder on X4 or X140.

2206h 0h

B07 Axis, OFF

r=1, w=1

Brake data: B07 is only used if B04 = 1 and F08 = 1 are set and is only available if a SDS 5000 is configured. With B07 Brake data = 0, the data set in F06 Brake release time and F07 Brake application time are read on every power on from the encoder. Any manual changes to these brake data are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodul in non-volatile memory. This setting is useful if the drive only has one brake or the drive has two brakes and the one that has data saved in the electronic name plate features

longer air and incidence times. For B07 = 1, the parameters F06 and F07 can be manually set. This setting is useful if the drive has two brakes but the air and incidence times that are saved in the electronic name plate are the shorter ones.

0: electrical name plate; 1: arbitrary setting;


Only available if B06 Motor data = 0:el. name plate and F08 Brake = 1:active.

2207h 0h

Used Parameters

Electronic Cam

ID 441778.04 205


06


address

B10 Axis, OFF

r=1, w=1

Motor-poles: Results from the nominal speed nNom [Rpm] and the nominal frequency f [Hz] of the motor. B10 = 2·(f · 60 / nNom). Correct entry of the number of poles is mandatory for the inverter to function. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range: 2 ... 4 ... 20

Fieldbus: 1LSB=1; Type: U8; (raw value:255 = 510); USS-Adr: 02 02 80 00 hex

220Ah 0h

B11 Axis, OFF

r=1, w=1

Nominal motor power: Nominal power in kW as per nameplate. If only the nominal torque Mn is known instead of the nominal power, B11 must be calculated from Mn [Nm] and the nominal speed n [Rpm] based on the following formula: B11 = Mn · n / 9550. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in kW: 0.120 ... 0,402 ... 500.000

Fieldbus: 1LSB=0,001kW; Type: I32; USS-Adr: 02 02 C0 00 hex

220Bh 0h

B12 Axis, OFF

r=1, w=1

Nominal motor current: Nominal current in A as per nameplate. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in A: 0.001 ... 1,53 ... 327.670

Fieldbus: 1LSB=0,001A; Type: I32; USS-Adr: 02 03 00 00 hex

220Ch 0h

B13 Axis, OFF

r=1, w=1

Nominal motor speed: Nominal speed in Rpm as per nameplate. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in rpm: 0 ... 6000 ... 95999

Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 02 03 40 00 hex

220Dh 0h

Used Parameters

Electronic Cam

ID 441778.04 206


06


address

B14 Axis, OFF

r=1, w=1

Nominal motor voltage: Nominal voltage as per nameplate. Since, with asynchronous motors, the type of switching (Y/) must be adhered to, make sure that the parameters B11 ... B15 match!

Value range in V: 0 ... 400 ... 480


Only visible with asynchronous machines (B20 less than 64:Servo-control).

220Eh 0h

B15 Axis, OFF

r=1, w=1

Nominal motor frequency: Nominal frequency of the motor as per nameplate. Parameters B14 and B15 specify the inclination of the V/F characteristic curve and thus the characteristic of the drive. The V/F characteristic curve determines the frequency (B15 f-nominal) at which the motor will be operated (B14 V-nominal). Voltage and frequency can be linearly increased over the nominal point. Upper voltage limit is the applied network voltage. STÖBER system motors up to a size of 112 offer the possibility of star/delta operation. Delta operation with 400 V permits a power increase by the factor of 1.73 and an expanded speed range with constant torque. In this type of circuit, the motor requires more current. It must be ensured that: - The frequency inverter is designed for the corresponding power (PDelta = 1.73 · PStar). - B12 (I-nominal) is parameterized for the corresponding nominal motor current (IDelta = 1.73 · IStar). With quadratic characteristic curve (B21 = 1), nominal frequencies are limited via 124 Hz internally to 124 Hz. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in Hz: 0.0 ... 50 ... 1600.0

Fieldbus: 1LSB=0,1Hz; Type: I32; (raw value:2147483647 = 512000.0 Hz); USS-Adr: 02 03 C0 00 hex


220Fh 0h

B17 Axis, OFF

r=1, w=1

T0 (standstill): Standstill torque M0 as per nameplate. Used, among others, as reference value for the torque and current limitation (C03 and C05). For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in Nm: 0.000 ... 0,73 ... 2.147.483.647

Fieldbus: 1LSB=0,001Nm; Type: I32; USS-Adr: 02 04 40 00 hex


2211h 0h

B18 Axis

read (3)

Related torque: The parameter B18 shows the reference value for percentage of torque values (such as C03, C05, E62 and E66) in every control mode (B20).

Value range in Nm: -5.84 ... 0,73 ... Mai 84

Fieldbus: 1LSB=0,01Nm; Type: I16; raw value:1LSB=Fnct.no.22; USS-Adr: 02 04 80 00 hex

2212h 0h

Used Parameters

Electronic Cam

ID 441778.04 207


06


address

B19 Axis, OFF

r=1, w=1

cos (phi): Cos (phi) as per nameplate.

Value range: 0.500 ... 0,72 ... 1.000

Fieldbus: 1LSB=0,001; Type: I16; USS-Adr: 02 04 C0 00 hex


2213h 0h

B20 Axis, OFF

r=3, w=3

Control mode: Specifies the type of motor control.For servo motors, select 64:Servo-control. Asynchronous machines can be operated without speed feedback in the control modes 0:V/f-control, 1:Sensorless vector control and 3:SLVC-HP. The selection 2:Vector control is available for asynchronous motors with feedback. NOTE - With control type "0:V/f-control," there is no current or torque limitation. Similarly, connection to a rotating motor is not possible ("capturing"). - Control type 64:Servo-control is not available with the FDS 5000 inverter.

0: V/f-control; 1: sensorless vector control; 2: vector control; 3: SLVC-HP; 64: servo-control;


2214h 0h

B21 Axis, OFF

r=1, w=1

V/f-characteristic: Switch between linear and square characteristic curve. NOTE When the control mode is SLVC, only the linear characteristic curve format can be used.

0: Linear; Voltage/frequency characteristic curve is linear. Suitable for all applications. 1: Square; Square characteristic curve for use with fans and pumps. The characteristic curve is

continued linearly starting at the nominal frequency (B15).


2215h 0h

B22 Axis

r=1, w=1

V/f-factor: Offset factor for the increase of the V/f characteristic curve. The increase with V/F factor = 100 % is specified by V-nominal (B14) and f-nominal (B15).

Value range in %: 90 ... 100 ... 110

Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 02 05 80 00 hex

2216h 0h

B23 Axis

r=1, w=1

V/f-Boost: The term boost means an increase in voltage in the lower speed range whereby a higher startup torque is available. With a boost of 100 % the nominal motor current flows at 0 Hz. To specify the required boost voltage, the stator resistance of the motor must be known. For this reason, with motors without electronic nameplate, it is essential that B41 (autotune motor) be performed!! With STÖBER standard motors, the stator resistance of the motor is specified by the choice of motor.

Value range in %: 0 ... 10 ... 400

Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 02 05 C0 00 hex

Only visible with V/f control (B20 = 0).

2217h 0h

Used Parameters

Electronic Cam

ID 441778.04 208


06


address

B24 Axis

r=2, w=2

Switching frequency: The noise volume of the drive is affected by changing the switching frequency. Increasing the switching frequency increases losses, however. For this reason, the permissible nominal motor current (B12) must be reduced when the switching frequency is increased. With operation of a servo motor (B20 = 64), at least 8 kHz must be set. With a setting of 4 kHz, an internal switch to 8 kHz is performed for servo operation. In some operating states, the switching frequency is changed by the inverter itself. The currently active switching frequency can be read in E151. NOTE The factory setting of this parameter depends on B20. With a servo controller, the value 8:8kHz is entered in B24. When an asynchronous machine (V/f controller, sensorless vector controller and vector controller) is used, B24 has the value 4:4kHz.

4: 4kHz; 8: 8kHz; 16: 16kHz;


2218h 0h

B25 Axis, OFF

r=2, w=2

Halt flux: B25 specifies whether the motor with applied brakes remains electrified during halt and quick stop. Particularly useful for positioning. After a HALT, the motor remains fully electrified for the time B27. After expiration of this time, the electrification is lowered to the level specified in B25. When 0 % is the setting and the brake is applied (halt, quick stop), the motor goes dead and the flux is canceled. The advantage is a better thermal motor balance since the motor can cool off during the pause times. The disadvantage is the additional time for establishment of magnetization (rotor time constant, approx. 0.5 sec). The required time is determined automatically by the inverter and added to brake release time F06.

Value range in %: 0 ... 100 ... 100


2219h 0h

B26 Axis, OFF

r=1, w=1

Motor encoder: Selection of the interface to which the motor encoder is connected. The encoder must be correctly parameterized in H.. for the particular interface (see encoder list in the H.. group). NOTE Remember that the interfaces X120 and X140 are only available on the MDS 5000 and SDS 5000. The settings 3:X140-Resolver and 4:X120-encoder do not exist on the FDS 5000.

0: inactive; 1: BE-encoder; An incremental encoder which is connected to terminals BE4 and BE5 is used as

motor encoder. The exact parameterization of the encoder must be performed in H10 ... H12. 2: X4-encoder; The motor encoder is connected to interface X4. The exact parameterization of the

encoder must be performed in H00 ... H02. 3: X140-encoder; A encoder on the optional interface X140 is used as motor encoder. The exact

parameterization of the encoder must be performed in H30 ... H32. 4: X120-encoder; The motor encoder is connected to the optional interface X120. The precise

parameterization of the encoder must be performed in H120 to H126. NOTE The interface X120 is only available with the "I/O terminal module, expanded (XEA 5000)" and

"I/O terminal module, expanded (XEA 5001)" respectively!


221Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 209


06


address

B27 Axis, OFF

r=2, w=2

Time halt-flux: In case of a reduced halt flux B25, the applied brake and active power pack of the full magnetization current is still maintained for the time B27.

Value range in s: 0 ... 0 ... 255

Fieldbus: 1LSB=1s; Type: U8; USS-Adr: 02 06 C0 00 hex

221Bh 0h

B28 Axis, OFF

r=2, w=2

Encoder gearfactor: When the encoder for motor control for setting B20 = 2 (control type = vector control) is not mounted directly on the motor shaft, the gear ratio between motor shaft and the encoder must be specified here. It must apply: B28 = Number of motor revolutions/number of encoder revolutions. An SSI or an incremental encoder must be used. B28 can also assume negative values. Values whose amount is less than 1/10 may not be set. When B28 is not equal to 1.000, E09 indicates the encoder position and not the rotor position.

Value range: -32.000 ... 1 ... 31.999

Fieldbus: 1LSB=0,001; Type: I16; (raw value:10 Bit=1); USS-Adr: 02 07 00 00 hex


221Ch 0h

B29 Axis

r=3, w=4

Tolerate overcurrent: With applications which run close to the overcurrent threshold of the inverter, normal control procedures can cause undesired overcurrent malfunctions. For these cases, the parameter B29 makes it possible to tolerate a crossing of the overcurrent threshold for an adjustable number of current controller cycles. The parameter should not be changed until after the max. current value has been checked with an external current measuring instrument. CAUTION With B20 = 0:V/f-control and B20 = 1:sensorless vector control, B29 must be 0!

Value range in current-ctrl cycles: 0 ... 0 ... 20

Fieldbus: 1LSB=1current-ctrl cycles; Type: I8; USS-Adr: 02 07 40 00 hex

221Dh 0h

B30 Axis

r=3, w=3

Additional motor-operation: Only possible with B20 = 0 (V/f control). For multi-motor operation. Permits the connection of an additional motor on the enabled inverter. This briefly reduces motor voltage to prevent an overcurrent switch-off.



Only visible with V/f control (B20 = 0).

221Eh 0h

B31 Axis, OFF

r=3, w=3

Oscillation damping: Large motors can have a tendency to sympathetic vibration during no load. Increasing parameter B31 damps these vibrations with B20 = 2:SLVC. Values from 60 ... 100 % are suitable for problematic drives.

Value range in %: 0 ... 30 ... 100


Only when B20 = 1:SLVC.

221Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 210


06


address

B32 Axis, OFF

r=3, w=3

SLVC-dynamics: The reaction speed of the SLVC to changes in load can be influenced by B32. The highest dynamics are B32 = 100 %.

Value range in %: 0 ... 70 ... 100



2220h 0h

B35 Axis

r=3, w=3

Offset raw-motorencoder: The parameter B35 is added to the encoder raw value or accumulated encoder raw value. The results are indicated in E154 raw motor-encoder and E153 accumulated raw-motor-encoder. The scaling of B35 depends on the motor encoder being used: - EnDat®, SSI: MSB = 2048 encoder revolutions - Resolver: 65,536 LSB = 1 encoder revolution (i.e., MSB = 32,768 encoder revolutions) - Incremental encoder: 4 LSB = 1 increment MSB = Most Significant Bit LSB = Least Significant Bit


Only visible when B26 is not set to 0:inactive.

2223h 0h

B36 Axis, OFF

r=3, w=3

Maximum magnetisation: The parameter permits the motor to move within the basic speed range with reduced magnetization. With a light load, this can be used to reduce heatup of motor and inverter. The parameter should usually be set to 100 % (no reduction). NOTE The parameter is only effective in control type B20 = 2:Vectorcontrol.

Value range in %: 50 ... 100 ... 100


Only when B20 = 1:SLVC or 2:VC.

2224h 0h

B38 Axis

r=3, w=3

Motor temperature sensor: Select motor temperature sensor connected to X2. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

0: PTC; A thermistor (PTC) is connected to X2 which increases its resistance suddenly to several times as many Ohms when the nominal response temperature is reached.

1: KTY 84-1xx; A temperature sensor of type KTY 84 is connected to X2. At 100 °C it has a resistance of 1000 ohms. This temperature sensors makes it possible to perform an analog measurement of the motor temperature. The measurement is limited to one motor winding, which also restricts motor protection. Evaluation of a KTY sensor is not possible with inverters until HW200. The measured motor temperature is displayed in E12. The maximum permissible temperature for the motor must be parameterized in B39.


2226h 0h

Used Parameters

Electronic Cam

ID 441778.04 211


06


address

B39 Axis

r=3, w=3

Maximum temperature of motor: If a higher motor temperature (E12) is measured than parameterized here, malfunction 41 is triggered. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in °C: 0 ... 145 ... 145

Fieldbus: 1LSB=1°C; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 02 09 C0 00 hex

Only if B38 is not equal to 0.

2227h 0h

B40.0 Global

r=2, w=2

Phase test & start: Writing a one starts the phase test action. It may only be used for servo motors. A check is made to determine whether phases were mixed up when the motor was connected, whether the number of motor poles (B10) is correct and auto-tunes the commutation offset (B05). During the action the motor must be able to revolve freely. The enable must be LOW at the starting point. After B40.0 = 1 the enable must be switched HIGH. After the action was executed, the enable must be switched back to LOW. The result of the action can be read after removal of the enable in B05. During this action the cycle time is internally set to 32 ms. The switch is made when the action is activated. WARNING Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may only be performed with motors which are not installed in a system.

0: error free; 1: aborted; 2: phase order; 3: motor poles; 4: commutation offset; 5: test run;



2228h 0h

B40.1 Global

read (2)

Process: Progress of the phase test in %.

0: error free; 1: aborted; 2: phase order; 3: motor poles; 4: commutation offset; 5: test run;

Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 0A 00 01 hex


2228h 1h

Used Parameters

Electronic Cam

ID 441778.04 212


06


address

B40.2 Global

read (2)

Result: After conclusion of the phase test action, the result can be queried here.

0: error free; The action was executed without errors and concluded. 1: aborted; The action was aborted by turning off the enable. 2: phase order; It was found that two phases were mixed up. 3: motor poles; The determined number of poles is not the value in B10. 4: commutation offset; The measured commutation offset is not B05. 5: test run; A test run with the measured commutation offset could not be performed.



2228h 2h

B41.0 Global

r=2, w=2

Autotuning & start: Writing a one starts the Autotune motor action. It measures the resistance (B53) and the inductivity (B52) of the motor. The drive may move during this action. The enable must be LOW at the starting point. After B41.0 = 1, the enable must be switched to HIGH. After the action is executed, the enable must be switched back to LOW. The result of the action can be read in B52, B53 after the enable is removed. During this action the cycle time is internally set to 32 ms. The switch is made when the action is activated. When an asynchronous machine (B20 < 64) is being used, the action also autotunes the values for B54 leakage factor and B55 saturation coefficient. WARNING Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may only be performed with motors which are not installed in a system.

0: error free; 1: aborted;


2229h 0h

B41.1 Global

read (2)

Process: Progress of autotuning the motor in %.



2229h 1h

B41.2 Global

read (2)

Result: After conclusion of the Autotune motor action, the result can be queried.



2229h 2h

Used Parameters

Electronic Cam

ID 441778.04 213


06


address

B42.0 Global

r=2, w=2

Optimize current controller & start: Writing a one starts the Optimize current controller action. This re-specifies the parameters for current controller gain (B64 ... B68). During the action, the drive revolves at approx. 2000 Rpm and may make clicking noises at regular intervals. The action may take up to approx. 20 minutes. The result of the action can be read in B64 ... B68 after the enable is removed. When the action is enabled on the device during local operation, the action can only be terminated with a very long delay. During this action the cycle time is internally set to 32 ms. The switch is made when the action is activated. WARNING Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may only be performed with motors which are not installed in a system.



Only visible with control types with current control (B20 = 64:Servo or 2:VC).

222Ah 0h

B42.1 Global

read (2)

Process: Progress of the current controller optimization %.



222Ah 1h

B42.2 Global

read (2)

Result: After conclusion of the current controller optimization action, the result can be queried here.



222Ah 2h

B43.0 Global

r=2, w=2

Winding test & start: Writing a one starts the Winding test action. This checks the symmetry of the ohmic resistances of the motor windings. The enable must be LOW at the starting point. After B43.0 = 1, the enable must be switched to HIGH. After the action is executed, the enable must be switched back to LOW.

0: error free; 1: aborted; 2: R_SYM_U; 3: R_SYM_V; 4: R_SYM_W; 5: POLAR_SYM_U; 6: POLAR_SYM_V; 7: POLAR_SYM_W;

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A C0 00 hex

222Bh 0h

B43.1 Global

read (2)

Process: Progress of the winding test in %.

Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 0A C0 01 hex

222Bh 1h

Used Parameters

Electronic Cam

ID 441778.04 214


06


address

B43.2 Global

read (2)

Result: After conclusion of the winding test action, the result can be queried.


222Bh 2h

B45.0 Global

r=3, w=3

Optimize and start SLVC-HP: Writing a 1 starts the action Optimize and start SLVC-HP. WARNING: The action accelerates the motor up to twice its nominal speed. The optimization function only provides suitable values when the load torque of the motor is sufficiently small. Only perform the action when the motor is adequately fastened and the motor shaft can rotate freely! The action optimizes these parameters: - B46 Feedback SLVC-HP, - B47 P-gain SLVC-HP and - B48 I-Gain SLVC-HP, Note that the result is more accurate if you fit the motor with an encoder for this action. This is possible for initial commissioning of a machine series, for example. In this case, mount and connect the encoder, set control mode B20 = 2:vector control and parameterize the encoder. Now perform the action as described in the following. After you have dismantled the encoder, set control mode B20 = 3:SLVC-HP again. Requirement: The enable must be low at the starting point. 1. Set B45.0 = 1. 2. Switch enable to high. 3. Wait until successful completion is displayed in B45.1 (B45.1 = 100 %). 4. Switch enable to low again. The result of the action can be read after removing the enable in B46, B47 & B48.




222Dh 0h

B45.1 Global

read (3)

Process: Process of the Optimize SLVC-HP action in %.



222Dh 1h

B45.2 Global

read (3)

Result: The result can be queried here after completion of the Optimize SLVC-HP action.



222Dh 2h

Used Parameters

Electronic Cam

ID 441778.04 215


06


address

B46 Axis, OFF

r=3, w=3

Feedback ASM Observer: This parameter affects the accuracy of the SLVC-HP. For values that are too large or too high, the stationary difference between the reference and actual speed increases. NOTE The amount of feedback is an option to be reported to the ASM observer just as the machine constants B54 leakage factor, B52 stator inductance and B53 stator winding resistance were determined. The smaller the feedback selected, the more the ASM observer depends on these constants.

Value range: 1.001 ... 1,03 ... 1.500

Fieldbus: 1LSB=0,001; Type: R32; (raw value:1LSB=1); USS-Adr: 02 0B 80 00 hex

222Eh 0h

B47 Axis, OFF

r=3, w=3

Proportional Gain SLVC-HP: This parameter affects the dynamic properties of the motor (especially the stability and overshoot behaviour of the speed). Setting note The correct setting can be checked by means of the speed curve. If an encoder is present during commissioning, E15 should be considered as the actual speed, otherwise E91. B47 should not be smaller than 1% of B48. The drive can become unstable for values that are too small. The resulting vibration oscillates at the mechanical frequency. By increasing B47, overshoots in the speed can be dampened. Values that are too large lead to vibrations in the current and speed.

E07 n-post-rampE91 n-motor E15 n-motor-encoder B48 or ( too small)

E91 n-motor E15 n-motor-encoder or ( too large)B47

mech. frequency

Value range: 0.000 ... 1 ... 1.000.000

Fieldbus: 1LSB=0,001; Type: R32; (raw value:1LSB=1); USS-Adr: 02 0B C0 00 hex

222Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 216


06


address

B48 Axis, OFF

r=3, w=3

Integral Gain SLVC-HP: This parameter affects the dynamic properties of the motor. The larger B48 is, the faster the motor model can follow the actual speed. Setting note The correct setting can be checked by means of the speed curve. If an encoder is present during commissioning, E15 n-motor encoder should be considered, otherwise E91. If the motor can not follow the set speed ramp despite sufficiently large torque limits, B48 must be increased. Values that are too large lead to the fault 56:Overspeed.

E07 n-post-rampE91 n-motor E15 n-motor-encoder B48 or ( too small)

E91 n-motor E15 n-motor-encoder B48 or ( too large)

Value range: 1.000 ... 50 ... 50.000.000

Fieldbus: 1LSB=0,001; Type: R32; (raw value:1LSB=1); USS-Adr: 02 0C 00 00 hex

2230h 0h

B52 Axis, OFF

r=2, w=2

Stator inductance: Inductance Lu-v of the motor winding in mH. Enter only for external motors. The value can be autotuned with the B41 action. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in mH: 0.001 ... 10,3 ... 2.147.483.647

Fieldbus: 1LSB=0,001mH; Type: I32; USS-Adr: 02 0D 00 00 hex

2234h 0h

Used Parameters

Electronic Cam

ID 441778.04 217


06


address

B53 Axis, OFF

r=2, w=2

Stator winding resistance: Stator winding resistance Ru-v of the motor winding in ohm. Enter only for external motors. The value can be autotuned with the B41 action. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in Ohm: 0.001 ... 13,2 ... 2.147.483.647

Fieldbus: 1LSB=0,001Ohm; Type: I32; USS-Adr: 02 0D 40 00 hex

2235h 0h

B54 Axis, OFF

r=3, w=3

Leakage factor: Ratio of leakage inductance to total inductance "Ls" of the motor NOTE The default value is sufficient for most motors and applications. Adjustments may become necessary when an external motor is connected. In such cases the value can be autotuned with the action B41. However, do not make this adjustment before consulting with STÖBER ANTRIEBSTECHNIK GmbH & Co. KG.

Value range: 0.010 ... 0,1 ... 0.300

Fieldbus: 1LSB=0,001; Type: I16; USS-Adr: 02 0D 80 00 hex


2236h 0h

B55 Axis, OFF

r=3, w=3

Magnetic saturation coefficient: The parameter specifies how much the motor is magnetically saturated at the nominal point. The parameter is important for the control accuracy of control type VC (B20 = 2:VC) in the field weakening area. NOTE The default value is sufficient for most motors and applications. Adjustments may become necessary when an external motor is connected. In such cases the value can be autotuned with the action B41. However, do not make this adjustment before consulting with STÖBER ANTRIEBSTECHNIK GmbH & Co. KG.

Value range: 0.000 ... 0,75 ... 0.950

Fieldbus: 1LSB=0,001; Type: I32; (raw value:2147483647 = 32767.000); USS-Adr: 02 0D C0 00 hex


2237h 0h

Used Parameters

Electronic Cam

ID 441778.04 218


06


address

B56 Axis, OFF

r=3, w=3

Proportional part of voltage controller: P-Gain of voltage regulator. Influence on the controller The voltage controller controls the voltage reserve of the motor. Settings to B56 affect the formation of E169 reference flux and E165 Id-ref. The P-part reduces the reference flux by the value entered in B56 for a 10V voltage difference.

Note that the parameters E168 actual flux and E169 reference flux are not available in the standard application. Setting note The correct setting can be checked using the curve of E165. Heavy vibrations when entering the field weakening area (E05 > C39) indicates control gains that are too large.

E165 Id-ref (optimum curve)E165 Id-ref (curve for voltage controller parameters that are too large)

basic speed range field weakening area

C39 Cutoff frequency

E05 f1-Motor

Value range in %: 1.0 ... 21 ... 800.0

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 02 0E 00 00 hex

2238h 0h

Used Parameters

Electronic Cam

ID 441778.04 219


06


address

B57 Axis, OFF

r=3, w=3

Integral part of voltage controller: I-Gain of voltage controller. Influence on the controller The voltage controller controls the voltage reserve of the motor. Settings to B56 affect the formation of E169 reference flux and E165 Id-ref. For a 10V voltage difference, the I-part reduces the reference magnetisation by the value entered in B57 in 100 cycles (250 µs for each one).


E165 Id-ref (optimum curve)E165 Id-ref (curve for voltage controller parameters that are too large)



E05 f1-Motor

Value range in %: 1.0 ... 21 ... 800.0


2239h 0h

Used Parameters

Electronic Cam

ID 441778.04 220


06


address

B58 Axis, OFF

r=3, w=3

Proportional part of the magnetisation controller: Proportional gain of magnetisation controller. Influence on the controller The magnetisation controller controls the reference magnetisation determined by the voltage controller and feed forward. Settings to B58 affect the formation of E165 Id-ref. For B58 = 100 % and a magnetisation difference of 1%, the P-part E165 Id-ref increases by 10 %.


E165 Id-ref (optimum curve)E165 Id-ref (curve for magnetisation parameters that are too high)

field weakening area E05 f1-Motorbasic speed range


Value range in %: 1.0 ... 12 ... 800.0


223Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 221


06


address

B59 Axis

r=3, w=3

Minimum magnetization in part-load range: Control mode SLVC-HP has an efficiency controller which attempts to set the motor to its energy-optimized operating point. Output variable for this controller is E169 reference-flux. The parameter B59 Minimum magnetization part load is the lower limit for the nominal magnetization in the part-load range. In the field-weakening range, smaller magnetizations can also occur than those set in B59. NOTE - The larger B59 is set, the larger is the possible dynamism. 100% means maximum dynamics and

minimum efficiency. - With small values for B59 it may be necessary to adjust C31 Proportional gain n-control as the

motor otherwise tends to vibrate.

Value range in %: 35.0 ... 100 ... 100.0

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 02 0E C0 00 hex

223Bh 0h

B61 Axis, OFF

r=2, w=2

T-Motor (thermal): Time constant of motor heatup in seconds.

Value range in s: 0.1 ... 1240 ... 3276.7

Fieldbus: 1LSB=0,1s; Type: I16; USS-Adr: 02 0F 40 00 hex

223Dh 0h

B62 Axis, OFF

r=2, w=2

Motor inertia: Inertia J of the motor in kg cm². For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in kg cm2: 0.0001 ... 0,167 ... 2.147.483.647

Fieldbus: 1LSB=0,0001kg cm2; Type: I32; (raw value:1LSB=0,0001); USS-Adr: 02 0F 80 00 hex

223Eh 0h

B63 Axis, OFF

r=3, w=3

Mmax/Mnom: Relationship of breakdown torque of the motor to its nominal torque.

Value range: 1.0 ... 2,5 ... 8.0

Fieldbus: 1LSB=0,1; Type: I16; (raw value:32767 = 8.0); USS-Adr: 02 0F C0 00 hex


223Fh 0h

B64 Axis

r=3, w=3

Integral time lq: Integral time of the current controller for the torque-generating share in msec. A setting under 0.6 msec causes an integral gain of 0 (corresponds to an infinite integral time). For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in ms: 0.0 ... 1,2 ... 100.0

Fieldbus: 1LSB=0,1ms; Type: I16; USS-Adr: 02 10 00 00 hex

2240h 0h

Used Parameters

Electronic Cam

ID 441778.04 222


06


address

B65 Axis

r=3, w=3

Proportional gain torque controller: Proportional gain of the torque controller. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in %: 0.0 ... 41,8 ... 800.0

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 02 10 40 00 hex

2241h 0h

B66 Axis

r=3, w=3

Integral time Id: Integral time of the current controller for the flow-generating share in msec. A setting under 0.6 msec causes an integral gain of 0 (corresponds to an infinite integral time). For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in ms: 0.0 ... 1,2 ... 100.0


Only visible when B20 is not 0:V/f-control.

2242h 0h

B67 Axis

r=3, w=3

Proportional gain flux: Proportional gain of the flow controller. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in %: 0.0 ... 20,9 ... 800.0

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 02 10 C0 00 hex


2243h 0h

B68 Axis

r=3, w=3

Kd-iq: D share of the torque controller. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in %: 0.0 ... 19,4 ... 595.8



2244h 0h

Used Parameters

Electronic Cam

ID 441778.04 223


06


address

B70 Axis, OFF

r=3, w=3

TW: Thermal time constant of the winding. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in s: 0.01 ... 81 ... 327.67

Fieldbus: 1LSB=0,01s; Type: I16; USS-Adr: 02 11 80 00 hex

2246h 0h

B72 Axis, OFF

r=3, w=3

TH: Is used for the thermal motor model. The parameter specifies in % the ratio of housing temperature and winding temperature at steady thermal factor. Example: During stationary operation at nominal point, the housing has a temperature of 110 °C, the winding 150 °C, and the ambient temperature is 25 °C. This results in: B72 = (110°C-25°C) / (150°C-25°C) * 100 % = 68 %. For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in %: 5.0 ... 57,2 ... 95.0

Fieldbus: 1LSB=0,1%; Type: I32; (raw value:409600·LSB=100%); USS-Adr: 02 12 00 00 hex

2248h 0h

B73 Axis, OFF

r=3, w=3

tr0: Specifies the speed-independent friction of the motor. Is used in the calculation of the thermal motor model (i2t motor E23). For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in Nm: -32.768 ... 0,026 ... 32.767

Fieldbus: 1LSB=0,001Nm; Type: I16; USS-Adr: 02 12 40 00 hex

2249h 0h

B74 Axis, OFF

r=3, w=3

tr1: Specifies the speed-dependent friction of the motor. Is used in the calculation of the thermal motor model (i2t motor E23). For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in Nm/1000rpm: -32.768 ... 0,001 ... 32.767

Fieldbus: 1LSB=0,0001Nm/1000rpm; Type: I16; (raw value:1LSB=0,0001·rpm); USS-Adr: 02 12 80 00 hex

224Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 224


06


address

B82 Axis, OFF

r=2, w=2

I-max: Maximum current before the motor is de-magnetized. Specification in A. The specification is taken into account for the calculation of the permitted maximum torque for servo motors.

For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in A: 0.000 ... 5,8 ... 2.147.483.647


2252h 0h

B83 Axis, OFF

r=2, w=2

n-max motor: Maximum permissible speed for the motor. Specification in Rpm.

For B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B04 = 0 and then save the changes with A00 = 1. Note that in this case other parameters are no longer read from the name plate. A list of the relevant parameters can be found in B04.

Value range in rpm: 0 ... 12500 ... 17 Bit

Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 02 14 C0 00 hex

2253h 0h

B92 Axis, OFF

r=3, w=3

Voltage limit of field weakening: Determines the entry point for field weakening. The inverter starts with field weakening when its output voltage reaches the part of A36 mains voltage entered in B92.

Setting note The set value affects the dynamic properties of the drive: the smaller the value, the better the dynamic properties. the larger the value, the smaller the electrical consumption at an operating point.

Value range in %: 55.0 ... 80 ... 95.0


225Ch 0h

B295 Global

read (3)

Double transmission motor-encoder: Indicates whether double transmission monitoring is active for the SSI encoder used as the motor encoder. Evaluation of the encoder begins without double transmission monitoring but double transmission monitoring is automatically activated after a short time if the SSI encoder being used supports this. When monitoring is inactive, data security is reduced significantly. If the motor encoder is not an SSI encoder, the parameter has no meaning.

NOTE The parameter can only be used when an SSI encoder is evaluated on the inverter.


Fieldbus: 1LSB=1; Type: B; USS-Adr: 02 49 C0 00 hex

Only visible when SSI or EnDat®Encoder is used as the motor encoder.

2327h 0h

B296 Global

read (3)

Error-counter motor-encoder: Counts the number of tolerable errors of the motor encoder since the last device new start.

NOTE The parameter can only be used when an SSI or EnDat® encoder is evaluated on the inverter.



2328h 0h

Used Parameters

Electronic Cam

ID 441778.04 225


06


address

B297 Axis

r=3, w=3

Maximum-speed motorencoder: B297 can be used for a plausibility check of the motor encoder signals for EnDat® and SSI encoders. The difference between two consecutive encoder positions are monitored. If this difference exceeds the speed specified in B297, a fault is triggered (37:n-feedback / double transmission, starting with V5.2: 37:Encoder / X4-speed or X120-speed). NOTE The parameter can only be used when an SSI or EnDat® encoder is evaluated on the inverter.


Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 02 4A 40 00 hex


2329h 0h

B298 Axis

r=3, w=3

Error-tolerance motorencoder: Sets the tolerance of the inverter to errors of the motor encoder. This tolerance can be used to prevent a fault 37:Encoder when encoder errors occur sporadically. The inverter extrapolates an encoder value in this case. The parameter B298 specifies how many errors will be tolerated before the inverter malfunctions. Error evaluation is structured as shown below: Each arriving encoder value is checked. When an encoder error is determined, B299 and B298 are compared. If the error evaluation counter B299 is greater than or equal to B298, fault 37:Encoder is triggered. If B299 is less than B298, the error is tolerated. The counter status B299 is incremented by 1.0. If the arriving encoder value is correct, the error evaluation counter B299 is decremented by 0.1. Decrementation continues until the value 0 is reached. Example: With a setting in B298 of 1.0, one error is tolerated; at least 10 correct values must be determined before the next error so that a malfunction is not triggered. The following errors are tolerated: - EnDat®-CRC - EnDat®-Busy - SSI-double transmission - SSI-Busy - Violation of the maximum speed in B297 With other encoder errors (e.g., wire break), a fault is triggered immediately regardless of B298. Error tolerance may negatively affect the quality of movement. The wiring should be checked when encoder errors occur frequently. NOTE The parameter can only be used when an SSI or EnDat® encoder is evaluated on the inverter.

Value range: 0.0 ... 1 ... 3.0

Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 02 4A 80 00 hex


232Ah 0h

B299 Global

read (3)

Error-evaluation motorencoder: Shows the current status of the error evaluation counter (see B298). NOTE The parameter can only be used when an SSI or EnDat® encoder is evaluated on the inverter.

Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 02 4A C0 00 hex


232Bh 0h

Used Parameters

Electronic Cam

ID 441778.04 226


06


address

B300.0 Global,

OFF

r=2, w=2

Brake test & start: WARNING Danger of injury or property damage due to defective motor halting brake. Starting the brake test action releases the motor brakes one after the other. During the encoder test and/or in the case of a faulty brake, the drive axis may move. Take special cautionary measures particularly in case of gravity-stressed axes. Restrict the direction of rotation in B306 if the drive is not permitted to rotate in a particular direction. Information The brake test requires a motor encoder. Only the configured (slip-free) motor encoder is evaluated. The brake test checks to see whether the brakes can still provide the necessary stopping torque. For this purpose an encoder test is performed initially with the brake released. Then brake 1 is applied and the drive is taught a parameterizable testing torque in every permissible direction of rotation. If the drive determined a movement and the brake could not provide the required counter torque, the test is considered failed. The parameterizable testing torques are entered in the parameters B304.x (positive torque) and B305.x (negative torque). This is repeated for brake 2 (if brake 2 exists). Afterwards, the encoder is tested again. Information Remember that the motor torque is limited to the values in C03 and C05. If greater values are entered in B304.x and B305.x, they cannot be achieved. Check E62 and E66 to determine whether additional torque limits are also in effect. Information Remember that, with thrust axes, the torque to be provided by the motor for the direction of revolution in which loads are reduced is calculated as follows: MParameter = MBrake - MLoad MParameter: Torque to be entered in B304.x or B305.x MBrake: Stopping torque to be provided by the brake MLoad: Load torque Information During the brake test action, the cycle time is set internally to 32 ms. This occurs when the action is activated. After conclusion of the action, the previous cycle time is used again. Prerequisites for the performance of a brake test: You have parameterized the brake activation with the parameter F08 and F09. In B304.0 you specified for brake 1 the torque which must stop the brake in the positive direction

of revolution. In B305.0 you specified for brake 1 the torque which must stop the brake in the negative direction

of revolution. In B304.1 you specified for brake 2 the torque which must stop the brake in the positive direction

of revolution. In B305.1 you specified for brake 2 the torque which must stop the brake in the negative direction

of revolution. If the drive may only revolve in one direction, you have restricted the direction of revolution for the

test in parameter B306. You have entered the angle of revolution in B307 which the drive evaluates as standstill.

232Ch 0h

Used Parameters

Electronic Cam

ID 441778.04 227


06


address

Information If you would like to perform the action and brake management considers a brake test mandatory (fault 72), the fault must be acknowledged before the action starts. However, the acknowledgment is only in effect for 5 minutes. If a valid brake test B300 is not performed during this time, the fault appears again. Once you have acknowledged the malfunction, you can continue with the perform brake test instruction. To perform the brake test, proceed as follows: 1. Change to the device state Ready for switch on. 2. Set the action B300.0 brake test & start to 1:active. 3. Switch on the enable signal. (1) The inverter starts the brake test and the motor begins rotating. The drive may move during

this process. 4. Wait until B300.1 indicates the result 100 % and B300.2 indicates the result 0:error free. 5. Switch the enable signal off. The brake test was performed successfully. If you did not achieve the result, parameter B300.2 will give you information on the cause. The inverter keeps an internal brake test memory with the last 20 events from B300.2 as well as the actually achieved stopping torques for brakes 1 and 2 in the positive and negative direction. When the result is 0: error free, these correspond to the values parameterized in B304.x and B305.x. If the values stored in the brake test memory are less than these, the brake test was not successful. The maximum positioning path for the brake test is approx. 45° in both directions. If a direction of revolution is restricted, the positioning path is 2 x 45° in the permitted direction. A stopping distance based on the torque and the inertia ratio is added in both cases. With coupled mechanics, you will have to include the gear ratio in the calculations. When both directions of revolution are permitted in B306, positioning in the positive direction occurs first. Remember that this calculation is only valid for an intact brake. When the tested brake cannot provide the required stopping torque, the positioning path cannot be calculated. In this case, the inverter switches off within < 10 ms and activates a second brake (if one exists). The standstill of the drive is then primarily affected by the application time and functional efficiency of the second brake. If there is no second brake, the motor coasts down. (1) If the enable signal is not switched on within 30 seconds, the function is interrupted automatically.


B300.1 Global

read (2)

Process: Progress of the brake test in %.

Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 4B 00 01 hex

232Ch 1h

Used Parameters

Electronic Cam

ID 441778.04 228


06


address

B300.2 Global

read (2)

Result: After conclusion of the brake test action, the result can be queried here. The achieved test torques (in positive and negative directions - for brakes 1 and 2) of the last 20 tests are stored in a brake test memory. These can only be indicated in POSITool.

0: error free 1: aborted. The brake test action was aborted. Reasons for the abortion may be: - The enable was switched off during the test. - The enable signal has not been switched on within 30 seconds. Perform the brake test again. 2: maximal torque not reached for brake 1. During the test, brake 1 could not maintain the required

torque. Perform the grind-brake function for brake 1 or replace brake 1. Then perform the brake test again.

3: maximal torque not reached for brake 2. During the test, brake 2 could not maintain the required torque. Perform the grind-brake function for brake 2 or replace brake 2. Then perform the brake test again.

4: Fault; Possible reasons for this message: - No brake is parameterized. Set F08 to 1:active and F09 to the brake being used. - No encoder is parameterized. Determine whether an encoder exists and whether the

connected motor can be operated in Servo control or Vector control control mode. Set B20 accordingly.

- Brake test has not been activated in the state "Ready for switch on" (e.g. in the state "Switch on inhibit").

5: encoder defective. Reasons for this message may be: - The brake(s) does/do not release. Test the brakes. - The encoder is defective. Contact the STÖBER hotline at +49 (0) 180 5 786323. 6: E62/E66 torque limit; Possible reasons for this message: - C03/C05 is not set high enough. - Other application-dependent torque limits are in effect. - The device is overloaded.


232Ch 2h

B301.0 Global,

OFF

r=2, w=2

Brake 1 grind &start:

WARNING Danger of injury or property damage due to defective motor halting brake. Starting the brake grinding function releases the motor brakes one after the other. During the encoder test and/or in the case of a faulty brake, the drive axis may move. Take special cautionary measures particularly in case of gravity-stressed axes. Restrict the direction of rotation in B306 if the drive is not permitted to rotate in a particular direction.

WARNING Danger due to movement of the drive. During the action, the motor rotates at approx. 20 Rpm and with the torque entered in C03 or C05. Check E62 and E66 to determine whether additional torque limits are also in effect. Ensure the following: - Before the function starts, make sure the drive is in a position in which it is permissible for it to

move at this speed and torque. Information Note that this function can only be used with the SDS 5000 in conjunction with a BRS 5000 and encoder feedback.

Information The brake grinding function can, unlike the function B300 Brake test, also be used on asynchronous motors without encoder.

232Dh 0h

Used Parameters

Electronic Cam

ID 441778.04 229


06


address

Information Please note that the brake grinding function is defined for the STÖBER drive system (gear motor with brake and, if applicable ServoStop). For example, you cannot use the brake grinding function with brakes that are attached to the output power of the gear unit. It is essential to clarify the technical demands on a system from another manufacturer before you use this function.

During the brake grinding function, the brake is repeatedly applied for approx. 0.7 s and then released for approx. 0.7 s while the motor is rotating with approx. 20 rpm. This grinds off any deposits from the friction surface which may affect the halting function. Action B301.0 starts the grind-brake function for brake 1. You can parameterize: - how often the brake is applied (B308) during rotation - how often the drive is to rotate in each direction (B309) - whether one direction of revolution is inhibited (B306)

Information During the brake grinding action, the cycle time is set internally to 32 ms. The change occurs when the action is activated. After the action is concluded, the previous cycle time is used again.

Prerequisites for the use of the grind-brake function: You have parameterized brake activation. In B308 you have entered how often the brake is to be applied while rotating in one direction. In B309 you have entered how often the drive is to grind in each direction. In B306 you have specified whether one direction of rotation is inhibited. The brake should be ground with its maximum holding torque. For normal motor-controller

combinations this is the case with C03/C05 = ±200 %. Check E62 and E66 to see whether other torque limits are also in effect.

Information If you would like to perform the action and brake management considers a brake test mandatory (fault 72), the fault must be acknowledged before the action starts. However, the acknowledgment is only in effect for 5 minutes. If a valid brake test B300 is not performed during this time, the fault appears again. Once you have acknowledge the malfunction, you can continue with the brake grinding function instruction.

To perform the brake grinding function, proceed as shown below: 1. Change to the device state Ready for switch on. 2. Set parameter B301.0 grind brake 1 & start to 1:active. 3. Switch on the enable signal. (1) The drive begins to revolve in accordance with the parameter specifications. 4. Wait until parameter B301.1 indicates the result 100 % and parameter B301.2 the result 0: error

free. 5. Turn the enable off. You have successfully performed the brake grinding function.

If you did not achieve the result, parameter B301.2 will provide you with information on the cause. The inverter maintains an internal memory with the operating times of the last 40 successful grinding procedures. All grinding procedures are counted in parameter E176 regardless of the result. The maximum positioning path is B308 x 0.5 motor revolutions. With coupled mechanics, you will have to include the gear ratio in your calculations. When both directions of revolution are permitted in B306, positioning in the positive direction occurs first.

(1) If the enable signal is not switched on within 30 seconds, the function is interrupted automatically.

0: error free; 1: aborted; 4: fault;


Used Parameters

Electronic Cam

ID 441778.04 230


06


address

B301.1 Global

read (2)

Process: Progress of the grind-brake 1 action in %.



232Dh 1h

B301.2 Global

read (2)

Result: After conclusion of the grind-brake 1 action, the result can be queried here. The operating times of the last 40 error-free grind-brake X actions are saved. This memory can only be indicated in POSITool.

0: error free 1: aborted. The brake grinding function was terminated. Reasons for the termination may be: - The enable was switched off during the test. - The enable signal has not been switched on within 30 seconds. Perform the brake grinding function again. 4: Fault; Possible reasons for this message: - Brake 1 is not parameterized. Set F08 to 1:active and F09 to 1:brake1 or 3:brake1and2. - Brake grinding 1 has not been activated in the state "Ready for switch on" (e.g. in the state

"Switch on inhibit").


232Dh 2h

B302.0 Global,

OFF

r=2, w=2

Brake 2 grind &start: WARNING Danger of injury or property damage due to defective motor halting brake. Starting the brake grinding function releases the motor brakes one after the other. During the encoder test and/or in the case of a faulty brake, the drive axis may move. Take special cautionary measures particularly in case of gravity-stressed axes. Restrict the direction of rotation in B306 if the drive is not permitted to rotate in a particular direction. WARNING Danger due to movement of the drive. During the action, the motor rotates at approx. 20 Rpm and with the torque entered in C03 or C05. Check E62 and E66 to determine whether additional torque limits are also in effect. Ensure the following: - Before the function starts, make sure the drive is in a position in which it is permissible for it to

move at this speed and torque. Information Note that this function can only be used with the SDS 5000 in conjunction with a BRS 5000 and encoder feedback. Information The brake grinding function can, unlike the function B300 Brake test, also be used on asynchronous motors without encoder. Information Please note that the brake grinding function is defined for the STÖBER drive system (gear motor with brake and, if applicable ServoStop). For example, you cannot use the brake grinding function with brakes that are attached to the output power of the gear unit. It is essential to clarify the technical demands on a system from another manufacturer before you use this function.

232Eh 0h

Used Parameters

Electronic Cam

ID 441778.04 231


06


address

B302.0 Global,

OFF

r=2, w=2

During the brake grinding function, the brake is repeatedly applied for approx. 0.7 s and then released for approx. 0.7 s while the motor is rotating with approx. 20 rpm. This grinds off any deposits from the friction surface which may affect the halting function. Action B302.0 starts the grind-brake function for brake 2. You can parameterize: - how often the brake is applied (B308) during rotation - how often the drive is to rotate in each direction (B309) - whether a direction of revolution is inhibited (B306) Information During the brake grinding action, the cycle time is set internally to 32 ms. The change occurs when the action is activated. After the action is concluded, the previous cycle time is used again. Prerequisites for the use of the grind-brake function: You have parameterized brake activation. In B308 you have entered how often the brake is to be applied while rotating in one direction. In B309 you have entered how often the drive is to grind in each direction. In B306 you have specified whether one direction of rotation is inhibited. The brake should be ground with its maximum holding torque. For normal motor-controller

combinations this is the case with C03/C05 = ±200 %. Check E62 and E66 to see whether other torque limits are also in effect. Information If you would like to perform the action and brake management considers a brake test mandatory (fault 72), the fault must be acknowledged before the action starts. However, the acknowledgment is only in effect for 5 minutes. If a valid brake test B300 is not performed during this time, the fault appears again. Once you have acknowledge the malfunction, you can continue with the brake grinding function instruction. To perform the brake grinding function, proceed as shown below: 1. Change to the device state Ready for switch on. 2. Set parameter B302.0 grind brake 2 & start to 1:active. 3. Switch on the enable signal. (1) The drive begins to revolve in accordance with the parameter specifications. 4. Wait until parameter B302.1 indicates the result 100 % and parameter B302.2 the result 0: error

free. 5. Turn the enable off. You have successfully performed the brake grinding function. If you did not achieve the result, parameter B302.2 will provide you with information on the cause. The inverter maintains an internal memory with the operating times of the last 40 successful grinding procedures. All grinding procedures are counted in parameter E176 regardless of the result. The maximum positioning path is B308 x 0.5 motor revolutions. With coupled mechanics, you will have to include the gear ratio in your calculations. When both directions of revolution are permitted in B306, positioning in the positive direction occurs first. (1) If the enable signal is not switched on within 30 seconds, the function is interrupted automatically.



232Eh 0h

Used Parameters

Electronic Cam

ID 441778.04 232


06


address

B302.1 Global

read (2)

Process: Progress of the grind-brake 2 action in %.



232Eh 1h

B302.2 Global

read (2)

Result: After conclusion of the grind-brake 2 action, the result can be queried here. The operating times of the last 40 error-free grind-brake X actions are saved. This memory can only be indicated in POSITool.

0: fehlerfrei 1: aborted. The brake grinding function was terminated. Reasons for the termination may be: - The enable was switched off during the test. - The enable signal has not been switched on within 30 seconds. Perform the brake grinding function again. 4: Fault; Possible reasons for this message: - Brake 2 is not parameterized. Set F08 to 1:active and F09 to 2:brake2 or 3:brake1and2. - Brake grinding 2 has not been activated in the state "Ready for switch on" (e.g. in the state

"Switch on inhibit").


232Eh 2h

B304.0 Axis

r=2, w=3

Max-positive torque for B300: The maximum positive torque to be impressed during the B300 brake test action as a percentage of motor standstill torque M0 for servo motors and nominal torque Mn for asynchronous motors. If the maximum torque is not maintained by the brake during the brake test, the action terminates with the result B300.2 = maximum torque not achieved for brake 1/2. Enter the maximum torque for brake 1 in B304.0 and in B304.1 for brake 2.

Value range in %: 0 ... 100 ... 200

Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 02 4C 00 00 hex

Only visible when F08 brake is not 0:inactive.

2330h

Array

0h

B304.1 Axis

r=2, w=3

Max-positive torque for B300: The maximum positive torque to be impressed during the B300 brake test action as a percentrage of motor standstill torque M0 for servo motors and nominal torque Mn for asynchronous motors. If the maximum torque is not maintained by the brake during the brake test, the action terminates with the result B300.2 = maximum torque not achieved for brake 1/2. Enter the maximum torque for brake 1 in B304.0 and in B304.1 for brake 2.

Value range in %: 0 ... 100 ... 200



2330h

Array

1h

B305.0 Axis

r=2, w=3

Max-negative torque for B300: The maximum negative torque to be impressed during the B300 brake test action as a percentrage of motor standstill torque M0 for servo motors and nominal torque Mn for asynchronous motors. If the maximum torque is not maintained by the brake during the brake test, the action terminates with the result B300.2 = maximum torque not achieved for brake 1/2. Enter the maximum torque for brake 1 in B305.0 and in B305.1 for brake 2.

Value range in %: -200 ... -100 ... 0



2331h

Array

0h

Used Parameters

Electronic Cam

ID 441778.04 233


06


address

B305.1 Axis

r=2, w=3

Max-negative torque for B300: The maximum negative torque to be impressed during the B300 brake test action as a percentrage of motor standstill torque M0 for servo motors and nominal torque Mn for asynchronous motors. If the maximum torque is not maintained by the brake during the brake test, the action terminates with the result B300.2 = maximum torque not achieved for brake 1/2. Enter the maximum torque for brake 1 in B305.0 and in B305.1 for brake 2.

Value range in %: -200 ... -100 ... 0



2331h

Array

1h

B306 Axis

r=2, w=3

Move direction for B300-B302: With axes which have only one mechanically permissible direction, all actions for B300 brake test, B301 grind-brake 1 and B302 grind-brake 2 are only performed in the specified direction.

0: positive and negative. Both directions are permitted. 1: positive. Only the positive direction is permitted. 2: negative. Only the negative direction is permitted.



2332h 0h

B307 Axis

r=2, w=3

Standstill window for B300: The standstill window to be monitored in degrees during the B300 brake test action. If, during the brake test, the axis moves by more than the angle specified here, the action is terminated with the result B300.2 = maximum torque not achieved for brake 1/2.

Value range in °: 0.0 ... 1,8 ... 360.0

Fieldbus: 1LSB=0,1°; Type: I16; (raw value:32767 = 2879.9 °); USS-Adr: 02 4C C0 00 hex


2333h 0h

B308 Axis

r=2, w=3

No of intervals for B301/B302: B308 contains how often the brake is to be applied per direction during the actions B301 brake1 grind and B302 brake 2 grind during a grinding procedure.

Value range: 1 ... 5 ... 255



2334h 0h

B309 Axis

r=2, w=3

No of cycles for B301/B302: The repetitions of the grinding positioning movements in the positive and negative direction to be performed for actions B301 grind-brake 1 and B302 grind-brake 2.

Value range: 1 ... 1 ... 255



2335h 0h

Used Parameters

Electronic Cam

ID 441778.04 234


06


address

B310 Global

r=2, w=3

Brake management: Activates or deactivates brake management. Active brake management forces the regular performance of the B300 brake test action. Information When brake management is inactive, all E177 time passed since last brake test timers are cleared.

0: inactive: Brake management is switched off. 1: global; Brake management is globally active. Common monitoring is performed for all

parameterized axes. The settings in F08 brake and B311 timeout for brake test B300 on axis 1 apply to brake management, regardless of the number of configured axes.

2: axis spec.: Brake management is active axis-specifically. An independent monitoring procedure is performed for each parameterized axis. This setting must be selected when several motors are connected to the inverter via POSISwitch®. The settings must be made for brake management on each configured axis (e.g., in 1.F08 for axis 1 and in 3.F08 for axis 3).


2336h 0h

B311 Axis

r=2, w=3

Timeout for brake test B300: Defines the time within which action B300 brake test should be performed. After the set time expires, the device indicates a message. After the set time expires for the second time, the device changes to the device fault state. Gerätezustand Störung. To avoid interrupting your production process, the malfunction is only generated if there is no enable. This makes it possible to delay the timeout. The fault must be acknowledged before the actions B300 brake test, B301 brake 1 grind and B302 brake 2 grind can be performed.

Value range in hours: 1 ... 168 ... 8760

Fieldbus: 1LSB=1hours; Type: U32; (raw value:4294967295 = 298261 hours); USS-Adr: 02 4D C0 00 hex

Only visible when B310 exists and is not 0:inactive.

2337h 0h

C.. Machine Par. Description Fieldbus-

address

C01 Axis

r=2, w=2

n-max: Maximum permissible speed. The speed is related to the motor shaft speed. When C01*1.1 + 100 Rpm is exceeded, the inverter assumes fault "56:Overspeed." C01 may not exceed the maximum permissible motor speed B83. For positioning application the n-forwardfeed is limited to C01.



2401h 0h

C03 Axis

r=1, w=1

Max-positive Torque: Positive maximum torque in % of motor standstill torque M0 with servo motors and nominal torque Mn for asynchronous motors. If the maximum torque is exceeded, the controller reacts with the message "47:M-MaxLimit." Depending on the operational status and the configuration being used, the actual, active, positive, maximum torque may differ from C03. The active, positive maximum torque can be monitored in E62. See also E22 and C06 (if present).

Value range in %: 0 ... 150 ... 750


2403h 0h

C05 Axis

r=1, w=1

Max-negative Torque: Positive maximum torque in % of motor standstill torque M0 with servo motors and nominal torque Mn for asynchronous motors. When the maximum torque is exceeded, the controller reacts with the message "47:M-MaxLimit" and E180 = 1. Depending on the operational state and the configuration being used, the actual, active, negative maximum torque may differ from C05. The active, negative, maximum torque can be monitored in E66. See also E22 and C06 (if present).

Value range in %: -750 ... -150 ... 0


2405h 0h

Used Parameters

Electronic Cam

ID 441778.04 235


06


address

C06 Axis

r=2, w=2

Factor torque limit: Weighting factor for the torque limits. The reference value can be selected for most standard applications via C130. When the parameterized torque limits C03, C05 specify other limit values, the smaller value becomes the active torque limit. C06 must be increased for some standard applications to allow torques over 200 % to take effect in C03, C05.

Value range in %: 0.0 ... 200 ... 800.0


2406h 0h

C08 Axis

r=2, w=2

Quick stop torque limit: Quick stop causes the inverter to switch to the torque limit set in C08. The limits specified in C03, C05 or other limits specified by the application are ignored during the quick stop. However, the effective torque limit can be automatically reduced if an operating limit of the inverter or the motor would be violated otherwise.

Value range in %: 0 ... 150 ... 750


2408h 0h

C20 Axis, OFF

r=3, w=3

Startup Mode: Specifies the startup behavior of the drive.

0: normal; Default setting 1: load start; For machines with increased break away torque. During the time time-load start

(C22), the motor torque is increased to torque load start (C21) and the speed is controlled with a sixteenth of the current ramp.

2: cycle characteristic; A torque pre-control is performed, i.e. the inverter calculates the required torque from the specified motor-type (B00) and the ratio of the inertias J-load/J-motor (C30). This calculated torque is impressed on the drive. Forward feed is only calculated for acceleration or deceleration procedures. When reference value changes are less than the used ramp or the drive is in static operation, forward feed is deactivated. This provides a tolerance to reference value noise.

3: capturing; A turning motor is connected to the inverter. The inverter determines the actual speed of the motor, synchronizes itself and specifies the appropriate reference value.

4: cycle characteristic 2; A torque forward feed is performed with the setting 2:cycle characteristic (i.e., the inverter calculates the required torque from the specified motor type (B00) and the inertia ratio of load/motor (C30). This calculated torque is impressed on the drive.

In comparison to 2:cycle characteristic, the drive tends to vibrate with this setting.



2414h 0h

Used Parameters

Electronic Cam

ID 441778.04 236


06


address

C21 Axis, OFF

r=3, w=3

Torque load start: meaning dependent on B20 control mode. B20 = 1: Sensorless vector control Only when C20 = 1 (load start). Determination of the torque for the load start. B20 = 3: SLVC-HP C21 is used to specify a constant load torque (friction, weight for vertical axes, etc.) for the load start at speeds < 5% B13 nominal speed. Reference value for C21 is B18. The torque specified in C21 always refers to the motor shaft.

M load

Mmotor C21

n1

n2

C21 is irrelevant for speeds > 5% B13 nominal speed. The total torque is made up of an acceleration torque and C21. The acceleration torque calculated from the mass moment of inertia of the complete system, the acceleration (D00 for the speed application, derivation of the reference speed for position applications) and the load torque. C21 has no influence on the brake torque. This is only calculated from the brake ramp. The effects of C21 are visible at E166 Iq-ref. If the actual load torque is significantly smaller than C21, this leads to a jerky start and large stationary speed differences. If C21 is significantly smaller than the load torque, the motor can not accelerate.

E166 Iq-ref

acceleration torque

C21

constant travelacceleration brake

brake torque

Value range in %: 0 ... 10 ... 400


2415h 0h

C22 Axis, OFF

r=3, w=3

Time load start: Only when C20 = 1. Time for the difficult startup with the torque defined under C21.

Value range in s: 0.0 ... 5 ... 10.0

Fieldbus: 1LSB=0,1s; Type: I16; (raw value:32767 = 32.8 s); USS-Adr: 03 05 80 00 hex


2416h 0h

Used Parameters

Electronic Cam

ID 441778.04 237


06


address

C30 Axis

r=2, w=3

J-load/J-motor: Ratio of the mass inertia of load to motor. The meaning is dependent on B20 control mode. B20 = 1: Sensorless vector control When using the SLVC control mode, C30 affects the dynamics of the torque limit. If the drive is operated in this control mode in cycle operation, C30 is used for the calculation of the feed forward. B20 = 3: SLVC-HP When using the SLVC-HP control mode, C30 has an influence on the calculation of the acceleration and brake torque in the low speed range (< 5 % nominal speed). D00, D01 and C21 also have an influence on the acceleration and brake torque.

Value range: 0.0 ... 0 ... 512.0

Fieldbus: 1LSB=0,1; Type: I16; (raw value:32767 = 512.0); USS-Adr: 03 07 80 00 hex

241Eh 0h

C31 Axis

r=2, w=2

Proportional gain n-controller: Proportional gain of the speed controller. With C31 = 100 % and a speed deviation of 32 Rpm, the P-share of the speed controller supplies the standstill moment M0 as reference value to the current or torque controller.

Value range in %: 0.0 ... 10 ... 800.0


241Fh 0h

C32 Axis

r=2, w=2

Integral time n-controller: Time constant of the I share in speed controller. A short integral time causes a high integration speed and thus increases the "static rigidity" of the drive. With dynamic processes, a short integral time can cause overswinging in the target position. In this case, increase C32. The I-controller is deactivated with C32 < 1 msec.

At C31 = 100 % and a speed deviation of 32 Rpm, the I share of the speed controller supplies the nominal motor torque for the current or speed torque controller precisely after the integral time C32.

Value range in ms: 0.0 ... 50 ... 3276.7


2420h 0h

C33 Axis

r=3, w=3

Low pass reference speed: Reference value smoothing. C33 should be increased in case of reference value noise, vibrating mechanics or large external masses.

Value range in ms: 0.0 ... 0 ... 500.0

Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.12; USS-Adr: 03 08 40 00 hex

2421h 0h

C34 Axis

r=2, w=2

n-motor low pass: Smoothing time constant for the measured motor speed in msec. Any noise during the measurement of the motor speed causes disagreeable noise and an additional thermal motor load. C34 helps to reduce speed noise and thus improve the smoothness of running. C34 should be kept as low as possible since an increase of C34 reduces the achievable controller gain C31 and thus the dynamics.

Value range in ms: 0.0 ... 0,8 ... 10.0


2422h 0h

C36 Axis

r=2, w=2

Reference torque low pass: Smoothing time constant for the torque reference value on the output of the speed controller in msec. Is used to suppress vibration and resonance. The effect of torque smoothing is dosed with C37.

Value range in ms: 0.0 ... 1 ... 40.0


2424h 0h

Used Parameters

Electronic Cam

ID 441778.04 238


06


address

C37 Axis

r=3, w=3

Reference torque filter: The torque reference value is generated on the output of the speed controller from two components whose relationship is affected by C37. Direct output of the PI speed controller (share corresponds to 100 %-C37). Smoothed output of PI speed controller (share corresponds to C37). For maximum dynamics, set C37 = 0 %. The reference value low pass is cancelled out with the time constant C36. C37 can be increased to 100 % to attenuate the vibrations.

Value range in %: 0 ... 25 ... 100


2425h 0h

C38 Axis, OFF

r=3, w=3

Derating speed-controller: derating of the speed controller in the field weakening area. C38 specifies what percentage of the speed controller gain set in C31 is still used for 200 % B15 nominal frequency. Derating is also performed for the I-Gain (ki = C31/C32). Derating starts with initial field weakening (E05 f1-Motor > C39 cutoff frequency) and reaches the value for double the nominal frequency entered in C38.

C32 integral time n-ctrl

C31 proportionalgain n-control

E07 n-post-ramp-

Proportional gain

Integralgain

Derating

Speed controller

E166 Iq-refMmax

PI controllerMmin

C38/100

1

C39 2*B15

X

X

E91 n-Motor Example: C31 = 10 %, C32 = 50 msec, C38 = 50 % Controller gains for E05 < C39: kp = C31 = 10 % ki = C31/C32 = 0,2 %/msec Controller gains for E05 = 2 * B15: kp = C31 = 5 % ki = C31/C32 = 0,1 %/msec

Value range in %: 25.0 ... 100 ... 800.0


2426h 0h

Used Parameters

Electronic Cam

ID 441778.04 239


06


address

C39 Axis, OFF

r=3, w=3

Cutoff frequency: Determines the cutoff frequency of the magnetisation feed forward. Influence on the controller The feed forward consists of a magnetisation frequency characteristic curve that controls the reference magnetisation (independent of the motor voltage). If E05 < C39 applies, the feed forward is constant. Magnetisation is reduced for larger frequencies. C39 also has some influence on the tracking of the speed controller gain with C38.

E05 f1-Motor

E165Id-ref

E168 Actual flux

E03 DC-link-voltage

E04 U-Motor

E169reference-flux

voltage controller

feed forwardMagn.

magnetisation controller

f

Note that the parameters E168 actual flux and E169 reference flux are not available in the standard application. Setting note The selection of C39 is determined by A36 supply voltage. A reference value for C39 can be calculated as follows: C39 = A36/B14 * B15 * 0.82.

E165 Id-ref (C39 )= DefaultE165 Id-ref C39(changes to )



E05 f1-Motor

Value range in Hz: 0.0 ... 50 ... 200.0

Fieldbus: 1LSB=0,1Hz; Type: I16; (raw value:32767 = 200.0 Hz); USS-Adr: 03 09 C0 00 hex

2427h 0h

Used Parameters

Electronic Cam

ID 441778.04 240


06


address

C61 Axis

r=3, w=3

Speed limiter: Switches the speed limiter on. When n-limiter is on, the inverter still limits only the maximum speed and is in torque control mode. Remember that the parameter is automatically set by the comfort reference value application when torque control is parameterized. You must set C61 in the technology controller application if you want to use torque control. Torque control is not possible for any of the other applications.

0: inactive; Normal speed control (possible with higher-level position control, see C62). 1: active; Torque control with speed limiter.


243Dh 0h

C62 Axis

r=3, w=3

Position ctrl: Switch position control on and off. Position control is used, for example, for positioning or precise-angle synchronous operation. With all positioning applications (also without encoder), C62 = 1 is required.

0: inactive; 1: active; position control


243Eh 0h

C130 Axis, OFF

r=2, w=2

Torque limit source: Selection of the source for the signal of the external torque limit "M-Max." It can be permanently specified that the signal is supplied by the analog inputs or the fieldbus. With C130 = 4:Parameter, the (global) parameter C230 is used as the signal source. The resulting torque limit is indicated in C330.

0: 0 (zero); 1: AE1; 2: AE2; 3: AE3; 4: parameter;


2482h 0h

C230 Global

r=2, w=2

Torque limit: Specification for the torque limit (absolute value) via fieldbus if the signal source is C130 = 4:Parameter.

Value range in %: -200 ... 200 ... 200

Fieldbus: 1LSB=1%; PDO ; Type: I16; (raw value:32767·LSB=200%); USS-Adr: 03 39 80 00 hex

24E6h 0h

C330 Axis

read (2)

Torque limit: Indication of the value of the Torque Limit signal on the interface for calculation of the torque limits. The internal, currently effective torque limits also depend on the fixed torque limits C03 and C05 as well as any possible torque limit due to the i²t model. The current limits are indicated in E62 and E66.

Fieldbus: 1LSB=1%; PDO ; Type: I16; (raw value:32767·LSB=200%); USS-Adr: 03 52 80 00 hex

254Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 241


06

D.. Reference Value Par. Description Fieldbus-

address

D93 Global

r=1, w=1

Reference value generator: For commissioning and optimization of speed control. If D93 = 0:bipolar, then +D95 and -D95 are specified alternately. If D93 = 1:unipolar, then 0 rpm and D95 are specified alternately. Each speed specification remains valid for the time D94.

0: bipolar; Normal reference value selection. 1: unipolar; ±D95 is cyclically specified as reference value. The time can be set in D94.


265Dh 0h

D94 Global

r=1, w=1

Ref. val. generator time: The reference value changes each time this period of time expires.

Value range in ms: -32768 ... 500 ... 32767

Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 04 17 80 00 hex

265Eh 0h

D95 Global

r=1, w=1

Ref. val. generator speed: Speed reference value of the reference value generator.

Value range in rpm: -8191 ... 250 ... 8191

Fieldbus: 1LSB=1rpm; Type: I16; (raw value:32767 = 8191 rpm); USS-Adr: 04 17 C0 00 hex

265Fh 0h

D96.0 Global

r=1, w=1

Reference value generator & start: Writing a one starts the reference value generator action. A square-shaped reference value is specified for the motor. The action can only be used with control modes servo-control and vector control (control mode B20). The enable must be LOW at the starting point. After D96.0 = 1, the enable must be switched HIGH. Any existing brake is automatically released. WARNING Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may only be performed with motors which are not installed in a system.



2660h 0h

D96.1 Global

read (1)

Process: Shows the progress of the reference value generator action in %.



2660h 1h

D96.2 Global

read (1)

Result: Shows the result of the reference value generator action.



2660h 2h

E.. Display Value Par. Description Fieldbus-

address

E00 Global

read (0)

I-Motor: Indicates the current motor current as amount in amperes.

Fieldbus: 1LSB=0,1A; PDO ; Type: I16; raw value:1LSB=Fnct.no.3; USS-Adr: 05 00 00 00 hex

2800h 0h

Used Parameters

Electronic Cam

ID 441778.04 242


06


address

E01 Global

read (0)

P-Motor: Indicates the current active power of the motor in kW.

Fieldbus: 1LSB=0,001kW; PDO ; Type: I32; (raw value:2147483647 = 3435.973 kW); USS-Adr: 05 00 40 00 hex

2801h 0h

E02 Global

read (0)

M-Motor filtered: Indication of the current motor torque in Nm. With asynchronous types of control as related to the nominal motor torque, with servo types of control as related to the standstill moment M0. Smoothed for indication on the device display. Access to unsmoothed amount is possible with E90.

Fieldbus: 1LSB=0,1Nm; PDO ; Type: I16; raw value:1LSB=Fnct.no.7; USS-Adr: 05 00 80 00 hex

2802h 0h

E03 Global

read (1)

DC-link-voltage: Indication of the current DC link voltage. Value range with single-phase inverters: 0 to 500 V, with three-phase inverters 0 to 800 V.

Fieldbus: 1LSB=0,1V; PDO ; Type: I16; USS-Adr: 05 00 C0 00 hex

2803h 0h

E04 Global

read (1)

U-Motor: Chained effective voltage present on the motor.

Fieldbus: 1LSB=0,1V; PDO ; Type: I16; (raw value:32767 = 2317.0 V); USS-Adr: 05 01 00 00 hex

2804h 0h

E05 Global

read (1)

f1-Motor: Frequency of the voltage applied to the motor.

Fieldbus: 1LSB=0,1Hz; PDO ; Type: I32; (raw value:2147483647 = 512000.0 Hz); USS-Adr: 05 01 40 00 hex

2805h 0h

E07 Global

read (1)

n-post-ramp: Indication of the current speed reference value as related to the motor shaft after the ramp generator and the n-reference value lowpass. In operating mode position (C62 = 1), the sum of output position control and n-forwardfeed (= speed control reference value) is indicated.

Fieldbus: 1LSB=0,1rpm; PDO ; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 05 01 C0 00 hex

2807h 0h

E08 Global

read (0)

n-motor filtered: Indication of the current motor speed. Smoothed for indication on the device display. Access to the unsmoothed motor speed is possible with E91. When the drive is operated without feedback, this speed is determined mathematically via the motor model (in this case, the actual motor speed may differ from the calculated speed).

Fieldbus: 1LSB=1rpm; PDO ; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 05 02 00 00 hex

2808h 0h

E09 Global

read (0)

Rotor position: Position of the motor shaft and the motor encoder respectively. With absolute value encoders, the encoder position is continuously read from the encoder and entered in this parameter. The value range is limited to ±128 U. This position is available for all operating modes. With types of control without motor encoders, E09 is simulated (not precise). The display shows whole motor revolutions with 3 positions after the decimal point. The full resolution of 24 B bit/U is supplied via fieldbus. Accuracy and maximum value range varies with the encoder. When E09 is evaluated by a higher-level controller for position acquisition, the following must be true: The encoder increment number must be an even power of two. E09 must be read cyclically The position must be accumulated on the controller. Fieldbus: 1LSB=0,001revolutions; PDO ; Type: I32; (raw value:24 Bit=1·revolutions); USS-Adr: 05 02 40 00 hex

2809h 0h

Used Parameters

Electronic Cam

ID 441778.04 243


06


address

E10 Global

read (1)

AE1-Level: Level of the signal available on analog input 1 (X100.1 - X100.3) (without consideration of F11, F12). To compensate for an offset (the value which arrives at the inverter when the controller specifies 0 V), this must be entered with the opposite sign in F11.


280Ah 0h

E11 Global

read (1)

AE2-Level: Level of the signal on analog input 2 (X100.4 - X100.5) (without consideration of F21, F22). To compensate for an offset (the value which arrives at the inverter when the controller specifies 0 V), this must be entered in F21 with the opposite sign.

Fieldbus: 1LSB=0,001V; PDO ; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 05 02 C0 00 hex

280Bh 0h

E12 Global

read (1)

Motor temperature: Temperature measured on X2 by the motor temperature sensor.

Fieldbus: 1LSB=1°C; PDO ; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 05 03 00 00 hex

Only if B38 is not equal to 0.

280Ch 0h

E14 Global

read (2)

Chargerelay: Status of the internal charging relay. Active means that the relay contact is closed and the charging resistors from the power network to the DC link are bypassed. When the network voltage is turned on, the charging relay remains open at first. It closes when the DC link is charged up via the charging resistors. NOTE Make sure that the charging relay contacts are open (E14 = 0:inactive) before you connect the power supply. Particularly in a DC link network, remember that the charging relays of all connected inverters are open before the power supply is connected.



280Eh 0h

E15 Global

read (1)

n-motor-encoder: Speed calculated from the motor encoder specified in B26. This indication also functions when the control type in B20 does not require an encoder.


280Fh 0h

E16 Global

read (1)

Analog-output1-level: Indication of the level on the analog output (X100.6 and X100.7). ±10 V corresponds to ±16384.


2810h 0h

E17 Global

read (1)

Relay1: Status display of relay 1. The function of the relay contact on X1.1 and X1.2 (NO) depends on the firmware version of the inverter. Firmware up to and including V 5.5A Status display 1:active means that the relay contact is closed. There is no malfunction. Firmware beginning with V 5.5B The function of relay 1 depends on parameter F10 Relay 1 function. The basic setting of parameter F10 is 0: No malfunction.


Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 04 40 00 hex

2811h 0h

Used Parameters

Electronic Cam

ID 441778.04 244


06


address

E18 Global

read (1)

Relay2: MDS 5000 and FDS 5000: state of relay 2 (motor halting brake, X2.1, X2.2). Active means that the relay contact is closed and the motor halting brake is released.



2812h 0h

E19 Global

read (2)

Binary inputs: Indicates level of all binary inputs as binary word. Bit 0 = enable, Bit 1 = BE1 to Bit 13 = BE13 and so on.


2813h 0h

E20 Global

read (1)

Device utilisation: Indicates the current utilization of the inverter in %. 100 % corresponds to the nominal power of the inverter.

Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 05 00 00 hex

2814h 0h

E21 Global

read (1)

Motor utilisation: Indicates current utilization of the motor in %. Reference number is the nominal motor current entered under B12.


2815h 0h

E22 Global

read (1)

i2t-device: Level of the thermal device model (i2t model). The fault "59:overtemp.device i2t" occurs at 105 % of full load. When the 100 % limit is reached, the inverter triggers the event "39:overtemp.device i2t" with the level specified in U02. The output current is limited to the permissible device nominal current for servo and vector control (B20 = 2 or 64).

Value range in %: 0 ... 80 ... 255

Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:100·LSB=100%); USS-Adr: 05 05 80 00 hex

2816h 0h

E23 Axis

read (1)

i2t-motor: Level of the thermal motor model (i2t model). 100 % corresponds to full utilization. The thermal model is based on the design data entered under group B.. (Motor) (i.e., continuous operation - S1 operation). With more than 100 %, the reaction parameterized in U10, U11 is triggered for the event "45:overtemp.device i2t." If the motor is fitted with a KTY, the I2t model will be tracked using the motor temperature measurement. If the nameplate is active in this case, U10 = 2.warning and U11 = 1 s will be set.

Value range in %: 0 ... 80 ... 255

Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:100·LSB=100%); USS-Adr: 05 05 C0 00 hex

2817h 0h

E24 Global

read (1)

i2t-braking resistor: Level of the thermal braking resistor model (i²t model). 100 % corresponds to full utilization. The data of the braking resistor are specified with A21 ... A23. With more than 100 %, the fault "42:tempBrakeRes" occurs.

Value range in %: 0 ... 80 ... 255


2818h 0h

E25 Global

read (1)

Device-temperature: Current device temperature in °C. (Upper temperature limit R05 / Lower temperature limit R25)


2819h 0h

Used Parameters

Electronic Cam

ID 441778.04 245


06


address

E26.0 Global

read (2)

Brake: The parameter only exists with the SDS 5000. Element 0 indicates the control status of brake 1 (on X5 or on brake module X302).

0: set; 1: release;


281Ah

Array

0h

E26.1 Global

read (2)

Brake: The parameter only exists with the SDS 5000. Element 1 indicates the control status of brake 2 (on X5 or on brake module X302).

0: set; 1: release;


281Ah

Array

1h

E27 Global

read (2)

Binary outputs: The status of all binary outputs is indicated as binary word. Bit0 = BA1 to Bit9 = BA10. NOTE Note that an encoder simulation on BA1 and BA2 is not indicated in E27.


281Bh 0h

E28 Global

read (1)

Analog-output2-level: Indication of the level on the analog output (X1.7 and X1.8). ±10 V corresponds to ±16384.


281Ch 0h

E29 Axis

read (2)

Warning: Perform brake test!: If the brake management is not active (B310=0:inactive) the warning remains at 0:inactive. With the activation of the brake management it is monitored whether the time set in B311 Timeout for brake test B300 has elapsed but the action B300 Brake test has not been performed.

0: Warning inactive; 1: Brake test necessary, reasons for this message can be: - The time set in B311 Timeout for brake test B300 has elapsed but the action B300 Brake test has

not been performed. - The time set in B311 Timeout for brake test B300 has elapsed twice but the action B300 Brake

test has not been performed (Malfunction 72:Brake test is present). - The action B300 has been completed with an error.


281Dh 0h

E30 Global

read (1)

Run time: Indication of how long the inverter controller section was supplied with voltage (operating hours counter).


281Eh 0h

E31 Global

read (1)

Enable time: Indication of how long the inverter controller section was supplied with voltage and the power section enable was active.


281Fh 0h

E32 Global

read (1)

Energy counter: Indication of the total supplied energy in Wh.

Fieldbus: 1LSB=1Wh; PDO ; Type: U32; USS-Adr: 05 08 00 00 hex

2820h 0h

Used Parameters

Electronic Cam

ID 441778.04 246


06


address

E33 Global

read (1)

Vi-max-memorized value: The DC link voltage is monitored continuously. The greatest measured value is stored here non-volatilely. This value can be reset with A371.

Fieldbus: 1LSB=0,1V; PDO ; Type: I16; USS-Adr: 05 08 40 00 hex

2821h 0h

E34 Global

read (1)

I-max-memorized value: The motor current is monitored continuously. The greatest measured value is stored here non-volatilely. This value can be reset with A371.

Fieldbus: 1LSB=0,1A; PDO ; Type: I16; raw value:1LSB=Fnct.no.3; USS-Adr: 05 08 80 00 hex

2822h 0h

E35 Global

read (1)

Tmin-memorized value: The temperature of the inverter is monitored continuously. The smallest measured value is stored here non-volatilely. This value can be reset with A371.

Fieldbus: 1LSB=1°C; PDO ; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 05 08 C0 00 hex

2823h 0h

E36 Global

read (1)

Tmax-memorized value: The temperature of the inverter is monitored continuously. The greatest measured value is stored here non-volatilely. This value can be reset with A371.


2824h 0h

E37 Global

read (3)

Braking energy can be reset: The energy dissipated through the braking resistor (in watt-hours) is not saved in non-volatile memory. This value can be reset with A37 = 1.


2825h 0h

E38 Global

read (3)

Braking energy life cycle: The energy dissipated by the braking energy (in watt-hours) is not saved in non-volatile memory here. In contrast to E37, this value can not be reset.


2826h 0h

E39 Global

read (3)

Application start time: When the configuration has started successfully on the device, E30 operating time is copied to E39.


2827h 0h

E40 Global

r=3, w=4

Temperature counter: This parameter shows the time in % during which the inverter was operated above a device temperature of 75 °C (as measured by the device sensor). The maximum permissible time is 1 hour (= 100 %) within an operating time of 24 hours. The counter counts up by 0.1 % in 3.6 sec and down by 0.1 % in 83 sec (i.e., 23 times slower).

Fieldbus: 1LSB=0,1%; Type: U32; (raw value:4294967295·LSB=1327914,6%); USS-Adr: 05 0A 00 00 hex

2828h 0h

E41 Global

read (3)

i2t maximum braking resistance: The maximum value of the thermal load of the braking resistance is saved in non-volatile memory here. This value can be reset with A37 = 1.

NOTE - This parameter does not specify the maximum value of E24. - E24 is initialized with 80 % when the device starts, in contrast the parameter based on the model is 0 %. - For a meaningful maximum value measurement, the braking resistance when the device starts must be approximately at ambient temperature.

Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:100·LSB=100%); USS-Adr: 05 0A 40 00 hex

2829h 0h

Used Parameters

Electronic Cam

ID 441778.04 247


06


address

E43 Global

read (3)

Event cause: Diagnostic information concerning the fault which occurred last. The currently active event is indicated in E82 event type. Event "34:hardware fault" 1: FPGA; Fault while loading the FPGA block to the control section. 2: NOV-ST; The non-volatile memory of the control section board is defective. 3: NOV-LT; The non-volatile memory of the power section board is defective. 4: brake 1; Activation of brake 1 is defective or the brake module has no 24 V power. 5: brake 2; Activation of brake 2 is defective or the brake module has no 24 V power. 11: currentMeas; Deviation in current offset measurement during device startup is too great. Event "37:n-feedback" 1: Para<->encoder; parameterization does not match the connected encoder. 2: ParaChgOffOn; Parameterchange; encoder parameterization cannot be changed during

operation. Save and then turn device off and on so that the change takes effect. 4: X4 chan.A/Clk; wire break, possibly track A / clock 5: X4 chan.B/Dat; wire break, possibly track B / data 6: X4 chan.0; wire break, track 0 7: X4EnDatAlarm; The EnDat® encoder reported an alarm. 8: X4EnDatCRC; The EnDat® encoder reported that too many errors were found during the

redundancy check. The cause can be wirebreak or errors in the cable shield. 10: resol.carrier; resolver is not or wrong connected, wirebreak is possible 11: X140-undervol; wrong transmission factor, wire break 12: X140-overvolt.; wrong transmission factor, wire break 14: resol.failure; wirebreak 15: X120-double t; Different values were determined during the double transmission to X120. 16: X120-Busy; encoder gave no response for too long; For SSI slave: No telegram for the last 5

ms and drive is enabled. 17: X120-wirebreak; A wire break was discovered on X120. 18: X120-Timeout; 19: X4-double tr.; Different values were determined during the double transmission to X4. 20: X4-Busy; encoder gave no response for too long 21: X4-wirebreak; 22: AX5000; Acknowledgment of the axis switch is not effected. 23: Ax5000require; comparison of E57 and E70. 24: X120-speed; B297, G297 or I297 exceeded for encoder on X120. 25: X4-speed; B297, G297 or I297 exceeded for encoder on X4. 26: No Enc. found; either no encoder was found on X4 or the EnDat®/SSI encoder has a wire

break. 27: X4-AX5000 found; a functional AX 5000 option board was found on X4 although incremental

encoder or EnDat® encoder was parameterized, or no EnDat® encoder is connected to the AX 5000 option board.

28: X4-EnDat found.; an EnDat® encoder was found on X4 although another encoder was parameterized.

29: AX5000/IncEnc; either X4 has a faulty AX 5000 option board or the A-track of an incremental encoder has a wire break.

30: opt2 incomp.; Version of option 2 is not current. 31: X140-EnDatAlar; The EnDat® encoder on X140 reports an alarm. 32: X140-EnDatCRC; The EnDat® encoder on X140 reports that too many faults were found during

the redundancy test. Possible causes may be wire break or a cable shield fault. 33: IGB-speed; G297 exceeded on the IGB. 34: Battery low; While switching on the inverter it was determined that the voltage of the battery has

fallen below the warning limit of the encoder. Referencing of the axis remains intact. However, the remaining service life of the backup battery is limited. Replace the AES battery before the next time the inverter is switched off. Note also the operating instructions for the Absolute Encoder Support AES.

282Bh 0h

Used Parameters

Electronic Cam

ID 441778.04 248


06


address

35: Battery empty; While switching on the inverter it was determined that the voltage of the battery has fallen below the minimum voltage of the encoder. Referencing of the axis has been deleted. The backup battery is no longer able to retain the position in the encoder over the time during which the inverter in switched off. Referencing the axis. Replace the AES battery before the next time the inverter is switched off. Note also the operating instructions for the Absolute Encoder Support AES.

Event "40:invalid data" 0 ... 7: Fault on the non-volatile memory of the control section board. 1: fault; Low-level write/read error or timeout 2: blockMiss; Unknown data block. 3: dataSecurity; Block has no data security 4: checksum; Data block has checksum error. 5: r/o; Data block is "read only." 6: readErr; Startup phase: block read error 7: blockMiss; Block not found. 16 ... 31: Non-volatile power module memory 17: fault; Low-level write/read error or timeout 18: blockMiss; Unknown data block. 19: dataSecurity; Block has no data security 20: checksum; Data block has checksum error. 21: r/o; Data block is "read only." 22: readErr; Startup phase: block read error 23: blockMiss; Block not found. 32 ... 47: Non-volatile encoder memory 32: el.mot-type; No nameplate data exists 33: el.typeLim; A parameter from the electrical motor nameplate could not be entered (limit value or

non existent). 48 bis 59: Non-volatile option 2 memory 48: optionBoard2; Error in non-volatile memory of option 2 with REA 5000 and REA 5001

respectively and XEA 5000 and XEA 5001 respectively

Event "46: low voltage" 1: Low Voltage; the value in E03 DC-link-voltage has dropped below the value parameterized in

A35 low voltage limit. 2: Network phase; phase monitoring has found that a switched-on power unit is missing a phase. 3: Drop in networ; when phase monitoring finds that the network voltage is missing, the charging

relay is immediately switched off. Normal operation is maintained. If the power unit is still switched on after network voltage returns, a fault is triggered after 0.5 s.

Used Parameters

Electronic Cam

ID 441778.04 249


06


address

10: IGB P.lostFra; IGB-Motionbus fault. Another station discovered a double error and reported this via A163. This causes that inverter to also malfunction with this cause. The cause can only occur when the IGB state = 3:motionbus and the motor is energized.

11: IGB sync erro; The synchronization within the inverter has malfunctioned because the configuration was stopped by POSITool. This fault can only occur when the IGB state equaled 3:motionbus and the motor was energized.

12: IGB configTim; A block was not executed at the beginning of the global area in real-time. The runtime sequence of blocks may have been set incorrectly. This fault can only occur when the IGB state equaled 3:motionbus and the motor was energized.

13: IGBPartnerSyn; Another station in the IGB network has a synchronization fault (see cause 11). This station reported its fault via A163. This causes that inverter to also malfunction with cause 13. This fault can only occur when the IGB state equaled 3:Motionbus and the motor was energized.

Event "55:Option board" 1: CAN5000failure; CAN 5000 was recognized , installed and failed. 2: DP5000failure; DP 5000 was recognized, installed and failed. 3: REA5000failure; REA 5000 was recognized, installed and failed. 4: SEA5000failure; SEA 5000 was recognized, installed and failed. 5: XEA5000failure; XEA 5000 or XEA 5001 was recognized, installed and failed. 6: EncSim-init; could not be initialized on XEA. The motor may have turned during initialization. 7: WrongOption; Incorrect or missing option board (comparison of E54/E58 with E68/E69) 8: LEA5000failure; LEA 5000 was recognized, installed and failed. 9: ECS5000failure; ECS 5000 was recognized, installed and failed. 10: supply; Failure of the 24 V supply for XEA 5001 or LEA 5000. 11: SEA5001failure; SEA 5001 was recognized, installed and failed. 12: REA5001failure; REA 5001 was recognized, installed and failed. 13: PN5000 fail 1; PN 5000 was recognized, installed and failed. Basic hardware tests have

detected an error. 14: PN5000 fail 2; PN 5000 was recognized, installed and failed. Basic software tests have

detected an error. 15: PN5000 fail 3; PN 5000 was recognized, installed and failed. The Watchdog function of the PN-

5000 monitoring system has detected an error. 17: Option2 too old; on SDS 5000: option board with old hardware version (XEA 5001: from HW 10,

REA 5000: from HW 19)

Event "57:Runtime usage" A cyclic task cannot be completely processed within its cycle time. Cause is the number of the affected task.

Event "69:Motor connection" 1: motorNotDiscon; The contactor is not released while the axis is being changed. The cause of

this can only be determined when at least two phase contacts are stuck and the DC link is charged (see E03). With asynchronous motors, magnetization could not be established.

2: no motor; No motor connected at all or the line to the motor is disconnected. Event "70:Parameter consistency" 1: encoder type; control mode B20 is set to "servo" but no appropriate encoder is selected (B26,

H.. parameter). 2: X120 direction; X120 is used as source in one parameter but is parameterized in H120 as drain

(or vice versa). 3: B12<->B20; Control mode B20 is not set to servo but the nominal motor current (B12) exceeds

the 4-kHz nominal current (R24) of the device by more than 1.5 times. 4: B10<->H31; Resolver/motorpoleno.; the set motor pole number (B10) and the resolver pole

number (H31) do not match.

Used Parameters

Electronic Cam

ID 441778.04 250


06


address

5: Neg. slip. With use of control modes V/f, SLVE or Vector Control (B20): Control mode to "ASM": A negative slip results from the values for nominal motor speed (B13), nominal motor frequency (B15) and motor pole number (B10).

6: torque-lim; When the values entered in C03 or C05 are used, the maximum current of the inverter would be exceeded. Enter lower torque limits.

7: B26:SSI-Slave; SSI slave may not be used as motor encoder (synchronization problems) 8: C01>B83; C01 may not be greater than B83. 9: E102/E103 miss; An attempt was made to obtain a master position via the IGB but parameters

E102 and E103 which are required for this do not exist. 10: G104<->G27; A master position is sent via the IGB-Motionbus (i.e., G104 is not set to

0:inactive), but G27 does not have the settings 0:inactive and 6:IGB which are valid for this case.

Event "71:Firmware" 1: FW defective; The firmware states of the communication processor and the drive processor are

not consistent. The firmware must be downloaded again. 2: activate FW; New firmware was loaded to the inverter but not yet activated. Power supply must

be turned off/on. 3: CRC-error; The cyclic check discovered a checksum error. Power supply must be turned off/on.

If the error occurs again on renewed OFF/ON, the device hardware is faulty and must be replaced.

Event "72:Brake test" 1: B311timeout; The time set in B311 timeout for brake test B300 has expired without action B300

brake test having been executed. 2: Brake defective; During the execution of the brake test action, the stopping torque entered in

B304 or B305 could not be maintained or the encoder test run included in the brake test was concluded with errors.

Event "73:Ax2braketest" 1: B311timeout; The time set in B311 timeout for brake test B300 has expired without action B300

brake test having been executed with active axis 2. 2: Brake defective; During the execution of the brake test action with active axis 2, the stopping

torque entered in B304 or B305 could not be maintained or the encoder test run included in the brake test was concluded with errors.







Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 0A C0 00 hex

E44 Global

read (0)

Event cause: Diagnostic information for the fault which occurred last. The cause is indicated in plain text. The currently active event in indicated in E82 event type.

Fieldbus: Type: Str16; USS-Adr: 05 0B 00 00 hex

282Ch 0h

Used Parameters

Electronic Cam

ID 441778.04 251


06


address

E48 Global

read (0)

Device control state: State of the device state machine. The device state machine enables or disables the drive function and the power module (application on the active axis).

0: Self-test; The inverter is executing a self test and calibration procedure and cannot be enabled yet. The drive function is disabled. The device state automatically changes after a short time to 1:switch on inhibit.

1: Switch-on disable; This device state prevents an automatic restart during device startup and with the fault acknowledgment. The drive function is disabled.

The device state can change to 2:ready for switch-on under the following conditions: Enable on low level or A34 autostart active during first startup AND DC link charged AND Axis activated Additional conditions for the SDS 5000: - No IGB Motionbus is configured or - An IGB Motionbus is configured and the IGB is either located in the state 3:IGB Motionbus or

A124 IGB exceptional motion is activated. Information Remember that the change in device status from 1:switch on inhibit to 2:ready for switch-on

depends on parameter A34. 2: Ready for switch-on; The DC link is charged; E67 starting lockout is inactive; any possible axis

switch is finished. The drive function is disabled. If the enable becomes active now, the device state changes to 3:switched on. 3: Switched on; The DC link is charged; E67 starting lockout is inactive; the power module is being

prepared for operation. The drive function is disabled. The device state changes to 4:enabled after the longer of the two times 4 msec or A150 cycle time. 4: Enabled; The drive function is enabled. Reference values are processed. 5: Fault; A fault has occurred. The fault memory was written. The drive function is disabled. The

device state can changed to 1:switch on inhibit when the fault is acknowledged. Information Remember that the change in device state from 1:switch on inhibit to 2:ready for switch-on depends

on parameter A34. 6: Fault reaction; A fault has occurred. The fault memory is being written. When A29 fault-quick

stop occurs, the drive function remains enabled for the time of the quick stop. The device state changes to 5:fault when:

- The fault memory is written AND either - The power module must be switched off (e.g., for short circuit or ground fault) - A67 Start up inhibit becomes = 1:active or - A29 Fault quick stop is = 0:inactive or - The quick stop ends (in standstill after maximum A39 t-max Q-Stop or with enable = inactive)

or - When E06 DC-link-voltage becomes less than 130 V. 7: Quick stop; A quick stop was triggered; the inverter moves with the quick stop ramp, speed-

controlled, to a standstill. The drive function remains enabled for the time of the quick stop. After the quick stop is concluded, the device state changes (depending on the device control in the global area, A39 t-max. Q-stop, A44 enable quick-stop, A45 quick stop end).

Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 0C 00 00 hex

2830h 0h

E50 Global

read (0)

Device: Indication of the device type (e.g., MDS 5015).


2832h 0h

Used Parameters

Electronic Cam

ID 441778.04 252


06


address

E51.0 Global

read (0)

Firmware version: Software version of the inverter (e.g., V5.0). With the SDS 5000, the version of the active firmware is indicated in element 0 and the version of the firmware in the firmware download memory is indicated in element 1.

Fieldbus: Type: Str16; USS-Adr: 05 0C C0 00 hex

2833h

Array

0h

E51.1 Global

read (0)

Firmware version: Software version of the inverter (e.g., V5.0). With the SDS 5000, the version of the active firmware is indicated in element 0 and the version of the firmware in the firmware download memory is indicated in element 1.

Fieldbus: Type: Str16; USS-Adr: 05 0C C0 01 hex

2833h

Array

1h

E52 Global

read (1)

Serial number: Number of the device from a manufactured series. Corresponds to the number on the nameplate.


2834h 0h

E53 Global

r=1, w=4

Configuration identification global: Indicates the abbreviation for the configuration of the global area (independent of axis). If the configuration was changed, a leading asterisk (*) appears. 3:Klemmen (or IGB motion bus for SDS 5000) 4:USS 5:CANopen® 7:PROFIBUS 19:DSP402 device controller CANopen® 20:DSP402 device controller PROFIBUS 23:EtherCAT® 24:DSP402 device controller EtherCAT® 26:PROFINET 27:DSP 402 PROFINET

Default setting: 5:CAN IGB

Fieldbus: Type: Str16; USS-Adr: 05 0D 40 00 hex

2835h 0h

E54 Global

read (1)

Option board 1: Indication of the upper option board (e.g., CAN 5000) which was detected during initialization.


2836h 0h

E55 Axis

r=1, w=4

Configuration identification axis: Indicates the abbreviation for the configuration of the axis. If the configuration was changed, a leading asterisk (*) appears. 0: Fast reference value 1: Command positioning endless 2: Command positioning limited 8: Electronic gear limited 9: Motion block positioning limited 10: Motion block positioning endless 11: Electronic gear endless 12: Electronic gear limited PLCopen® 13: Electronic gear endless PLCopen® 15: Interpolated positioning 16: Technology controller 18: Comfort reference value 21: Electronic cam endless 22: Electronic cam limited 25: Fast reference value with brake

Default setting: 21:ElectCamEndl

Fieldbus: Type: Str16; USS-Adr: 05 0D C0 00 hex

2837h 0h

Used Parameters

Electronic Cam

ID 441778.04 253


06


address

E56.0 Global

r=1, w=2

Parameter identification: Indicates whether parameters of the axis 1 were changed via the operator panel (display and keys). When "0:axis 1" is selected in A11 axis edit and at least one parameter was changed via the operator panel, the value of E56.0 Parameter identification is set to 255. When"1:axis 2" is selected in A11, the value of E56.1 is set to 255 if changes were made. The same also applies to axis 3 and 4. This can be used as an indication of unauthorized manipulation of parameters.

1: Default setting of POSITool. 2..254: Value was purposely set by the user in POSITool or fieldbus and has not been changed yet. 255: At least one value was changed via the operator panel! Exceptions: When A11 is set on the operator panel or A00 save values is triggered, this has no effect on E56.

Value range: 0 ... 1 ... 255


2838h

Array

0h

E56.1 Global

r=1, w=2



Value range: 0 ... 1 ... 255


2838h

Array

1h

E56.2 Global

r=1, w=2



Value range: 0 ... 1 ... 255


2838h

Array

2h

E56.3 Global

r=1, w=2



Value range: 0 ... 1 ... 255


2838h

Array

3h

Used Parameters

Electronic Cam

ID 441778.04 254


06


address

E57 Global

read (1)

POSISwitch: Indication of a POSISwitch® which was detected during initialization.

Fieldbus: Type: Str16; USS-Adr: 05 0E 40 00 hex

2839h 0h

E58 Global

read (1)

Optional board 2: Indication of the lower option board (e.g., SEA 5000) which was detected during initialization.


283Ah 0h

E59 Global

r=1, w=4

Configuration identification: Indicates the abbreviation for the complete configuration (global area and all four axes). If the configuration was changed, an asterisk (*) is shown.

Default setting: user

Fieldbus: Type: Str16; USS-Adr: 05 0E C0 00 hex

283Bh 0h

E60 Global

read (3)

Safe firmware version: Only with SDS 5000. Version of the boot firmware of the inverter (e.g., V 4.1).

Fieldbus: Type: Str16; USS-Adr: 05 0F 00 00 hex

283Ch 0h

E61 Global

read (3)

ParaModul: Size of the ParaModul memory in kilobytes. This parameter makes it possible to differentiate between the different sizes of ParaModul memory (128 kBytes, 256 kBytes or 1024 kBytes). 1024 kBytes are only supported from firmware V 5.5. A size of 0 kBytes means that a ParaModul has not been found or the ParaModul size is not supported.

Fieldbus: 1LSB=1kBytes; Type: U32; (raw value:10 Bit=1·kBytes); USS-Adr: 05 0F 40 00 hex

283Dh 0h

E62 Global

read (1)

Act. pos. T-max: Currently effective positive torque limit in relation to B18.

Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 0F 80 00 hex

283Eh 0h

E66 Global

read (1)

Act. neg. T-max: Currently effective positive torque limit in relation to B18.


2842h 0h

E67 Global

read (1)

Starting lockout: Indication of the status of the ASP 5001 option.

0: inactive; The starting lockout (startup disable) is inactive. The power section can be enabled. 1: active; The starting lockout (startup disable) is active. The power section is reliably disabled.

Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 10 C0 00 hex

2843h 0h

E68 Global

read (3)

Required optional board 1: Is entered by the POSITool configuration assistant. When the configuration is transferred via Paramodul to another device, a comparison of E68 and E54 ensures that all hardware resources are present. If not, the fault "55:option board" is triggered with E43 event cause = 7:wrong or missing option board. The fault can then not be acknowledged.

Default setting: CAN 5000


2844h 0h

Used Parameters

Electronic Cam

ID 441778.04 255


06


address

E69 Global

read (3)

Required optional board 2: Is entered by the POSITool configuration assistant. When the configuration is transferred via Paramodul to another device, a comparison of E69 and E58 ensures that all hardware resources are present. If not, the fault "55:option board" is triggered with E43 event cause = 7:wrong or missing option board. The fault can then not be acknowledged.

Default setting: SEA 5001


2845h 0h

E70 Global

read (3)

Required Ax5000: Is entered by the POSITool configuration assistant. When the configuration via Paramodul is transferred to another device, a comparison of E70 with E57 ensures that all hardware resources are present. If not, the fault "37:n-feedback" (from V5.2: 37:encoder) with E43 event cause = 23:Ax5000-n-reference is triggered. The fault can then not be acknowledged.

Default setting: AX 5000


2846h 0h

E71 Global

read (1)

AE1 scale: AE1 signal by offset and gain. E71 = (E10 + F11) * F12.


2847h 0h

E72 Global

read (1)

AE2 scale: AE2 signal by filter, offset and gain. E72 = (E11 + F21) * F22.


2848h 0h

E73 Global

read (1)

AE3 scale: AE2 signal by filter, offset and gain as well as PID controller and offset 2. E73 = (E74 + F31) * F32


Only visible when an XEA board is installed in the bottom option slot.

2849h 0h

E74 Global

read (1)

AE3-Level: Level of signal queued on the analog input 3 (X102.1 - X102.2) (without consideration of F31, F32). To allow for an offset (the value which arrives at the inverter when the controller specifies 0 V), this must be entered in F31 with the opposite sign.



284Ah 0h

E75 Global

read (2)

X1.Enable-inverted: The level of the X1.Enable binary input is displayed inverted. This signal can, for example, be used for inverted acknowledgement of X1.Enable via any binary output if this is required for dual-channel activation together with the ASP 5000.


Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 12 C0 00 hex

284Bh 0h

Used Parameters

Electronic Cam

ID 441778.04 256


06


address

E80 Axis

read (0)

Operating condition: Indication of the current operating status as per the operating indication. Useful for fieldbus queries or serial remote control.

10: PLCO_init; Initialize position control (applications motion block positioning or electronic cam). 11: PLCO_Passive; Position control is in the state 1:passive (applications motion block positioning

or electronic cam). 12: standstill; Position control is in the state 2:standstill (applications motion block positioning or

electronic cam). 13: discr.motion; Position control is in the state 3:discrete motion (applications motion block

positioning or electronic cam). 14: cont.motion; Position control is in the state 4:continuous motion (applications motion block

positioning or electronic cam). 15: sync.motion; Position control is in the state 5:synchronous motion (applications motion block

positioning or electronic cam). 16: stopping; Position control is in the state 6:stopping (applications motion block positioning or

electronic cam). 17: errorStop; Position control is in the state 7:errorstop (applications motion block positioning or

electronic cam). 18: homing; Position control is in the state 8:homing (applications motion block positioning or

electronic cam). 19: limit switch; One of the limit switches has tripped. Remember that not every application has the

limit switch function (applications motion block positioning or electronic cam). 20: denied; Position control has determined one of the following events (applications motion block

positioning or electronic cam): - The drive is not referenced but the motion job requires the reference. - A motion job was triggered whose target position is located outside the software limit switch. - A motion job was triggered which moved in a direction of rotation which is inhibited. The message combines faults 1 to 4 in /90 ErrorCode. 21: limited; Position control has determined that one of the following limits was reached

(applications motion block positioning or electronic cam): - Torque limit - Following error - M-limitation by i2t 22: aborted; Position control has determined one of the following events (applications motion block

positioning or electronic cam): - An MC_Stop was triggered. - The enable was switched off. - A quick stop was triggered. 23: waiting; The drive is located in a chain of motion blocks and is waiting for the advance signal

(application motion block positioning). 24: delay; The drive is located in a chain of motion blocks with pause and the pause is still in effect

(application motion block positioning). 30: fault; The inverter ist in the state fault. 31: self test; The inverter ist in the state self test. 32: switch-on disable; The inverter ist in the state switch-on diable (see the Operating Manuals of

the inverters). 33: param.lock; reserved 34: quick stop; The inverter performs a quick stop. 35: switched on; The inverter is in the state switcjed on (see the Operating Manuals of the

inverters). 36: jog active; Tipping operation is active in the comfort reference value application (D437 =

1:active). 37: stop active; During the comfort reference value application, a halt command is queued and the

speed has reached the range +C40 to -C40 once (D438 = 1:active). 38: stop; During the comfort reference value application, a halt command is queued (D302 =

1:active) and the drive delays with the ramp D84.

2850h 0h

Used Parameters

Electronic Cam

ID 441778.04 257


06


address

39: not allowed direction; During the comfort reference value application, a reference value is specified for a certain direction of rotation which is inhibited (D184 = 1:active, see also D308 and D309).

40: capturing; During the comfort reference value application, the inverter is in scan active mode (D433 = 1:active).

41: heavy duty starting; During the comfort reference value application, the inverter is in startup under load mode (D434 = 1:active).

42: accelerating; During the comfort reference value application, the amount of motor speed increases (D443 = 1:active).

43: decelerating; During the comfort reference value application, the amount of motor speed decreases (D444 = 1:aktiv).

44: reference > max reference; During the comfort reference value application, the speed limit is reached which limit is indicated in D336 (torque control) or D338 (speed control) (D185 = 1:active).

45: reference < min reference; During the comfort reference value application, the speed limit is reached which limit is indicated in D337 (torque control) or D339 (speed control) (D186 = 1:active).

46:zero torque=0; During torque control mode in the comfort reference value application, the current torque is in the range of -5 % MN to +5 % MN.

47: positive torque; During torque control mode in the comfort reference value application, the current torque (E90) is greater than 5 % as related to the user direction of rotation (D57) (D440 = 1:active).

48: negative torque; During torque control mode in the comfort reference value application, the current torque (E90) is lower than -5 % as related to the user direction of rotation (D57) (D441 = 1:active).

49: standstill; During speed control mode in the comfort reference value application, the speed has reached the range of +C40 to -C40 (D180 = 1:active).

50: forward direction; During speed control mode in the comfort reference value application, the speed (E91) is greater than C40 as related to the user direction (D57) (D442 = 1:active).

51: backward direction; During speed control mode in the comfort reference value application, the speed (E91) is lower than -C40 as related to the user direction (D57).

52: limit switch wrong; During the comfort reference value application, the limit switches are mixed up (i.e., the -limit switch triggered for a positive reference value (D304 = 1:active) or vice versa).


E81 Global

read (1)

Event level: Indicates whether a current event is queued. The corresponding event type is indicated in E82. Useful for fieldbus polling or serial remote control.

0: inactive. The event system is inactive. The inverter is running in normal operating mode. 1: Message. A message is waiting. Operation continues. 2: Warning. A warning is waiting. Operation can be continued until expiration of the warning time

for this event (indicated in E83 warning time). After that a fault is triggered. 3: Fault. A fault has occurred. The drive function is blocked.


2851h 0h

Used Parameters

Electronic Cam

ID 441778.04 258


06


address

E82 Global

read (0)

Event type: Indication of the currently queued event/fault. Useful for fieldbus polling or serial remote control. The cause is stored in E43 / E44.

30: inactive; 31: Short/ground; The hardware overcurrent switch off is active because the motor demands too

much current from the inverter (interwinding fault, overload). 32: Short/ground internal; During the enabling of the inverter, a short circuit was determined. An

internal device error has probably occurred. 33: Overcurrent; The total motor current exceeds the permissible maximum. Could be acceleration

times are too short or torque limits in C03 and C05 were set incorrectly. 34: Hardware fault; A hardware error has occurred (e.g., in the memory of the control section). See

E43. 35: Watchdog; The watchdog of the microprocessor has triggered. The microprocessor is being

used to full capacity or its function may be faulty. 36: High voltage; The voltage in the DC link exceeds the permissible maximum. This can be due to

excessive network voltage, the feedback of the drive during braking mode, too low a braking resistor or due to a brake ramp which is too steep.

37: Encoder; An error in the parameterized encoder was determined (for details, see E43). 38: Overtemp.device sensor; The temperature measured by the device sensor exceeds the

permissible maximum value. The cause may be that ambient and switching cabinet temperatures are too high.

39: Overtemp.device i2t; The i2t-model for the inverter exceeds 100 % of the thermal capacity. Causes may be an inverter overload due to a motor blockage or a switching frequency which is too high.

40: Invalid data; While the non-volatile memory was being initialized, a data error was found (for details, see E43).

41: Temp.MotorTMP; The motor temperature sensor reports excessive temperature. The motor may be overloaded or the temperature sensor is not connected.

42: TempBrakeRes.; The i2t model for the braking resistor exceeds 100 % of the capacity. The braking resistor may not be designed to handle the application.

43: inactive; 44: External fault 1; Triggering is programmed application-specifically. 45: Overtemp.motor i2t; The i2t model of the motor reaches 100 % of the load. The motor may be

overloaded. 46: Low voltage; The DC link voltage is below the limit value set in A35. The cause can be drops in

the network voltage, the failure of a phase with three-phase connection or the acceleration times are too short.

47: Torque limit; The torque permitted for static operation is exceeded in the controller types servo controller, vector controller or sensorless vector controller. The limits may have been set incorrectly in C03 and C05.

48: inactive; 49: inactive; 50: inactive; 51: inactive; 52: Communication; A fault in communication was determined (for details, see E43). 53: inactive; 54: inactive; 55: Option board; A fault in the operation of an option board was determined (for details, see E43). 56: Overspeed; The measured speed was greater than C01 x 1.1 + 100 Rpm. The encoder may be

defective. 57: Second activation; The cycle time of a real-time task was exceeded (for details, see E43). 58: Grounded; The power module has determined an error (starting with module 3). 59: Overtemp.device i2t; The i2t model of the inverter exceeds 105 % of the capacity. The cause

may be an overload of the inverter due to a motor blockage or a switching frequency which is too high.

2852h 0h

Used Parameters

Electronic Cam

ID 441778.04 259


06


address

60: <u102>; 61: <u112>; 62: <u122>; 63: <u132>; 64: <u142>; 65: <u152>; 66: <u162>; 67: <u172>; 68: External fault 2; Triggering is programmed application-specifically. 69: Motor connection; A connection error of the motor was determined (for details, see E43). 70: Parameter consistency; The parameterization has inconsistencies (for details, see E43). 71: firmware; 72: Brake test timeout; Brake test timeout. Brake management reports that a brake test is necessary

(see E43). 73: Axis 2 brake test timeout; Brake management reports that a brake test of axis 2 is necessary



(see E43).


E83 Global

read (1)

Warning time: While warnings are running, the time remaining until the fault is triggered is indicated. Useful for fieldbus polling or serial remote control.

Fieldbus: 1LSB=1s; PDO ; Type: U8; USS-Adr: 05 14 C0 00 hex

2853h 0h

E84 Global

read (1)

Active axis: Indication of the current axis. Useful for fieldbus polling or serial remote control.

0: Axis 1; 1: Axis 2; 2: Axis 3; 3: Axis 4; 4: All axes inactive. Axis 1 was active last. 5: All axes inactive. Axis 2 was active last. 6: All axes inactive. Axis 3 was active last. 7: All axes inactive. Axis 4 was active last.


2854h 0h

E90 Global

read (3)

M-Motor: Indication of the current motor torque in Nm. In contrast to E02, not smoothed.

Fieldbus: 1LSB=0,01Nm; PDO ; Type: I16; raw value:1LSB=Fnct.no.16; USS-Adr: 05 16 80 00 hex

285Ah 0h

E91 Global

read (3)

n-motor: Indication of the current motor speed in Rpm. In contrast to E08, not smoothed. When the drive is operated without feedback, this speed is mathematically determined via the motor model (in this case, the actual motor speed may differ from the calculated speed).


285Bh 0h

E92 Global

read (3)

I-d: Flux current in %.


285Ch 0h

Used Parameters

Electronic Cam

ID 441778.04 260


06


address

E93 Global

read (3)

I-q: Torque-generating current in %.


285Dh 0h

E94 Global

read (3)

I-a: Measured a-current components in ab-system.


285Eh 0h

E95 Global

read (3)

I-b: Measured b-current components in ab-system.


285Fh 0h

E96 Global

read (3)

I-u: Measured u-current components in uvw-system.


2860h 0h

E97 Global

read (3)

I-v: Measured v-current component in uvw-sysstem.


2861h 0h

E98 Global

read (3)

Ud: Voltage in d-direction in V (chained peak voltage).

Fieldbus: 1LSB=0,1V; Type: I16; USS-Adr: 05 18 80 00 hex

2862h 0h

E99 Global

read (3)

Uq: Voltage in q-direction in V (chained peak voltage).

Fieldbus: 1LSB=0,1V; Type: I16; USS-Adr: 05 18 C0 00 hex

2863h 0h

E100 Global

read (1)

n-motor: Indication of the current motor speed as % in space-saving 16-bit format. The specification is related to C01 n-max.


2864h 0h

E101 Global

read (1)

I-Motor: Indicates the current motor current in % of the nominal device current at 4 kHz switching frequency.

Fieldbus: 1LSB=1%; PDO ; Type: U8; USS-Adr: 05 19 40 00 hex

2865h 0h

Used Parameters

Electronic Cam

ID 441778.04 261


06


address

E102 Global

r=2, w=3

Lead position consumer: Receiving parameter for a lead position via IGB. E102 must be allocated to parameter E163 of the lead position in IGB mapping. The parameter value is indicated scaled in revolutions. The internal scaling raw value is 1 MSB = 2048 revolutions. MSB = most significant Bit Information When POSITool establishes a connection to the inverter, this parameter is always read, even when "write parameter" was specified in POSITool as the data communication direction.

Fieldbus: 1LSB=1E-6revolutions; PDO ; Type: I32; (raw value:20 Bit=1·revolutions); USS-Adr: 05 19 80 00 hex

2866h 0h

E103 Global

r=2, w=3

Lead position consumer timestamp: Receiving parameter for a time stamp for the lead position (E102) via IGB. E103 must be allocated to parameter E164 of the lead position in IGB mapping. The parameter value is indicated scaled in µs. The internal scaling raw value is 1 LSB = 7.63 ns. LSB = least significant Bit Information When POSITool establishes a connection to the inverter, this parameter is always read, even when "write parameter" was specified in POSITool as the data communication direction.

Fieldbus: 1LSB=1µs; PDO ; Type: U32; (raw value:4294967295 = 32767999 µs); USS-Adr: 05 19 C0 00 hex

2867h 0h

E120 Global

r=1, w=5

Equipment: The text entered in the field "equipment" during step 1/6 of the device configuration.


2878h 0h

E121 Global

read (1)

User: The text entered in the field "user" during step 1/6 of the device configuration.


2879h 0h

E122.0 Global

read (3)

Download information: Contains information on the active firmware: User/login name on the PC with which the download was performed.


287Ah

Array

0h

E122.1 Global

read (3)

Download information: Contains information on the active firmware: Computer name of the PC with which the download was performed.


287Ah

Array

1h

E122.2 Global

read (3)

Download information: Contains information on the active firmware: Date and time of the firmware download.


287Ah

Array

2h

Used Parameters

Electronic Cam

ID 441778.04 262


06


address

E122.3 Global

read (3)

Download information: Contains information on the active firmware: Number of previously performed downloads on the connected inverter.


287Ah

Array

3h

E123.0 Global

read (3)

Download information 2: Contains information on the firmware download memory. User/registration name on the PC on which the download was performed.


287Bh

Array

0h

E123.1 Global

read (3)

Download information 2: Contains information on the firmware download memory. Computer name of the PC with which the download was performed.


287Bh

Array

1h

E123.2 Global

read (3)

Download information 2: Contains information on the firmware download memory. Date and time of the firmware download.


287Bh

Array

2h

E123.3 Global

read (3)

Download information 2: Contains information on the firmware download memory. Number of downloads to the connected inverter that have been performed up to now.


287Bh

Array

3h

E149 Global

read (1)

Hardware Version: Device family (FDS/MDS/SDS), hardware version of the power section (layout version), power section manufacturing date (calendar week and year).


2895h 0h

E151 Global

read (2)

Active switching frequency: The current switching frequency used by the inverter.

Fieldbus: 1LSB=1kHz; Type: U8; USS-Adr: 05 25 C0 00 hex

2897h 0h

E152 Global

read (3)

SSI simulation raw value: Indicates the position which is output via the SSI simulation. With a 25-bit SSI simulation, the upper 25 bits (31..7) of E152 correspond to the position output via SSI. With a 13-bit SSI simulation, bits 19..7 correspond to the position output via SSI. Bits 6..0 are hidden when SSI is used.


Only visible when E58 = XEA 5000 (and XEA 5001 respectively) and H120 is greater than 80:Incremental-Encoder-Simulation.

2898h 0h

E153 Global

read (3)

Accumulated raw-motor-encoder: Supplies an accumulated raw value of the motor encoder parameterized in B26. The value contains the value of B35 as the adding offset. Since these values are raw values, scaling depends on the motor encoder being used. EnDat®, SSI: MSB = 2048U Resolver: 65536LSBs = 1U (i.e., MSB = 32768U) Incremental encoder: 1LSB = 1Count (4-fold evaluation of the number of markers) MSB = Most Significant Bit LSB = Least Significant Bit



2899h 0h

Used Parameters

Electronic Cam

ID 441778.04 263


06


address

E154 Global

read (3)

Raw motor-encoder: Supplies the raw value of the motor encoder parameterized in B26. The value contains the value of B35 as the adding offset. Since these values are raw values, scaling depends on the motor encoder being used. EnDat®, SSI: MSB = 2048 U Resolver: 65536LSBs = 1U (i.e., MSB = 32768U) Incremental encoder: 1LSB = 1Count (4-fold evaluation of the number of markers), Counter

resolution: 16 bits MSB = Most Significant Bit LSB = Least Significant Bit



289Ah 0h

E155 Global

read (3)

Raw position-encoder: Raw value of the encoder parameterized in I02. The format varies depending on which encoder is used. For EnDat® and SSI encoders, the data word is specified left-justified by the encoder. Example: - EnDat® Multiturn, SSI: MSB = 2048 encoder revolutions - EnDat® Singleturn, resolver: MSB = 0.5 encoder revolutions - Incremental encoder: Only the upper 16 bits are used. They contain the counted increments after 4-fold evaluation. MSB = Most Significant Bit


289Bh 0h

E156 Global

read (3)

Raw master-encoder: Raw value of the encoder parameterized in G27. The format varies with the encoder being used. Example: - EnDat® Multiturn, SSI: MSB = 2048 encoder revolutions - EnDat® Singleturn, resolver: MSB = 0.5 encoder revolutions - Incremental encoder: Only the upper 16 bits are used. They contain the counted increments after

4-fold evaluation. MSB = Most Significant Bit


289Ch 0h

E161 Global

read (3)

n-rmpg: The speed reference value on the output of the ramp generator.

Fieldbus: 1LSB=0,1rpm; PDO ; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 05 28 40 00 hex

28A1h 0h

E163 Global

read (2)

Lead-Position Producer: The parameter provides a lead axis position for the further distribution via IGB. The source of this lead axis position can be selected in G104. The parameter value is indicated scaled in revolutions. The internal scaling raw value is 1 MSB = 2048 revolutions. (MSB = Most Significant Bit)

Fieldbus: 1LSB=1E-6revolutions; PDO ; Type: I32; (raw value:20 Bit=1·revolutions); USS-Adr: 05 28 C0 00 hex

28A3h 0h

Used Parameters

Electronic Cam

ID 441778.04 264


06


address

E164 Global

read (2)

Lead-Position Prod. Timestamp: The parameter provides a timestamp for the lead axis position in E163 for the further distribution via IGB. The parameter value is indicated scaled in µs. The internal scaling raw value is 1 LSB = 7.63 ns. (LSB = Least Significant Bit)

Fieldbus: 1LSB=1µs; PDO ; Type: U32; (raw value:4294967295 = 32767999 µs); USS-Adr: 05 29 00 00 hex

28A4h 0h

E165 Global

read (3)

Id-ref: Reference value for the flux current in %.


28A5h 0h

E166 Global

read (3)

Iq-ref: Reference value for the torque generating current in %.


28A6h 0h

E167 Global

read (3)

Power module state: Specifies whether the power end stage is enabled.

192: power module off; 248: activate power module; 255: power module on;


28A7h 0h

E168 Global

read (3)

Actual flux: Actual value of the flux in %.

Fieldbus: 1LSB=0,1%; Type: I32; (raw value:2147483647·LSB=800,0%); USS-Adr: 05 2A 00 00 hex

28A8h 0h

E169 Global

read (3)

Reference-flux: Reference value of the flux in %.

Fieldbus: 1LSB=0,1%; Type: I32; (raw value:4096·LSB=100%); USS-Adr: 05 2A 40 00 hex

28A9h 0h

E170 Global

read (2)

T-reference: Only for control types with torque specification. Reference torque currently required by the speed controller.

Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 2A 80 00 hex

28AAh 0h

E174 Global

read (3)

CRC-counter: Counts non-volatilely the CRC and Busy errors which occurred on EnDat® encoders. The occurrence of CRC errors indicates EMC problems. This value can be reset with A371.


28AEh 0h

E175 Global

read (3)

SSI-errors: Counts the erroneous protocols which occur with SSI encoders. Erroneous protocols are recognized when the maximum incremental value contained in H900 exceeds two consecutive protocols. The erroneous value is rejected. When the second error occurs in succession, the system malfunctions (maximum following error, encoder). NOTE The parameter H900 can only be read/changed by level-4 users.


28AFh 0h

Used Parameters

Electronic Cam

ID 441778.04 265


06


address

E176.0 Axis

read (2)

Counter grind actions: Counts all B301 grind-brake 1 actions, regardless of result B301.2.


28B0h

Array

0h

E176.1 Axis

read (2)

Counter grind actions: Counts all B301 grind-brake 2 actions, regardless of result B302.2.


28B0h

Array

1h

E177 Axis

read (2)

Time passed since last brake test: Indicates the time in hours which has passed since the last B300 brake test action. If brake management is not active (B310 = 0:inactive), the time remains zero. The time begins to run when brake management is activated. The time remaining until event 72 is indicated as the "brake test" message is calculated as follows: (B311 timeout brake test B300) - (E177 time since last brake test). The next brake test should be performed within this time. The time remaining until event 72 is indicated as the "brake test" fault is calculated as follows: 2 * B311 - E177 The inverter is blocked due to the fault. The fault must be acknowledged before the functions B300 brake test and B301/B302 brake 1/2 grind can be performed. Information This parameter applies similarly to events 73, 74 and 75 in axes 2, 3 and 4.

Fieldbus: 1LSB=1hours; Type: U32; (raw value:4294967295 = 298261 hours); USS-Adr: 05 2C 40 00 hex

28B1h 0h

E178 Global

read (2)

Counter ASP switching cycles: The parameter counts each request and deselection of the ASP 5001 when the control part is active.


28B2h 0h

E180 Global

read (3)

Status positive T-limit: The positive torque limit is in effect. In the "comfort reference value" application, the signal can be read in D200 Bit 3 in fieldbus mode.



28B4h 0h

E181 Global

read (3)

Status negative T-limit: The negative torque limit is in effect. In the "comfort reference value" application, the signal can be read in D200 Bit 4 in fieldbus mode.



28B5h 0h

E182 Global

read (3)

Status positive n-limit: With operation with speed limiter or with torque control (C61 = 1), the positive maximum speed was reached. With operation without speed limiter or with speed control (C61 = 0), a too large positive reference value speed was limited to +C01.



28B6h 0h

Used Parameters

Electronic Cam

ID 441778.04 266


06


address

E183 Global

read (3)

Status negative n-limit: With operation with speed limiter or torque control (C61 = 1), the negative maximum speed was reached. With operation without speed limiter or with speed control (C61 = 0), an excessively negative reference value speed was limited to -C01.


Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 2D C0 00 hex

28B7h 0h

E191 Global

r=2, w=4

Runtime usage: Indication of the relative utilization of the real-time task by the graphic configuration. The maximum value is calculated for each cycle of the configuration. When utilization is too high (> approx. 75 %), the cycle time in A150 should be set to a higher value. With changes of A150, E191 starts at 0 %.

Fieldbus: 1LSB=1%; Type: U16; raw value:1LSB=Fnct.no.9; USS-Adr: 05 2F C0 00 hex

28BFh 0h

E200 Global

read (2)

Device status byte: This byte contains status signals of the device controller.

Bit 0: Enabled. The drive is ready. No faults, the device status corresponds to E84 = 4:oper. enabled.

Bit 1: Error. Device status is "fault reaction active" or "fault." Bit 2: Quick stop (also quick stop in "fault reaction active"). Bit 3,4: With multiple-axis operation, the active axis is shown here. Bit 4 Bit 3 Axis 0 0 Axis 1 0 1 Axis 2 1 0 Axis 3 1 1 Axis 4 Bit-5: Axis in E84 is active. Bit-6: Local: Local operation is activated. Bit-7: Bit 7 in A180 (device control byte) is copied once every device controller cycle to bit 7 in

E200 (device status byte). When bit 7 in A180 is toggled, the higher-level PLC is informed of a concluded communication cycle (send, evaluate, return data). For PROFIBUS for example, this permits cycle-time-optimized communication. The handshake bit 7 in A180 / E200 supplies no information as to whether the application has reacted to the process data. Depending on the application, other routines are provided for this (e.g., motion-Id for command positioning).

NOTE You can only use the toggle signal of bit 7 when device controllers 3:terminals, 4:USS, 5:CANopen, 6:PROFIBUS or 23:EtherCAT are used. If you configured a DSP 402 device controller, bit 7 always has signal status 0.


28C8h 0h

E941 Global

read (3)

Id-min: Display of the smallest value that the controller can request as a reference value for E92 Id. The current reference value is displayed in E165 Id-ref.

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 EB 40 00 hex

Used Parameters

Electronic Cam

ID 441778.04 267


06

F.. Control Interface Par. Description Fieldbus-

address

F01 Axis

r=2, w=2

n brake release: The specified speed is represented internally as a frequency at which the brake is released in control mode B20 = 0:V/f-control or B20 = 1:sensorless vector control. The speed is not evaluated in control mode B20 = 2:vector control or B20 = 64:servo-control.


Fieldbus: 1LSB=1rpm; Type: I16; (raw value:32767 = 8191 rpm); USS-Adr: 06 00 40 00 hex

Only visible when B20 = 0:V/f-control or B20 = 1:SLVC and F08 is not 0:inactive.

2A01h 0h

F02 Axis

r=2, w=2

n-brake set: When this speed is passed below during halting, the brake is applied.


Fieldbus: 1LSB=1rpm; Type: I16; (raw value:32767 = 8191 rpm); USS-Adr: 06 00 80 00 hex

Only visible when B20 = 0:V/f-control or B20 = 1:SLVC and F08 is not 0:inactive.

2A02h 0h

F06 Axis

r=2, w=3

T-brake release: Only when F08 = 1 (brake). Defines the release time of the connected brake. Select F06 as a factor 1.3 greater than the time t2 (SMS Catalog, Section M: Servo Motors ED+EK). When the halt/quick stop signal is enabled or removed, the release is delayed by the time F06. NOTE When a coupling relay is used, the brake release time must be increased by the trigger time of the relay. For B07 = 0 (only for SDS 5000) and B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B07 = 1 and then save the changes with A00 = 1. Note that in this case F07 can also no longer be read from the name plate.

Value range in ms: 0 ... 0 ... 32767



2A06h 0h

F07 Axis

r=2, w=3

T-brake set: Only when F08 = 1 (brake). Defines the application time of the connected brake. Select F07 as a factor 1.3 greater than the time t1 (SMS Catalog, Section M: Servo Motors ED+EK). With the removal of the enable and halt/quick stop, the drive still remains in the control for the time F07. NOTE When a coupling relay is used, the brake application time must be extended by the opening time of the rely. For B07 = 0 (only for SDS 5000) and B04 = 1, this parameter is described after each power on with data from the electronic name plate. Any manual changes are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile memory. For permanent changes, set B07 = 1 and then save the changes with A00 = 1. Note that in this case F06 can also no longer be read from the name plate.

Value range in ms: 0 ... 0 ... 32767



2A07h 0h

Used Parameters

Electronic Cam

ID 441778.04 268


06


address

F08 Axis

r=2, w=2

Brake: Activates the control of the halting brake by the inverter. When F08 is parameterized to 0:inactive, the status of brake activation corresponds to the status of A900. With SDS 5000, F08 must be activated so that F09 can be set and actions B300, B301 and B302 can be triggered. When B310 brake management is active, F08 must be activated. Information A change in this parameter does not take effect for the brake management of the SDS 5000 until after the device is turned off and on again

0: inactive; The brake is not controlled by the application. It is always released with enable on (24 V on X2).

1: active; The brake is activated by the application. The activation of the brake is triggered by setting the stop or quick stop signal and removing the enable.

The integral portion of the speed controller (reference torque) is saved at the moment the brake is applied and restored during the restart.

The saved torque is deleted when the enable is deactivated (A900 = 0). 2: Do not save torque; The function of the brake is identical to the selection 1:active. The integral portion of the speed controller (reference torque) is NOT saved.


2A08h 0h

F09 Axis

r=2, w=2

Utilized brakes: WARNING Danger of injury and property damage! Selection of the actions B300 Brake test or B301/B302 brake 1/2 grind without an actually connected brake can cause dangerous, unintentional movements of the drive with maximum motor torque! It is very important to adjust the setting of this parameter to the wiring of the brake! Parameter F09 specifies which brake will have cyclic status monitoring. If the reported status of the brake does not coincide with that of the controller, fault 34 hardware defect, cause 4:brake1 or 5:brake2 will be triggered. Actions B300 brake test and B301/B302 brake 1/2 grind use parameter F09 to determine which brakes are present. The actions are only performed on brakes which were parameterized before as present. Information The settings for brake management must be performed for every configured axis (e.g., in 1.F09 for axis 1 and in 3.F09 for axis 3).

1: Brake1, Only one brake is connected to X300.1 of STÖBER's BRS 5000 brake module. 2: Brake2, Only one brake is connected to X300.3 of STÖBER's BRS 5000 brake module. 3: Brake 1and2; Two brakes are connected to X300 of STÖBER's BRS 5000 brake module.



2A09h 0h

Used Parameters

Electronic Cam

ID 441778.04 269


06


address

F10 Global

r=3, w=3

Relay 1-function: The parameters for the behavior of relay 1 are set in F10. .

0: Function 0; Relay 1 is open if no configuration is active or E48 device status: 0: Self-test 5: Malfunction 6: Malfunction reaction active Relay 1 is closed if a configuration is active and E48 device status: 1: Switch on inhibit 2: Ready for switch on 3: Switched on 4: Operation enabled 7: Fast stop active . 1: Function 1; Relay 1 is open if no configuration is active or E48 device status: 0: Self-test 1: Switch on inhibit 5: Malfunction Relay 1 is closed if a configuration is active and E48 device status: 2: Ready for switch on 3: Switched on 4: Operation enabled 6: Malfunction reaction 7: Fast stop active


2A0Ah 0h

F11 Axis

r=2, w=2

AE1-Offset: F11 is added to E10. The result is multiplied by F12. This signal is supplied to the configuration. To compensate for an offset (the value which arrives at the inverter when the controller specifies 0 V), this must be entered in F11 with the opposite sign.

Value range in V: -10.000 ... 0 ... 10.000

Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 02 C0 00 hex

Only visible when a board is installed in the bottom option slot.

2A0Bh 0h

F12 Axis

r=2, w=2

AE1-gain: The result of the addition of F11 and E10 is multiplied by F12. This signal is supplied to the configuration.

Value range in %: -400.0 ... 100 ... 400.0



2A0Ch 0h

F13 Axis

r=2, w=2

AE1 ref low pass filter: The time constant for filtering a reference value specified on AE1 is parameterized in F13.

Value range in ms: 0.0 ... 0,6 ... 200.0


2A0Dh 0h

Used Parameters

Electronic Cam

ID 441778.04 270


06


address

F14 Axis, OFF

r=2, w=2

AE1-mode selector: The reference value mode for AE1 is set in F14. When 0:-10V to 10V is selected, a voltage reference value can be connected to AE1 in the specified range. The selections 1 and 2 can be set when a current reference value is specified. With 1: 0 to 20mA the specification 0 mA is interpreted as the minimum reference value and 20 mA as the maximum reference value. This interpretation is reversed for the setting 2. In other words, at 0 mA (wire break) the motor is activated with the maximum reference value (pump control). Wire break monitoring can be activated in F15 for the settings 3 and 4. With these settings a current reference value of 4 to 20 mA is connected. With 3:4 to 20 mA, 4 mA is processed as the minimum reference value and 20 mA as the maximum reference value. When the selection is 4:20 to 4 mA, processing is reversed (i.e., at 4 mA the motor is activated with the maximum reference value).

0: -10V to 10V; 1: 0 to 20mA; 2: 20 to 0mA; 3: 4 to 20mA; 4: 20 to 4mA;


2A0Eh 0h

F15 Axis

r=2, w=2

Wire breakage sensing: When F14 is set to 3:4 to 20 mA or 4:20 to 4 mA, wire break monitoring can be activated in F15. Active wire break monitoring means that application event 4 will be generated as per the parameterization in U140 to U142 if a wire break occurs. The drive continues at the velocity which was valid before the wire break until either a fault is generated by the event parameterization, the enable is switched off or the drive is stopped with a stop or quick stop command.



2A0Fh 0h

F21 Axis

r=2, w=2

AE2-Offset: F21 is added to E11. The result is multiplied by F22. This signal is supplied to the configuration. To compensate for an offset (the value which arrives at the inverter when the controller specifies 0 V), this must be entered in F21 with the opposite sign.

Value range in V: -10.000 ... 0 ... 10.000

Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 05 40 00 hex


2A15h 0h

F22 Axis

r=2, w=2

AE2-gain: F21 is added to E11. The result is multiplied by F22. This signal is supplied to the configuration.

Value range in %: -400.0 ... 100 ... 400.0



2A16h 0h

F23 Axis

r=2, w=2


Value range in ms: 0.0 ... 0,6 ... 200.0

Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 06 05 C0 00 hex

2A17h 0h

Used Parameters

Electronic Cam

ID 441778.04 271


06


address

F31 Axis

r=2, w=2

AE3-Offset: F31 is added to E74. The result is multiplied by F32. This signal is supplied to the configuration. To compensate an offset (the value which arrives at the inverter when the controller specifies 0 V), this must be entered in F31 with opposite sign.

Value range in V: -10.000 ... 0 ... 10.000

Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 07 C0 00 hex


2A1Fh 0h

F32 Axis

r=2, w=2

AE3-gain: F31 is added to E74. The result is multiplied by F32. This signal is supplied to the configuration.

Value range in %: -400.0 ... 100 ... 400.0



2A20h 0h

F33 Axis

r=2, w=2


Value range in ms: 0.0 ... 0,6 ... 200.0



2A21h 0h

F40 Axis

r=2, w=2

Analog-output1-source: The value output in analog output AA1 is calculated as follows from the parameters F40 to F44: Up to and including V 5.6-C: 1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x F42 + F41 2. This intermediate result is then smoothed with the time constant specified in F43. 3. If this is activated in F44, the amount is formed from the smoothed value. From V 5.6-D 1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x F42 2. This intermediate result is then smoothed with the time constant specified in F43. 3. If this is activated in F44, the amount is formed from the smoothed value. 4. The offset F43 is then added. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time corresponds to A150. Enter the coordinate of the parameter in F40 whose value you want to output to AA1. You can only enter parameters with the data type 16-bit with sign as the source (data type I16, ± 16384 = ± 10 V).




2A28h 0h

Used Parameters

Electronic Cam

ID 441778.04 272


06


address

F41 Axis

r=2, w=2

Analog-output1-offset: The value output in analog output AA1 is calculated as follows from the parameters F40 to F44: Up to and including V 5.6-C: 1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x F42 + F41 2. This intermediate result is then smoothed with the time constant specified in F43. 3. If this is activated in F44, the amount is formed from the smoothed value. From V 5.6-D 1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x F42 2. This intermediate result is then smoothed with the time constant specified in F43. 3. If this is activated in F44, the amount is formed from the smoothed value. 4. The offset F43 is then added. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time corresponds to A150. Enter the offset in F41.

Value range in V: -10.000 ... 0 ... 10.000

Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 0A 40 00 hex


2A29h 0h

F42 Axis

r=2, w=2

Analog-output1-gain: The value output in analog output AA1 is calculated as follows from the parameters F40 to F44: Up to and including V 5.6-C: 1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x F42 + F41 2. This intermediate result is then smoothed with the time constant specified in F43. 3. If this is activated in F44, the amount is formed from the smoothed value. From V 5.6-D 1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x F42 2. This intermediate result is then smoothed with the time constant specified in F43. 3. If this is activated in F44, the amount is formed from the smoothed value. 4. The offset F43 is then added. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time corresponds to A150. Enter the ratio factor in F42.

Value range in %: -3198.9 ... 100 ... 3198.9

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:1024·LSB=100%); USS-Adr: 06 0A 80 00 hex


2A2Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 273


06


address

F43 Axis

r=2, w=2

Analog-output1-act low pass filter: The value output in analog output AA1 is calculated as follows from the parameters F40 to F44: Up to and including V 5.6-C: 1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x F42 + F41 2. This intermediate result is then smoothed with the time constant specified in F43. 3. If this is activated in F44, the amount is formed from the smoothed value. From V 5.6-D 1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x F42 2. This intermediate result is then smoothed with the time constant specified in F43. 3. If this is activated in F44, the amount is formed from the smoothed value. 4. The offset F43 is then added. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time corresponds to A150. Enter the time constant for smoothing the intermediate result in F43.

Value range in ms: 0.0 ... 0,6 ... 200.0

Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 06 0A C0 00 hex

2A2Bh 0h

F44 Axis

r=2, w=2

Analog-output1-absolut: The value output in analog output AA1 is calculated as follows from the parameters F40 to F44: Up to and including V 5.6-C: 1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x F42 + F41 2. This intermediate result is then smoothed with the time constant specified in F43. 3. If this is activated in F44, the amount is formed from the smoothed value. From V 5.6-D 1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x F42 2. This intermediate result is then smoothed with the time constant specified in F43. 3. If this is activated in F44, the amount is formed from the smoothed value. 4. The offset F43 is then added. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time corresponds to A150. In F44, activate the amount generation for analog output AA1. Amount generation is activated when you set F44 = 1:active.



2A2Ch 0h

Used Parameters

Electronic Cam

ID 441778.04 274


06


address

F50 Axis

r=2, w=2

Analog-output2-source: The value output in analog output AA2 is calculated as follows from the parameters F50 to F54: Up to and including V 5.6-C: 1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x F52 + F51 2. This intermediate result is then smoothed with the time constant specified in F53. 3. If this is activated in F54, the amount is formed from the smoothed value. From V 5.6-D 1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x F52 2. This intermediate result is then smoothed with the time constant specified in F53. 3. If this is activated in F54, the amount is formed from the smoothed value. 4. The offset F53 is then added. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time corresponds to A150. Enter the coordinate of the parameter in F50 whose value you want to output to AA2. You can only enter parameters with the data type 16-bit with sign as the source (data type I16, ± 16384 = ± 10 V).




2A32h 0h

F51 Axis

r=2, w=2

Analog-output2-offset: The value output in analog output AA2 is calculated as follows from the parameters F50 to F54: Up to and including V 5.6-C: 1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x F52 + F51 2. This intermediate result is then smoothed with the time constant specified in F53. 3. If this is activated in F54, the amount is formed from the smoothed value. From V 5.6-D 1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x F52 2. This intermediate result is then smoothed with the time constant specified in F53. 3. If this is activated in F54, the amount is formed from the smoothed value. 4. The offset F53 is then added. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time corresponds to A150. Enter the offset in F51.

Value range in V: -10.000 ... 0 ... 10.000

Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 0C C0 00 hex


2A33h 0h

Used Parameters

Electronic Cam

ID 441778.04 275


06


address

F52 Axis

r=2, w=2

Analog-output2-gain: The value output in analog output AA2 is calculated as follows from the parameters F50 to F54: Up to and including V 5.6-C: 1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x F52 + F51 2. This intermediate result is then smoothed with the time constant specified in F53. 3. If this is activated in F54, the amount is formed from the smoothed value. From V 5.6-D 1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x F52 2. This intermediate result is then smoothed with the time constant specified in F53. 3. If this is activated in F54, the amount is formed from the smoothed value. 4. The offset F53 is then added. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time corresponds to A150. Enter the ratio factor in F52.

Value range in %: -3198.9 ... 100 ... 3198.9

Fieldbus: 1LSB=0,1%; Type: I16; (raw value:1024·LSB=100%); USS-Adr: 06 0D 00 00 hex


2A34h 0h

F53 Axis

r=2, w=2

Analog-output2-act low pass filter: The value output in analog output AA2 is calculated as follows from the parameters F50 to F54: Up to and including V 5.6-C: 1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x F52 + F51 2. This intermediate result is then smoothed with the time constant specified in F53. 3. If this is activated in F54, the amount is formed from the smoothed value. From V 5.6-D 1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x F52 2. This intermediate result is then smoothed with the time constant specified in F53. 3. If this is activated in F54, the amount is formed from the smoothed value. 4. The offset F53 is then added. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time corresponds to A150. Enter the time constant for smoothing the intermediate result in F53.

Value range in ms: 0.0 ... 0,6 ... 200.0

Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 06 0D 40 00 hex

2A35h 0h

Used Parameters

Electronic Cam

ID 441778.04 276


06


address

F54 Axis

r=2, w=2

Analog-output2-absolut: The value output in analog output AA2 is calculated as follows from the parameters F50 to F54: Up to and including V 5.6-C: 1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x F52 + F51 2. This intermediate result is then smoothed with the time constant specified in F53. 3. If this is activated in F54, the amount is formed from the smoothed value. From V 5.6-D 1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x F52 2. This intermediate result is then smoothed with the time constant specified in F53. 3. If this is activated in F54, the amount is formed from the smoothed value. 4. The offset F53 is then added. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time corresponds to A150. In F54, activate the amount generation for analog output AA2. Amount generation is activated when you set F54 = 1:active.


Fieldbus: 1LSB=1; Type: B; USS-Adr: 06 0D 80 00 hex

2A36h 0h

F61 Axis

r=2, w=2

BA1-source: The value of the parameterized coordinate is output on binary output 1 (X101.8). NOTE Please remember that binary output BA1 is already being used by the encoder simulation via the binary outputs. In this case no entry is permitted in F61.

Value range: A00 ... F181 ... A.Gxxx.yyyy (Parameter number in plain text)



2A3Dh 0h

F62 Axis

r=2, w=2

BA2-source: The value of the parameterized coordinate is output on binary output 2 (X101.9). NOTE Please remember that binary output BA2 is already being used by the encoder simulation via the binary outputs. In this case no entry is permitted in F62.




2A3Eh 0h

F63 Axis

r=2, w=2

BA3-source: The value of the parameterized coordinate is output on binary output 1 (X103.1).


Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 0F C0 00 hex


2A3Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 277


06


address

F64 Axis

r=2, w=2





2A40h 0h

F65 Axis

r=2, w=2





2A41h 0h

F66 Axis

r=2, w=2





2A42h 0h

F67 Axis

r=2, w=2





2A43h 0h

F68 Axis

r=2, w=2





2A44h 0h

F69 Axis

r=2, w=2




2A45h 0h

F70 Axis

r=2, w=2




2A46h 0h

F80 Axis

r=2, w=2

BA1 on delay: A signal which is output on BA1 can be delayed with the parameters F80 and F81. When a value is entered in F80, the switchon procedure of the signal is delayed by this number of milliseconds.

Value range in ms: 0 ... 0 ... 4294967

Fieldbus: 1LSB=1ms; Type: U32; (raw value:1LSB=0,00099999993131496·ms); USS-Adr: 06 14 00 00 hex


2A50h 0h

Used Parameters

Electronic Cam

ID 441778.04 278


06


address

F81 Axis

r=2, w=2

BA1 off delay: A signal which is output on BA1 can be delayed with the parameters F80 and F81. When a value is entered in F81, the switchoff procedure of the signal is delayed by this number of milliseconds.

Value range in ms: 0 ... 0 ... 4294967



2A51h 0h

F82 Axis

r=2, w=2

BA1 inverting: When the parameter F82 is activated, the output of the signal entered in F61 is inverted on BA1.




2A52h 0h

F83 Axis

r=2, w=2

BA2 on delay: A signal which is output on BA2 can be delayed with the parameters F83 and F84. When a value is entered in F83, the switchon procedure of the signal is delayed by this number of milliseconds.

Value range in ms: 0 ... 0 ... 4294967

Fieldbus: 1LSB=1ms; Type: U32; (raw value:1LSB=0,00099999993131496·ms); USS-Adr: 06 14 C0 00 hex


2A53h 0h

F84 Axis

r=2, w=2

BA2 off delay: A signal which is output on BA2 can be delayed with the parameters F83 and F84. When a value is entered in F84, the switch-off procedure of the signal is delayed by this number of milliseconds.

Value range in ms: 0 ... 0 ... 4294967



2A54h 0h

F85 Axis

r=2, w=2

BA2 inverting: When the parameter F85 is activated, the output of the signal entered in F62 is inverted on BA2.




2A55h 0h

F90 Global

r=2, w=3

Release time axis-switch: Specifies the release time of the contactor used for the axis switchover. This minimum time is waited before the inverter lets the next contactor be applied.

Value range in ms: 0 ... 20 ... 32767


2A5Ah 0h

F91 Global

r=2, w=3

Set time axis-switch: Specifies the set time of the contactor used for the axis switchover. This time is at least waited before the inverter lets the axis be electrified.

Value range in ms: 0 ... 20 ... 32767


2A5Bh 0h

Used Parameters

Electronic Cam

ID 441778.04 279


06


address

F100 Global,

OFF

r=1, w=1

Brake release source: Selection of the source for the "release brake" signal. The signal can be permanently pre-specified as supplied by the binary inputs or the fieldbus. With F100 = 2:Para-meter, A180, bit 6 (global parameter) is used as the signal source. This is the setting for fieldbus operation.

CAUTION The "release brake" signal releases the brake regardless of the device state - this may cause accidental movements.



2A64h 0h

F181 Global

read (1)

BA1: Bit 0 from the BA control bits byte F210. In the "comfort reference value" application, the status of BE1 can be indicated based on F209.

0: Low; 1: High;



2AB5h 0h

Used Parameters

Electronic Cam

ID 441778.04 280


06


address

F182 Global

read (1)


0: Low; 1: High;



2AB6h 0h

F183 Global

read (1)


0: Low; 1: High;

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 2D C0 00 hex


2AB7h 0h

F184 Global

read (1)


0: Low; 1: High;



2AB8h 0h

F185 Global

read (1)


0: Low; 1: High;



2AB9h 0h

F186 Global

read (1)


0: Low; 1: High;



2ABAh 0h

F187 Global

read (1)


0: Low; 1: High;

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 2E C0 00 hex


2ABBh 0h

Used Parameters

Electronic Cam

ID 441778.04 281


06


address

F188 Global

read (1)


0: Low; 1: High;



2ABCh 0h

F200 Global

read (2)

BE-byte: BE1-BE8 as bit pattern for space-saving transmission on the process data channel. Binary input 9 to 13 (only with XEA 5000 and XEA 5001 for MDS 5000 or LEA 5000 for FDS 5000 respectively) are available in parameter E19.


2AC8h 0h

F210 Global

r=2, w=2

BA control bits: The parameter F210 is primarily used to permit a higher-level controller access to the binary outputs of the inverter. The individual bits of F210 are automatically extracted in the bit parameters F181 ... F188. With the help of the parameters F61 ... F70, the individual bits can be written to the binary outputs. In the "comfort reference value" application, the function of F210 can be changed with the parameter F209.




2AD2h 0h

F300 Axis

read (2)

Open brake: Indication of the "release brake" signal. With HIGH, the halting brake is activated and released via relay contacts 1 and 2 on plug X2 (MDS/FDS) or X5 (SDS), regardless of the current operating state of the inverter. The "release brake" signal is required, for example, to manually move the drive without enable or without power (with an external 24 V power supply).



2B2Ch 0h

G.. Technology Par. Description Fieldbus-

address

G27 Axis, OFF

r=3, w=3

Master encoder: The encoder which is to supply the signals for the master position is selected.

0: inactive; No master signals are evaluated. 1: BE-encoder; Master signals are connected to binary inputs. 3: X140-encoder; Master signals arrive via plug connector X140. 4: X120-encoder; Master signals arrive via plug connector X120. 5: virt. Master; Master position of the integrated virtual master. 6: IGB; Only for SDS 5000. The values in E102 and E103 are used as master signals. Remember

that E102 and E103 must be written by the IGB-Motionbus. For an explanation of the settings required for this, see the Operating Manual SDS 5000 (ID 442289), chapter communication.


2C1Bh 0h

Used Parameters

Electronic Cam

ID 441778.04 282


06


address

G28 Axis

read (0)

n-master: For monitoring purposes during commissioning. Speed of the master encoder as per G27.


2C1Ch 0h

G30 Axis

r=1, w=1

Type of master axis: Specification of whether the master axis is an axis with limited positioning range or an endless axis.

0: limited; 1: endless;


2C1Eh 0h

G38 Axis

r=1, w=1

Reference position of master axis: Value which is loaded as the actual position for the master axis during "define home".

Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; PDO ; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 07 09 80 00 hex

2C26h 0h

G40 Axis

r=1, w=1

Circular length of master axis: Maximum value for the actual master position starting at which the position is counted from zero again (e.g., 360 degrees - modulo function).

Value range in G49: 0.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 07 0A 00 00 hex

2C28h 0h

G46 Axis

r=1, w=1

Decimal digits: Number of decimal places for the indication and the entry of master position reference values, speeds - accelerations as well as G47. Important: A change in G46 causes a shift in the decimal point and thus a change in the affected values. For this reason, G46 should be programmed at the beginning of a commissioning procedure. NOTE The parameter is identical with I06 of the slave axis. Example: When G46 is reduced from 2 to 1, values such as 12.27 mm are changed to 122.7 mm.

Value range: 0 ... 2 ... 3


2C2Eh 0h

G47 Axis, OFF

r=1, w=1

Distance per rev. Numerator: Together with G48, G47 specifies the distance (position difference) in relation to one revolution of the master encoder G27. The number of decimal places corresponds to G46. The direction of counting of the master position can be reversed with a negative value in G47. NOTE The parameter is identical with I07 of the slave axis.

Value range in G49: -21474836.48 ... 360 ... 21474836.47

Fieldbus: 1LSB=siehe G46; Type: I32; USS-Adr: 07 0B C0 00 hex

2C2Fh 0h

G48 Axis, OFF

r=1, w=1

Distance per rev. Denominator: Counter G47 is divided by the denominator G48. This can be used to calculate a mathematically precise gear ratio as a fraction (toothed gearing, toothed belt transmission). NOTE The parameter is identical with I08 of the slave axis.

Value range in encoder revolutions: 0 ... 1 ... 31 Bit

Fieldbus: 1LSB=1encoder revolutions; Type: I32; USS-Adr: 07 0C 00 00 hex

2C30h 0h

Used Parameters

Electronic Cam

ID 441778.04 283


06


address

G49 Axis

r=1, w=1

Measure.unit: Entry and indication of the unit of measure defined as desired by the user for the master axis via POSITool. A max. of 8 characters are permitted. Examples of permissible entries: Inc, mm, °, Grad, inch. NOTE The parameter is identical with I09 of the slave axis.

Default setting: °


2C31h 0h

G53 Axis

r=2, w=2

Offset for actual master position: The value in G53 is added to the actual master position.

Value range in G49: -47185920.00 ... 0 ... 47185919.98

Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 07 0D 40 00 hex

2C35h 0h

G54 Axis

r=2, w=2

Master velocity offset: The value in G54 is added to the master speed. The value is specified during regular master scaling. G54 is particularly useful for simulating a motion of the master encoder to make commissioning easier.

Value range in G245: -47185920.00 ... 0 ... 47185919.98

Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 07 0D 80 00 hex

2C36h 0h

G58 Axis

r=2, w=2

Virtual master reference position: When "virtual master set reference position" (G59) has a rising edge, the actual position of the virtual master is set to this value.

Value range in G49: -47185920.00 ... 0 ... 47185919.98

Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 07 0E 80 00 hex

2C3Ah 0h

G59 Axis

r=2, w=2

Virtual master set reference position: When this parameter has a rising edge, the actual position of the virtual master is set to the value "virtual master reference position" (G58).


Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 07 0E C0 00 hex

2C3Bh 0h

G60.0 Axis

r=3, w=3

x/y coupling X-Array: Values of cam table 1 in the X direction. The values are stored using a standardized method. The end value is 2^30 = 1073741824.

Value range: -31Bit ... 0 ... 31 Bit

Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 0F 00 00 hex

2C3Ch

Array

0h

G61.0 Axis

r=3, w=3

x/y coupling Y-Array: Values of cam table 1 in the Y direction. The values are stored using a standardized method. The end value is 2^30 = 1073741824.

Value range: -31Bit ... 0 ... 31 Bit


2C3Dh

Array

0h

G62.0 Axis

r=3, w=3

x/y coupling X-Array 2: Values of cam table 2 in the X direction. The values are stored using a standardized method. The end value is 2^30 = 1073741824.


2C3Eh

Array

0h

G64.0 Axis

r=3, w=3



2C40h

Array

0h

Used Parameters

Electronic Cam

ID 441778.04 284


06


address

G65.0 Axis

r=3, w=3

x/y coupling Y-Array 3: Values of cam table 3 in the Y direction. The values are stored using a standardized method. The end value is 2^30 = 1073741824.


2C41h

Array

0h

G66.0 Axis

r=3, w=3



2C42h

Array

0h

G67.0 Axis

r=3, w=3

x/y coupling Y-Array 4: Values of cam table 4 in the Y direction. The values are stored using a standardized method. The end value is 2^30 = 1073741824.

Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 10 C0 00 hex

2C43h

Array

0h

G68 Axis

r=1, w=3

Length of cam table 1: G68 determines the effective length of cam table 1 which is created from the X array G60 and the Y array G61. The number of array elements can be greater than the effective length since the number of array elements must be the same for all axes. In contrast, G68 can be different for each axis but never greater than the number of array elements. G68 is automatically set by the wizard when the cam table is imported. WARNING G68 should not be changed manually. An incorrect setting of G68 can lead to unexpected movements of the drive.

Value range: 0 ... 16380 ... 16380


2C44h 0h

G69 Axis

r=1, w=3


Value range: 0 ... 16380 ... 16380


2C45h 0h

G70 Axis

r=1, w=3


Value range: 0 ... 16380 ... 16380


2C46h 0h

Used Parameters

Electronic Cam

ID 441778.04 285


06


address

G71 Axis

r=1, w=3


Value range: 0 ... 16380 ... 16380

Fieldbus: 1LSB=1; Type: I16; USS-Adr: 07 11 C0 00 hex

2C47h 0h

G80 Axis

read (2)

Master actual position: Indication of the actual master position of the "Master SyncPosi" block. The actual position is indicated in the units specified in G46, G47, G48 and G49. Even when the master axis is parameterized as endless position range, G80 supplies continuous actual positions without the endless break.


2C50h 0h

G84 Axis

read (2)

Master velocity: Indication of the master speed of the "Master SyncPosi" block. The speed is indicated in units as specified by G46, G47, G48 and G49.

Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 07 15 00 00 hex

2C54h 0h

G87 Axis

read (3)

Timestamp of master position: Suitable time stamp for the current master actual position.

Fieldbus: 1LSB=1µs; Type: U16; USS-Adr: 07 15 C0 00 hex

2C57h 0h

G88 Axis

read (1)

Master endless overflow: Indicates the break of the actual master position endless axis of G40 to 0 with 1:overflow and the break from 0 to G40 with -1:underflow.

-1: Underflow; 0: inactive; 1: Overflow;


2C58h 0h

G89 Axis

read (1)

Master is in reference: Indicates that the master axis was referenced. The signal is set when a rising edge on the master reference switch input causes the actual position to be set to the reference position G34. CAUTION When the event "37:n-feedback" is triggered by the encoder belonging to the master axis, the "master is in reference" signal is deleted. After power OFF/ON (acknowledgment) referencing must be performed again.



2C59h 0h

Used Parameters

Electronic Cam

ID 441778.04 286


06


address

G90 Global

r=3, w=3

PLL: The parameter activates PLL control. PLL control synchronizes the inverter with the SYNC telegrams of the CAN bus or the SYNC signal of the EtherCAT bus. Information Do not change this parameter if you are using the EtherCAT PCB ECS 5000 or the Integrated Bus (IGB)! In these cases, the parameter is set automatically. A manual change can cause the synchronization to malfunction.



2C5Ah 0h

G91 Global

r=3, w=3

PLL phase-offset: Time offset value between the arrival of the SYNC telegram and the phase position of the cycle time on the inverter.

Value range in µs: -32768 ... -800 ... 32767

Fieldbus: 1LSB=1µs; Type: I16; USS-Adr: 07 16 C0 00 hex

Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10.

2C5Bh 0h

G92 Global

r=3, w=3

PLL gain: Proportional gain of PLL control. The gain must be reduced when the jitter of the SYNC telegrams increases.

Value range in %: 0.0 ... 20 ... 100.0

Fieldbus: 1LSB=0,1%; Type: I32; (raw value:2,14748E9·LSB=100%); USS-Adr: 07 17 00 00 hex


2C5Ch 0h

G93 Global

r=3, w=3

PLL low pass: Determines the limit frequency of the low pass filter of PLL control. The time must be increased when the jitter of the SYNC telegrams increases.

Value range in ms: 0.0 ... 40 ... 200.0



2C5Dh 0h

G95 Global

read (3)

PLL status: Shows the status of PLL control. Bit-0: PLL status Bit-1: PLL status 00 PLL engaged 01 Engaged, but more than half the control range is utilized (frequency too high). 10 Engaged, but more than half the control range is utilized (frequency too low). 11 PLL not engaged. Bit-2: Is 1 when PLL has extended the internal cycle time (A150). Bit-3: Is 1 when control hits the limits of the control range. Bit-4: Is 1 when the measured cycle time (G96) is greater than the specification (G98). Bit-5: Is 1 when G90 = inactive (PLL is deactivated). Bit-6: Reserved Bit-7: Reserved



2C5Fh 0h

G96 Global

read (3)

PLL measured cycle-time: Cycle time (filtered value) of the SYNC telegrams determined by PLL control.

Fieldbus: 1LSB=1µs; Type: I32; USS-Adr: 07 18 00 00 hex


2C60h 0h

Used Parameters

Electronic Cam

ID 441778.04 287


06


address

G97 Global

read (3)

PLL cycle-correction: Cycle correction specified by PLL control.

Fieldbus: 1LSB=1clock-cycles; Type: I8; USS-Adr: 07 18 40 00 hex


2C61h 0h

G98 Global

r=3, w=3

Reference cycle-time: Specified value for the cycle time of the SYNC telegram.

Value range in µs: 0 ... 4000 ... 8000

Fieldbus: 1LSB=1µs; Type: I16; USS-Adr: 07 18 80 00 hex

2C62h 0h

G103 Axis, OFF

r=1, w=1

Set master reference position source: When it has a rising edge the "set master reference position" signal sets the actual master position to the set master reference position. The parameter G103 specifies the source of the signal. The selection options 0:Low and 1:High are the same as fixed values. With G103 = 3:BE1...28:BE13-inverted the actual master position can be set via the selected binary input. With G103 = 2:Parameter the signal source is the control word of the selected application (e.g., I223 Bit 9). This setting is provided for fieldbus operation. Possible control words (global parameters) are: Application Parameter Bit Electronic cam I223 9



2C67h 0h

Used Parameters

Electronic Cam

ID 441778.04 288


06


address

G104 Axis, OFF

r=3, w=3

Lead-Position Source: Selects the source encoder for a lead axis position which is indicated in parameters E163 and E164. These parameters can be distributed via the IGB to forward the lead axis position to other inverters. Information A plausibility check can be performed with parameters G297 and G298 for the encoder selected with this parameter. Remember that not all applications contain parameters G297 and G298!

0: inactive; No lead axis position is output. 1: BE-encoder; The signals on binary inputs BE3, BE4 and BE5 are output as the lead axis

position. 2: X4-encoder; The signals on X4 are output as the lead axis position. 3: X140-encoder; The signals on plug connector X140 are output as the lead axis position. 4: X120-encoder; The signals on X120 are output as the lead axis position. 5: virt. Master; The signals of the virtual master are output as the lead axis position.


Only visible when E163 Lead-position producer exists.

2C68h 0h

G140 Axis

r=3, w=3

Master tip enable: Parameters G140 to G142 as well as G144, G145 and G148 make it possible to move the virtual master in tipping mode. The Master TipEnable signal puts the virtual master in tipping mode.



2C8Ch 0h

G141 Axis

r=3, w=3

Master tip+: Parameters G140 to G142 as well as G144, G145 and G148 make it possible to move the virtual master in tipping mode. The Master Tip+ signal starts manual positioning in the positive direction. NOTE Tip mode must be activated for correct function (Master TipEnable signal).



2C8Dh 0h

G142 Axis

r=3, w=3

Master tip-: Parameters G140 to G142 as well as G144, G145 and G148 make it possible to move the virtual master in tipping mode. The Master Tip- signal starts manual positioning in the negative direction. NOTE Tip mode must be activated for correct function (Master TipEnable signal).



2C8Eh 0h

Used Parameters

Electronic Cam

ID 441778.04 289


06


address

G143 Axis

r=3, w=3

Master velocity override: Enter the speed override for the virtual master in parameter G143. Master velocity override affects all speeds of the virtual master (tipping, positioning).

Value range in %: 0.0 ... 100 ... 400.0

Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=400,0%); USS-Adr: 07 23 C0 00 hex

2C8Fh 0h

G144 Axis

r=3, w=3

Master tip velocity: Parameters G140 to G142 as well as G144, G145 and G148 make it possible to move the virtual master in tipping mode. Like all other speeds of the virtual master, it can be changed via the master velocity override G143. Acceleration during tip mode is specified by G145, the deceleration by G148.

Value range in G245: 0.00 ... 0 ... 47185919.98


2C90h 0h

G145 Axis

r=3, w=3

Master tip acceleration: Parameters G140 to G142 as well as G144, G145 and G148 make it possible to move the virtual master in tipping mode. Enter the acceleration of the virtual master in tipping mode in parameter G145.

Value range in G244: 0.00 ... 0 ... 47185919.98


2C91h 0h

G146 Axis

r=3, w=3

Master software limit switch +: Enter the position of the software limit switch for the virtual master in parameters G146 and G147. The software limit switch can only be used with a limited positioning range (G30 = 0). Enter the software limit switch in the positive direction of rotation in G146. The software limit switch is only active when the virtual master is referenced. The positioning controller rejects motion jobs to targets outside the software limit switches (ErrorCode G163 = 2). Tip mode and endless motion blocks are stopped at the software limit switches. When G146 and G147 are set to the same value, their function is deactivated. CAUTION When a flying change in motion block with slower ramps causes the permissible position range to be exceeded, this is not caught by software limit switches!

Value range in G49: -47185920.00 ... 0 ... 47185919.97


2C92h 0h

G147 Axis

r=3, w=3

Master software limit switch -: Enter the position of the software limit switch for the virtual master in parameters G146 and G147. The software limit switch can only be used with a limited positioning range (G30 = 0). Enter the software limit switch in the negative direction of rotation in G147. The software limit switch is only active when the virtual master is referenced. The positioning controller rejects motion jobs to targets outside the software limit switches (ErrorCode G163 = 3). Manual positioning and endless motion blocks are stopped at the software limit switches. When G146 and G147 are set to the same value, their function is deactivated. CAUTION When a flying change in motion block with slower ramps causes the permissible position range to be exceeded, this is not caught by software limit switches!

Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; PDO ; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 07 24 C0 00 hex

2C93h 0h

Used Parameters

Electronic Cam

ID 441778.04 290


06


address

G148 Axis

r=3, w=3

Master tip acceleration: The parameters G140 to G142 and G144, G145 and G148 allow the virtual master to be operated in tip mode. Enter the deceleration of the virtual master in tip mode in parameter G148.

Value range in G244: 0.00 ... 0 ... 47185919.98


2C94h 0h

G150 Axis

read (3)

Denied: The positioning virtual master has refused to execute a command. The cause is shown in parameter G163.



2C96h 0h

G151 Axis

read (3)

Limited: The positioning virtual master is currently restricted by one of the software limit switches.



2C97h 0h

G152 Axis

read (3)

Aborted: Indication of the Aborted signal on the output interface of the positioning virtual master. The active signal indicates that the last motion job was aborted (e.g., by a halt command or a new motion job which was refused). Since the signal becomes inactive when a new motion job is started, the "Aborted" flag cannot be used to detect the abortion of a previous motion job by a new motion job.



2C98h 0h

G153 Axis

read (3)

Constant velocity: Indication of the signal for constant speed on the output interface of the positioning virtual master. When the signal is HIGH, the virtual master is moving at a constant speed.



2C99h 0h

G154 Axis

read (3)

In Position: Indication of the current value on the positioning virtual master's output of the same name. "In Position" is set when the specified speed profile has been completely covered.



2C9Ah 0h

G155 Axis

read (3)

In reference: Indication of the In Reference output signal of the positioning virtual master. The signal is set when a home command has caused the virtual master to change its current position to the reference position G58.



2C9Bh 0h

Used Parameters

Electronic Cam

ID 441778.04 291


06


address

G156 Axis

read (3)

Done: Indication of the Done signal on the output interface of the positioning virtual master. An active signal means that the command to be performed has been successfully executed.



2C9Ch 0h

G157 Axis

read (3)

Accelerating: Indication of the Accelerating signal on the output interface of the positioning virtual master. An active signal causes the speed to increase.



2C9Dh 0h

G158 Axis

read (3)

Decelerating: Indication of the Decelerating signal on the output interface of the positioning virtual master. An active signal causes the current speed to be reduced.



2C9Eh 0h

G159 Axis

read (1)

PLCopen master state: State of the positioning virtual master as per PLCopen definition.

0: PLCO_Init; Positioning virtual master is in the initialization phase. 1: PLCO_Passive; Positioning is passive. When the drive is outside the last target window, the

reference position becomes the actual position and the In Position signal becomes inactive. 2: Standstill; The positioning virtual master is in standstill and is ready to accept a motion job. 3: Discrete motion; The positioning virtual master is in the middle of a movement which has a

defined target position. 4: Continuous motion; The positioning virtual master is in the middle of a movement which does

not have a defined target position. 5: Reserve 6: Stopping; The positioning virtual master moves along the set deceleration ramp until it comes to

a standstill. A transition to the state "standstill" occurs afterwards. 7: Error stop; The positioning virtual master executes a halt. When the drive is at a standstill, the

"ErrorStop" state is retained. 8: Reserve


2C9Fh 0h

G160 Axis

read (2)

Active PLCopen Step-ID: This parameter indicates the last-started motion block of the virtual master. When PLCopen blocks are used, each of these blocks has a step ID which can be set as desired (a number from 0 to 65535) on its reference value interface. The ID of the last-started PLCopen block is entered in G160.


2CA0h 0h

G161 Axis

read (1)

Error: Indication of the Error signal on the output interface of the positioning virtual master. An active signal shows an error that has occurred. The type of error is indicated in G163.



2CA1h 0h

Used Parameters

Electronic Cam

ID 441778.04 292


06


address

G162 Axis

read (1)

Active motionID: The value of the MotionID of the positioning virtual master which was accepted from the last rising "Execute" edge. A MotionID which is accepted with the rising edge of the "Execute" signal can be transmitted with each command. When the applicable MotionID is indicated as an active MotionID, this means that the command is being executed.


2CA2h 0h

G163 Axis

read (1)

Error code: When the PLCopen state of the positioning virtual master is G159 "ErrorStop," the cause can be read here.

0: error free; 1: Illegal direction; An attempt was made to start a motion job in an illegal direction of rotation. 2: SW-lim.switch+; An attempt was made to start a motion job whose target position is outside the

positive software limit switch. 3: SW-lim.switch-; An attempt was made to start a motion job whose target position is outside the

negative software limit switch. 4: Absolute positioning without referencing; An attempt was made to start a motion job with an

absolute target while the drive was not referenced. 5: Reserve 6: Reserve 7: SW-lim.switch+; ErrorStop due to activated software limit switch+. 8: SW-lim.switch-; ErrorStop due to activated software limit switch-. 9: Reserve 10: Denied because Position is not in circular length; 11: Reserve


2CA3h 0h

G190 Axis

read (3)

Actual position virtual master: Indicates the current actual position of the "virtual master" block.

Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 07 2F 80 00 hex

2CBEh 0h

G191 Axis

read (3)

Actual velocity virtual master: Indicates the current positioning speed of the "virtual master" block.

Value range in G245: -47185920.00 ... 0 ... 47185919.98

Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 07 2F C0 00 hex

2CBFh 0h

G194 Axis

read (2)

Virtual master timestamp: Contains the time stamp of the current value of the actual position of the virtual master.

Fieldbus: 1LSB=1µs; PDO ; Type: U16; USS-Adr: 07 30 80 00 hex

2CC2h 0h

G203 Global

read (2)

Master actual position: Global parameter for requesting the actual master position via a fieldbus. The position is transmitted without regard for fieldbus scaling and customer scaling without any positions after the decimal point (e.g., "123.45 °" is sent to the controller as G203 = 12345).

Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; (raw value:1LSB=0,01·<G49>); USS-Adr: 07 32 C0 00 hex

2CCBh 0h

G244 Axis

read (3)

Measure.unit: Unit of measure automatically derived from G49 for master acceleration.

Default setting: °/s²


2CF4h 0h

G245 Axis

read (3)

Measure.unit: Unit of measure for master speed automatically derived from G49.

Default setting: °/s


2CF5h 0h

Used Parameters

Electronic Cam

ID 441778.04 293


06


address

G248 Axis

read (3)

Technology increments: (When the "Master SyncPosi" block is used). Automatically generated from G27 and the related encoder parameters. The effective encoder increment number is indicated.

Value range: 0 ... 16384 ... 16384

Fieldbus: 1LSB=1; Type: I16; USS-Adr: 07 3E 00 00 hex

2CF8h 0h

G249 Axis

read (3)

Effective master revolutions: (When the "Master SyncPosi" block is used). G249 and G250 provide the effective master-slave transmission ratio based on increments. The entries are generated automatically.


2CF9h 0h

G250 Axis

read (3)

Effective slave revolutions: (When the "Master SyncPosi" block is used). G249 and G250 provide the effective master-slave transmission ratio based on increments. The entries are generated automatically.


2CFAh 0h

G251 Axis

read (3)

Effective master counting direction: (When the "Master SyncPosi" block is used). Direction in which the actual master value is moving when the master encoder is rotating clockwise.

0: positive; 1: negative;

Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 3E C0 00 hex

2CFBh 0h

G290 Global

read (3)

Error-evaluation lead-position source: This parameter indicates the current state of the error evaluation counter (see G298) for the encoder selected in G104.

Value range: 0.0 ... 0 ... 12.0

Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 07 48 80 00 hex

2D22h 0h

G291 Global

r=3, w=3

Error-counter lead-position source: This parameter counts the errors tolerated by the encoder selected in G104 since the new start of the device.


2D23h 0h

G295 Global

read (3)

Double transmission master-encoder: Indicates whether double-transmission monitoring is active for the SSI encoder used as the master encoder. Double-transmission monitoring is not active at first when encoder evaluation begins but shortly thereafter it is activated automatically if the SSI encoder supports this. Inactive monitoring significantly reduces data security. This parameter can be disregarded if the master encoder is not an SSI encoder. NOTE This parameter can only be used when an SSI or an EnDat® encoder is being evaluated on the inverter.



2D27h 0h

G296 Global

read (3)

Error-counter master-encoder: Counts the number of tolerated errors of the master encoder since the last new start of the device. NOTE This parameter can only be used when an SSI or an EnDat® encoder is being evaluated on the inverter.

Value range: 0 ... 0 ... 4294967295


2D28h 0h

Used Parameters

Electronic Cam

ID 441778.04 294


06


address

G297 Axis

r=3, w=3

Maximum-speed master-encoder: A plausibility check of the encoders selected in G104 and G27 is available with G297. The difference between two consecutive encoder values is monitored. f this difference exceeds the speed specified in G297, a malfunction is triggered (37:n-feedback/double transmission, starting with V5.2: 37:Encoder/X4-speed or X120-speed and starting with V5.4 IGB-wirebreak) Regardless of the encoder system being used, specification of the incremental difference is always standardized to 8192 increments/rotation. Information This parameter can only be used when an SSI or an EnDat® encoder is being evaluated on the inverter. The selection 6:IGB can also be monitored for the encoder selected in G27.

Value range in increments/ms: 0 ... 16777216 ... 24 Bit

Fieldbus: 1LSB=1increments/ms; Type: I32; (raw value:7 Bit=1·increments/ms); USS-Adr: 07 4A 40 00 hex

2D29h 0h

G298 Axis

r=3, w=3

Error-tolerance master-encoder: Sets the inverter's tolerance of faults of the encoders selected in G104 and G27. This tolerance keeps fault 37:encoder from being triggered due to sporadic encoder errors. The inverter extrapolates an encoder value in this case. Parameter G298 specifies how many errors will be tolerated before the inverter malfunctions. The fault evaluation is set up as follows (example for the encoder parameterized in G27. G290 is the reference parameter instead of G299 for the G104 encoder): Each arriving encoder value is checked. When an encoder error is found, G299 and G298 are compared. If the error evaluation counter G299 is greater than or equal to G298, fault 37:encoder is triggered. If G299 is less than G298, the error is tolerated. Counter G299 is incremented by 1.0. When the arriving encoder value is correct, error evaluation counter G299 is decremented by 0.1. Decrementation continues until the value 0. Example: When 0.1 is set in G298 one error is tolerated. At least 10 correct values must then be determined before the next error is found. The following errors are tolerated: - EnDat®-CRC - EnDat®-Busy - SSI-double transmission - SSI-Busy - Violation of the maximum speed from G297 A malfunction is triggered immediately for other encoder errors (e.g., wire break) regardless of G298. The quality of motion may suffer due to error toleration. When encoder errors occur frequently we recommend checking the wiring. The fault evaluation counter can be viewed in G299 or G291. Information This parameter can only be used when an SSI or an EnDat® encoder is being evaluated on the inverter. The selection 6:IGB can also be monitored for the encoder selected in G27.

Value range: 0.0 ... 1 ... 3.0


2D2Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 295


06


address

G299 Global

read (3)

Error-evaluation master-encoder: Indicates the current status of the error evaluation counter (see G298). NOTE This parameter can only be used when an SSI or an EnDat® encoder is being evaluated on the inverter.

Value range: 0.0 ... 0 ... 12.0


2D2Bh 0h

G340 Axis, OFF

r=3, w=3

Masterfilter: Activates filter via the master actual-value filter. Incremental multiplication is always active regardless of the filter.



2D54h 0h

G341 Axis, OFF

r=3, w=3

Masterfilter increment multiplier: Multiplication factor for the master position to the exponent of 2. For example, a value of 5 results in the multiplication of the master position by a factor of 32.

Value range: 0 ... 0 ... 8


2D55h 0h

G342 Axis

r=3, w=3

Masterfilter position low pass: Time constant for the position low pass of the master actual-value filter.

Value range in ms: 0.0 ... 1,2 ... 1007.2



2D56h 0h

G343 Axis

r=3, w=3

Masterfilter speed low pass: Time constant for the speed low pass of the master actual-value filter.

Value range in ms: 0.0 ... 3,7 ... 1007.2

Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 07 55 C0 00 hex


2D57h 0h

G344 Axis

r=3, w=3

Masterfilter dead time compensation: Compensation option for dead times which are created while the master actual value is being processed.

Value range in ms: 0.0 ... 0 ... 1000.0

Fieldbus: 1LSB=0,1ms; Type: I32; (raw value:2147483647 = 32768000.0 ms); USS-Adr: 07 56 00 00 hex


2D58h 0h

G348 Axis

read (3)

Filtered master-position: The parameter shows the master position after increment multiplication and filtering by the master actual-value filter.

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.23; USS-Adr: 07 57 00 00 hex

2D5Ch 0h

G349 Axis

read (3)

Filtered master-speed: The parameter shows the master speed after increment multiplication and filtering by the master actual-value filter.

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.24; USS-Adr: 07 57 40 00 hex

2D5Dh 0h

Used Parameters

Electronic Cam

ID 441778.04 296


06


address

G400 Axis

r=3, w=3

Motion ID: Motion ID is a motion job ID which the user can assign as desired. The PLCopen blocks increment G400 each time a block starts and use this as the motion block ID. When G400 changes, this means that the previous PLCopen block was aborted. See also G162.

Value range: 0 ... 0 ... 65535


2D90h 0h

G401 Axis

r=3, w=3

Command: The PLCopen blocks are built on the functionality of the positioning virtual master. The command is sent to this functionality in G401.

Value range: 0 ... 0 ... 255


2D91h 0h

G402 Axis

r=3, w=3

Execute: The PLCopen blocks are built on the functionality of the positioning virtual master. The Execute signal is sent to this functionality in G402.



2D92h 0h

G403 Axis

r=3, w=3

Target position: The PLCopen blocks are built on the functionality of the positioning virtual master. The target position is sent to this functionality in G403.

Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 07 64 C0 00 hex

2D93h 0h

G404 Axis

r=3, w=3

Velocity: The PLCopen blocks are built on the functionality of the positioning virtual master. The reference speed is sent to this functionality in G404.

Value range in G245: 0.00 ... 0 ... 47185919.98


2D94h 0h

G405 Axis

r=3, w=3

Accel: The PLCopen blocks are built on the functionality of the positioning virtual master. The reference acceleration is sent to this functionality in G405.

Value range in G244: 0.00 ... 0 ... 47185919.98


2D95h 0h

G406 Axis

r=3, w=3

Decel: The PLCopen blocks are built on the functionality of the positioning virtual master. The reference deceleration is sent to this functionality in G406.

Value range in G244: 0.00 ... 0 ... 47185919.98


2D96h 0h

G407 Axis

r=3, w=3

Jerk: The PLCopen blocks are built on the functionality of the positioning virtual master. The reference jerk limitation is sent to this functionality in G407.

Value range in G244: 0.00 ... 0 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 07 65 C0 00 hex

2D97h 0h

Used Parameters

Electronic Cam

ID 441778.04 297


06


address

G408 Axis

r=3, w=3

Timestamp of execute: The PLCopen blocks are built on the functionality of the positioning virtual master. The time stamp of the Execute signal is sent to this functionality in G408. The virtual master uses this value to reconstruct precisely to the microsecond when the Execute signal occurred regardless of the cycle time parameterized in A150.

Value range: 0 ... 0 ... 65535


2D98h 0h

G409 Axis

read (3)

MC_Stop: According to the definition in PLCopen, the PLCopen block "Master PLCopen MC_Stop" must block other PLCopen blocks when the Execute signal is queued. The MC_Stop block supplies its negated Execute input in G409. All other PLCopen blocks generate a logical AND link between their Execute signal and G409.

Value range: 0 ... 1 ... 255


2D99h 0h

G850 Axis

read (3)

Master absolute/relative: Value the last time MC_CamIn was executed. 0: Master relative. In this mode the start of the table is allocated to the current master value at the

point in time the cam was activated. 1: Master absolute. In this mode the corresponding point in the table is always allocated to the

current master value.

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 D4 80 00 hex

G852 Axis

read (3)

Cam table periodic: Value when the table coupling block was activated last. When the master is a type "endless position range with circular length" and cam execution is periodic (cyclic), the cam is started again each time the circular length overflows or underflows. When the cam profile is open the difference between start and end values is added as for an offset. This creates a cam profile without jumps. When cam execution is not periodic, the start or end value of the cam table is retained starting the next time the circular length overflows or underflows. There is no more reaction to the master position. When the master is a type "limited," periodic execution is not possible. The start and end values are extrapolated for all X values located outside the cam. In other words, the last Y value of the table is allocated to all values which are greater than the last X value, and the first Y value is allocated to all values which are less than the first X value. This is not possible after the value range of the actual master position overflows. For instance, if the actual master position exceeds the overflow point in the positive direction, it assumes the maximum negative value behind the overflow point and calculates the applicable table value from this.


G853 Axis

read (3)

Cam table reference number: Value the last time MC_CamIn was executed. The cam reference number to be selected is transferred with this parameter. One of a maximum of four cam tables is selected.


G854 Axis

read (3)

Master scaling: Value the last time the table coupling block was activated. A distance is specified here in master units. It is the distance which is allocated to the entire length of the cam table in the X direction.

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.23; USS-Adr: 07 D5 80 00 hex

Used Parameters

Electronic Cam

ID 441778.04 298


06


address

G855 Axis

read (3)

Master scaling: Value the last time the table coupling block was activated. The "master offset" value is subtracted from the current actual master position before the result is prepared for use as an index in the cam table.

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.24; USS-Adr: 07 D5 C0 00 hex

G856 Axis

read (3)

Slave scaling: Value the last time the table coupling block was activated. A distance is specified here in slave units. It is the distance which is allocated to the standardized end value (2^30) of the cam table in the Y direction.

Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 07 D6 00 00 hex

G857 Axis

read (3)

Slave offset: Value the last time the table coupling block was activated. The "slave offset" value is added to the scaled output value of the cam table.

Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 07 D6 40 00 hex

G858 Axis

read (3)

CamIn Execute: Saved status of the Execute signal of the MC_Camin block which is supplied with the coupling parameter. A rising edge of the signal is detected with this value.


G860 Axis

read (3)

Output table coupling limited pos. range: This value is supplied to the Posi kernel as the actual master position in the presentation for limited position range.


G861 Axis

read (3)

Output table coupling endless pos. range: This value is supplied to the Posi kernel as the actual master position in the presentation for endless position range.


G862 Axis

read (3)

Output table coupling velocity: This value is supplied to the Posi kernel as the master speed.

Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 07 D7 80 00 hex

G863 Axis

read (3)

State code of table coupling: Table coupling behavior is divided into various states.

0: Active. Normal processing of the table coupling. The output value is determined by the applicable rules of computation and written to the output.

1: Reserved 2: Reserved 3: End of table reached. The master position has overflowed or underflowed over the zero point

with a non-periodic cam. From this time on, no more changes to the output value of the table coupling occur until the table coupling is activated again with an Execute signal.

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 D7 C0 00 hex

G864 Axis

read (3)

Status flags of table coupling: Bit 0 = 1. The calculated index in the cam table is less than 0. Bit 1 = 1. The calculated index in the cam table is greater than the maximum index.


Used Parameters

Electronic Cam

ID 441778.04 299


06


address

G865 Axis

read (3)

Accumulator of periodic curve offset: The periodic cam offset is added to this value each time the master position overflows the circular length or is subtracted each time the master position underflows the zero point.


G866 Axis

read (3)

Periodic curve offset: With open cam profiles the difference between the Y values at the beginning and the end of the table and the slave scaling value results in an offset which must be considered appropriately each time the master position overflows or underflows. This value is calculated once at the start of the cam and is then indicated in G866.


G867 Axis

read (3)

Master position minus offset: Indication of the master position minus the master offset.


G868 Axis

read (3)

Master position in normalized form: Indication of the master position minus the master offset over the master scaling value (normalized/standardized for table access).

Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 D9 00 00 hex

G869 Axis

read (3)

Output value of table in normalized form: Standardized value on the table output.


G870 Axis

read (3)

Output value of table in scaled form: Output value of the table scaled with the slave scaling value but still without slave offset.


G871 Axis

read (3)

Master pos. minus offset no compensation: Indication of the master position minus master offset without dead time compensation.


G908 Axis

read (3)

Connector master position limited: Connector parameter which establishes the connection to the referencing blocks. The actual position has already been converted to the reference system of the slave drive and is indicated in the units as specified by I06, I07, I08 and I09. Even when the master axis is parameterized with an endless position range, G900 shows consecutive actual positions without a break at the round-trip length.

Fieldbus: 1LSB=1; Type: P64; USS-Adr: 07 E3 00 00 hex

G909 Axis

read (3)

Connector master position endless: Connector parameter which establishes the connection to the referencing blocks. The actual position has already been converted to the reference system of the slave drive and is indicated in the units as specified by I06, I07, I08 and I09. When the master axis is parameterized as endless axis, G901 always supplies values between 0 and the value of G940 (see also G940 and G40). In contrast to G901, G909 shows the value before a master slave coupling block.

Fieldbus: 1LSB=1; Type: P64; USS-Adr: 07 E3 40 00 hex

Used Parameters

Electronic Cam

ID 441778.04 300


06


address

G910 Axis

read (3)

Master pos. limited no compensation: G910 is used as a possible actual-value source for a master cam. G910 contains the actual position of the master without the otherwise obligatory dead time compensation. G911 also shows the actual value without a break in circular length G40 for parameterization as master with endless position range. G911 is indicated as position value with the units specified by G46, G47, G48 and G49.

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 07 E3 80 00 hex

G911 Axis

read (3)

Master pos. endless no compensation: G911 is used as a possible actual-value source for a master cam. G911 contains the actual position of the master without the otherwise obligatory dead time compensation. G911 also shows the actual value with a break in circular length G40 for parameterization as master with endless position range. G911 is indicated as position value with the units specified by G46, G47, G48 and G49.

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 07 E3 C0 00 hex

G950 Axis

read (3)

Master absolute/relative: 0:Master relative. In this mode the start of the table is allocated to the current master value at the time the cam was activated. 1:Master absolute. In this mode the corresponding point in the table is always allocated to the current master value.

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 ED 80 00 hex

G951 Axis

read (3)

Slave absolute/relative: Not used at this time. Is always 0.

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 ED C0 00 hex

G952 Axis

read (3)

Cam table periodic: When the master is a type "endless position range with circular length" and the cam is executed periodically, the cam is started again each time the circular length overflows or underflows. When the cam profile is open, the difference between the start and end values is accumulated as the offset. This produces a cam profile without jumps. When cam execution is not periodic, the start or end value of the cam table is retained starting the next time the circular length overflows or underflows. There is no more reaction to the master position. When the master is a type "limited," periodic execution is not possible. The start and end values are extrapolated for all X values located outside the cam. In other words, the last Y value of the table is allocated to all values which are greater than the last X value, and the first Y value is allocated to all values which are less than the first X value. This is not possible after the value range of the actual master position overflows. For instance, if the actual master position exceeds the overflow point in the positive direction, it assumes the maximum negative value behind the overflow point and calculates the applicable table value from this.

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 EE 00 00 hex

G953 Axis

read (3)

Cam table reference number: The cam reference number to be selected is transferred with this parameter. One of a maximum of four cam tables is selected.

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 EE 40 00 hex

G954 Axis

read (3)

Master scaling: A distance is specified here in master units. It is the distance which is allocated to the entire length of the cam table in the X direction.

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 07 EE 80 00 hex

Used Parameters

Electronic Cam

ID 441778.04 301


06


address

G955 Axis

read (3)

Master offset: The "master offset" value is subtracted from the current actual master position before the result is prepared for use as an index in the cam table.

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 07 EE C0 00 hex

G956 Axis

read (3)

Slave scaling: A distance is specified here in slave units. It is the distance which is allocated to the standardized end value (2^30) of the cam table in the Y direction.

Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 07 EF 00 00 hex

G957 Axis

read (3)

Slave offset: The "slave offset" value is added to the scaled output value of the cam table.

Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 07 EF 40 00 hex

G958 Axis

read (3)

CamIn Execute: The Execute signal of the MC_Camin block is supplied with this coupling parameter to the table coupling block.

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 EF 80 00 hex

G959 Axis

read (3)

CamIn Execute timestamp: The time stamp belonging to the Execute signal of the MC_Camin block is transmitted in this coupling parameter.

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 07 EF C0 00 hex

G990 Axis

r=3, w=3

Master scaling visible: The parameter function is exclusively present or not present. The set value has no significance. If parameter G990 is present in the application, parameters involving scaled master positions are displayed. Otherwise these parameters are not displayed. This applies to the parameters G30, G34, G36, G40, G41, G46, G47, G48, G49, G244, G245 and G940. Parameter G990 is automatically entered in all standard applications supporting scaled master positions. In user applications, the parameter G990 can be added to the application by hand.


Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 F7 80 00 hex

H.. Encoder Par. Description Fieldbus-

address

H00 Axis, OFF

r=2, w=2

X4-function: Function of encoder interface X4 (motor encoder). NOTE Please remember that only the setting 3:Incremental-encoder In is available on the FDS 5000. NOTE Also please remember that a change in H00 may cause position values to be rescaled (in positioning applications). Scaling can take several seconds.

0: inactive; 3: incremental encoder in; (only for asynchronous motors) 64: EnDat®; 65: SSI master;


2E00h 0h

Used Parameters

Electronic Cam

ID 441778.04 302


06


address

H01 Axis, OFF

r=2, w=2

X4-increments: Number of increments for the encoder set in H00. With incremental encoders, each increment supplies 4 counting increments via the edge evaluation and thus a four-fold higher resolution of the position. In the case of an SSI encoder, H01 functions as a gear factor, whereby 1024 is equivalent to 1. Please contact STÖBER ANTRIEBSTECHNIK for other settings to the parameters for SSI encoders.

Value range in inc/r: 30 ... 1024 ... 8191

Fieldbus: 1LSB=1inc/r; Type: I16; USS-Adr: 08 00 40 00 hex

Only visible when H00 = 3:EncoderIn.

2E01h 0h

H02 Axis, OFF

r=2, w=2

X4-inverted: Inverts the sign of the angle supplied by the encoder in the encoder acquisition. Can be used for reversed phases. Adhere to B05!



Only visible when H00 is not 0:inactive.

2E02h 0h

H05 Axis, OFF

r=2, w=2

X4-SSI-code: Type of coding of the angle via the SSI encoder.

0: gray; 1: binary;


Only visible when H00 = 65:SSI-Master.

2E05h 0h

H08 Axis, OFF

r=2, w=2

POSISwitch® encoder selector: Available as an option, the POSISwitch® control module permits the connection of several motors to one inverter. In H08 it can be set separately for each of the four (software) axes which connection on the POSISwitch® (i.e., which motor) is allocated to the particular axis configuration. This routine permits two or more applications to be run together on separate (software) axes with a single motor.

NOTE Following a change in parameter H08, correct evaluation of the electronic nameplate is not ensured until after a device new start.

0: Enc1; 1: Enc2; 2: Enc3; 3: Enc4;


Only visible when a POSISwitch® was detected on X4.

2E08h 0h

H10 Axis, OFF

r=2, w=2

X4-SSI data bits: With 24 or 25-bit evaluation, the 12-bit highest significance for rotary encoders corresponds to whole encoder rotations (multi-turns). Afterwards 12 or 13 bits within one rotation can still be coded. When 24-bit is set, the bit with the least significance is forced to 0. When 13-bit is set, all 13 bits code the angle within one rotation (single-turn).

0: 25 1: 24 2: 13 short; Evaluation of a single-turn SSI encoder with 13-bit telegram. 3: 13 tree; Evaluation of a 13-bit single-turn SSI encoder with 25-bit telegram. The evaluation

ignores the upper 12 bits.



2E0Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 303


06


address

H11 Axis, OFF

r=2, w=2

X4 double transmission: Switches off double transmission for SSI encoder. When double transmission is activated, the angle is scanned twice in immediate succession to increase data reliability. If the encoder does not support double transmission, the inverter automatically switches off the monitoring but continues to scan twice. When double transmission is switched off with this parameter, the inverter no longer generates a second scan. Double transmission should not be deactivated if the hardware permits this function.




2E0Bh 0h

H14 Axis, OFF

r=3, w=3

N-track monitoring: If there is an incremental encoder without zero track at X4, the cable monitoring for the zero track can be switched off at this point.



Only visible when H00 = 3:EncoderIn.

2E0Eh 0h

H18 Global,

OFF

read (2)

POSISwitch® port-status: Indicates as a binary word the POSISwitch® ports to which encoders are connected. This is determined by the inverter during startup.


Only visible when a POSISwitch® was detected on X4.

2E12h 0h

H40 Axis, OFF

r=2, w=2

BE-encoder: Function of the encoder evaluation on BE3 (X101.13), BE4 (X101.14) and BE5 (X101.15). The binary inputs have the following functions for the different settings: 1: incremental encoder in 2: stepmotor in BE3 Zero track - BE4 Track A+ (Increments) freq.+ BE5 Track B+ (Direction of rotation) sign+

NOTE Also please remember that a change in H40 may cause position values to be rescaled (in positioning applications). Scaling can take several seconds.

0: inactive; 1: incremental encoder in; 2: stepmotor In;



2E28h 0h

H41 Axis, OFF

r=2, w=2

BE-increments: Increments per encoder revolution of the encoder on BE4 (X101.14) and BE5 (X101.15). With incremental encoders, each increment supplies 4 counting steps via edge evaluation and thus four times as high a resolution of the position.


Fieldbus: 1LSB=1inc/r; Type: I16; USS-Adr: 08 0A 40 00 hex

Only visible when a board is installed in the bottom option slot and H40 is not 0:inactive.

2E29h 0h

Used Parameters

Electronic Cam

ID 441778.04 304


06


address

H42 Axis, OFF

r=2, w=2

BE-inverted: Inverts the sign of the angle supplied by the BE encoder in the encoder acquisition. Can be used for reversed motor phases.




2E2Ah 0h

H60 Axis, OFF

r=2, w=2

BA-encodersimulation: Function of the encoder simulation on binary outputs BA1 and BA2 (terminals X101.16 and X101.17). The encoder simulation is available as system function in all applications. Important: The encoder simulation only works when no other function is assigned to the binary outputs. If present at all in the application, the corresponding parameters F61 and F62 may not contain any entries (blank input).

0: inactive; 1: incremental encoder simulation; 2: stepmotor Simulation;



2E3Ch 0h

H62 Axis, OFF

r=2, w=2

BA-inverted: Inverts the sign of the BA encoder simulation.




2E3Eh 0h

H63 Axis, OFF

r=2, w=2

BA-increments: Increments of the encoder simulation on BA1 / BA2. When the source is an absolute value encoder, H63 specifies the increments as with a real incremental encoder. When the source is an incremental encoder, the scaling factor determines the selection. 1:2 means that half of the source increments are output on the BAs.

1: 64 i/r(1:16); 2: 128 i/r(1:8); 3: 256 i/r(1:4); 4: 512 i/r(1:2); 5: 1024 i/r(1:1);



2E3Fh 0h

H67 Axis, OFF

r=2, w=2

BA-encodersimulation source: Specifies which source is used as position encoder for the BA encoder simulation.

0: motor-encoder; 1: Configuration; H67 = 1 provides an opportunity to calculate as desired the increments to be

output within the graphic configuration (e.g., as frequency proportionate to the motor torque). In standard applications, simulation with H67 = 1 usually does not take effect.

2: position-encoder;



2E43h 0h

Used Parameters

Electronic Cam

ID 441778.04 305


06


address

H120 Axis, OFF

r=2, w=2

X120-Function: Function of plug connector X120 on the I/O terminal module expanded (XEA 5000 and XEA 5001 respectively) and on the I/O terminal module resolver REA 5001 respectively. NOTE The X120 interface on the REA 5000 option board permanently simulates TTL encoder signals in reference to a resolver connected to X140. This is the reason why this interface cannot be affected with H120. NOTE Also please remember that a change in H120 may cause position values to be rescaled (in positioning applications). Scaling can take several seconds.

0: inactive; 4: incremental encoder in; 5: stepmotor In; 67: SSI master; 68: SSI slave; 80: incremental encoder simulation; 81: stepmotor Simulation; 82: SSI simulation;


2E78h 0h

H121 Axis, OFF

r=2, w=2

X120-increments: Increments per encoder rotation of the encoder on X120. With incremental encoders each increment supplies 4 counting steps via edge evaluation and thus four times as high a resolution of the position.


Fieldbus: 1LSB=1inc/r; Type: I16; USS-Adr: 08 1E 40 00 hex

Only visible when an XEA board is installed in the bottom option slot and an encoder input is parameterized in H120.

2E79h 0h

H122 Axis, OFF

r=2, w=2

X120-inverted: Inverts the sign of the angle supplied by the X120 encoder in the encoder acquisition. Can be used for reversed motor phases. Adhere to B05!



Only visible when an XEA board is installed in the lower option slot and H120 is not 0:inactive or when an REA board is installed in the lower option slot.

2E7Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 306


06


address

H123 Axis, OFF

r=2, w=2

X120-encoder simulation increments: Increments of the encoder simulation on X120. When the source is an absolute value encoder, H123 specifies the increments as with a real incremental encoder. When the source is an incremental encoder, the scaling factor provides the selection. 1:2 means that half of the source increments are output on X120. 2:1 means that twice as many increments are output on X120. NOTE

The X120 interface on the REA 5000 option board permanently simulates TTL encoder signals in reference to a resolver connected to X140. This is the reason why the scaling factor set in H123 always refers to X140 in this case.

1: 64 i/r(1:16); 2: 128 i/r(1:8); 3: 256 i/r(1:4); 4: 512 i/r(1:2); 5: 1024 i/r(1:1); 6: 2048 i/r(2:1);

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 1E C0 00 hex

Only visible when an XEA board is installed in the lower option slot and an encoder simulation is parameterized in H120 or when an REA board is installed in the lower option slot.

2E7Bh 0h

H124 Axis, OFF

r=2, w=2

X120-zero position offset: Shift the zero pulse during incremental encoder simulation.

Value range in °: 0.0 ... 0 ... 360.0

Fieldbus: 1LSB=0,1°; Type: I16; USS-Adr: 08 1F 00 00 hex

Only visible when an XEA board is installed in the lower option slot and an encoder simulation is parameterized in H120 or when an REA board is installed in the lower option slot.

2E7Ch 0h

H125 Axis, OFF

r=2, w=2

X120-SSI-Code: Type of angle coding via the SSI encoder and for the SSI simulation.

0: gray; 1: binary;


Only visible when an XEA board is installed in the bottom option slot and an SSI functionality is selected in H120.

2E7Dh 0h

H127 Axis, OFF

r=2, w=2

X120-encoder simulation source: Specifies which source will be used as position encoder for the X120 encoder simulation.

0: Motorencoder; The encoder set in B26 is used as the source. 1: Configuration; The virtual master is used as the source. 2: Positions-encoder; The encoder set in I02 is used as the source.



2E7Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 307


06


address

H130 Axis, OFF

r=2, w=2

X120-SSI-data bits: With evaluation or simulation with 24 or 25 bit, the 12-bit highest significance for rotary encoders corresponds to whole encoder rotations (multi-turns). Afterwards 12 or 13 bits can still be coded within one rotation. When 24 bit is set, the bit with the least significance is forced to 0. With a setting to 13 bits, all 13 bits code the angle within one rotation (single-turn).

NOTE Note that the SSI data bits are set with the parameter H126 in version V 5.2. For questions concerning the documentation of H126, contact [email protected].

0: 25 1: 24 2: 13 short; Evaluation or simulation of a single-turn SSI encoder with 13-bit telegram 3: 13 tree; Evaluation or simulation of a single-turn SSI encoder with 25-bit telegram. The upper 12

bits are ignored for the evaluation. For simulation, 0 is forced.



2E82h 0h

H131 Axis, OFF

r=2, w=2

X120 double transmission: Switches off double transmission for SSI encoder. When double transmission is activated, the angle is scanned twice in immediate succession to increase data reliability. If the encoder does not support double transmission, the inverter automatically switches off the monitoring but continues to scan twice with running switching cycle. When double transmission is switched off with this parameter, the inverter no longer generates a second scan.

NOTE Double transmission should not be deactivated if the hardware permits this function.




2E83h 0h

H132 Axis, OFF

r=3, w=3

SSI-Timeout: The parameter activates timeout monitoring for SSI simulation on X120. Timeout monitoring triggers fault 37 when no position has been scanned during the last 5 ms for an MDS 5000 or during the last 1.25 ms for an SDS 5000. If timeout monitoring is deactivated, the higher-level controller must ensure that the SSI transmission is error-free and within the correct cycle. This monitoring is then switched off on the drive! When the SSI simulation is part of an SSI motion bus (e.g., synchronous operation, cam), monitoring must remain on. Otherwise the SSI motion bus is not safe and, with it, the application. When the simulation is ready for operation after the inverter starts up, it also takes approx. 5 s before monitoring starts even if timeout is already activated. This gives the evaluated device (controller, other inverter) a somewhat longer startup time before the fault is triggered.




2E84h 0h

H133 Global

r=3, w=3

SSI simulation offset: This parameter specifies an offset for the SSI simulation. This is added to the value from the evaluation of a real source encoder. The parameter has no effect if a virtual master encoder is used as the SSI source.



2E85h 0h

Used Parameters

Electronic Cam

ID 441778.04 308


06


address

H134 Axis, OFF

r=3, w=3

N-track monitoring: If there is an incremental encoder without zero track at X120, the cable monitoring for the zero track can be switched off at this point.



Only visible when an XEA board is installed in the bottom option slot and an encoder input is parameterized in H120.

2E86h 0h

H140 Axis, OFF

r=2, w=2

X140-function: Function of plug connector X140 on the resolver I/O terminal module (REA 5000, REA 5001). NOTE Also please remember that a change in H140 may cause position values to be rescaled (in positioning applications). Scaling can take several seconds.

0: inactive; 66: resolver; 71: EnDat with sine and cosine;


Only visible when a resolver option board is installed in the bottom option slot.

2E8Ch 0h

H142 Axis, OFF

r=2, w=2

X140-inverted: Inverts the sign of the angle supplied by the X140 encoder in the encoder acquisition. Can be used for reversed motor phases. Adhere to B05!



Only visible when a resolver option board is installed in the bottom option slot and H140 is not 0:inactive.

2E8Eh 0h

H148 Axis, OFF

r=2, w=2

X140-resolver poles: Number of poles of the resolver on X140 (Firmware versions prior to V 5.4 only permit the operation of two-pole resolvers). NOTE Only for use with an REA 5000. The incremental encoder simulation on X120 outputs a number of markers which is incremented by the factor H148/2 in comparison to the number of markers parameterized in H123.

Value range: 2 ... 2 ... 6

Fieldbus: 1LSB=1; Type: U8; (raw value:255 = 510); USS-Adr: 08 25 00 00 hex

Only visible when E58 is parameterized as "REA 5000" or "REA 5001" and H140 = 66:Resolver.

2E94h 0h

H149 Axis

read (3)

Sinus-Cosinus-Periods: The sine-cosine periods for an EnDat encoder (with sine-cosine tracks) connected to the X140 are displayed. The parameter is invisible if the parameter H140 X140 function has not been set to 71: EnDat with sin-cos tracks. The parameter is also invisible if no REA 5000 or REA 5001 option board is planned.

Fieldbus: 1LSB=1·1/revolution; Type: I16; USS-Adr: 08 25 40 00 hex

2E95h 0h

Used Parameters

Electronic Cam

ID 441778.04 309


06


address

H300 Axis, OFF

r=3, w=3

Keep reference: With the setting "1:active" the status "In Reference" (I86) is not deleted on the occurrence of an EnDat® CRC error on X4, as would otherwise normally be the case. The setting of H300 is relevant for the following parameter combinations: 1. I02 = 2:X4-Encoder 2. I02 = 0:Motor encoder and B26 = 2:X4-Encoder

0: inactive; 1: active; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 4B 00 00 hex

2F2Ch 0h

I.. Positioning Par. Description Fieldbus-

address

I01 Axis

r=1, w=1

Circular length: Only when a positioning application with endless positioning range exists. Maximum value for the actual position starting at which the position is counted from zero again (e.g., 360 degrees - modulo function).

Value range in I09: -31Bit ... 360 ... 31Bit

Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 00 40 00 hex

3001h 0h

I02 Axis, OFF

r=1, w=1

Position-encoder: Selection of the interface to which the position encoder is connected. The encoder must be correctly parameterized for the particular interface in the H.. group.

0: Motor-encoder; The encoder selected with B26 (motor feedback). 1: BE-encoder; Incremental encoder on binary inputs BE4 and BE5. 2: X4-encoder; Encoder on plug connector X4 of the MDS 5000 and FDS 5000 respectively basic

device. The encoder connected to X4 is usually used for motor control. In this case, the settings I02 = 0 and I02 = 2 produce the same result.

3: X140-encoder; Resolver on plug connector X140 of the REA 5000, resolver or EnDat®-Encoder on plug connector X140 of the REA 5001. When the resolver is used for motor control, I02 = 0 and I02 = 3 have the same effect.

4: X120-encoder; Encoder on plug connector X120 of the expanded I/O terminal module (XEA 5000 and XEA 5001 respectively).


3002h 0h

I04 Axis

r=1, w=1

Move direction: With endless axes with only one mechanically permissible direction of movement. Movements in the wrong direction are answered with the message "refused" in parameter I200.1. The referencing is completely executed with the speed I33. The direction of rotation is not reversed.

0: Positive and negative; Both directions are permitted. 1: Positive; Only the positive direction is permitted (also applies to manual traversing!). 2: Negative;


3004h 0h

I06 Axis

r=1, w=1

Decimal digits: Number of positions after the decimal point for indication and entry of position reference values, speeds, accelerations as well as I07. Important: A change in I06 causes a shift in the decimal point (i.e., the affected values are changed). For this reason, I06 should be programmed at the very beginning of commissioning. Example: When I06 is reduced from 2 to 1, values are changed (e.g., 12.27 mm to 122.7 mm). The reason for this is the error-free rounding of the positioning software.

Value range: 0 ... 2 ... 3


3006h 0h

Used Parameters

Electronic Cam

ID 441778.04 310


06


address

I07 Axis, OFF

r=1, w=1

Distance per rev. Numerator: Together with I08, I07 determines the distance (position difference) with reference to one rotation of the POSI encoder I02. I06 corresponds to the number of decimal positions. A left/right reversal can be performed with negative values in I07. (In this case the hardware limit switches must also be reversed!) Example: A gear ratio of i = 2015/144 = 13.99 and an angle reference value specification [degrees] on the driven shaft results in I07 = 360°/13.99R=25.73°/R. I07 = 360*144=51840 and I08 = 2015 must be specified for a correct rounding conversion. When a directly driven ball screw spindle with an incline of 10 mm/R is used, I07=10.00 results with I09 = 'mm' and two positions after the decimal point. With high demands, I08 can help to increase precision almost to any amount: 12.34567 mm/R corresponds to I07 = 12345.67 and I08 = 1000.

Value range in I09: -21474836.48 ... 360 ... 21474836.47

Fieldbus: 1LSB=siehe I06; Type: I32; (raw value:1LSB=0,01·<I09>); USS-Adr: 09 01 C0 00 hex

3007h 0h

I08 Axis, OFF

r=1, w=1

Distance per rev. Denominator: Counter I07 is divided by denominator I08. This means that a mathematically precise gear ratio can also be calculated as a fraction (toothed gearing, toothed belt transmission). External encoders which are not mounted on the motor: An "encoder rotation" must be placed in relation to a motor rotation. Important: Since a change in I08 also affects the values of other parameters, /08 should be parameterized at the beginning of a commissioning procedure.

Value range in encoder revolutions: 0 ... 1 ... 31 Bit

Fieldbus: 1LSB=1encoder revolutions; Type: I32; USS-Adr: 09 02 00 00 hex

3008h 0h

I09 Axis

r=1, w=1

Measure.unit: Input and indication of the unit of measure defined as desired by the user with POSITool. A maximum of 8 characters is possible Examples of permissible entries: Inc, mm, °, degree, inch, and so on.

Default setting: °


3009h 0h

I10 Axis

r=1, w=1

Maximal speed: When a higher feed speed is specified, the value is limited to I10 without the occurrence of a following error. NOTE The parameterized value is rounded internally to whole increments of the measuring system used. Depending on the resolution of the position encoder I02, the entered values cannot always be precisely imaged. The maximum motor speed is calculated from nmax = I10*I08 / I07 (take units into account).

Value range in I09/s: 0.00 ... 10 ... 31Bit

Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 02 80 00 hex

300Ah 0h

I11 Axis

r=1, w=1

Maximal acceleration: Specified accelerations are limited to the maximum value I11. Quick stop, manual positioning and reference positioning have their own acceleration ramps (I17, I13 and I39). NOTE The parameterized value is internally rounded to whole increments of the measuring system used. Depending on the resolution of the position encoder I02, the entered values may sometimes not be able to be precisely imaged. The acceleration time to the nominal speed is calculated as t = I10 / I11 (note units).

Value range in I09/s2: 0.00 ... 10 ... 31Bit

Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 02 C0 00 hex

300Bh 0h

Used Parameters

Electronic Cam

ID 441778.04 311


06


address

I12 Axis

r=1, w=1

Tip speed: Speed in tip mode. As with all other speeds, it can be changed via velocity override. Acceleration in tip mode is specified via I13.

NOTE The parameterized value is rounded internally to whole increments of the measuring system used. Depending on the resolution of the position encoder I02, the entered values may sometimes not be able to be precisely imaged.



300Ch 0h

I13 Axis

r=1, w=1

Tip acceleration: Acceleration during tip mode.

NOTE The parameterized value is rounded internally to whole increments of the measuring system used. Depending on the resolution of the position encoder I02, entered values may sometimes not be able to be precisely imaged.



300Dh 0h

I14 Axis

r=1, w=1

TipStep: Increment which is traversed when a rising edge is detected on the TipStep+ or TipStep- signal. The signal must be parameterized to a source via the related parameter I107 TipStep+ signal source.


Fieldbus: 1LSB=siehe I06; PDO ; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 03 80 00 hex

300Eh 0h

I15 Axis

r=1, w=1

Tip deceleration: Deceleration in tip mode.

NOTE The parameterized value is rounded internally to whole increments of the measuring system used. Depending on the resolution of the position encoder I02, the entered values can therefore not be imaged exactly. Value range in I09/s2: 0.00 ... 1000 ... 31Bit Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 03 C0 00 hex

300Fh 0h

I16 Axis

r=2, w=2

Ramp smoothing: Reverse limitation via ramp smoothing. The generated acceleration profile (position, speed, torque) is smoothed with a filter of the 2nd order (PT2) whose time constant corresponds to I16. This can be used to reduce or even completely eliminate high-frequency excitations of vibration-prone mechanics. The positioning procedure is lengthened somewhat by the smoothing but the drive traverses more smoothly to the target position (fewer overswings).

NOTE With the motion block positioning application, I16 is used as indicator parameter. Smoothing times are entered in array parameter J25.X. The current smoothing time is copied during operation to I16 where it can be viewed there.

Value range in ms: 0 ... 0 ... 32766

Fieldbus: 1LSB=1ms; Type: I16; raw value:1LSB=Fnct.no.13; USS-Adr: 09 04 00 00 hex

3010h 0h

I17 Axis

r=1, w=1

Quickstop deceleration: Acceleration for quick stop.

NOTE The parameterized value is rounded internally to whole increments of the measuring system being used. The entered values may thus not be able to be imaged exactly as entered depending on what the resolution of the position encoder I02 is.



3011h 0h

Used Parameters

Electronic Cam

ID 441778.04 312


06


address

I20 Axis

r=1, w=1

Proportional gain position control: Position control gain (purely P behavior). Particularly in the machine tool sector, I20 is called "speed gain" or "proportional gain position control." In actual practice, the proportional gain position control is sometimes also specified with the unit [m/min / mm]. This is exactly 0.06 · I20.

Value range in 1/s: 0 ... 30 ... 300

Fieldbus: 1LSB=1·1/s; Type: I32; USS-Adr: 09 05 00 00 hex

3014h 0h

I21 Axis

r=1, w=1

Maximal following error: When the following error exceeds the value set here, external event 0 is triggered. The reaction to the violation of the following error can be specified via POSITool.



3015h 0h

I22 Axis

r=1, w=1

Target window: Window for the generation of the signal I85 "In Position" and I180 "Position window reached."



3016h 0h

I23 Axis

r=2, w=2

Deadband position control: Deadband of the position controller. Useful for avoiding idle-state oscillations caused by friction or reversal play, particularly when an external position encoder is used. CAUTION I23 Deadband must be less than target window I22. Otherwise the drive will not reach its target position!


Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 05 C0 00 hex

3017h 0h

I24 Axis

r=2, w=2

Backlash compensation: Due to design, with machines the drive may not be immediately located at the mechanical end when a reverse in direction occurs. To be able to correctly relate the actual and reference positions to the drive in such cases, the backlash compensation needs to know the direction in which the drive is pointing at the mechanical end - in addition to information about the position encoder, and, if applicable, the referencing. In principle, this is not possible until after a movement by at least the value of the backlash compensation. This is why, when the axis is initialized, the drive must be at the mechanical end. This is accomplished by referencing, for instance. With the next movement in the same direction the mechanics would thus remain pointing in the same direction at the mechanical end. And there would also be no compensation of the backlash. However, if a movement is executed in the other direction, the reference position is corrected by I24 in the applicable direction. Each time the direction of movement changes, the reference position is corrected based on the combination of I31 and the last direction of motion. Referencing mode Define home is not permitted together with the backlash compensation since it does not supply any information on the mechanical end of the machine!



3018h 0h

I25 Axis

r=2, w=2

Speed feedforward: Application of the calculated speed profile on the output of the position controller. The n-feed forward relieves the position controller and thus reduces following error. At I25 = 100 %, the drive traverses at a constant speed without a stationary following error but tends to overswing in the target position. For this reason that I25 is 60 ... 95 % for most applications. In addition to reducing I25, overswinging in the target position can also be combated by increasing C32 (time constant I-share).

Value range in %: 0 ... 80 ... 100


3019h 0h

Used Parameters

Electronic Cam

ID 441778.04 313


06


address

I26 Axis

r=2, w=2

Posi gear ratio: When an external position encoder I02 which is not mounted on the motor shaft is used, the ratio of motor and encoder speed is specified in I26. With a rotating position encoder, the following applies directly: I26 = motor speed/encoder speed or I26 = distance per rotation of the external encoder/distance per rotation of the motor encoder.

Example of linear axis: SSI external encoder with 1LSB = 0.01 mm and a 24-bit encoder resolution result in 12-bit resolution per "rotation" and 12 bits for the number of rotations. With 2^12 bits = 4096, the axis covers 40.96 mm with an external "encoder rotation." The motor is connected with the linear axis with an effective radius of 30 mm. This results in a length per motor encoder rotation of R = 2 x Pi x r = 188.49 mm --> I26 = 40.96 mm / 188.49 mm = 0.215. In this case, I07 = 4096 and I08 = 100 are set (corresponds to 40.96 mm per external encoder rotation).

Value range: 0.000 ... 1 ... 65.535

Fieldbus: 1LSB=0,001; Type: U16; USS-Adr: 09 06 80 00 hex

301Ah 0h

I30 Axis

r=1, w=1

Referencing mode: The type of referencing.

0: reference input; The reference input (switch) is important when searching for the reference point. Reference traversing type I30 = 0 can also be used to reference the hardware stop by having the reference switch react to the signal of the end switch. Remember that the LOW active signal of the hardware limit switch causes the drive to move in the direction opposite to I31. (Reference switch source I103)

1: Encoder signal 0; Useful only for drives without gear to adjust the motor shaft to a defined position.

2: Define home; With the start of Referencing, the current actual position is equated with reference position I34. No movement takes place. Important referencing type for absolute value encoders. With I30 = 2 it is also very easy to set the actual position to zero at all times.


301Eh 0h

I31 Axis

r=1, w=1

Referencing direction: Initial direction to begin the reference point search if the reference switch signal is LOW. If the reference switch is HIGH, the drive runs in the opposite direction. If a application with endless position range only permits one direction (I04 > 0), the referencing direction is based on I04 and not I31.



301Fh 0h

I32 Axis

r=1, w=1

Referencing speed fast: Unit in E09/s. Speed for the first phase of referencing (rough approaching of the reference switch). The reference traversing acceleration is specified by I39. Fast reference traversing I32 is omitted when only one direction of rotation (I04) is permitted for a application with endless position range. In this case, referencing can only be performed at the slow speed (I33). NOTE The parameterized value is internally rounded to whole increments of the measuring system being used. Depending on the resolution of the positioning encoder I02, the entered values can thus not always be precisely imaged.



3020h 0h

Used Parameters

Electronic Cam

ID 441778.04 314


06


address

I33 Axis

r=1, w=1

Referencing speed slow: Unit in E09/s. Speed for the concluding phase of referencing. Switching between I32 and I33 is performed automatically after the reference switch is found. The reference traversing acceleration is specified by I39. NOTE The parameterized value is internally rounded to whole increments of the measuring system being used. Depending on the resolution of the positioning encoder I02, the entered values can thus not always be precisely imaged.

Value range in I09/s: 0.00 ... 4,5 ... 31Bit


3021h 0h

I34 Axis

r=1, w=1

Reference position: Value which is loaded as the actual position in the reference point. Depending on the type of reference traversing I30, the reference point is specified by traversing to a reference switch or the encoder zero track or, with I30 = 2:define home, is accepted immediately after a command.

The drive stops just behind the reference point after reference traversing based on the brake ramp I39.



3022h 0h

I35 Axis

r=1, w=1

Referencing on encoder signal 0: Only when I36 = 0 and I30 = 0. In addition to the reference switch, the encoder zero track is evaluated. After the appropriate reference switch signal has been recognized, the drive continues traversing with the low reference speed until it reaches the encoder zero track. It does not stop until then. Referencing exclusively on the encoder zero track (I30 = 1) is not affected by I35.

0: inactive; Zero pulse is not evaluated. Referencing to the edge of the end or reference switch. Important, for example, for endless axes with gears. Also useful when there are not enough binary inputs and, at the same time, low demands on accuracy.

1: Motor encoder; This setting is reserved for future expansions and should not be used. 2: Positions-encoder; The zero track of the position encoder set in I02 is evaluated.


3023h 0h

Used Parameters

Electronic Cam

ID 441778.04 315


06


address

I36 Axis

r=1, w=1

Continuous referencing: These parameters are used for the fully automatic offset of slip or an imprecise gear ratio. After the first referencing, the actual position I80 is overwritten with the reference position I34 every time the reference switch is passed over. Since the distance still to be covered is corrected, even with slip-prone drives, the axis can execute any number of relative movements in one direction without drifting away.

I36 = 1:standard is used when there is one reference switch in the entire position range or within one circular length I01. When the reference switch is reached, I80 is offset with the I34 reference position.

With rotary attachment applications, the circular length I01 must correspond as precisely as possible to the distance between two reference signals. After one belt circle is completed, for instance, the same position must be indicated again. The actual position I80 must be checked during a rotation at I36 = 0:inactive and, if necessary, I07 must be adjusted. The distance per rotation I07 must always be rounded to higher numbers to prevent bothersome backwards corrections. The reference switch should not be addressed during a deceleration ramp since a negative correction would cause a backwards movement.

When several reference switches are located along the position range, the setting I36 = 2:periodic is used. The distance of the reference switches is entered in I41 reference period. With this function, the device carries a "potential reference position" which it would expect for the next reference point. When a signal occurs at the reference point, the device compares the distance of its own actual position with the last and the expected reference position. The nearest position is selected as the new reference position and it becomes the actual position of the initiator time.

0: inactive; 1: standard; Exactly one reference switch exists over the entire traversing range or within one

circular length (endless axis). When the reference edge of this reference switch is passed, the actual position is automatically corrected.

2: periodic; Several reference switches are positioned at intervals of I41 reference period along the traversing area. These switches trigger correction of the actual position.


3024h 0h

I37 Axis

r=1, w=1

Power-on referencing: Affects the referencing behavior during device startup (control portion startup with 24 V).

0: inactive; 1: active; With first enable after power-on, reference positioning is started automatically. This is

only possible when the axis has not yet been referenced! NOTE With absolute value encoders, only possible/necessary once. 2: reconstruct saved angle; The current position of the position encoder is stored 100 ms after the

device enable is removed and is reconstructed after the device is powered off and on again. With single-turn, absolute value encoders (e.g., resolvers), the position is only reconstructed after power-on when the angle of deviation was less than 5°. With incremental encoders, the position is always reconstructed.

NOTE The parameter can only reconstruct the angle in the positioning function. When the synchronous

function is used, G37 must also be activated.


3025h 0h

Used Parameters

Electronic Cam

ID 441778.04 316


06


address

I39 Axis

r=1, w=1

Referencing acceleration: Acceleration which is used for referencing. NOTE The parameterized value is rounded internally to whole increments of the measuring system used. Depending on the resolution of position encoder I02, the entered values cannot always be imaged precisely.



3027h 0h

I41 Axis

r=1, w=1

Reference period: Only when I36 = 2 (periodic, continuous referencing). Specifies the distance of the reference markers or reference flags for periodic, continuous referencing.


Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 0A 40 00 hex

3029h 0h

I50 Axis

r=1, w=1

Software stop +: Only for limited traversing area. No meaning for applications with endless position range. Effective only when the axis is referenced. The position controller rejects motion block jobs to destinations outside the software stops (ErrorCode I90 = 2). Hand (manual) and endless motion blocks are stopped at the software stops. If I50 and I51 are both set to the value 0, their function is deactivated. CAUTION Violations of the permissible positioning range due to a flying motion block change with slower ramps are not stopped by software stops.


Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 0C 80 00 hex

3032h 0h

I51 Axis

r=1, w=1

Software stop -: Only for limited traversing area. No meaning for applications with endless position range. Effective only when the axis is referenced. The position controller refuses motion block jobs to destinations outside the software stops (ErrorCode I90 = 3). Hand (manual) and endless motion blocks are stopped at the software stops. If I50 and I51 are both set to the value 0, their function is deactivated. CAUTION Violations of the permissible positioning range due to a flying motion block change with slower ramps are not stopped by software stops.

Value range in I09: -31Bit ... -10000000 ... 31Bit

Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 0C C0 00 hex

3033h 0h

I52 Axis

r=1, w=1

PosiAutoEnable: Automatic enable of the positioning block. With I52 = 0:inactive the positioning block must be activated via the "aktivatePosi" command. With I52 = 1:active, this procedure is executed automatically and the PLCOpen state of positioning changes to "standstill" as soon as the drive state permits. Since "Activate Posi" is executed when the enable of the commands is set with I52 = 1:active, the "done" signal (e.g., I189) is set afterwards.



3034h 0h

Used Parameters

Electronic Cam

ID 441778.04 317


06


address

I80 Axis

read (1)

Current position: Read only. Indication of the actual (current) position (without leeway compensation). Please note that I80 contains a dedicated value for each axis. I203 current position is available as a global parameter (active axis value) for the process data image.


3050h 0h

I81 Axis

read (1)

x-reference: Read only. Indication of the reference position of the current motion block job. The externally specified target position I353 is accepted when a motion block job is started (rising edge of the Execute signal) in I81. The consecutive, continuous reference value of the position controller can be indicated in I95.


3051h 0h

I82 Axis

read (1)

Active motionID: The value of MotionID which was accepted with the last rising "Execute" edge. A MotionID which is accepted with the rising edge of the "Execute" signal can be transferred with each command. When the applicable MotionID is indicated as the active MotionID, the command is being processed.


3052h 0h

I84 Axis

read (1)

Following error: Read only. Indication of the current position deviation. If the following error I84 is not below the permissible maximum I21, the drive triggers a fault.


3054h 0h

I85 Axis

read (1)

In position: Indication of the current value on the same-name output of the positioning block. Remember that the "In Position" signal is not only dependent on the positioning window I22. "In Position" is set when the specified speed profile is completely traversed and the difference between actual position and reference position passes below the value I22 for the first time. "In Position" then remains until the next motion block job starts - even when the actual position overswings beyond the position window. Signal I180 (position window reached) is available as an alternate choice. If, after a movement job with active "In Position", the enable is switched off, "In Position" remains active until the difference between actual position and reference position is more than the value I22 for the first time. Then "In Position" becomes inactive. NOTE When a position controller with deadband is used, the following must be true: I22 > I23!

0: inactive; Axis not within the target position window. 1: active; Axis within the target position window.


3055h 0h

I86 Axis

read (1)

In reference: Read only. Indication of the "In reference" output signal. The signal is set when the drive changed its current actual position to the reference position I34. If the drive is still in motion at this moment, standstill (i.e., the end of the state I89 = 8:homing) must be waited for before a next command is started. CAUTION When the event "37:encoder" is triggered, the signal In Reference is deleted regardless of the encoder used. After off/on (acknowledgement), referencing must be performed again.

0: inactive; Drive not referenced. No absolute positioning possible. 1: active; Drive referenced.


3056h 0h

Used Parameters

Electronic Cam

ID 441778.04 318


06


address

I88 Axis

read (1)

Speed: Read only. Current reference value of the positioning speed with unit.

Fieldbus: 1LSB=siehe I06; PDO ; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 16 00 00 hex

3058h 0h

I89 Axis

read (1)

PLCopen-state: Status of the positioning controller after PLCopen definition.

0: PLCO_Init; Position is in the initialization phase. 1: PLCO_Passive; Positioning is passive. When the drive is located outside the last target window,

the reference position is updated with the actual position and the "In position" signal becomes inactive.

2: Standstill; Drive is in position control. No motion block job is being executed currently. The drive is ready to accept a motion block job.

3: Discrete motion; Drive is within a movement which has a defined target position. 4: Continuous motion; Drive is in a movement which does not have a defined target position. 5: Synchronous motion; Drive is in a synchronous movement. 6: Stopping; Drive is traversing with position control to the set brake ramp until standstill. A

transition to the "standstill" state then follows. 7: ErrorStop; Drive is executing a quick stop with deactivated position control. When the drive has

stopped, the state ErrorStop is retained. 8: Homing; Reference traversing is active.


3059h 0h

I90 Axis

read (1)

Error code: When the PLCOpen state is "ErrorStop," the cause can be read out here.

0: error free; 1: illegal direction; An attempt was made to start a process block job in an illegal direction of

rotation. 2: SW-lim.switch+; An attempt was made to start a motion block job whose target position is

outside the positive SW limit switch. 3: SW-lim.switch-; An attempt was made to start a motion block job whose target position is

outside the negative SW limit switch. 4: Absolute positioning without referencing; An attempt was made to start a motion block job with

an absolute target while the drive was not referenced. 5: Hardware-Limit-Switch +; ErrorStop due to activated hardware limit switch+. 6: Hardware-Limit-Switch-; ErrorStop due to activated hardware limit switch-. 7: SW-lim.switch+; ErrorStop due to activated software limit switch+. 8: SW-lim.switch-; ErrorStop due to activated software limit switch-. 9: External Quickstop; ErrorStop due to externally triggered quick stop. 10: Denied because Position is not in circular; 11: denied because of sync. on position during motion,


305Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 319


06


address

I91 Axis

read (1)

Profile generator flags: Status signals of the profile generator which generates reference values for the position and speed controller. Bit-0: In reserve Bit-1: ACCmax (ACC specification greater than I11) Bit-2: DECmax (DECEL specification greater than I11) Bit-3: VmaxOVR+ (speed specification after inclusion of override > I10) Bit-4: VmaxOVR- (speed specification after inclusion of override < -I10) Bit-5: HW-LimSwitch+ (+hardware limit switch touched) Bit-6: HW-LimSwitch- (-hardware limit switch touched) Bit-7: SW-LimSwitch+ (current reference value of position controller I95 is located on or outside a

SW limit switch (e.g., during manual traversing). In contrast, "refusal" of motion block jobs is signaled in I90 ErrorCode.

Bit-8: SW-LimSwitch- Bit-9: In reserve Bit-10: ConstVelocity (disappears during speed changes, also due to override) Bit-11: Accelerating Bit-12: Decelerating Bit-13: BacklashComp

0: Reference position is not offset by I24 to compensate for the leeway. The drive is in the original direction in mechanical intervention.

1: Reference position is not offset by I24 to compensate for the leeway. The drive is in the opposite direction in mechanical intervention.

Bit-14: LeewayDir Depending on the referencing direction, I24 must be added to or subtracted from the current

actual position to obtain the real mechanical actual position. 0: I24 must be added. 1: I24 must be subtracted.


305Bh 0h

I93 Axis

read (1)

Speed feed forward: Indication of the current value of the speed feed forward which the profile generator sends to the speed controller. The speed feed forward is specified in I25.

Fieldbus: 1LSB=0,1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 09 17 40 00 hex

305Dh 0h

I94 Axis

read (1)

Torque feed forward: Indication of the current value of the torque feed forward which the profile generator sends to the speed controller. The torque feed forward is calculated from the inertia ratio entered in I30.


305Eh 0h

I95 Axis

read (1)

Position controller reference value: Indication of the continuous position reference value calculated by the profile generator.


305Fh 0h

I96 Axis

read (1)

Current position: Read only. Indication of the actual position (including backlash compensation). This position is indicated with positioning applications in the operational indicator of the device display.


3060h 0h

Used Parameters

Electronic Cam

ID 441778.04 320


06


address

I100 Axis, OFF

r=1, w=1

Execute source: The Execute signal starts the actual command (see I351). Parameter I100 specifies the source for the Execute signal. The available selections 0:low and 1:high are the same as fixed values. With I100 = 3:BE1...28:BE13-inverted, the Execute can be executed via the selected binary input. With I100 = 2:Parameter, the control word of the selected application is used as the signal source (e.g., I210.0). This setting is designed for fieldbus operation. The Execute input of the positioning block can be monitored in I300 regardless of the parameterized signal source. Possible control words (global parameters) are: Application Parameter Bit Command positioning I210 0 Motion block positioning I220 0 Synchronous running I222 0 Interpolated Position Mode I427 7



3064h 0h

Used Parameters

Electronic Cam

ID 441778.04 321


06


address

I101 Axis, OFF

r=1, w=1

/HW-Limit-Switch+ source: The /limit-switch+ signal limits the traversing area in the positive direction. Parameter I101 specifies from where the signal comes. The signal is low active (i.e., cable-break-proof implementation). For available selections, see I100. With I101 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 1) is used as the signal source (global parameters). This must be set for fieldbus operation. With I301, the signal can be directly monitored on the block input. Possible control words (global parameters) are: Application Parameter Bit Command positioning I210 1 Motion block positioning I220 1 Synchronous running I222 1 NOTE The limit switch inputs are LOW active. LOW level causes the "limit switch" fault.



3065h 0h

Used Parameters

Electronic Cam

ID 441778.04 322


06


address

I102 Axis, OFF

r=1, w=1

/HW-Limit-Switch- source: The /limit-switch- signal limits the traversing area in the negative direction. Parameter I102 specifies from where the signal comes. The signal is low active (i.e., cable-break-proof implementation). For available selections, see I100. With I102 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 2) is used as the signal source (global parameters). This must be set for fieldbus operation. With I302, the signal can be directly monitored on the block input. Possible control words (global parameters) are: Application Parameter Bit Command positioning I210 2 Motion block positioning I220 2 Synchronous running I222 2 NOTE The limit switch inputs are LOW active. LOW level causes the "limit switch" fault.



3066h 0h

Used Parameters

Electronic Cam

ID 441778.04 323


06


address

I103 Axis, OFF

r=1, w=1

Reference switch source: Selection of the source for the reference switch signal. For available selections, see I100. The reference switch signal is used to detect the reference position during reference traversing. Reference traversing is started with the command MC_HOME in the motion-command byte I211. With I103 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 3) is used as the signal source (global parameters). This must be set for fieldbus operation. I303 can be used to monitor the signal directly on the block input. Possible control words (global parameters) are: Application Parameter Bit Command positioning I210 3 Motion block positioning I220 3 Synchronous running I222 3 Interpolated Position Mode I427 4



3067h 0h

Used Parameters

Electronic Cam

ID 441778.04 324


06


address

I104 Axis, OFF

r=1, w=1

Tip enable source: Selection of the source for the enable tip signal. The enable tip signal puts the axis in tip mode. For available selections, see I100. With I104 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 4) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be directly monitored on the block input via I304. Possible control words (global parameters) are: Application Parameter Bit Command positioning I210 4 Motion block positioning I220 4 Synchronous running I222 4 Interpolated Position Mode I427 0 / 1



3068h 0h

Used Parameters

Electronic Cam

ID 441778.04 325


06


address

I105 Axis, OFF

r=1, w=1

Tip+ source: Selection of the source for the Tip+ signal. The Tip+ signal starts manual traversing in the positive direction. For available selections, see I100. With I105 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 5) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be directly monitored on the block input via I305. Possible control words (global parameters) are: Application Parameter Bit Command positioning I210 5 Motion block positioning I220 5 Synchronous running I222 5 Interpolated Position Mode I427 2 NOTE Tip mode must be activated.



3069h 0h

Used Parameters

Electronic Cam

ID 441778.04 326


06


address

I106 Axis, OFF

r=1, w=1

Tip- source: Selection of the source for the Tip- signal. For available selections, see I100. The signal starts tip mode in the negative direction. With I106 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 6) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be directly monitored on the block input via I306. Possible control words (global parameters) are: Application Parameter Bit Command positioning I210 6 Motion block positioning I220 6 Synchronous running I222 6 Interpolated Position Mode I427 3 NOTE Tip mode must be activated.



306Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 327


06


address

I107 Axis, OFF

r=1, w=1

HandStep+ source: Selection of the source for the "HandStep+" signal. The signal starts hand-step traversing in the positive direction. Positioning is performed with a fixed distance (I14) relative to the positive direction. For available selections, see I100. With I107 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 7) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be monitored directly on the block input via I307. Possible control words (global parameters) are: Application Parameter Bit Command positioning I210 7 Motion block positioning I220 7 Synchronous running I222 7 NOTE For correct function, tip mode must be activated.



306Bh 0h

Used Parameters

Electronic Cam

ID 441778.04 328


06


address

I108 Axis, OFF

r=1, w=1

HandStep- source: Selection of the source for the HandStep- signal. The signal starts hand-step traversing in the negative direction. Positioning is performed with a fixed distance (I14) relative to the negative direction. For available selections, see I100. With I108 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 8) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be monitored directly on the block input via I308. Possible control words (global parameters) are: Application Parameter Bit Command positioning I210 8 Motion block positioning I220 8 Synchronous running I222 8 NOTE For correct function, tip mode must be activated.



306Ch 0h

Used Parameters

Electronic Cam

ID 441778.04 329


06


address

I109 Axis, OFF

r=1, w=1

Posi latch reset source: The Posi.latch reset signal activates the Posi.latch function which permits microsecond-precise acquisition of the current position and is thus suitable for measuring work pieces, for example. The Posi.latch status I190 is reset at the rising edge of the reset signal. I109 specifies the source of the Posi.latch reset signal. For available selections, see I100. With I109 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 9) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be directly monitored on the block input via I309. Possible control words (global parameters) are: Application Parameter Bit Command positioning I210 9 Motion block positioning I220 9 Synchronous running I222 9 Interpolated Position Mode I427 5



306Dh 0h

Used Parameters

Electronic Cam

ID 441778.04 330


06


address

I110 Axis, OFF

r=1, w=1

Posi latch execute source: The edge of the Execute signal triggers (depending on mode I75) the microsecond-precise measurement (only BE1 to BE5) of the current actual position in I191. I110 specifies the source of the Posi.Latch Execute signal. With I110 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 10) is used as the signal source (global parameters). This must be set with fieldbus operation. The signal can be directly monitored on the block input via I310. The status of Posi.Latch can be monitored in I190. Possible control words (global parameters) are: Application Parameter Bit Command positioning I210 10 Motion block positioning I220 10 Synchronous running I222 10 Interpolated Position Mode I427 6



306Eh 0h

Used Parameters

Electronic Cam

ID 441778.04 331


06


address

I111 Axis, OFF

r=1, w=1

Switching point reset source: Selection of the source for the Posi.switchingpoint reset signal. The reset signal resets the switching point defined by N10 ... N12. With I111 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 11) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be monitored directly on the block input via I311. Possible control words (global parameters) are: Application Parameter Bit Command positioning I210 11 Motion block positioning I220 11 Synchronous running I222 11



306Fh 0h

I130 Axis, OFF

r=1, w=1

Override source: Override affects all speeds (velocities) (hand traversing, positioning, reference traversing). Selection of the source for the Override signal. The signal can be permanently pre-specified to 0, and be supplied by the analog inputs (AE1 to AE3) or the fieldbus. With I130 = 4:Parameter, parameter (global) I230 is the signal source. This setting must be used for fieldbus operation.



3082h 0h

Used Parameters

Electronic Cam

ID 441778.04 332


06


address

I131 Axis, OFF

r=1, w=1

Reference value offset source: Selection of the source for the Reference value offset signal. This signal serves as the weighting factor of the reference value offset parameter I70. For further details, see I70. For available selections, see I130. With I131 = 4:Parameter, the (global) parameter I231 is the signal source. The result of the reference value link can be read directly on the block input via I353. The value is composed of I70 * Value [I131] + I213 = I353.



3083h 0h

I180 Axis

read (1)

Position window reached: Actual position is located in the position window. Indication of the InPosWin signal on the output interface of the positioning controller. In contrast to In Position I85, the signal I180 immediately becomes LOW when it leaves the position window I22 (e.g., due to overswings). Remark: With the enable switched off, once the actual position has left the position window for the first time, the reference position from the position controller is continuously updated to the actual position. As a consequence, the actual position is always in the position window and I180 is active.



30B4h 0h

I181 Axis

read (1)

Error: Indication of the Error signal on the output interface of the positioning controller. HIGH means that an error has occurred. For the type of error, see I90 ErrorCode.



30B5h 0h

I182 Axis

read (1)

Aborted: Indication of the Aborted signal on the output interface of the positioning controller. HIGH means that the last motion block job was aborted (e.g., by a halt command or a new motion block who was denied). Since the signal is set to LOW when a motion block job is started, it is not possible to detect the abortion of a previous motion block job with the "aborted" flag.



30B6h 0h

I183 Axis

read (1)

Constant velocity: Indication of the ConstVel signal (constant velocity) on the output interface of the positioning controller. With HIGH, the drive moves at a constant speed (velocity).


Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2D C0 00 hex

30B7h 0h

I184 Axis

read (1)

Accelerating: Indication of the Accelera signal (acceleration) on the output interface of the positioning controller. The speed increases with HIGH.


Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2E 00 00 hex

30B8h 0h

Used Parameters

Electronic Cam

ID 441778.04 333


06


address

I185 Axis

read (1)

Decelerating: Indication of the Decelera signal (deceleration) on the output interface of the positioning controller. The current speed is reduced with HIGH.


Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2E 40 00 hex

30B9h 0h

I187 Axis

read (1)

Maximum following error: Indication of the ErrMaxFo signal (maximum following error exceeded) on the output interface of the positioning controller. With HIGH, the maximum following error I21 was exceeded.


Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2E C0 00 hex

30BBh 0h

I188 Axis

read (1)

Tipping active: Indication of the Tip Activ signal (tipping active) on the output interface of the positioning controller. With HIGH, the axis is in manual mode.



30BCh 0h

I189 Axis

read (1)

Done: Indication of the Done signal on the output interface of the positioning controller. With HIGH, the command to be executed was processed successfully.



30BDh 0h

I192 Axis

read (2)

Flags for synchronous motion: Uses status bits to indicate the current state of a synchronous movement.

Bit-0: Superimposed positioning command is in position. When a relative or absolute positioning job is started as superimposed on a synchronous movement, it is shown here that the superimposed positioning command is in position. Bit 7 and bit 1 are set simultaneously.

Bit-1: Snapped in Master and slave axes are totally connected. Acceleration procedures for synchronization are finished. Bit 7 is set simultaneously.

Bit-2: Wait for synchronization. After starting MC_GearInAtAbsPositon or MC_GearInAtRelPosition, the drive can remain in a wait state without moving. This state is indicated with this bit. Bit 7 is set simultaneously.

Bit-3: With endless master axis, always look for the next possible circle. Bit-4: Destination cannot be reached.

Endless position range: Next possible circle selected. Linear axis: Synchronized to speed and snapped in.

Bit-5: Reserved Bit-6: Reserved Bit-7: Movement with synchronous master reference active. This bit indicates that a command

with synchronous master reference was started. Additional bits may also have been set.


30C0h 0h

Used Parameters

Electronic Cam

ID 441778.04 334


06


address

I193 Axis

read (2)

Active PLCopen Step-ID: This parameter is used by the device display to indicate the motion block which was started last. With Motion Block Positioning applications, I82 is copied to I193 to indicate the posi motion block (in the background - i.e., not in real time. For Scope displays, please use I82). When PLCopen blocks are used, the reference value interface of each of these blocks has a step ID as an identifier which can be set as desired (a number from 0 to 65535). The ID of the last started PLCopen block can then be entered in I193 (in real time).


30C1h 0h

I194 Axis

read (1)

Timestamp of actual position: Shows the time stamp of the current actual position I80.

Fieldbus: 1LSB=1µs; Type: U16; USS-Adr: 09 30 80 00 hex

30C2h 0h

I200 Global

read (2)

Posi.status word: Supplies information on the reaction of the axis during operation on a fieldbus.

Bit 0: Limit switch (group message: one of the two hardware limit switch or software limit switch). See bit 5...8 in I91Profile generator flags

Bit 1: Rejected (group message: not referenced, software limit switch, disable direction of rotation). The last command could not be executed, error code I90 is between 1 and 4.

Bit 2: Limit (group message: Torque limit, following error, torque limitation by i²t) Bit 3: Aborted (group message: MC_Stop, enable off, quick stop) Bit 4: Constant velocity (I183): The ramp generator specifies constant speed Bit 5: In position (I85): Reference value reached . Bit 6: In reference (I86): Drive referenced Bit 7: Standstill (in accordance with PLCopen I89 = 2). Bit 8: Inching or local operation: Inching is active (also applies to local mode via keyboard) (I188). Bit 9: Cam 1: The electrical cam is in the active area. (I60, I61). Bit 10: Switching point 1: The switching point was approached. Bit 11: Latch Status Bit 0: 0: Latch ready to receive. 1: If measurement with rising edge, value is ready to be fetched in parameter I191. 1: If differential measurement, the first edge was detected. Bit 12: Latch Status Bit 1: 1 If differential measurement, the value is ready to be fetched in

parameter I191. If measurement with rising edge, this bit has no function. Identifier of the positioning job processed last (lower 3 bits). The Motion ID is specified in

Posi control word /210 / I222 and is used in status word I200 for the unambiguous assignment of the status bits to a certain positioning job.

Bit 13: Motion ID Bit 0 Bit 14: Motion ID Bit 1 Bit 15: Motion ID Bit 2 CAUTION When the event "37:encoder" is triggered, the signal In Reference (Bit 6) is deleted regardless of the encoder used. After off/on (acknowledgement), referencing must be performed again. NOTE Bits 9 to 12 are not available in application synchronous command positioning. NOTE Bits 10 to 12 are not available in application el. cam.


30C8h 0h

Used Parameters

Electronic Cam

ID 441778.04 335


06


address

I201 Global

read (2)

Motion Status-Byte: Supplies information on the reaction of the axis during operation on a fieldbus.

Bit 0: PLCopenstate bit0 Bit 1: PLCopenState bit1 Bit 2: PLCopenState bit2 Bit 3: PLCopenState bit3 Bit 4: Done (in acc. w. PLCopen) (I189): Command executed successfully Bit 5: Position window reached (I180) . Bit 6: Accelerating (I184) Bit 7: Decelerating (I185)

Bit 0 to 3 PLCopenState are coded as shown below (as I89).

0: Init 1: Passive 2: Standstill 3: Discr. motion 4: Cont. motion 5: Sync. motion 6: Stopping 7: Error stop 8: Homing


30C9h 0h

I203 Global

read (2)

Current position: Global parameter for calling up the current (actual) position via a fieldbus. I203 is the counterpart of target position I213. The position is indicated with customer scaling without decimal places: "123.45 mm" is sent to the controller as I203 = 12345.

Fieldbus: 1LSB=siehe I06; PDO ; Type: I32; (raw value:1LSB=0,01·<I09>); USS-Adr: 09 32 C0 00 hex

30CBh 0h

I210 Global

r=2, w=2

Posi.control word: Global parameter for control of the application via fieldbus. The individual bits are only active when they have also been selected via the related source selector. Example: With Execute source I100 = 4:Parameter, I210, bit 0 supplies the Execute signal. When I100 = 7:BE3 is set, bit 0 in parameter I210 has no function.

Bit 0: Execute Bit 1: HW-limit switch+ Bit 2: HW-limit switch- Bit 3: Reference switch Bit 4: Tip enable Bit 5: Hand+ Bit 6: Hand- Bit 7: HandStep+ Bit 8: HandStep- Bit 9: Posi.Latch reset Bit 10: Posi.Latch execute Bit 11: Switching point reset Identifier of the current motion block job (lower 3 bits). The motion ID is specified in posi

control word I210 and is used in status word I200 for the unique allocation of the status bits to the particular motion block job.

Bit 12: Motion ID bit 0 Bit 13: Motion ID bit 1 Bit 14: Motion ID bit 2 Bit 15: Reserve



30D2h 0h

Used Parameters

Electronic Cam

ID 441778.04 336


06


address

I211 Global

r=2, w=2

Motion command byte: Global parameter for specification of the command to be executed via fieldbus. Bits 0 to 4 code the command number as shown below.

Bit 0: CMD A positioning command is coded here (see below). Bit 1: CMD Bit 2: CMD Bit 3: CMD Bit 4: CMD Bit 5: Brake: Reaction of the halting brake (F08 = 1:active) at the end of the job: HIGH causes the

halting brake to be applied after the command is executed. The end stage remains on and the torque is set to zero. The brake is automatically released when the next command is executed. Application of the brake during the pauses between positioning commands decreases thermal stress on the drive and helps to save on energy costs.

Bit 6: Bit 0 Bit 7: Bit 1 Used to specify the direction of rotation for applications with endless position range. 00:Direction optimization, 01:only positive direction, 10:only negative direction, 11:retain

current direction CMD coding hexadecimal binary MC_MoveAbsolute 01 00001 MC_MoveRelative 02 00010 MC_MoveAdditive 03 00011 MC_MoveVelocity 04 00100 MC_Stop 05 00101 MC_Home 06 00110 MC_Reset 07 00111 AktivierePosi 08 01000 DeaktivierePosi 09 01001 MC_Continue 0d 01101 Only for applications with "electronic gear": hexadecimal binary MC_GearIn 0a 01010 MC_GearOut 0b 01011 MC_MoveSuperimposed 0c 01100



30D3h 0h

I213 Global

r=2, w=2

Target position: Global parameter for target specification via fieldbus. The position is specified with the customer's scaling (I07, I08, I06) without decimal point: "123.45 mm" is sent to the inverter as I213 = 12345. The number of positions after the decimal point is specified in parameter I06. Parameter I353 is used to monitor the value directly on the block input. I353 is comprised as follows: I70 * Value[I131] + I213 = I353.

Value range in I09: -21474836.48 ... 0 ... 21474836.47

Fieldbus: 1LSB=siehe I06; PDO ; Type: I32; (raw value:1LSB=0,01·<I09>); USS-Adr: 09 35 40 00 hex

30D5h 0h

I215 Global

r=2, w=2

V-factor: Weighting of the traversing speed. The maximum speed I10 is multiplied by I215 and the thus calculated speed is used as the basis for the motion block job to be started. The parameter I215 can also be transferred via a fieldbus system to the inverter. The following scaling is then used: 16384 = 100 %.

Value range in %: -200.0 ... 100 ... 200.0


30D7h 0h

Used Parameters

Electronic Cam

ID 441778.04 337


06


address

I216 Global

r=2, w=2

Acc-factor: Weighting of the acceleration ramp. The maximum acceleration I11 is multiplied by I216 and the thus calculated acceleration is used as the basis for the motion block job to be started. The parameter I216 can also be transferred to the inverter via a fieldbus system. The following scaling is then used: 255 = 100 %.

Value range in %: 0 ... 100 ... 100


30D8h 0h

I217 Global

r=2, w=2

Dec-factor: Weighting of the brake ramp. The maximum acceleration I11 is multiplied by I217 and the thus calculated brake ramp is used as the basis for the motion block job to be started. The parameter I217 can also be transferred to the inverter via a fieldbus system. The following scaling is then used: 255 = 100 %.

Value range in %: 0 ... 100 ... 100


30D9h 0h

I223 Global

r=2, w=2

Electronic cam control word: Global parameter for controlling the application via fieldbus. The individual bits are only active when they have actually been selected by the related source selector.

Bit-0: In reserve Bit-1 and Bit-2: Hardware limit switch+ and hardware limit switch-: Hardware limit switch, end of

positive/negative range. LOW active! When a negative value in I07 (distance per revolution numerator) changes the direction of counting, the hardware limit switches must be reversed!

Bit-3: Reference switch: Referencing is started by the "MC_Home" command in the command byte.

Bit-4: Tip enable: Activate hand referencing mode ("tipping/jogging"). Bit-5 and Bit-6: Tip+ and Tip-: Hand referencing in positive/negative direction with speed I12 and

acceleration I13. Bit-7 and Bit-8: TipStep+ and TipStep-: Step hand referencing in positive/negative direction: With

a rising edge the axis travels the distance I14 in the positive direction (speed I12, acceleration I13).

Bit-9: Set master reference: With a rising edge the actual master position is set to the set master reference position.

Bit-10: In reserve Bit-11: In reserve Bit-12: In reserve Bit-13: In reserve Bit-14: In reserve Bit-15: In reserve



30DFh 0h

I230 Global

r=2, w=2

Override: Override affects all speeds (hand traversing, positioning, reference traversing). Selection of the source for the Override signal via I130. The signal can be permanently pre-specified to 0 and can be supplied by the analog inputs (AE1 to AE3) of the fieldbus. With I130 = 4:Parameter, (global) parameter I230 is used as the signal source. This setting must be set for fieldbus operation. The value can be directly monitored on the block input via I330. The reference parameters are I10 for positioning, I12 for tipping (inching), and I32 and I33 for referencing.

Value range in %: -200.0 ... 100 ... 200.0


30E6h 0h

Used Parameters

Electronic Cam

ID 441778.04 338


06


address

I231 Global

r=2, w=2

Reference value offset: Specification for the weighting of I70 reference value offset if the signal source is I131 = 4:Parameter. This global parameter can be written via the process data channel of a fieldbus, for example.

Value range in %: -200.0 ... 0 ... 200.0


30E7h 0h

I246 Axis

read (1)

Reference difference limited pos. range: Parameter I246 (reference difference limited pos. range) converts position values of the positioning controller to internal values without the reference shift. In particular this requires the parameter for the fast cam function.

Fieldbus: 1LSB=1; Type: I32; USS-Adr: 09 3D 80 00 hex

30F6h 0h

I247 Axis

read (3)

Start position: Position at which the current or the last started motion block job started.

Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 3D C0 00 hex

30F7h 0h

I248 Axis

read (3)

Reference-difference: Internally used value which implements the shift of the current position encoder value to the referenced actual position.


30F8h 0h

I249 Axis

read (3)

Measure.unit: Read access only. Internally used text which is derived from the text in I09. The text in I09 is supplemented with "/s." Is used as a units string for posi speeds (velocities).

Default setting: °/s


30F9h 0h

I250 Axis

read (3)

Measure.unit: Read access only. Internally used text which is derived from the text in I09. The text in I09 is supplemented with "/s2." Is used as a units string for posi accelerations.

Default setting: °/s²


30FAh 0h

I251 Axis

read (3)

Measure.unit: Read access only. Internally used text which is derived from the text in I09. The text in I09 is supplemented with "/s3." Is used as a units string for posi jerk.

Default setting: °/s³


30FBh 0h

I252 Axis

read (3)

Posi-increments: Read access only. The position controller uses the resolution indicated in I252 internally. I252 is generated internally from the values of the position encoder specified in I02. The actual encoder parameterization is performed in the H.. group. With incremental encoders, the resolution is quadruple the increment number. With the resolver or an EnDat® encoder on the motor, the encoder resolution for the positioning controller is reduced uniformly to 16.384 inc/U.

Value range: 0 ... 16384 ... 16384


30FCh 0h

Used Parameters

Electronic Cam

ID 441778.04 339


06


address

I253 Axis

read (3)

Effective distance per rev. Numerator: Read only. The factor I253 / I254 indicates the distance per one increment of position control. Valid: I253 / I254 = I07 / (I08 * I252). Common factors in I253 / I254 are automatically shortened. I253 and I254 make it quick and simple to convert between position values in the user representation and internal system representation in increments.

Pos_intern [ink] = I254 / I253 * Pos_user [e.g., mm].

The relationship which is represented applies when the number of positions after the decimal point in the user presentation ("Pos_user") corresponds to the number of positions after the decimal point in I07 and thus also in I253.

Value range in I09: 0.00 ... 360 ... 21474836.47

Fieldbus: 1LSB=siehe I06; Type: I32; (raw value:1LSB=0,01·<I09>); USS-Adr: 09 3F 40 00 hex

30FDh 0h

I254 Axis

read (3)

Effective distance per rev. Denominator: Read access only. See I253.

Value range: 0 ... 16384 ... 31 Bit


30FEh 0h

I255 Axis

read (3)

Posi counting direction: Read access only. Sign of I07. This value specifies the direction in which the position values are counted positively.


Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 3F C0 00 hex

30FFh 0h

I295 Global

read (3)

Double transmission position-encoder: Indicates whether double transmission monitoring is active for the SSI encoder used as the position encoder. Double-transmission monitoring is not active at first when encoder evaluation begins but shortly thereafter it is activated automatically if the SSI encoder supports this. Inactive monitoring significantly reduces data security. This parameter can be disregarded if the master encoder is not an SSI encoder. NOTE When the motor encoder is used as position encoder, encoder monitoring is only parameterized effectively in the motor group and indicated (B295 ... B299). I295 ... I299 are irrelevant in this case. The parameter can only be used when an SSI or an EnDat® encoder is evaluated on the inverter.



Only visible when SSI or EnDat®Encoder is used as the position encoder and I02 is not set to 0:Motorencoder.

3127h 0h

I296 Global

read (3)

Error-counter position-encoder: Counts the number of tolerated errors of the position encoder since the last new start of the device. NOTE When the motor encoder is used as position encoder, encoder monitoring is only parameterized effectively in the motor group and indicated (B295 ... B299). I295 ... I299 are irrelevant in this case. The parameter can only be used when an SSI or an EnDat® encoder is evaluated on the inverter.

Value range: 0 ... 0 ... 4294967295



3128h 0h

Used Parameters

Electronic Cam

ID 441778.04 340


06


address

I297 Axis

r=3, w=3

Maximum-speed position-encoder: I297 offers a plausibility check of the encoder signals for EnDat® and SSI encoders. The difference between two consecutive encoder values is monitored. If this difference exceeds the speed specified in I297 a malfunction is triggered (37:n-feedback/double transmission, starting with V5.2: 37:encoder/X4-wirebreak or X120-wirebreak). Regardless of the encoder system being used, specification of the incremental difference is always standardized to 8192 increments/rotation. NOTE When the motor encoder is used as position encoder, encoder monitoring is only parameterized effectively in the motor group and indicated (B295 ... B299). I295 ... I299 are irrelevant in this case. The parameter can only be used when an SSI or an EnDat® encoder is evaluated on the inverter.

Value range in increments/ms: 0 ... 16777216 ... 24 Bit

Fieldbus: 1LSB=1increments/ms; Type: I32; (raw value:7 Bit=1·increments/ms); USS-Adr: 09 4A 40 00 hex


3129h 0h

I298 Axis

r=3, w=3

Error-tolerance position-encoder: Sets the tolerance of the inverter to errors of the motor encoder. This tolerance keeps fault 37:encoder from being triggered due to sporadic encoder errors. The inverter extrapolates an encoder value in this case. Parameter I298 specifies how many errors will be tolerated before the inverter malfunctions. Error evaluation: Each arriving encoder value is checked. When an encoder error is found, I299 and I298 are compared. If the error evaluation counter I299 is greater than or equal to I298, fault 37:Encoder is triggered. If I299 is less than I298, the error is tolerated. Counter I299 is incremented by 1.0. When the arriving encoder value is correct, error evaluation counter I299 is decremented by 0.1. Decrementation continues until the value 0. Example: When 0.1 is set in I298 one error is tolerated. At least 10 correct values must then be determined before the next error is found. The following errors are tolerated: - EnDat®-CRC - EnDat®-Busy - SSI-double transmission - SSI-Busy - Violation of the maximum speed from I297 A malfunction is triggered immediately for other encoder errors (e.g., wire break) regardless of I298.The quality of motion may suffer due to error toleration. When encoder errors occur frequently we recommend checking the wiring. NOTE When the motor encoder is used as position encoder, encoder monitoring is only parameterized effectively in the motor group and indicated (B295 ... B299). I295 ... I299 are irrelevant in this case. The parameter can only be used when an SSI or an EnDat® encoder is evaluated on the inverter.

Value range: 0.0 ... 1 ... 3.0



312Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 341


06


address

I299 Global

read (3)

Error-evaluation position-encoder: Indicates the current status of the error evaluation counter (see I298). NOTE When the motor encoder is used as position encoder, encoder monitoring is only parameterized effectively in the motor group and indicated (B295 ... B299). I295 ... I299 are irrelevant in this case. The parameter can only be used when an SSI or an EnDat® encoder is evaluated on the inverter.

Value range: 0.0 ... 0 ... 12.0



312Bh 0h

I300 Axis

read (2)

Execute: Indication of the Execute signal on the input interface of the positioning controller. The Execute signal starts a command in accordance with the PLCopen standard.



312Ch 0h

I301 Axis

read (2)

/HW-LimSwitch+: Indication of the /HW-Limi signal (HW limit switch+) on the input interface of the positioning controller. The /limit switch+ limits the traversing area in the positive direction. NOTE The limit switch inputs are LOW active. LOW level causes the fault "limit switch."



312Dh 0h

I302 Axis

read (2)

/HW-LimSwitch-: Indication of the /HW-Limi signal (/HW limit switch-) on the input interface of the positioning controller. The /limit switc- limits the traversing area in the negative direction. NOTE The limit switch inputs are LOW active. LOW level causes the fault "limit switch."



312Eh 0h

I303 Axis

read (2)

Reference switch: Indication of the RefSwitc signal (reference switch) on the input interface of the positioning controller. Indication of the current signal state on the RefSwitch input (reference switch) of the positioning block. The RefSwitc signal is used to reference the axis during reference traversing.


Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4B C0 00 hex

312Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 342


06


address

I304 Axis

read (2)

Tip enable: Indication of the TipEnable signal on the input interface of the positioning controller. The TipEnable signal switches the axis to hand (manual) mode.



3130h 0h

I305 Axis

read (2)

Tip+: Indication of the Tip+ signal on the input interface of the positioning controller. The Hand+ signal starts hand (manual) traversing in the positive direction. NOTE Correct function is not possible unless hand (manual) mode has been activated (TipEnable signal).



3131h 0h

I306 Axis

read (2)

Tip-: Indication of the Tip- signal on the input interface of the positioning controller. The signal starts hand (manual) traversing in the negative direction. NOTE Correct function is not possible unless hand (manual) mode has been activated (TipEnable signal).



3132h 0h

I307 Axis

read (2)

TipStep+: Indication of the TipStep+ signal on the input interface of the positioning controller. The signal starts hand (manual) step traversing in the positive direction. Positioning is performed with a fixed distance (I14) relative to the positive direction. NOTE Correct function is not possible unless hand (manual) mode has been activated (TipEnable signal).


Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4C C0 00 hex

3133h 0h

I308 Axis

read (2)

TipStep-: Indication of the TipStep- signal on the input interface of the positioning controller. The signal starts hand (manual) step traversing in the negative direction. Positioning is performed with a fixed distance (I14) relative to the negative direction. NOTE Correct function is not possible unless hand (manual) mode has been activated (TipEnable signal).



3134h 0h

Used Parameters

Electronic Cam

ID 441778.04 343


06


address

I309 Axis

read (2)

Posi Latch reset: Indication of the LReset signal (reset Posi.Latch) on the input interface of the Latch controller. The Posi.Latch Reset signal resets the Posi.Latch status and thus activates the Posi.Latch function.



3135h 0h

I310 Axis

read (2)

Posi Latch execute: Indication of the LExec signal (Posi-Latch Execute) on the input interface of the Posi.Latch block. The edge of the Posi.Latch Execute signal triggers the measurement of the current actual position (depending on which mode is set).



3136h 0h

I311 Axis

read (2)

Switching point reset: Indication of the Reset signal (reset switching points) on the input interface of the Posi switching point controller. The Reset signal resets the switching point.


Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4D C0 00 hex

3137h 0h

I330 Axis

read (2)

Velocity override: Indication of the Override signal (speed override) on the input interface of the positioning controller. Override affects all speeds (hand traversing, positioning, referencing). The reference parameters are I10 (only with synchronous command positioning and command positioning) as soon as J21.x (with motion block positioning) for positioning, I12 for tipping (inching) and I32, I33 for referencing. NOTE - With a signal value of 0 %, the axis does not move! - Since motion block positioning uses the override function based on profile, the current override

value is indicated based on the selected motion block (and thus the linked profile). If the override function is not used in a profile, I330 indicates the value 100 % and not the value of the source (e.g., AE1) entered in I130. When a motion block is triggered via the BlockStart signals, the current override value can be polled after the start of the motion block in I330.


314Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 344


06


address

I350 Axis

read (2)

Motion ID: Indication of the MotionID signal (Motion ID) on the input interface of the positioning controller. Motion ID is an identifier for a motion block job which the user can assign as desired. The value is transferred at the rising edge of "Execute" to the output (parameter I82 active motion ID) so that the status bits can always be precisely allocated to a concrete motion block job, for example. The positioning controller itself does not interprete the value. The value of I350 MotionID is accepted with the following commands in accordance with I82 active motionID: MC_MoveAbsolute 01 (hex) MC_MoveRelative 02 (hex) MC_MoveAdditive 03 (hex) MC_MoveVelocity 04 (hex) MC_Home 06 (hex) MC_Continue 0d (hex)

The value is not accepted for: MC_Stop 05 (hex) MC_Reset 07 (hex) Activate posi 08 (hex) Deactivate posi 09 (hex)


315Eh 0h

I351 Axis

read (2)

Command: Indication of the CMD signal (command) on the input interface of the positioning controller.

Bit-0: CMD bit 0 Bit-1: CMD bit 1 Bit-2: CMD bit 2 Bit-3: CMD bit 3 Bit-4: CMD bit 4 Bit-5: Controls the reaction of the halting brake after the conclusion of a motion block job. Bit-6: Bits 6 and 7 are used to specify the direction of rotation for applications with endless

position range. Bit-7:00 Direction optimization. 01 only positive direction, 10 only negative direction, 11 retain

current direction.

CMD coding (hex) 01hex MC_MoveAbsolute 06hex MC_Home 02hex MC_MoveRelativ 07hex MC_Reset 03hex MC_MoveAdditiv 08hex ActivatePosi 04hex MC_MoveVelocity 09hex DeactivatePosi 05hex MC_Stop 0dhex MC_Continue Expedient applicable only for applications with integrated Master-Slave functionality: 0ahex MC_GearIn 0fhex MC_GearInAtRelPos 0bhex MC_GearOut 10hex MC_StopSuperimposed 0chex MC_MoveSuperimposed 11hex MC_VelocitySuperimposed 0ehex MC_GearInAtAbsPos 12hex MC_SuperimposedAbs


315Fh 0h

I353 Axis

read (2)

TargetPosition: Indication of the TargetPo signal (target position) on the input interface of the positioning controller.


3161h 0h

Used Parameters

Electronic Cam

ID 441778.04 345


06


address

I355 Axis

read (2)

Velocity: Specified speed. Indication of the current value on the input interface of the positioning controller. When a motion block job is started with the Execute signal, the speed (velocity) indicated in I355 is used.


3163h 0h

I356 Axis

read (2)

Acceleration ramp: Specified acceleration. Indication of the current value on the input interface of the positioning controller. When a motion block job is started by the Execute signal, the acceleration shown in I356 is used by the profile generator.


3164h 0h

I357 Axis

read (2)

Deceleration ramp: Braking ramp specification. Indication of the current value on the input interface of the positioning controller. When a motion block job is started with the Execute signal, the deceleration shown in I357 is used by the profile generator.


3165h 0h

I360 Axis

read (3)

Transient command on internal bus: For monitoring the commands which reach positioning control. The command format in I360 is not identical with the indication parameter I351. I360 is only used to monitor internal processes.


3168h 0h

I400 Axis

r=2, w=2

Motion ID: Motion ID is an ID of a motion job which the user can assign as desired. The PLCopen blocks are incremented for every I400 block start and this is used as the motion block identifier. A change in I400 means that the previous PLCopen block was aborted. See also I82, I222 and I350.

Value range: 0 ... 0 ... 65535


3190h 0h

I401 Axis

r=2, w=2

Command: The PLCopen blocks are based on the command positioning functionality. The command is sent to this functionality with I401. See also I351.

Value range: 0 ... 0 ... 255


3191h 0h

I402 Axis

r=2, w=2

Execute: The PLCopen blocks are based on the command positioning functionality. The execute (is sent to this functionality with I402. See also I300.



3192h 0h

I403 Axis

r=2, w=2

Target position: The PLCopen blocks are based on the command positioning functionality. The target position is sent to this functionality with I403. See also I353.



3193h 0h

Used Parameters

Electronic Cam

ID 441778.04 346


06


address

I404 Axis

r=2, w=2

Velocity: The PLCopen blocks are based on the command positioning functionality. The velocity is sent to this functionality with I404. See also I355.



3194h 0h

I405 Axis

r=2, w=2

Accel: The PLCopen blocks are based on the command positioning functionality. The reference value acceleration is sent to this functionality with I405. See also I356.



3195h 0h

I406 Axis

r=2, w=2

Decel: The PLCopen blocks are based on the command positioning functionality. The reference value deceleration is sent to this functionality with I406. See also I357.



3196h 0h

I407 Axis

r=2, w=2

Jerk: The PLCopen blocks are based on the command positioning functionality. The reference value jerk is sent to this functionality with I407.



3197h 0h

I408 Axis

r=2, w=2

Timestamp of execute: The PLCopen blocks are based on the command positioning functionality. The time stamp of the Execute signal is sent to this functionality with I408. This value makes it possible for position control to reconstruct with microsecond precision when exactly the Execute signal occurred, regardless of the cycle time parameterized in A150.

Value range in µs: 0 ... 0 ... 65535

Fieldbus: 1LSB=1µs; Type: U16; USS-Adr: 09 66 00 00 hex

3198h 0h

I409 Axis

read (3)

MC_Stop: As per definition in PLCopen the PLCopen block "MC_Stop" has the job of stopping other PLCopen blocks when the Execute signal is queued. The MC_Stop block in I409 supplies its negated Execute input. All other PLCopen blocks form a logical AND-link between their Execute signal and I409.

Value range: 0 ... 1 ... 255


3199h 0h

I900 Axis

read (3)

Actual pos. limited positioning range: I900 is used as the actual-value source for universal axis cams. I900 contains the actual position of the axis and also shows the actual value without break in the circular length when the axis is parameterized with endless position range. In the case of parameterizing as an axis with endless position range, on the initialization of the axis I900 is set to the value of I80. The continuous value is reconstructed. I900 is indicated as position value with the units determined by I06, I07, I08 and I09.

Fieldbus: 1LSB=siehe I06; PDO ; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 E1 00 00 hex

I901 Axis

read (3)

Actual pos. endless positioning range: I900 is used as the actual-value source for universal axis cams. I900 contains the actual position of the axis and also shows the actual value with break in the circular length when the axis is parameterized with endless position range. I901 is identical to I80. I900 is indicated as position value with the units determined by I06, I07, I08 and I09.

Fieldbus: 1LSB=siehe I06; PDO ; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 E1 40 00 hex

Used Parameters

Electronic Cam

ID 441778.04 347


06

L.. PLCopen Reference Values Par. Description Fieldbus-

address

L10 Axis

r=1, w=1

TargetPosition: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on.

A target position is entered in this parameter. The value can be changed during positioning but the change does not take effect until the next Execute command. With negative positions, the direction of revolution can be changed by negative entry of the position.


Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0C 02 80 00 hex

360Ah 0h

L11 Axis

r=1, w=1

Position mode: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on.

Enter the command in this parameter which determines the type of positioning of the drive. The available selections correspond to the command set of basic command positioning.


Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0C 02 C0 00 hex

360Bh 0h

L12 Axis

r=1, w=1

Acceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on.

Enter an acceleration in unit/s² in this parameter.

CAUTION

If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11.


Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0C 03 00 00 hex

360Ch 0h

L13 Axis

r=1, w=1

Deceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on.

Enter a deceleration in unit/ s² in this parameter.

CAUTION




360Dh 0h

L14 Axis

r=1, w=1

Ruck: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on.

The parameter is used for the reverse limitation but is not implemented, however. Any setting values have no function.



360Eh 0h

Used Parameters

Electronic Cam

ID 441778.04 348


06


address

L15 Axis

r=1, w=1

Direction: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on.

This parameter is used to specify the direction in which absolute positions should be approached from standstill when a continuous axis is being used.

0: shortest way; 1: positive; 2: negative; 3: actual direction;

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 03 C0 00 hex

360Fh 0h

L16 Axis

r=1, w=1

Brake: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on.

For drives with halting brake, this parameter can be used to specify whether the brake should be applied at the end of the motion block (e.g., to save energy or to cool off the drive when it is being used with lifting systems).


Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 04 00 00 hex

3610h 0h

L17 Axis

r=1, w=1

PLCopen Step-ID: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on.

An ID can be entered in this parameter which is copied to I193 active PLCopen Step-ID when the connected PLCopen starts.

Value range: 0 ... 0 ... 65535

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C 04 40 00 hex

3611h 0h

L20 Axis

r=1, w=1





3614h 0h

L21 Axis

r=1, w=1





3615h 0h

Used Parameters

Electronic Cam

ID 441778.04 349


06


address

L22 Axis

r=1, w=1



CAUTION


Value range in I09/s2: 0.00 ... 1000 ... 31Bit Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0C 05 80 00 hex

3616h 0h

L23 Axis

r=1, w=1



CAUTION




3617h 0h

L24 Axis

r=1, w=1





3618h 0h

L25 Axis

r=1, w=1





3619h 0h

L26 Axis

r=1, w=1





361Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 350


06


address

L27 Axis

r=1, w=1



Value range: 0 ... 0 ... 65535


361Bh 0h

L30 Axis

r=1, w=1





361Eh 0h

L31 Axis

r=1, w=1





361Fh 0h

L32 Axis

r=1, w=1



CAUTION




3620h 0h

L33 Axis

r=1, w=1



CAUTION




3621h 0h

Used Parameters

Electronic Cam

ID 441778.04 351


06


address

L34 Axis

r=1, w=1





3622h 0h

L35 Axis

r=1, w=1





3623h 0h

L36 Axis

r=1, w=1





3624h 0h

L37 Axis

r=1, w=1



Value range: 0 ... 0 ... 65535


3625h 0h

L40 Axis

r=1, w=1




Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0C 0A 00 00 hex

3628h 0h

Used Parameters

Electronic Cam

ID 441778.04 352


06


address

L41 Axis

r=1, w=1




Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0C 0A 40 00 hex

3629h 0h

L42 Axis

r=1, w=1



CAUTION




362Ah 0h

L43 Axis

r=1, w=1



CAUTION



Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0C 0A C0 00 hex

362Bh 0h

L44 Axis

r=1, w=1




Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0C 0B 00 00 hex

362Ch 0h

L45 Axis

r=1, w=1




Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 0B 40 00 hex

362Dh 0h

Used Parameters

Electronic Cam

ID 441778.04 353


06


address

L46 Axis

r=1, w=1




Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 0B 80 00 hex

362Eh 0h

L47 Axis

r=1, w=1



Value range: 0 ... 0 ... 65535

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C 0B C0 00 hex

362Fh 0h

L50 Axis

r=1, w=1




Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0C 0C 80 00 hex

3632h 0h

L51 Axis

r=1, w=1




Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0C 0C C0 00 hex

3633h 0h

L52 Axis

r=1, w=1



CAUTION



Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0C 0D 00 00 hex

3634h 0h

Used Parameters

Electronic Cam

ID 441778.04 354


06


address

L53 Axis

r=1, w=1



CAUTION




3635h 0h

L54 Axis

r=1, w=1





3636h 0h

L55 Axis

r=1, w=1




Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 0D C0 00 hex

3637h 0h

L56 Axis

r=1, w=1




Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 0E 00 00 hex

3638h 0h

L57 Axis

r=1, w=1



Value range: 0 ... 0 ... 65535

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C 0E 40 00 hex

3639h 0h

Used Parameters

Electronic Cam

ID 441778.04 355


06


address

L60 Axis

r=1, w=1




Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0C 0F 00 00 hex

363Ch 0h

L61 Axis

r=1, w=1




Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0C 0F 40 00 hex

363Dh 0h

L62 Axis

r=1, w=1



CAUTION



Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0C 0F 80 00 hex

363Eh 0h

L63 Axis

r=1, w=1



CAUTION



Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0C 0F C0 00 hex

363Fh 0h

L64 Axis

r=1, w=1





3640h 0h

Used Parameters

Electronic Cam

ID 441778.04 356


06


address

L65 Axis

r=1, w=1





3641h 0h

L66 Axis

r=1, w=1





3642h 0h

L67 Axis

r=1, w=1



Value range: 0 ... 0 ... 65535


3643h 0h

L70 Axis

r=1, w=1





3646h 0h

L71 Axis

r=1, w=1





3647h 0h

Used Parameters

Electronic Cam

ID 441778.04 357


06


address

L72 Axis

r=1, w=1



CAUTION




3648h 0h

L73 Axis

r=1, w=1



CAUTION




3649h 0h

L74 Axis

r=1, w=1





364Ah 0h

L75 Axis

r=1, w=1





364Bh 0h

Used Parameters

Electronic Cam

ID 441778.04 358


06


address

L76 Axis

r=1, w=1





364Ch 0h

L77 Axis

r=1, w=1



Value range: 0 ... 0 ... 65535


364Dh 0h

L80 Axis

r=1, w=1





3650h 0h

L81 Axis

r=1, w=1





3651h 0h

L82 Axis

r=1, w=1



CAUTION




3652h 0h

Used Parameters

Electronic Cam

ID 441778.04 359


06


address

L83 Axis

r=1, w=1



CAUTION




3653h 0h

L84 Axis

r=1, w=1





3654h 0h

L85 Axis

r=1, w=1





3655h 0h

L86 Axis

r=1, w=1





3656h 0h

L87 Axis

r=1, w=1



Value range: 0 ... 0 ... 65535


3657h 0h

Used Parameters

Electronic Cam

ID 441778.04 360


06


address

L90 Axis

r=1, w=1





365Ah 0h

L91 Axis

r=1, w=1





365Bh 0h

L92 Axis

r=1, w=1



CAUTION




365Ch 0h

L93 Axis

r=1, w=1



CAUTION




365Dh 0h

L94 Axis

r=1, w=1





365Eh 0h

Used Parameters

Electronic Cam

ID 441778.04 361


06


address

L95 Axis

r=1, w=1





365Fh 0h

L96 Axis

r=1, w=1





3660h 0h

L97 Axis

r=1, w=1



Value range: 0 ... 0 ... 65535


3661h 0h

L100 Axis

r=1, w=1





3664h 0h

L101 Axis

r=1, w=1





3665h 0h

Used Parameters

Electronic Cam

ID 441778.04 362


06


address

L102 Axis

r=1, w=1



CAUTION




3666h 0h

L103 Axis

r=1, w=1



CAUTION




3667h 0h

L104 Axis

r=1, w=1





3668h 0h

L105 Axis

r=1, w=1




Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 1A 40 00 hex

3669h 0h

L106 Axis

r=1, w=1




Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 1A 80 00 hex

366Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 363


06


address

L107 Axis

r=1, w=1



Value range: 0 ... 0 ... 65535

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C 1A C0 00 hex

366Bh 0h

M.. PLCopen Reference Values virtual Master Par. Description Fieldbus-

address

M10 Axis

r=1, w=1

TargetPosition: Specification of the position for the virtual master. The value can also be changed during positioning but the change does not take effect until the next Execute command. With relative positions, the direction of revolution can be changed by entering the position negatively.

Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 0D 02 80 00 hex

380Ah 0h

M11 Axis

r=1, w=1

Velocity: Specification of the speed (velocity) for a motion command of the positioning virtual master.

Value range in G245: 0.00 ... 1000 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 0D 02 C0 00 hex

380Bh 0h

M12 Axis

r=1, w=1

Acceleration ramp: Specification of the acceleration for a motion command of the positioning virtual master.

Value range in G244: 0.00 ... 1000 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 0D 03 00 00 hex

380Ch 0h

M13 Axis

r=1, w=1

Deceleration ramp: Specification of the deceleration for a motion command of the positioning virtual master.

Value range in G244: 0.00 ... 1000 ... 47185919.98


380Dh 0h

M14 Axis

r=1, w=1

Jerk: Specification of the maximum jerk for a motion command of the positioning virtual master (not implemented at this time).

Value range in G244: 0.00 ... 1000 ... 47185919.98


380Eh 0h

M15 Axis

r=1, w=1

Direction: Specification of the direction optimization for a motion command of the positing virtual master.


Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 03 C0 00 hex

380Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 364


06


address

M16 Axis

r=1, w=1

PLCopen Step-ID: This ID is used by parameter G160 during execution of the PLCopen command. This makes it possible to identify which PLCopen block is active or was active last.

Value range: 0 ... 0 ... 65535

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 04 00 00 hex

3810h 0h

M20 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97


3814h 0h

M21 Axis

r=1, w=1


Value range in G245: 0.00 ... 1000 ... 47185919.98


3815h 0h

M22 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3816h 0h

M23 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3817h 0h

M24 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3818h 0h

M25 Axis

r=1, w=1




3819h 0h

M26 Axis

r=1, w=1


Value range: 0 ... 0 ... 65535


381Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 365


06


address

M30 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97


381Eh 0h

M31 Axis

r=1, w=1


Value range in G245: 0.00 ... 1000 ... 47185919.98


381Fh 0h

M32 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3820h 0h

M33 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3821h 0h

M34 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3822h 0h

M35 Axis

r=1, w=1




3823h 0h

M36 Axis

r=1, w=1


Value range: 0 ... 0 ... 65535


3824h 0h

M40 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 0D 0A 00 00 hex

3828h 0h

Used Parameters

Electronic Cam

ID 441778.04 366


06


address

M41 Axis

r=1, w=1


Value range in G245: 0.00 ... 1000 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 0D 0A 40 00 hex

3829h 0h

M42 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


382Ah 0h

M43 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 0D 0A C0 00 hex

382Bh 0h

M44 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 0D 0B 00 00 hex

382Ch 0h

M45 Axis

r=1, w=1



Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 0B 40 00 hex

382Dh 0h

M46 Axis

r=1, w=1


Value range: 0 ... 0 ... 65535

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 0B 80 00 hex

382Eh 0h

M50 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 0D 0C 80 00 hex

3832h 0h

M51 Axis

r=1, w=1


Value range in G245: 0.00 ... 1000 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 0D 0C C0 00 hex

3833h 0h

Used Parameters

Electronic Cam

ID 441778.04 367


06


address

M52 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 0D 0D 00 00 hex

3834h 0h

M53 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3835h 0h

M54 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3836h 0h

M55 Axis

r=1, w=1



Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 0D C0 00 hex

3837h 0h

M56 Axis

r=1, w=1


Value range: 0 ... 0 ... 65535

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 0E 00 00 hex

3838h 0h

M60 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 0D 0F 00 00 hex

383Ch 0h

M61 Axis

r=1, w=1


Value range in G245: 0.00 ... 1000 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 0D 0F 40 00 hex

383Dh 0h

M62 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 0D 0F 80 00 hex

383Eh 0h

Used Parameters

Electronic Cam

ID 441778.04 368


06


address

M63 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 0D 0F C0 00 hex

383Fh 0h

M64 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3840h 0h

M65 Axis

r=1, w=1




3841h 0h

M66 Axis

r=1, w=1


Value range: 0 ... 0 ... 65535


3842h 0h

M70 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97


3846h 0h

M71 Axis

r=1, w=1


Value range in G245: 0.00 ... 1000 ... 47185919.98


3847h 0h

M72 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3848h 0h

M73 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3849h 0h

Used Parameters

Electronic Cam

ID 441778.04 369


06


address

M74 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


384Ah 0h

M75 Axis

r=1, w=1




384Bh 0h

M76 Axis

r=1, w=1


Value range: 0 ... 0 ... 65535


384Ch 0h

M80 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97


3850h 0h

M81 Axis

r=1, w=1


Value range in G245: 0.00 ... 1000 ... 47185919.98


3851h 0h

M82 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3852h 0h

M83 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3853h 0h

M84 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3854h 0h

Used Parameters

Electronic Cam

ID 441778.04 370


06


address

M85 Axis

r=1, w=1




3855h 0h

M86 Axis

r=1, w=1


Value range: 0 ... 0 ... 65535


3856h 0h

M90 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97


385Ah 0h

M91 Axis

r=1, w=1


Value range in G245: 0.00 ... 1000 ... 47185919.98


385Bh 0h

M92 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


385Ch 0h

M93 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


385Dh 0h

M94 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


385Eh 0h

M95 Axis

r=1, w=1




385Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 371


06


address

M96 Axis

r=1, w=1


Value range: 0 ... 0 ... 65535


3860h 0h

M100 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97


3864h 0h

M101 Axis

r=1, w=1


Value range in G245: 0.00 ... 1000 ... 47185919.98


3865h 0h

M102 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3866h 0h

M103 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3867h 0h

M104 Axis

r=1, w=1


Value range in G244: 0.00 ... 1000 ... 47185919.98


3868h 0h

M105 Axis

r=1, w=1



Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 1A 40 00 hex

3869h 0h

M106 Axis

r=1, w=1


Value range: 0 ... 0 ... 65535

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 1A 80 00 hex

386Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 372


06

N.. Posi.Switches Par. Description Fieldbus-

address

N100 Axis

r=1, w=1

Cam 1 enable: Enable signal for fast cam 1. NOTE In the "1:active" setting the cam function is linked directly to the output BA3. BA3 should therefore not be parameterized for other purposes in this case. In particular the contents of parameter F63 BA3-Source should be deleted.

0: Inactive. When cam start and end positions are not the same, the cam output is always inactive. When cam start and end positions are the same, the cam output remains unchanged.

1: Active. When cam start and end positions are not the same, the cam output is set for its function. When cam start and end positions are the same, the cam output remains unchanged.

Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 19 00 00 hex

3A64h 0h

N101 Axis

r=1, w=1

Cam 1 master/axis: Switching of fast cam 1 between master and axis cam.

0: Axis. The fast cam is generated based on the axis position. 1: Master. The fast cam is generated based on the master position.


3A65h 0h

N102 Axis

r=1, w=1

Fast electronic master cam 1 start position: Starting position of the fast master electronic cam 1. The position value is scaled like a master reference value via the parameters G46, G47, G48, and G49.

Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 0E 19 80 00 hex

The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden.

3A66h 0h

N103 Axis

r=1, w=1

Fast electronic master cam 1 end position: Ending position of the fast master electronic cam 1. The position value is scaled like a master reference value via the parameters G46, G47, G48, and G49.

Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 0E 19 C0 00 hex


3A67h 0h

N104 Axis

r=1, w=1

Fast electronic slave cam 1 start position: Starting position of the fast slave electronic cam 1. The position value is scaled like a position reference value of the positioning controller via the Posi parameters I06, I07, I08, and I09.


Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 1A 00 00 hex


3A68h 0h

Used Parameters

Electronic Cam

ID 441778.04 373


06


address

N105 Axis

r=1, w=1

Fast electronic slave cam 1 end position: Ending position of the fast slave electronic cam 1. The position value is scaled like a position reference value of the positioning controller via the Posi parameters I06, I07, I08, and I09.


Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 1A 40 00 hex


3A69h 0h

N106 Axis

r=1, w=1

Fast electronic cam 1 deadtime compensation: Entry of a dead time compensation shifts the cam by the distance that the related axis would have traveled during the set time if it had traveled at the speed during the last technology cycle. This means that, at a constant speed, a time shift of exactly the set dead time compensation will occur. Positive values shift the cam to an earlier time. Negative values shift the cam to a later time.

Value range in us: -31Bit ... 0 ... 31 Bit

Fieldbus: 1LSB=1us; Type: I32; USS-Adr: 0E 1A 80 00 hex

3A6Ah 0h

N107 Axis

read (1)

Output fast electronic cam 1: Indication of the output of fast electronic cam 1.


Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1A C0 00 hex

3A6Bh 0h

N110 Axis

r=1, w=1




Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1B 80 00 hex

3A6Eh 0h

N111 Axis

r=1, w=1



Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1B C0 00 hex

3A6Fh 0h

N112 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 0E 1C 00 00 hex


3A70h 0h

Used Parameters

Electronic Cam

ID 441778.04 374


06


address

N113 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3A71h 0h

N114 Axis

r=1, w=1



Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 1C 80 00 hex


3A72h 0h

N115 Axis

r=1, w=1



Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 1C C0 00 hex


3A73h 0h

N116 Axis

r=1, w=1



Fieldbus: 1LSB=1us; Type: I32; USS-Adr: 0E 1D 00 00 hex

3A74h 0h

N117 Axis

read (1)



Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1D 40 00 hex

3A75h 0h

N120 Axis

r=1, w=1




Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1E 00 00 hex

3A78h 0h

Used Parameters

Electronic Cam

ID 441778.04 375


06


address

N121 Axis

r=1, w=1



Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1E 40 00 hex

3A79h 0h

N122 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 0E 1E 80 00 hex


3A7Ah 0h

N123 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 0E 1E C0 00 hex


3A7Bh 0h

N124 Axis

r=1, w=1



Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 1F 00 00 hex


3A7Ch 0h

N125 Axis

r=1, w=1



Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 1F 40 00 hex


3A7Dh 0h

N126 Axis

r=1, w=1



Fieldbus: 1LSB=1us; Type: I32; USS-Adr: 0E 1F 80 00 hex

3A7Eh 0h

Used Parameters

Electronic Cam

ID 441778.04 376


06


address

N127 Axis

read (1)



Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1F C0 00 hex

3A7Fh 0h

N130 Axis

r=1, w=1





3A82h 0h

N131 Axis

r=1, w=1



Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 20 C0 00 hex

3A83h 0h

N132 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3A84h 0h

N133 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3A85h 0h

N134 Axis

r=1, w=1



Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 21 80 00 hex


3A86h 0h

Used Parameters

Electronic Cam

ID 441778.04 377


06


address

N135 Axis

r=1, w=1



Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 21 C0 00 hex


3A87h 0h

N136 Axis

r=1, w=1



Fieldbus: 1LSB=1us; Type: I32; USS-Adr: 0E 22 00 00 hex

3A88h 0h

N137 Axis

read (1)




3A89h 0h

N140 Axis

r=1, w=1

Cam enable: Enable signal for universal cam block 101081.

0: inactive; Cam output is inactive but can be forced to active via N150. 1: active; Cam output is controlled by the cam function but can be forced to active via N150.

Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 23 00 00 hex

3A8Ch 0h

N141 Axis

r=1, w=1

Cam for axis/master: Switch the universal cam between master and axis cam.

0: Axis; The cam is based on the axis position. The actual position is taken from parameter I900 (or I901).

1: Master; The cam is based on the master position. The actual position is taken from parameter G908 (or G909).


3A8Dh 0h

N142 Axis

r=1, w=1

Master cam start position: Start position of the universal cam parameterized as master cam. The position value is scaled like a master reference value via parameters G46, G47, G48, G49.

Value range in G49: -47185920.00 ... 0 ... 47185919.97



3A8Eh 0h

N143 Axis

r=1, w=1

Master cam end position: End position of the universal cam parameterized as master cam. The position value is scaled like a master reference value via parameters G46, G47, G48, G49.

Value range in G49: -47185920.00 ... 0 ... 47185919.97



3A8Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 378


06


address

N144 Axis

r=1, w=1

Axis cam start position: Start position of the universal cam parameterized as axis cam. The position value is scaled like a position reference value of the position controller via Posi parameters I06, I07, I08, I09.




3A90h 0h

N145 Axis

r=1, w=1

Axis cam end position: End position of the universal cam parameterized as axis cam. The position value is scaled like a position reference value of the position controller via Posi parameters I06, I07, I08, I09.




3A91h 0h

N146 Axis

r=1, w=1

Cam hysteresis master scaling: Hysteresis to the left and right of the start and end points of the universal cam parameterized as master cam. The position value is scaled like a master reference value via parameters G46, G47, G48, G49.

Value range in G49: 0.00 ... 0 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 0E 24 80 00 hex


3A92h 0h

N147 Axis

r=1, w=1

Cam hysteresis axis scaling: Hysteresis to the left and right of the start and end points of the universal cam parameterized as axis cam. The position value is scaled like a position reference value via parameters I06, I07, I08, I09.

Value range in I09: 0.00 ... 0 ... 31Bit

Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0E 24 C0 00 hex


3A93h 0h

N148 Axis

r=1, w=1

Dead time compensation of cam: The input of a dead time compensation causes a speed-related shift of the cam. For more information, see the documentation of the cam block.

Value range in µs: 0 ... 0 ... 31 Bit

Fieldbus: 1LSB=1µs; Type: I32; USS-Adr: 0E 25 00 00 hex

3A94h 0h

N149 Axis

read (1)

Output signal of cam: Indication of the output of the universal cam.



3A95h 0h

N150 Axis

r=1, w=1

Force cam to value: The value of N150 is OR-linked to the internal output signal of the universal cam. The result is output as cam output signal.



3A96h 0h

Used Parameters

Electronic Cam

ID 441778.04 379


06


address

N151 Axis

read (1)

Dead time compensation limited: When the cam is parameterized to endless position range, the calculated dead time compensation is limited to a maximum of ± one circular length. When the limitationis exceeded, 1:active is output on parameter N151. If the dead time compensation is within the permitted range, inactive is output.


Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 25 C0 00 hex

3A97h 0h

N160 Axis

r=1, w=1




3AA0h 0h

N161 Axis

r=1, w=1





3AA1h 0h

N162 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3AA2h 0h

N163 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3AA3h 0h

N164 Axis

r=1, w=1





3AA4h 0h

Used Parameters

Electronic Cam

ID 441778.04 380


06


address

N165 Axis

r=1, w=1





3AA5h 0h

N166 Axis

r=1, w=1


Value range in G49: 0.00 ... 0 ... 47185919.98



3AA6h 0h

N167 Axis

r=1, w=1





3AA7h 0h

N168 Axis

r=1, w=1



Fieldbus: 1LSB=1µs; Type: I32; USS-Adr: 0E 2A 00 00 hex

3AA8h 0h

N169 Axis

read (1)



Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 2A 40 00 hex

3AA9h 0h

N170 Axis

r=1, w=1



Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 2A 80 00 hex

3AAAh 0h

Used Parameters

Electronic Cam

ID 441778.04 381


06


address

N171 Axis

read (1)



Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 2A C0 00 hex

3AABh 0h

N180 Axis

r=1, w=1



Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 2D 00 00 hex

3AB4h 0h

N181 Axis

r=1, w=1




Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 2D 40 00 hex

3AB5h 0h

N182 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 0E 2D 80 00 hex


3AB6h 0h

N183 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 0E 2D C0 00 hex


3AB7h 0h

N184 Axis

r=1, w=1



Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 2E 00 00 hex


3AB8h 0h

Used Parameters

Electronic Cam

ID 441778.04 382


06


address

N185 Axis

r=1, w=1



Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 2E 40 00 hex


3AB9h 0h

N186 Axis

r=1, w=1


Value range in G49: 0.00 ... 0 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 0E 2E 80 00 hex


3ABAh 0h

N187 Axis

r=1, w=1



Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0E 2E C0 00 hex


3ABBh 0h

N188 Axis

r=1, w=1



Fieldbus: 1LSB=1µs; Type: I32; USS-Adr: 0E 2F 00 00 hex

3ABCh 0h

N189 Axis

read (1)



Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 2F 40 00 hex

3ABDh 0h

N190 Axis

r=1, w=1



Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 2F 80 00 hex

3ABEh 0h

Used Parameters

Electronic Cam

ID 441778.04 383


06


address

N191 Axis

read (1)



Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 2F C0 00 hex

3ABFh 0h

N200 Axis

r=1, w=1




3AC8h 0h

N201 Axis

r=1, w=1





3AC9h 0h

N202 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3ACAh 0h

N203 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3ACBh 0h

N204 Axis

r=1, w=1





3ACCh 0h

Used Parameters

Electronic Cam

ID 441778.04 384


06


address

N205 Axis

r=1, w=1





3ACDh 0h

N206 Axis

r=1, w=1


Value range in G49: 0.00 ... 0 ... 47185919.98



3ACEh 0h

N207 Axis

r=1, w=1





3ACFh 0h

N208 Axis

r=1, w=1




3AD0h 0h

N209 Axis

read (1)




3AD1h 0h

N210 Axis

r=1, w=1




3AD2h 0h

Used Parameters

Electronic Cam

ID 441778.04 385


06


address

N211 Axis

read (1)




3AD3h 0h

N220 Axis

r=1, w=1




3ADCh 0h

N221 Axis

r=1, w=1





3ADDh 0h

N222 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3ADEh 0h

N223 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3ADFh 0h

N224 Axis

r=1, w=1





3AE0h 0h

Used Parameters

Electronic Cam

ID 441778.04 386


06


address

N225 Axis

r=1, w=1





3AE1h 0h

N226 Axis

r=1, w=1


Value range in G49: 0.00 ... 0 ... 47185919.98



3AE2h 0h

N227 Axis

r=1, w=1





3AE3h 0h

N228 Axis

r=1, w=1




3AE4h 0h

N229 Axis

read (1)




3AE5h 0h

N230 Axis

r=1, w=1




3AE6h 0h

Used Parameters

Electronic Cam

ID 441778.04 387


06


address

N231 Axis

read (1)




3AE7h 0h

N240 Axis

r=1, w=1



Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 3C 00 00 hex

3AF0h 0h

N241 Axis

r=1, w=1




Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 3C 40 00 hex

3AF1h 0h

N242 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3AF2h 0h

N243 Axis

r=1, w=1


Value range in G49: -47185920.00 ... 0 ... 47185919.97

Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 0E 3C C0 00 hex


3AF3h 0h

N244 Axis

r=1, w=1



Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 3D 00 00 hex


3AF4h 0h

N245 Axis

r=1, w=1



Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 3D 40 00 hex


3AF5h 0h

Used Parameters

Electronic Cam

ID 441778.04 388


06


address

N246 Axis

r=1, w=1


Value range in G49: 0.00 ... 0 ... 47185919.98

Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1LSB=Fnct.no.20; USS-Adr: 0E 3D 80 00 hex


3AF6h 0h

N247 Axis

r=1, w=1



Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0E 3D C0 00 hex


3AF7h 0h

N248 Axis

r=1, w=1



Fieldbus: 1LSB=1µs; Type: I32; USS-Adr: 0E 3E 00 00 hex

3AF8h 0h

N249 Axis

read (1)



Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 3E 40 00 hex

3AF9h 0h

N250 Axis

r=1, w=1



Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 3E 80 00 hex

3AFAh 0h

N251 Axis

read (1)



Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 3E C0 00 hex

3AFBh 0h

N260 Axis

r=1, w=1

Posi.latch mode: Controls Posi.Latch function for micro-second-precise measurement of a position or length with an external signal.

0: Latch on rising edge; 1: Latch on falling edge; 2: Latch on next edge; 3: Reserved; Like 2 for the time being. 4: Difference between rising and rising edge; 5: Difference between falling and falling edge; 6: Difference between rising and falling edge; 7: Difference between falling and rising edge;


3B04h 0h

Used Parameters

Electronic Cam

ID 441778.04 389


06


address

N261 Axis

r=1, w=1

Latch for axis/master: Determines whether the latch latches the axis or the master position.

0: Axis; 1: Master;


3B05h 0h

N262 Axis, OFF

r=1, w=1

Posi latch execute source: The edge of the Posi.Latch Execute signal triggers the measurement of the actual position in N265 based on this parameter. N262 specifies the source of the Posi.Latch Execute signal. When this parameter equals 2:Parameter, latching is not possible because of the lack of applicable control bits. NOTE Measurement of the actual position can be done with micro-second precision when the Posi.Latch Execute signal is assigned to binary inputs BE1 to BE5.



3B06h 0h

Used Parameters

Electronic Cam

ID 441778.04 390


06


address

N263 Axis, OFF

r=1, w=1

Posi latch reset source: The Posi.Latch reset signal activates the Posi.Latch function. The Posi.Latch function records the current position and can thus be used to measure work pieces, for example. When the reset signal has a rising edge, Posi.Latch status N266 is reset. N263 specifies the source of the Posi.Latch reset signal. When this parameter equals 2:Parameter, latching is not possible because of the lack of applicable control bits.



3B07h 0h

N264 Axis

read (1)

Latched master position: Indication of the master position measured with the latch function. With a length measurement (N260 = 4..7), the output position is indicated after the first edge of Posi.Latch Execute and the measured length after the second edge.

Value range in G49: -47185920.00 ... 0 ... 47185919.97



3B08h 0h

N265 Axis

read (1)

Latched axis position: Indication of the axis position measured with the latch function. With a length measurement (N260 = 4..7), the output position is indicated after the first edge of Posi.Latch Execute and the measured length after the second edge.




3B09h 0h

Used Parameters

Electronic Cam

ID 441778.04 391


06


address

N266 Axis

read (1)

Posi latch state: Indication of the current Posi.Latch status.

0: Latch is armed; The latch is armed (ready) and waiting for the set signal edge on the Latch-Execute input.

1: Position is latched; In modes 0, 1 and 2, the latch has stored a position and is in its end state. The ready state 0 is obtained again with Latch Reset. In modes 4, 5, 6 and 7, the first of two signal edges has been detected and the latch is waiting for the second signal edge depending on which mode is set.

2: Difference is latched; Only in modes 4, 5, 6 and 7. The latch has stored the second position and calculated the difference in positions. It is in its end state. The ready state 0 is obtained again with Latch Reset.


3B0Ah 0h

N270 Axis

r=1, w=1




3B0Eh 0h

N271 Axis

r=1, w=1


0: Axis; 1: Master;


3B0Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 392


06


address

N272 Axis, OFF

r=1, w=1




3B10h 0h

Used Parameters

Electronic Cam

ID 441778.04 393


06


address

N273 Axis, OFF

r=1, w=1




3B11h 0h

N274 Axis

read (1)


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3B12h 0h

N275 Axis

read (1)





3B13h 0h

Used Parameters

Electronic Cam

ID 441778.04 394


06


address

N276 Axis

read (1)






3B14h 0h

N280 Axis

r=1, w=1




3B18h 0h

N281 Axis

r=1, w=1


0: Axis; 1: Master;


3B19h 0h

Used Parameters

Electronic Cam

ID 441778.04 395


06


address

N282 Axis, OFF

r=1, w=1




3B1Ah 0h

Used Parameters

Electronic Cam

ID 441778.04 396


06


address

N283 Axis, OFF

r=1, w=1




3B1Bh 0h

N284 Axis

read (1)


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3B1Ch 0h

N285 Axis

read (1)





3B1Dh 0h

Used Parameters

Electronic Cam

ID 441778.04 397


06


address

N286 Axis

read (1)






3B1Eh 0h

N290 Axis

r=1, w=1




3B22h 0h

N291 Axis

r=1, w=1


0: Axis; 1: Master;


3B23h 0h

Used Parameters

Electronic Cam

ID 441778.04 398


06


address

N292 Axis, OFF

r=1, w=1




3B24h 0h

Used Parameters

Electronic Cam

ID 441778.04 399


06


address

N293 Axis, OFF

r=1, w=1




3B25h 0h

N294 Axis

read (1)


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3B26h 0h

N295 Axis

read (1)





3B27h 0h

Used Parameters

Electronic Cam

ID 441778.04 400


06


address

N296 Axis

read (1)





Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 4A 00 00 hex

3B28h 0h

N300 Axis

r=1, w=1




3B2Ch 0h

N301 Axis

r=1, w=1


0: Axis; 1: Master;

Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 4B 40 00 hex

3B2Dh 0h

Used Parameters

Electronic Cam

ID 441778.04 401


06


address

N302 Axis, OFF

r=1, w=1




3B2Eh 0h

Used Parameters

Electronic Cam

ID 441778.04 402


06


address

N303 Axis, OFF

r=1, w=1



Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 4B C0 00 hex

3B2Fh 0h

N304 Axis

read (1)


Value range in G49: -47185920.00 ... 0 ... 47185919.97



3B30h 0h

N305 Axis

read (1)



Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 4C 40 00 hex


3B31h 0h

Used Parameters

Electronic Cam

ID 441778.04 403


06


address

N306 Axis

read (1)





Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 4C 80 00 hex

3B32h 0h

R.. Production data Par. Description Fieldbus-

address

R01.0 Global

read (3)

Hardware-version power-unit for hardware: Number specifying the hardware status of the power pack. All changes in the hardware states are counted here.


4201h 0h

R01.1 Global

read (3)

Hardware-version power-unit for software : Number specifying the hardware status of the power pack. Only changes in the hardware states which require a software adjustment are counted here.


4201h 1h

R02 Global

read (3)

Power phases: Specifies whether the device is a single-phase or three-phase device.

0: Single-phase; 1: Three-phase;


4202h 0h

R03 Global

read (3)

Power supply: Power supply of the input rectifier.

Fieldbus: 1LSB=1V; Type: I16; USS-Adr: 12 00 C0 00 hex

4203h 0h

R04 Global

read (3)

Nominal current async: Nominal current of the inverter for operation of asynchronous machines and normal switching (B24 = 4 kHz).


4204h 0h

R05 Global

read (3)

Upper temperature limit: Maximum permissible inverter temperature. When the measured inverter temperature E25 exceeds this value, a fault "38:Temperature device sensor" is triggered.

Fieldbus: 1LSB=1°C; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 12 01 40 00 hex

4205h 0h

R24 Global

read (3)

Nominal current servo: Nominal current of the inverter during operation with servo motors and normal switching (B24 = 8 kHz).


4218h 0h

Used Parameters

Electronic Cam

ID 441778.04 404


06


address

R25 Global

read (3)

Lower temperature limit: Minimum permissible inverter temperature. When the measured inverter temperature E25 passes below this value, a fault "38:temperature device sensor" is triggered. May indicate that the temperature sensor is defective.

Fieldbus: 1LSB=1°C; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 12 06 40 00 hex

4219h 0h

R26 Global

read (3)

Maximum current async: Specifies the current strength above which the inverter triggers a fault "33:overcurrent" during operation with ASM. Specification is made in %, reference value is R04.


421Ah 0h

R27 Global

read (3)

Maximum current servo: Specifies the current strength above which the inverter triggers a fault "33:overcurrent" during operation with servo. Specification is made in %, reference value is R24.


421Bh 0h

R28 Global

read (3)

Upper voltage limit: Maximum permissible DC link voltage. When the measured DC link voltage E03 exceeds this value, a fault "36:high voltage" is triggered.


421Ch 0h

R29 Global

read (3)

Lower voltage limit: Minimum required DC link voltage. Represents the lower limit for parameter A35.


421Dh 0h

R30 Global

read (3)

Brake chopper available: Specifies whether a brake resistance can be connected to the inverter.

0: inactive; No brake resistance possible. 1: active; Brake resistance possible.


421Eh 0h

R31 Global

read (3)

Brake chopper on level: The brake chopper is turned on at the latest when this value is exceeded.

Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 3277 V); USS-Adr: 12 07 C0 00 hex

421Fh 0h

R32 Global

read (3)

Brake chopper off level: The brake chopper is switched off at the latest when this value is passed below.


4220h 0h

R33 Global

read (3)

Maximum motor power: Maximum power which a motor that is operated on this inverter may have. Represents the upper limit for B11.

Fieldbus: 1LSB=0,001kW; Type: I16; (raw value:1LSB=0,01·kW); USS-Adr: 12 08 40 00 hex

4221h 0h

R34 Global

read (3)

Maximum brakeresistor power: Maximum power which a brake resistor that is connected to this inverter may have. Represents the upper limit for A22.

Fieldbus: 1LSB=1W; Type: I16; (raw value:1LSB=10·W); USS-Adr: 12 08 80 00 hex

4222h 0h

Used Parameters

Electronic Cam

ID 441778.04 405


06


address

R35 Global

read (3)

Minimum brakeresistor resistance: Minimum resistance value which a braking resistor connected to this inverter must have. Represents the lower limit for A21.

Fieldbus: 1LSB=1Ohm; Type: I16; (raw value:32767 = 3277 Ohm); USS-Adr: 12 08 C0 00 hex

4223h 0h

R36.0 Global

read (3)

Hardware-version control-unit for hardware: Number specifying the hardware version of the control unit. All changes in the hardware states are counted here.


4224h 0h

R36.1 Global

read (3)

Hardware-version control-unit for software: Number specifying the hardware version of the control unit. All changes in the hardware states which require a software adjustment are counted here.


4224h 1h

T.. Scope Par. Description Fieldbus-

address

T25 Global

r=3, w=3

Automatic scope start: When T25 is "1:active," Scope starts automatically after the configuration is downloaded. With a device new start, Scope is also automatically started with the settings saved last.



4619h 0h

U.. Protection functions Par. Description Fieldbus-

address

U00 Global

r=3, w=3

Level low voltage: Level at which the event "46:low voltage" is triggered due to cause "1:low voltage DC link voltage limit."

2: Warning; After the tolerance time in U01 expires, the device assumes fault status. 3: Fault; When the value in A35 is passed below, the device immediately assumes fault status.


4800h 0h

U01 Global

r=3, w=3

Time low voltage: Can only be set with U00 = 2:warning. Defines the time during which the triggering of low voltage monitoring is tolerated. After expiration of this time, the device assumes fault status.

Value range in s: 1.00 ... 1 ... 10.00

Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 00 40 00 hex

Only visible when the appropriate event level is parameterized to 2:Warning.

4801h 0h

Used Parameters

Electronic Cam

ID 441778.04 406


06


address

U02 Global

r=3, w=3

Level overtemperature Device i2t: Parallel to the monitoring of the heat dissipater temperature, an additional protective function is offered via i²t. The device load can be indicated as a percentage via parameter E22. If the value in E22 is greater than 100 %, event 39 is triggered. When the event is triggered, a current limitation occurs in the control modes Servo, Vectorcontrol and Sensorless Vectorcontrol (SLVC). At the same time a quick stop is triggered when U02 is parameterized as a failure. Reduction of the current can mean that the quick stop is no longer executed correctly. WARNING Undesired sinking of the gravity-stressed axes! Remember that the current limitation also causes a torque limitation. This may cause gravity-stressed axes to sink. NOTE Remember that event 59 is always triggered when E22 is greater than 105 %.

0: inactive; Device does not react to the triggering of U02. 1: Message; When U02 is triggered, this is only indicated. The device continues to remain ready

for operation. 2: Warning; After expiration of the tolerance time in U03, the device assumes fault status (for E39,

see chap. 17). 3: Fault; After U02 is triggered, the device immediately assumes fault status (for E39, see chap.

17).


4802h 0h

U03 Global

r=3, w=3

Time overtemperature Device i2t: Can only be set with U02 = 2:warning. Defines the time during which a trigger of the i²t monitoring is tolerated. After expiration of this time, the device assumes fault status.

Value range in s: 1.00 ... 10 ... 60.00

Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 00 C0 00 hex


4803h 0h

U10 Global

r=3, w=3

Level temperature motor i2t: Parallel to the monitoring of the positor line on the motor, the inverter simulates the motor temperature via an i²t model. The motor load is indicated as a percentage in parameter E23. If the value in E23 is greater than 100 %, event 45 is triggered. If a motor KTY evaluation has been entered on the nameplate, the parameter is set to 2:warning.

0: inactive; Device does not react to the triggering of U10. 1: Message; Triggering of U10 is only indicated. The device continues to be ready for operation. 2: Warning; After expiration of the tolerance time U11, the device assume fault status.


480Ah 0h

U11 Global

r=3, w=3

Time temperature motor i2t: Can only be set when U10 = 2:warning. Defines the time during which a trigger of i²t monitoring is tolerated. After expiration of this time, the device assumes fault status. If a motor KTY evaluation has been entered on the nameplate, the parameter is set to 1 s.

Value range in s: 1.00 ... 30 ... 60.00



480Bh 0h

Used Parameters

Electronic Cam

ID 441778.04 407


06


address

U12 Global

r=3, w=3

Level motor connection: When the axis switch via POSISwitch® is utilized, the inverter can test during switching whether the contactor of the motor to be switched off has actually broken contact (opened). In addition, under certain circumstances, it can be determined that no motor is connected.

0: inactive; 3: Fault;


480Ch 0h

U15 Global

r=3, w=3

Level MotorTMP: Trips when the motor temperature sensor on X2 triggers.

2: Warning; After expiration of the tolerance time U16, the device assume fault status. 3: Fault; The device immediately assumes fault status after the motor TMP is triggered.


480Fh 0h

U16 Global

r=3, w=3

Time MotorTMP: Can only be set when U15 = 2:warning. Defines the time during which triggering of the motor TMP is tolerated. After expiration of this time, the device assumes fault status.

Value range in s: 1.00 ... 2 ... 60.00



4810h 0h

U20 Axis

r=3, w=3

Level M-Max limit: When the calculated motor torque exceeds the current torque limit in E62 during stationary operation, event 47 is triggered.

0: inactive; Device does not react to the triggering of U20. 1: Message; Triggering of U20 is only indicated. The device continues to remain ready for

operation. 2: Warning; After expiration of the tolerance time in U21, the device assumes fault status. 3: Fault; The device immediately assumes fault status after U20 is triggered.


4814h 0h

U21 Axis

r=3, w=3

Time M-Max limit: Can only be set when U20 = 2:warning. Defines the time during which a drive overload is tolerated. After expiration of this time, the device assumes fault status.

Value range in s: 1.00 ... 10 ... 60.00



4815h 0h

Used Parameters

Electronic Cam

ID 441778.04 408


06


address

U30 Axis

r=3, w=3

Emergency braking: In case of some malfunctions that normally result in the drive coasting down, emergency braking can be performed as an option. The emergency braking is treated like a malfunction fast stop for these malfunctions, however the emergency braking does not follow the fast stop ramp (D81), but is performed using an internally pre-calculated current. Emergency braking is only possible in the servo mode (B20=64:Servo). Only the malfunction reaction for the selected malfunctions is affected. In addition to the setting in U30, the malfunction fast stop must also be activated in A29. A39 (t-max. fast stop) should be set such that the emergency braking can be ceased. In the case of the following malfunctions in which the drive is switched so it is free of torque ("coasts down"), emergency braking can be performed as an option: Malfunction 37:Encoder, Malfunction 46:Overvoltage with cause 3:Line drop, Malfunction 56:Overspeed. NOTE At the start of the emergency braking, brake actuation is triggered simultaneously.

0: inactive; all malfunctions for which a fast stop is not possible result in coasting down. The setting in A29 applies to the malfunctions for which a fast stop can be used.

1: active; in the case of the malfunctions 37:Encoder, 56:Overspeed and 46:Undervoltage with cause 3:Line drop emergency braking is performed. The malfunction fast stop must be activated in A29. The malfunctions for which a fast stop can be used continue to react with the normal fast stop.



481Eh 0h

U80 Axis

r=3, w=3

Fault sample parameter 0: Each of the 10 fault memory entries has space for user-defined data which are also saved when a fault is triggered. The parameter to be recorded is set here.

Value range: A00 ... 1.I80 ... A.Gxxx.yyyy (Parameter number in plain text)


4850h 0h

U81 Axis

r=3, w=3


Value range: A00 ... 1.G80 ... A.Gxxx.yyyy (Parameter number in plain text)


4851h 0h

U82 Axis

r=3, w=3




4852h 0h

U83 Axis

r=3, w=3




4853h 0h

Used Parameters

Electronic Cam

ID 441778.04 409


06


address

U100 Axis

r=3, w=3

Level application event 0: Application-specific event no. 60. Starting with the level "1:message," the display shows the event number with the text specified in U102 (e.g., "60:my fault") when this event occurs.

0: inactive; 1: Message; 2: Warning; 3: Fault;


4864h 0h

U101 Axis

r=3, w=3

Time application event 0: Can only be set with U100 = 2:warning. Defines the time during which the event remains a warning. After expiration of this time, the device assumes fault status.

Value range in s: 0.00 ... 0 ... 63.75



4865h 0h

U102 Axis

r=3, w=3

Text application event 0: Text which appears on the display when the event is triggered.

Default setting: FollowError


4866h 0h

U110 Axis

r=3, w=3

Level application event1: Application-specific event no. Nr. 61. Starting with the level "1:message," the display shows the event number with the text specified in U112 (e.g., "61:my fault") when this event occurs.



486Eh 0h

U111 Axis

r=3, w=3

Time application event 1: Can only be set when U110 = 2:warning. Defines the time during which the event remains a warning. After expiration of this time, the device assumes fault status.

Value range in s: 0.00 ... 0 ... 63.75

Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 1B C0 00 hex


486Fh 0h

U112 Axis

r=3, w=3

Text application event 1: Indication which appears on the display when the event is triggered.

Default setting: LimitSwitch


4870h 0h

U120 Axis

r=3, w=3

Level application event 2: Application-specific event no. 62. Starting with the level "1:message," the event number and the text specified in U122 (e.g., "62:my fault") appear on the display when this event occurs.



4878h 0h

Used Parameters

Electronic Cam

ID 441778.04 410


06


address

U121 Axis

r=3, w=3

Time application event 2: Can only be set when U120 = 2:warning. Defines the time during which the event remains a warning. After expiration of this time, the device assumes fault status.

Value range in s: 0.00 ... 0 ... 63.75

Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 1E 40 00 hex


4879h 0h

U122 Axis

r=3, w=3


Default setting: Ext2


487Ah 0h

U130 Axis

r=3, w=3

Level application event 3: Application-specific event no. 63. Starting with level "1:message," the event number and the text specified in U132 (e.g., "63:my fault") appear on the display when this event occurs.



4882h 0h

U131 Axis

r=3, w=3

Time application event 3: Can only be set when U130 = 2:warning. Defines the time during which the event remains a warning. After this time expires, the device assumes fault status.

Value range in s: 0.00 ... 0 ... 63.75



4883h 0h

U132 Axis

r=3, w=3




4884h 0h

U140 Axis

r=3, w=3




488Ch 0h

U141 Axis

r=3, w=3


Value range in s: 0.00 ... 0 ... 63.75



488Dh 0h

Used Parameters

Electronic Cam

ID 441778.04 411


06


address

U142 Axis

r=3, w=3


Default setting: currentloop lost


488Eh 0h

U150 Axis

r=3, w=3




4896h 0h

U151 Axis

r=3, w=3


Value range in s: 0.00 ... 0 ... 63.75



4897h 0h

U152 Axis

r=3, w=3




4898h 0h

U160 Axis

r=3, w=3




48A0h 0h

U161 Axis

r=3, w=3


Value range in s: 0.00 ... 0 ... 63.75



48A1h 0h

U162 Axis

r=3, w=3




48A2h 0h

Used Parameters

Electronic Cam

ID 441778.04 412


06


address

U170 Axis

r=3, w=3




48AAh 0h

U171 Axis

r=3, w=3


Value range in s: 0.00 ... 0 ... 63.75

Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 2A C0 00 hex


48ABh 0h

U172 Axis

r=3, w=3



Fieldbus: Type: Str16; USS-Adr: 15 2B 00 00 hex

48ACh 0h

U180 Axis

r=2, w=2

Text external fault 1: In addition to the 8 external events whose level (fault, warning, and so on) can be specified as desired by the user, two other events which always trigger a fault are available for application development. The related fault messages are specified by the parameters U180 and U181.

Default setting: ExtFault1


48B4h 0h

U181 Axis

r=2, w=2

Text external fault 2: See U180.

Default setting: ExtFault2


48B5h 0h

Z.. Fault counter Par. Description Fieldbus-

address

Z31 Global

read (3)

Short/ground.: The parameter indicates how frequently event 31:short/ground has occurred. Event description: Trigger: The hardware overcurrent switchoff is active. Cause: The motor requires too much current from the inverter (interwinding fault,

overload) Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment. Other: The motor always coasts down. The brake chopper cuts out.

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 07 C0 00 hex

521Fh 0h

Used Parameters

Electronic Cam

ID 441778.04 413


06


address

Z32 Global

read (3)

Short/ground internal: The parameter indicates how frequently event 32:short/ground internal has occurred. Event description: Trigger: When the device switches on (switch on 24 V with power supply already

present) a short-circuit ground fault is detected. Cause: There is a device-internal bridge short-circuit or an internal or external ground

fault. Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment Other: The power stage is switched off on the hardware side. The motor always coasts

down. The brake chopper is switched off as long as the malfunction is present. Please send the device in for repair.

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 08 00 00 hex

5220h 0h

Z33 Global

read (3)

Overcurrent: The parameter indicates how frequently event 33:overcurrent has occurred. Event description: Trigger: The total motor current exceeds the permissible maximum. Cause: Acceleration times too short Wrong torque limitations in parameters C03 and C05 Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment. Other: The motor always coasts down.


5221h 0h

Z34 Global

read (3)

Hardware fault: The parameter indicates how frequently event 34:hardware fault has occurred. Event description: Trigger: A hardware error occurred. Cause: 1: FPGA; Error while loading the FPGA. 2: NOV-ST; Control unit memory defective (FERAM). 3: NOV-LT; Power unit memory defective (EEPROM). 4: brake 1; Activation of brake 1 is defective or the brake module has no 24 V

power. 5: brake 2; Activation of brake 2 is defective or the brake module has no 24 V

power. 11: currentMeas; Current offset measurement when device starts up - deviation

too great Level: Fault Acknowledgment: Cannot be acknowledged Other: The brake chopper is switched off as long as the malfunction is present. The

inverter must be sent in for repairs.


5222h 0h

Z35 Global

read (3)

Watchdog: The parameter indicates how frequently event 35:watchdog has occurred. Event description: Trigger: The watchdog of the microprocessor has triggered. Cause: The microprocessor is busy or it is faulty. Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment. Other: The motor always coasts down. The brake chopper is switched off while the

inverter restarts.


5223h 0h

Used Parameters

Electronic Cam

ID 441778.04 414


06


address

Z36 Global

read (3)

High voltage: The parameter indicates how frequently event 36:high voltage has occurred. Event description: Trigger: The voltage in the DC link exceeds permissible maximum (indication DC link

voltage in E03). Cause: Network voltage too high Feedback of drive in braking mode (no brake resistor connected brake

chopper deactivated with A22=0 or defective). Brake resistor too low (overcurrent protection) Ramp too steep Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment. Other: The motor always coasts down. The brake chopper is switched off as long as the

malfunction is present.


5224h 0h

Z37 Global

read (3)

Encoder: The parameter indicates how frequently event 37:encoder has occurred. Event description: Trigger: Error by encoder. Cause: 1: Para <-> encoder; Parameterization does not match connected encoder. 2: ParaChgOffOn; Parameterchange; Encoder parameterization cannot be

changed during operation. Save and then turn device off and on so that the change takes effect.

4: X4 chan.A/Clk; Wire break, track A / clock 5: X4 chan.B/Dat; Wire break, track B / data 6: X4 chan.0; Wire break, track 0 7: X4EnDatAlarm; The EnDat® encoder reported an alarm. 8: X4EnDatCRC; The EnDat® encoder reported that too many errors were

found during the redundancy check. The cause can be wirebreak or errors in the cable shield.

10: resol.carrier; Resolver is not or wrong connected, wirebreak is possible 11: X140-undervol.; Wrong transmission factor 12: X140-overvolt; Wrong transmission factor 14: resol.failure; Wirebreak 15: X120-double t; X120 double transmission occurred 16: X120-Busy; Encoder gave no response for too long; bei SSI-Slave: bei

freigegebenen Antrieb seit 5 ms keine Telegramm 17: X120-wirebreak; A wire break was discovered on X120. 18: X120-Timeout; 19: X4-double tr.; X4 double transmission occurred 20: X4-Busy; Encoder gave no response for too long 21: X4-wirebreak; 22: AX5000; Acknowledgment of the axis switch is not effected. 23: Ax5000require; Comparison of E57 and E70. 24: X120-speed; B297, G297 or I297 exceeded for encoder on X120. 25: X4-speed; B297, G297 or I297 exceeded for encoder on X4. 26: No Enc. found; Either no encoder was found on X4 or the EnDat®/SSI

encoder has a wire break.

5225h 0h

Used Parameters

Electronic Cam

ID 441778.04 415


06


address

27: AX5000 found; A functional AX 5000 option board was found on X4 although incremental encoder or EnDat® encoder was parameterized, or no EnDat® encoder is connected to the AX 5000 option board.

28: EnDat found.; An EnDat® encoder was found on X4 although another encoder was parameterized.

29: AX5000/IncEnc; Either X4 has a faulty AX 5000 option board or the A-track of an incremental encoder has a wire break.

30: opt2 incomp.; Version of option 2 is not current. 31: X140-EnDatAla; The EnDat® encoder on X140 reports an alarm. 32: X140-EnDatCRC; The EnDat® encoder on X140 reports that too many faults

were found during the redundancy test. Possible causes may be wire break or a cable shield fault.

33: IGB-speed; G297 exceeded on the IGB. 34: Battery low; While switching on the inverter it was determined that the

voltage of the battery has fallen below the warning limit of the encoder. Referencing of the axis remains intact. However, the remaining service life of the backup battery is limited. Replace the AES battery before the next time the inverter is switched off. Note also the operating instructions for the Absolute Encoder Support AES.

35: Battery empty; While switching on the inverter it was determined that the voltage of the battery has fallen below the minimum voltage of the encoder. Referencing of the axis has been deleted. The backup battery is no longer able to retain the position in the encoder over the time during which the inverter in switched off. Referencing the axis. Replace the AES battery before the next time the inverter is switched off. Note also the operating instructions for the Absolute Encoder Support AES.

Level: Fault Acknowledgment: Turn the device off/on for causes 7, 10, 11, 12, 13 and 14. Programmed

acknowledgment for other causes. Other: The motor always coasts down. CAUTION With positioning applications, the reference is deleted by the event "37:encoder."

After acknowledgment, referencing must be performed again.


Z38 Global

read (3)

Overtemp.device sensor: The parameter indicates how frequently event 38:overtemp.device sensor has occurred. Event description: Trigger: The temperature measured by the device sensor exceeds the permissible

maximum value or is below the permissible minimum value. Cause: Ambient/switching cabinet temperatures too high or to low. Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment. Other: The permissible temperatures are stored on the power section of the inverter.


5226h 0h

Used Parameters

Electronic Cam

ID 441778.04 416


06


address

Z39 Global

read (3)

Overtemp.device i2t: The parameter indicates how frequently event 39:overtemp.device i2t has occurred. Event description: Trigger: The i2t model for the inverter exceeds 100 % of the thermal load. Cause: Inverter overloaded (e.g., because motor blocked). Too high clock pulse frequency. Level: Inactive, message, warning or fault, can be parameterized in U02 (Default: fault).Other: When the event is triggered, a current limitation occurs initially for control types

servo and vector control. At the same time, a quick stop is triggered as a fault when parameterized in U02. Reduction of the current may mean that the quick stop is no longer executed correctly!


5227h 0h

Z40 Global

read (3)

Invalid data: The parameter indicates how frequently event 40:invalid data has occurred. Event description: Trigger: A data error was detected when the non-volatile memory was initialized. Cause: 1 to 7: Control unit memory 1: fault; Low-level read/write error or timeout. 2: blockMiss; Unknown data block. 3: dataSecurity; Block has no data security. 4: checksum; Block has checksum error. 5: r/o; Block is r/o. 6: readErr; Startup phase: block read error. 7: blockMiss; Block not found . 17 to 23: power unit memory 17: fault; Low-level read/write error or timeout. 18: blockMiss; Unknown data block. 19: dataSecurity; Block has no data security. 20: checksum; Block has checksum error. 21: r/o; Block is r/o. 22: readErr; Startup phase: block read error. 23: blockMiss; Block not found. 32 and 33: encoder memory 32: el.mot-type; No nameplate data present. 33: el.typeLim; Elecronic motor-type limit; nameplate parameters cannot be

entered (limit or existence). 48: optionBoard2; Error in memory of option 2 with REA 5000 and XEA 5000

and XEA 5001 respectively. Level: Fault Acknowledgment: The event cannot be acknowledged for cause 1 to 23 and 48. The inverter must be sent in for repairs. The event can be acknowledged for

causes 32 and 33.

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0A 00 00 hex

5228h 0h

Z41 Global

read (3)

Temp.MotorTMP: The parameter indicates how frequently event 41:temp.MotorTMP has occurred. Event description: Trigger: Motor temperature sensor reports excess temperature. (Connection terminals

X2.3, X2.4). Cause: The motor is overloaded. The temperature sensor is not connected. Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment.


5229h 0h

Used Parameters

Electronic Cam

ID 441778.04 417


06


address

Z42 Global

read (3)

TempBrakeRes: The parameter indicates how frequently event 42:tempBrakeRes has occurred. Event description: Trigger: The i2t model for the brake resistor exceeds 100 % of the load. Cause: The brake resistor may not be adequate for the application. Level: Fault Acknowledgment: Programmed acknowledgment. Acknowledgment by turning the device off/on is

not recommended since the i2t model would be reset to 80 % in this case and there is a danger of the deceleration resistor being damaged.

Other: The brake chopper is switched off as long as the malfunction is present.


522Ah 0h

Z44 Global

read (3)

External fault 1: The parameter indicates how frequently event 44:External fault 1 has occurred.Event description: Trigger: Application specific or by free programming option. Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment. Other: Should only be used for application events which may not be set lower than the

"fault" level.

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0B 00 00 hex

522Ch 0h

Z45 Global

read (3)

Overtemp.motor i2t: The parameter indicates how frequently event 45:overtemp.motor i2t has occurred. Event description: Trigger: The i2t model for the motor has reached 100 % of load. Cause: The motor is overloaded. Level: Can be parameterized as inactive, message or warning in U10 and U11. Acknowledgment: Turn device off/on or programmed acknowledgment.


522Dh 0h

Z46 Global

read (3)

Low voltage: The parameter indicates how frequently event 46:low voltage has occurred. Event description: Trigger: The DC link voltage is lower than the limit value set in A35. Cause: 1: Low Voltage; The value in E03 DC-link-voltage has dropped below the value

parameterized in A35 low voltage limit. 2: Network phase; Phase monitoring has found that a switched-on power unit is

missing a phase. 3: Drop in network; When phase monitoring finds that the network voltage is

missing, the charging relay is immediately switched off. Normal operation is maintained. If the power unit is still switched on after network voltage returns, a fault is triggered after 0.5 s.

Level: Can be parameterized for cause 1 in U00 and U01. Warning with 10-second warning time for cause 2, fault for cause 3.

Acknowledgment: Can be acknowledged for "fault" level by turning device off/on or programmed acknowledgment.

Other: The motor always coasts down for cause 3.


522Eh 0h

Used Parameters

Electronic Cam

ID 441778.04 418


06


address

Z47 Global

read (3)

Torque limit: The parameter indicates how frequently event 47:torque limit has occurred. Event description: Trigger: The maximum torque permitted for static operation is exceeded for the control

types servo control, vector control or senorless vector control (E62:act. pos. M-max, E66:act. neg. M-max).

Cause: Limitation by parameters C03 and C05. Level: Can be parameterized in U20 and U21.

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0B C0 00 hex

522Fh 0h

Z52 Global

read (3)

Communication: The parameter indicates how frequently event 52:communication has occurred. Event description: Trigger: Communication fault Cause: 1: CAN LifeGuard; The device recognized the "life-guarding-event" (master no

longer sends RTR). 2: CAN Sync Error; The sync message was not received within the time set in

parameter A201 Cycle Period Timeout. 3: CAN Bus Off; Went off when bus went off. The driver started it again. 4: PZD-Timeout; Failure of the cyclic data connection (PROFIBUS). 5: USS; (under preparation) failure of the cyclic data connection (USS). 6: EtherCAT PDO; The inverter received no process data during the time set in

A258. 7: EtherCAT-DcSYNC0; There is a malfunction on the synchronization signal

"SYNC 0". This malfunction can only occur with EtherCAT® synchronization activated using "Distributed Clock (DC)".

8: IGB µC failure; The controller for IGB communication has failed. 9: IGB Lost Frame; IGB-Motionbus fault. The station discovered the loss of at

least 2 consecutive data frames (double error). This cause can only occur when the IGB state = 3:Motionbus and the motor is energized.

10: IGB P.LostFra; IGB-Motionbus fault. Another station discovered a double error and reported this via A163. This causes that inverter to also malfunction with this cause. The cause can only occur when the IGB state = 3:Motionbus and the motor is energized.

11: IGB Sync Erro; The synchronization within the inverter has malfunctioned because the configuration was stopped by POSITool. This fault can only occur when the IGB state equaled 3:Motionbus and the motor was energized.

12: IGB ConfigTim; A block was not executed at the beginning of the global area in real-time. The runtime sequence of blocks may have been set incorrectly. This fault can only occur when the IGB state equaled 3:Motionbus and the motor was energized.

13: IGBPartnerSyn; Another station in the IGB network has a synchronization fault (see cause 11). This station reported its fault via A163. This causes that inverter to also malfunction with cause 13. This fault can only occur when the IGB state equaled 3:Motionbus and the motor was energized.

Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment.

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0D 00 00 hex

5234h 0h

Used Parameters

Electronic Cam

ID 441778.04 419


06


address

Z55 Global

read (3)

Option board: The parameter indicates how frequently event 55:option board has occurred. Event description: Trigger: Error during operation with option board. Cause: 1: CAN 5000 failure; CAN 5000 was recognized, installed and failed. 2: DP 5000 failure; DP5000 was recognized, installed and failed. 3: REA 5000 failure; REA 5000 was recognized, installed and failed. 4: SEA 5000 failure; SEA 5000 was recognized, installed and failed. 5: XEA 5000 failure; XEA 5000 or XEA 5001was recognized, installed and

failed. 6: EncSim-init; Incremental encoder simulation could not be initialized on

XEA. The motor may have turned during initialization. 7: WrongOption; Incorrect or missing option board (comparison of E54/E58

with E68/E69) or on SDS 5000: option board with old hardware version (XEA 5001: from HW 10, REA 5000: from HW19)

8: LEA5000 failure; LEA 5000 was recognized, installed and failed. 9: ECS5000 failure; ECS 5000 was recognized, installed and failed.. 10: 24V failure; Failure of the 24 V supply for XEA 5001 or LEA 5000. 11:SEA 5001 failure; SEA 5001 was recognized, installed and failed. 12:REA 5001 failure; REA 5001 was recognized, installed and failed. 13: PN5000 fail 1; PN 5000 was recognized, installed and failed. Basic

hardware tests have detected an error. 14: PN5000 fail 2; PN 5000 was recognized, installed and failed. Basic software

tests have detected an error. 15: PN5000 fail 3; PN 5000 was recognized, installed and failed. The Watchdog

function of the PN-5000 monitoring system has detected an error. 17: Option2 too old; on SDS 5000: option board with old hardware version

(XEA 5001: from HW 10, REA 5000: from HW 19) Level: Fault Acknowledgment: Turn device off/on for all causes or programmed acknowledgment of causes 1 to

6 and 8 to 10.

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0D C0 00 hex

5237h 0h

Z56 Global

read (3)

Overspeed: The parameter indicates how frequently event 56:overspeed has occurred. Event description: Trigger: The measured speed is greater than C01*1,1 + 100 rpm. Cause: Encoder defective Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment. Other: The motor always coasts down (from V5.0D on).

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0E 00 00 hex

5238h 0h

Z57 Global

read (3)

Runtime usage: The parameter indicates how frequently event 57:runtime usage has occurred. Event description: Trigger: The cycle time of a real-time task was exceeded. Cause: 2: RT2; Cycle time of real-time task 2 exceeded (1 msec) 3: RT3; Cycle time of real-time task 3 exceeded (technology task) 4: RT4; Cycle time of real-time task 4 exceeded (32 msec) 5: RT5; Cycle time of real-time task 5 exceeded (256 msec) Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment.


5239h 0h

Used Parameters

Electronic Cam

ID 441778.04 420


06


address

Z58 Global

read (3)

Grounded: The parameter indicates how frequently event 58:grounded has occurred. Event description: Trigger: Hardware signal from power section with MDS 5000 BG3 or SDS 5000 BG 3. Cause: Asymmetrical motor currents. Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment. Other: The motor always coasts down. The brake chopper is switched off as long as the

malfunction is present.


523Ah 0h

Z59 Global

read (3)

Overtemp.device i2t: The parameter indicates how frequently event 59:overtemp.device i2t has occurred. Event description: Trigger: The i2t model calculated for the inverter exceeds 105 % of the thermal load. Cause: Inverter overloaded (e.g., because motor is blocked). Clock pulse frequency too high. Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment.

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0E C0 00 hex

523Bh 0h

Z60 Global

read (3)

Application event 0: The parameter indicates how frequently event 60:application event 0 has occurred. Event description: Trigger: Application specific or by free programming option. Cause: Can be programmed as desired for each axis separately. Level: Can be parameterized in system parameters U100. Acknowledgment: Turn device off/on or programmed acknowledgment. Other: - Message/warning: Evaluation in 256-msec cycle. - Fault: Evaluation in parameterizable cycle time (A150). Texts, times and level

can be set in parameter group U.. starting with U100.

Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0F 00 00 hex

523Ch 0h

Z61 Global

read (3)




523Dh 0h

Used Parameters

Electronic Cam

ID 441778.04 421


06


address

Z62 Global

read (3)




523Eh 0h

Z63 Global

read (3)



Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0F C0 00 hex

523Fh 0h

Z64 Global

read (3)




5240h 0h

Z65 Global

read (3)




5241h 0h

Used Parameters

Electronic Cam

ID 441778.04 422


06


address

Z66 Global

read (3)




5242h 0h

Z67 Global

read (3)




5243h 0h

Z68 Global

read (3)

External fault 2: The parameter indicates how frequently event 68:external fault 2 has occurred. Event description: Trigger: Application specific or by free programming option. Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment. Other: Should be used for application events which can only be parameterized at the

"fault" level.


5244h 0h

Z69 Global

read (3)

Motor connection: The parameter indicates how frequently event 69:motor connection has occurred. Event description: Trigger: Connection error of the motor. Cause: 1: motorNotDiscon; The contactor did not open when the axis changed. This

cause can only be determined when at least two phase contacts are stuck and the DC link is charged (see E03). No magnetization could be established with asynchronous motors.

2: no motor; Possibly no motor connected or line to motor interrupted. Level: Can be parameterized as inactive or warning in U12. Acknowledgment: Turn device off/on or programmed acknowledgment.


5245h 0h

Used Parameters

Electronic Cam

ID 441778.04 423


06


address

Z70 Global

read (3)

Parameter consistency: The parameter indicates how frequently event 70:parameter consistency has occurred. Event description: Trigger: The parameterization is contradictory. Cause: 1: no servoencoder; No servo-type encoder; Control mode B20 is set to "servo"

but no appropriate encoder is selected (B26, H.. parameter). 2: X120 direction; X120 is used as source in one parameter but is

parameterized in H120 as drain (or vice versa). 3: B12<->B20; Control mode B20 is not set to servo but the nominal motor

current (B12) exceeds the 4-kHz nominal current (R24) of the device by more than 1.5 times.

4: B10<->H31; Resolver/motorpoleno.; the set motor pole number (B10) and the resolver pole number (H31) do not match.

5: neg.slip; With the control modes V/f, SLVC or VC (B20). The values for motor nominal speed (B13), motor nominal frequency (B15) and motor pole number (B10) indicate a negative slip.

6: torque-lim; When the values entered in C03 or C05 are used, the maximum current of the inverter would be exceeded. Enter lower torque limits.

7: B26:SSI-Slave; SSI slave may not be used as motor encoder (synchronization problems).

8: C01>B83; C01 may not be greater than B83. 9: E102/E103 miss.; An attempt is made to move to a master position via the

integrated bus but the required parameters E102 and E103 are missing. 10: G104<->G27; A master position is sent via the IGB-Motionbus (i.e., G104 is

not set to 0:inactive), but G27 does not have the settings 0:inactive and 6:IGB which are valid for this case.

Level: Fault Acknowledgment: Turn device off/on or programmed acknowledgment. Other: With an incorrect parameterization, a fault is not triggered until enabling takes

place.


5246h 0h

Z71 Global

read (3)

Firmware: The parameter indicates how often the fault 71:firmware has occurred. Description of the event: Trigger: A firmware error was detected. Cause: 1: FW defective; Only for SDS 5000: An error of the active firmware was

discovered or faulty firmware was determined in the firmware download memory. Load the firmware again.

2: Activate FW; Only for SDS 5000: The firmware was loaded to the inverter but not yet activated. Activate the firmware and perform a device new start!

3: CRC-error; A firmware error was discovered. Turn the 24 V power off and on again. If the error occurs again on renewed OFF/ON, the device hardware is faulty and must be replaced.

Level: Fault Acknowledgment: Turn device off and on again. Other: Causes 1 and 2 only occur during device startup so that the inverter cannot be

enabled. Cause 3 can also occur during operation.


5247h 0h

Used Parameters

Electronic Cam

ID 441778.04 424


06


address

Z72 Global

read (3)

Brake test timeout: The parameter indicates how often the fault 72:brake test has occurred. Description of the event: Trigger: Active brake management on the SDS 5000 means that the time set in B311 has

expired without the B300 brake test action having been performed. Cause: 1: B311timeout; The time set in B311 timeout for brake test B300 has expired

without action B300 brake test having been executed. 2: Brake defective; During the execution of the brake test action, the stopping


Level: Message until twice the time set in B311 timeout for brake test B300 has expired. After that, fault.

Acknowledgment: At the "fault" level, the event can be acknowledged for a period of 5 minutes so that the action B300 brake test can be executed. If this time expires without action B300 brake test having been executed successfully, the inverter resumes the "fault" state. If action B300 brake test is performed successfully, the event is automatically acknowledged.

Other: This error is only generated with enable switched off.


5248h 0h

Z73 Global

read (3)

Axis 2 brake test timeout: The parameter indicates how often the fault 73:ax2braketest has occured. Description of the event: Trigger: When brake management is active on the SDS 5000, the time set in B311 has

expired without action B300 brake test having been executed with active axis 2. Cause: 1: B311timeout; The time set in B311 timeout for brake test B300 has expired

without action B300 brake test having been executed with active axis 2. 2:Brake defective; During the execution of the brake test action with active axis

2, the stopping torque entered in B304 or B305 could not be maintained or the encoder test run included in the brake test was concluded with errors.


Acknowledgment: At the "fault" level, the event can be acknowledged for a period of 5 minutes so that the action B300 brake test can be executed. If this time expires without action B300 brake test having been executed successfully with active axis 2, the inverter resumes the "fault" state. If action B300 brake test is performed successfully, the event is automatically acknowledged.



5249h 0h

Used Parameters

Electronic Cam

ID 441778.04 425


06


address

Z74 Global

read (3)

Axis 3 brake test timeout: The parameter indicates how often the fault 74:ax3braketest has occurred. Description of the event: Trigger: When brake management is active on the SDS 5000, the time set in B311 has








524Ah 0h

Z75 Global

read (3)

Axis 4 brake test timeout: The parameter indicates how often the fault 75:ax4braketest has occured. Description of the event: Trigger: When brake management is active on the SDS 5000, the time set in B311 has








524Bh 0h

Notes

ID 441778.04

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w.s

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Technische Änderungen vorbehaltenErrors and changes exceptedID 441778.0401/2013

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application electronic cam - demero...ductive properties inside the inverter can cause short...

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