BA ECSxA Axis Module Application (V8.x) v2-0 en

DATASHEET
LENZE
ECSEA004C4B
OTHER SYMBOLS:
RGB ELEKTRONIKA AGACIAK CIACIEK

SPÓŁKA JAWNA
Jana Dlugosza 2-6 Street

51-162 Wrocław www.rgbelektronika.pl
Poland
biuro@rgbelektronika.pl
+48 71 325 15 05
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EDBCSXA064
.9Fq
Ä.9Fqä
Operating Instructions
ECS
ECSEAxxx / ECSDAxxx / ECSCAxxx
Axis module ˘ "Application"

Please read these instructions before you start working!
Follow the enclosed safety instructions.
These Instructions are valid for ECSxA... axis modules as of version:

ECS x A xxx x 4 x xxx XX XX XX
Device type
L
Hans-Lenze-Straße1
D-31855 Aerzen
Made in Germany
Input 2/PE DC a-aaa/aaaV
bb.b/bb.bA
Output 3/PE AC c-ccc/cccV
Design Overload
dd.d/dd.dA
ee.eA
0-fffHz
Type ttttttttttt 1
E = standard panel−mounted unit, IP20 Id.-No. Prod.-No. Ser.-No.
D = push−through technique (thermally separated) xxxxxxxx yyyyyyyy zzzz
C = cold−plate technique EKZ ECSEAxxxC4BXXXXXVA02

A-SW B-SW Parameter
h.h H.H
Application
1D74
pendant 180s après la coupure
Conl.
Ind.
Eq.
L ´appareil est sous tension
ATTENTION
A = "Application"
de la tension réseau
Peak current
the Instruction Manual

004 = 4 A 032 = 32 A
{ WARNING 180s after removing
information refer to
Device is live up to
mains voltage
008 = 8 A 048 = 48 A
For detailed
016 = 16 A 064 = 64 A
}
Fieldbus interface
C = CAN system bus
Voltage class
4 = 400 V/500 V
Technical version
B = Standard
I = For IT systems
Variant
Hardware version
1A or higher
Version of operating software (B−SW)

8.0 or higher
Tip!
Current documentation and software updates concerning Lenze products can be found on
the Internet in the "Services & Downloads" area under
http://www.Lenze.com
0Fig. 0Tab. 0
© 2008 Lenze Drive Systems GmbH, Hans−Lenze−Straße 1, D−31855 Aerzen

No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drive
Systems GmbH.
All information given in this documentation has been selected carefully and complies with the hardware and software described.
Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur. Ne-
cessary corrections will be included in subsequent editions.
2 EDBCSXA064 EN 2.0
ECSEA_003A
EDBCSXA064 EN 2.0 3
Scope of supply
Position Description Quantity
ECSA... axis module 1
Accessory kit with fixing material corresponding to the design (): 1
l "E" − standard panel−mounted unit
l "D" − push−through technique
l "C" − cold−plate technique
Mounting Instructions 1
Drilling jig 1
Functional earth conductor (only ECSDA...) 1
Note!
The ECSZA000X0B connector set must be ordered separately.
Connections and interfaces

Position Description Detailed
information
X23 Connections 56
l DC−bus voltage
l PE
LEDs: Status and error display
x1 Automation interface (AIF) for 78
l operating module (keypad XT)
l Communication module
X2 PE connection of AIF
X3 Configuration of analog input 68
X4 CAN connection 79
l System bus (CAN)
X14 CAN−AUX connection
l System bus (CAN)
X6 Connections 64
l Low−voltage supply
l Digital inputs and outputs 67
l Analog input 68
l "Safe torque off" (formerly "safe standstill") 69
S1 DIP switch 161
l CAN/CANaux node address
l CAN baud rate
X7 Resolver connection 86
X8 Encoder connection 87
l Incremental encoder (TTL encoder)
l Sin/cos encoder
X25 Connection of brake control 61
X24 Motor connection 60
Status displays
LED Operating state Check test
Red Green
Off On Controller enabled, no fault
Off Blinking Controller inhibited (CINH), switch−on inhibit Code C0183
Blinking Off Trouble/fault (TRIP) is active Code C0168/1
Blinking On Warning/FAIL−QSP is active Code C0168/1
4 EDBCSXA064 EN 2.0
Contents i
1 Preface and general information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.1 About use these Operating Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1.1 Conventions used in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1.2 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.1.3 Structure of the system block descriptions . . . . . . . . . . . . . . . . . . . . . . . . 15
1.2 Features of the ECSxA axis module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.3 Scope of supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.4 Legal regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.5 System block introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.5.1 System blocks ˘ principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.5.2 Node numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.5.3 Access via system variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.5.4 Access via absolute addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.5.5 Definition of the inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.5.6 Integrating system blocks into the DDS . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.5.7 Signal types and scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.1 General safety and application notes for Lenze controllers . . . . . . . . . . . . . . . . . . 25
2.2 Residual hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.3 Safety instructions for the installation according to UL or UR . . . . . . . . . . . . . . . . 30
2.4 Definition of notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.1 General data and operating conditions ................................. 32
3.2 Rated data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.3 Current characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.3.1 Increased continuous current depending on the control factor . . . . . . . 36
3.3.2 Device protection by current derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.1 Important notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.2 Mounting with fixing rails (standard installation) . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.2.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.2.2 Mounting steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.3 Mounting with thermal separation (push−through technique) . . . . . . . . . . . . . . . 43
4.3.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.3.2 Mounting steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.4 Mounting in cold−plate design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.4.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.4.2 Mounting steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
EDBCSXA064 EN 2.0 5
i Contents
5 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.1 Electrical isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.2 Installation according to EMC (installation of a CE−typical drive system) . . . . . . . 51
5.3 Power terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.3.1 Connection to the DC bus (+UG, −UG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.3.2 Connection plans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
5.3.3 Motor connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
5.3.4 Motor holding brake connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.3.5 Connection of an ECSxK... capacitor module (optional) . . . . . . . . . . . . . . 63
5.4 Control terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.4.1 Digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.4.2 Analog input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.4.3 Safe torque off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.5 Automation interface (AIF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
5.6 Wiring of the system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
5.7 Wiring of the feedback system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.7.1 Resolver connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
5.7.2 Encoder connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
5.7.3 Digital frequency input/output (encoder simulation) . . . . . . . . . . . . . . . 90
6 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
6.1 Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
6.2 Commissioning steps (overview) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
6.3 Carrying out basic settings with GDC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
6.4 Setting of mains data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
6.4.1 Selecting the function of the charging current limitation . . . . . . . . . . . . 96
6.4.2 Setting the voltage thresholds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
6.5 Entry of motor data for Lenze motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
6.6 Holding brake configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
6.7 Setting of the feedback system for position and speed control . . . . . . . . . . . . . . . 101
6.7.1 Resolver as position and speed encoder . . . . . . . . . . . . . . . . . . . . . . . . . . 101
6.7.2 TTL/sin/cos encoder without serial communication . . . . . . . . . . . . . . . . 104
6.7.3 TTL/sin/cos encoder as position encoder and resolver as speed encoder 107
6.7.4 Absolute value encoder as position and speed encoder . . . . . . . . . . . . . 110
6.7.5 Absolute value encoder as position encoder and resolver as speed encoder . . . .
114
6.8 Setting the polarity of digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . 118
6.9 Entry of machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
6.10 Controller enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
6.11 Loading the Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
6 EDBCSXA064 EN 2.0
Contents i
6.12 Operation with servo motors from other manufacturers . . . . . . . . . . . . . . . . . . . . 122

6.12.1 Entering motor data manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
6.12.2 Checking the direction of rotation of the motor feedback system . . . . . 124
6.12.3 Adjusting current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
6.12.4 Effecting rotor position adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
6.13 Optimising the drive behaviour after start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
6.13.1 Speed controller adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
6.13.2 Adjustment of field controller and field weakening controller . . . . . . . . 133
6.13.3 Resolver adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
7 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

7.1 General information ................................................. 137
7.2 Parameter setting with "Global Drive Control" (GDC) . . . . . . . . . . . . . . . . . . . . . . . 138
7.3 Parameter setting with the XT EMZ9371BC keypad . . . . . . . . . . . . . . . . . . . . . . . . 139
7.3.1 Connecting the keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
7.3.2 Description of the display elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
7.3.3 Description of the function keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
7.3.4 Changing and saving parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
7.3.5 Menu structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
8 AIF interface (X1) configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

8.1 CAN baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
8.2 CAN boot up (AIF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
8.3 Node address (Node ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
8.4 Identifiers of the process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
8.4.1 Individual identifier assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
8.4.2 Display of the identifier set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
8.5 Cycle time (XCAN1_OUT ... XCAN3_OUT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
8.6 Synchronisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.6.1 XCAN sync response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.6.2 XCAN sync identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.6.3 XCAN Sync Tx transmission cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
8.7 Reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
8.8 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
8.8.1 Time monitoring for XCAN1_IN ... XCAN3_IN . . . . . . . . . . . . . . . . . . . . . . 154
8.8.2 Bus off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
8.9 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
8.9.1 Operating status of CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
9 System bus (CAN / CAN−AUX) configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

9.1 Setting the CAN node address and baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
EDBCSXA064 EN 2.0 7
i Contents
9.2 Addressing of parameter and process data objects . . . . . . . . . . . . . . . . . . . . . . . . 160

9.2.1 Settings via DIP switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
9.2.2 Settings via codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
9.3 Individual addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
9.4 Display of the resulting identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
9.5 Determining the boot−up master for the drive system . . . . . . . . . . . . . . . . . . . . . . 167
9.6 Setting the boot−up time/cycle time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
9.7 Node guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
9.8 CANSync (CAN bus synchronisation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
9.8.1 CAN sync response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
9.8.2 CAN sync identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
9.8.3 CAN sync Tx transmission cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
9.9 Reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
9.10 System bus management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
9.11 Mapping of indices to codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
9.12 Remote parameterisation (gateway function) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
9.13 Diagnostics codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
9.13.1 Bus status (C0359/C2459) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
9.13.2 Telegram counter (C0360/2460) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
9.13.3 Bus load (C0361/2461) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
10 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
10.1 Diagnostics with Global Drive Control (GDC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
10.2 Diagnostics with Global Drive Oscilloscope (GDO) . . . . . . . . . . . . . . . . . . . . . . . . . 182
10.3 Diagnostics with the XT EMZ9371BC keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
11 Monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

11.1 Overview of monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
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11.2 Configuring monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

11.2.1 Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
11.2.2 Monitoring times for process data input objects . . . . . . . . . . . . . . . . . . . 191
11.2.3 Time−out with activated remote parameterisation . . . . . . . . . . . . . . . . . 192
11.2.4 Short circuit monitoring (OC1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
11.2.5 Earth fault monitoring (OC2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
11.2.6 Motor temperature (OH3, OH7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
11.2.7 Heatsink temperature (OH, OH4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
11.2.8 Temperature inside the controller (OH1, OH5) . . . . . . . . . . . . . . . . . . . . . 197
11.2.9 Thermal sensor function monitoring (H10, H11) . . . . . . . . . . . . . . . . . . . 198
11.2.10 Current load of controller (I x t monitoring: OC5, OC7) . . . . . . . . . . . . . . 198
11.2.11 Current load of motor (I2 x t monitoring: OC6, OC8) . . . . . . . . . . . . . . . . 201
11.2.12 DC−bus voltage (OU, LU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
11.2.13 Voltage supply of the control electronics (U15) . . . . . . . . . . . . . . . . . . . . 204
11.2.14 Motor phases (LP1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
11.2.15 Resolver cable (Sd2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
11.2.16 Motor temperature sensor (Sd6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
11.2.17 Absolute value encoder monitoring (Sd7) . . . . . . . . . . . . . . . . . . . . . . . . . 207
11.2.18 Sin/cos encoder (Sd8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
11.2.19 Speed not within tolerance margin (nErr) . . . . . . . . . . . . . . . . . . . . . . . . . 210
11.2.20 Maximum speed exceeded (NMAX) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
11.2.21 Rotor position adjustment (PL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
12 Troubleshooting and fault elimination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

12.1 Fault analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
12.1.1 Fault analysis via the LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
12.1.2 Fault analysis with keypad XT EMZ9371BC . . . . . . . . . . . . . . . . . . . . . . . . 213
12.1.3 Fault analysis with the history buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
12.1.4 Fault analysis via LECOM status words (C0150/C0155) . . . . . . . . . . . . . 215
12.2 Malfunction of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
12.3 System error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
12.3.1 Overview of system error messages, error sources and reactions . . . . . 218
12.3.2 Causes and remedies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
12.3.3 Resetting system error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
13 System blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

13.1 AIF_IO_Management (node number 161) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
13.1.1 Inputs_AIF_Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
13.1.2 Outputs_AIF_Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
13.2 AIF1_IO_AutomationInterface (node number 41) . . . . . . . . . . . . . . . . . . . . . . . . . . 235
13.2.1 Inputs_AIF1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
13.2.2 Outputs_AIF1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
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13.3.1 Inputs_AIF2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
13.3.2 Outputs_AIF2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
13.4.1 Inputs_AIF3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
13.4.2 Outputs_AIF3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
13.5 ANALOG1_IO (node number 11) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
13.5.1 Inputs_ANALOG1 (analog input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
13.6 CAN_Management (node number 101) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
13.6.1 Inputs_CAN_Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
13.6.2 Outputs_CAN_Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
13.6.3 Executing a reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
13.6.4 Define instant of transmission for CAN2_OUT/CAN3_OUT . . . . . . . . . . 255
13.6.5 Status messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
13.7 CAN_Synchronization (node number 102) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
13.7.1 Axis synchronisation via CAN bus interface . . . . . . . . . . . . . . . . . . . . . . . 261
13.7.2 Axis synchronisation via terminal X6/DI1 . . . . . . . . . . . . . . . . . . . . . . . . . 262
13.8 CAN1_IO (node number 31) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
13.8.1 Inputs_CAN1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
13.8.2 Outputs_CAN1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
13.9.1 Inputs_CAN2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
13.9.2 Outputs_CAN2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
13.10.1 Inputs_CAN3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
13.10.2 Outputs_CAN3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
13.11 CANaux_Management (node number 111) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
13.11.1 Inputs_CANaux_Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
13.11.2 Outputs_CANaux_Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
13.11.3 Executing a reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
13.11.4 Define instant of transmission for CANaux2_OUT/CANaux3_OUT . . . . 280
13.11.5 Status messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
13.12 CANaux1_IO (node number 34) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
13.12.1 Inputs_CANaux1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
13.12.2 Outputs_CANaux1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
13.13.1 Inputs_CANaux2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
13.13.2 Outputs_CANaux2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
13.14.1 Inputs_CANaux3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
13.14.2 Outputs_CANaux3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
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13.15 DCTRL_DriveControl (node number 121) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

13.15.1 Inputs_DCTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
13.15.2 Outputs_DCTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
13.15.3 Quick stop (QSP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
13.15.4 Operation inhibit (DISABLE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
13.15.5 Controller inhibit (CINH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
13.15.6 Setting TRIP (TRIP−SET) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
13.15.7 Resetting TRIP (TRIP−RESET) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
13.15.8 Display of digital status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
13.15.9 TRIP status (DCTRL_bExternalFault_b) . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
13.15.10 Transfer of the status/control word via AIF . . . . . . . . . . . . . . . . . . . . . . . . 307
13.16 DFIN_IO_DigitalFrequency (node number 21) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
13.16.1 Inputs_DFIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
13.17 DFOUT_IO_DigitalFrequency (node number 22) . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
13.17.1 Inputs_DFOUT / Outputs_DFOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
13.18 DIGITAL_IO (node number 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
13.18.1 Inputs_DIGITAL (digital inputs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
13.18.2 Outputs_DIGITAL (digital outputs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
13.19 FCODE_FreeCode (node number 141) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
13.20 MCTRL_MotorControl (node number 131) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
13.20.1 Inputs_MCTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
13.20.2 Outputs_MCTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
13.20.3 Torque setpoint / additional torque setpoint . . . . . . . . . . . . . . . . . . . . . . 333
13.20.4 Torque limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
13.20.5 Setting maximum speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
13.20.6 Speed setpoint limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
13.20.7 Torque control with speed limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
13.20.8 Parameterising phase controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
13.20.9 Quick stop (QSP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
13.20.10 Manual field weakening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
13.20.11 Switching frequency changeover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
13.20.12 Touch probe (TP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
13.20.13 Adjusting the motor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
13.20.14 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
13.21 OSC_Oscilloscope (node number 60) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
13.22 SYSTEM_FLAGS (system flags, node number 151) . . . . . . . . . . . . . . . . . . . . . . . . . . 347
13.22.1 Inputs SYSTEM_FLAGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
13.22.2 Outputs SYSTEM_FLAGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
14 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
14.1 PLC functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
14.2 Extendability / networking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
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14.3 Memories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

14.3.1 Retain memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
14.3.2 Persistent memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
14.3.3 Download of various data items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
14.3.4 Temporary codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
14.3.5 RAM memory access via codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
14.4 System program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358
14.5 Code list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
14.6 Table of attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
14.7 General information about the system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . 411
14.7.1 Structure of the CAN data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411
14.7.2 Communication phases of the CAN network (NMT) . . . . . . . . . . . . . . . . 412
14.7.3 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
14.7.4 Parameter data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
14.7.5 Addressing of the parameter and process data objects . . . . . . . . . . . . . . 426
14.8 Overview of accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
14.8.1 Connector sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
14.8.2 Shield mounting kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
14.8.3 Power supply modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
14.8.4 Capacitor modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
14.8.5 Components for operation and communication . . . . . . . . . . . . . . . . . . . 429
14.8.6 Brake resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
14.8.7 Mains fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
14.8.8 Mains chokes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
14.8.9 RFI filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
14.8.10 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
15 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
Preface and general information 1
About use these Operating Instructions
Conventions used in this Manual
1 Preface and general information
1.1 About use these Operating Instructions
These Operating Instructions will assist you in connecting and commissioning the ECSxA...
axis modules.
They contain safety instructions which must be observed!
All persons working on and with the ECSxA... axis modules must have the Operating
Instructions available and must observe the information and notes relevant for their work.
The Operating Instructions must always be in a complete and perfectly readable state.
1.1.1 Conventions used in this Manual
This Manual uses the following conventions to distinguish between different types of
information:
Information type Print Example
(in the descriptive text)
System block name bold The SB DIGITAL_IO...
System block variable identifier italics The input DIGIN_bIn1_b...
Further information ...

about the conventions used for the Lenze variable identifiers, system blocks,
function blocks, and functions can be found in the appendix of the DDS online
documentation "Introduction to IEC 61131−3 programming".
The compliance with these conventions ensures uniform and universal
labelling and makes reading PLC programs easier.
About use these Operating Instructions
Terminology used
1.1.2 Terminology used
Term In the following text used for

Power supply module ECSxE...power supply module
ECSxE... Any power supply module of the ECS series
Capacitor module ECSxK...capacitor module
ECSxK... Any capacitor module of the ECS series
Axis module ECSxA... axis module
Controller
ECSxS... Any axis module of the ECS series:
ECSxP... l ECSxS... "Speed and Torque" application
ECSxM... l ECSxP... "Posi and Shaft" application
ECSxA ... l ECSxM... "Motion" application
l ECSxA... − "Application"
Drive system Drive systems with:
l ECSxS... / ECSxP... / ECSxM... / ECSxA... axis modules
l ECSxE... power supply modules
l ECSxK... capacitor modules
l Other Lenze drive components
24 V supply Voltage supply
Low−voltage supply l of the control card, voltage range 20 ... 30 V DC (±0 V)
l of the "safe torque off"(formerly "safe standstill"), voltage range
18 ... 30 V DC (±0 V)
l of the motor holding brake, voltage range 23 ... 30 V DC (±0 V)
AIF Automation InterFace
Cxxxx/y Subcode y of code Cxxxx (e. g. C0470/3 = subcode 3 of code C0470)
Xk/y Terminal y on plug connector Xk (e. g. X6/B+ = terminal B+ on plug connector X6)
DDS Drive PLC Developer Studio
FB Function block
GDC Global Drive Control (parameter setting program from Lenze)
SB System block
System bus (CAN) Lenze standard bus system based on CANopen for
l communication with a higher−level master system or further controllers
l parameter setting and diagnostics.
Features of the ECSxA
Terminology used
1.1.3 Structure of the system block descriptions
All system block descriptions contained in this Manual have the same structure:
Headline with SB identifier
SB function and node number

Brief description of the SB and its most important
features
Graph including all corresponding system variables

l Input variables
l Output variables

Table giving information about input and output
variables:
l Identifier
l Data type
l Signal type
l Address
l Display code
l Display format
l Information
l Detailed functional description of the SB

l Code description
1.2 Features of the ECSxA axis module
ƒ Safety function "safe torque off" (formerly "safe standstill")

ƒ Double CAN ON BOARD:
– CAN bus interface X4 "CAN" (PDO1, sync−based)
– CAN bus interface X14 "CAN−AUX"
ƒ Supported feedback systems:
– Resolver with and without position storage
– Encoder (incremental encoder (TTL encoder), sin/cos encoder)
ƒ Commissioning and parameter setting with the Lenze parameter setting and
operating program "Global Drive Control" (GDC)
Scope of supply
Terminology used
1.3 Scope of supply
The scope of supply of the ECSxA... axis module includes:

ƒ Standard device
ƒ Accessory kit with fixings according to the design:
– "E" − panel−mounted device
– "D" − push−through technique
– "C" − cold−plate technique
ƒ Mounting Instructions
ƒ Drilling jig
ƒ Functional earth conductor (only ECSDA...)
Accessories
The appendix includes information on the following accessories: (
428).
ƒ Connector sets for
– power supply modules: ECSZE000X0B
– capacitor modules: ECSZK000X0B
– axis modules: ECSZA000X0B
ƒ ECSZS000X0B001 shield mounting kit (EMC accessories)
ƒ Communication modules for the automation interface (AIF)
ƒ ECSxE...power supply module
ƒ ECSxK... capacitor module
ƒ Brake resistors
ƒ Mains fuses
ƒ Mains chokes
ƒ RFI filters
ƒ Motors
Legal regulations
Terminology used
1.4 Legal regulations
Identification Nameplate CE identification Manufacturer

Lenze controllers are Conforms to the EC Low−Voltage Lenze Drive Systems GmbH
unambiguously designated by the Directive PO box 10 13 52
contents of the nameplate. D−31763 Hameln
Application as ECSxA... axis modules
directed l must only be operated under the conditions prescribed in these instructions.
l are components
– for open and closed loop control of variable speed drives with PM synchronous motors and asynchronous
motors.
– for installation in a machine.
– for assembly with other components to form a machine.
l are electrical equipment for the installation in control cabinets or similar closed operating areas.
l comply with the protective requirements of the EC Low−Voltage Directive.
l are not machines for the purpose of the EC Machinery Directive.
l are not to be used as domestic appliances, but for industrial purposes only.
Drive systems with ECSxA... axis modules
l comply with the EC Directive "Electromagnetic compatibility" if they are installed according to the guidelines
of CE−typical drive systems.
l can be used
– at public and non−public mains.
– in industrial premises.
l The user is responsible for the compliance of his application with the EC directives.
Any other use shall be deemed inappropriate!
Liability l The information, data and notes in these instructions met the state of the art at the time of printing. Claims
on modifications referring to axis modules and components which have already been supplied cannot be
derived from the information, illustrations and descriptions given in these instructions.
l The specifications, processes and circuitry described in these instructions are for guidance only and must be
adapted to your own specific application. Lenze does not take responsibility for the suitability of the process
and circuit proposals.
l Lenze does not accept any liability for damages and failures caused by:
– Disregarding the Operating Instructions
– Unauthorised modifications to the axis module
– Operating errors
– Improper working on and with the axis module
Warranty l Terms of warranty: See terms of sales and delivery of Lenze Drive Systems GmbH.
l Warranty claims must be made to Lenze immediately after detecting the deficiency or fault.
l The warranty is void in all cases where liability claims cannot be made.
System block introduction
System blocks ˘ principle
1.5 System block introduction
Lenze follows the principle of describing controller functions with the aid of function
blocks (FBs). This principle can also be found in the IEC 61131−3 standard.
ƒ Functions which can be used as software functions in projects are stored in function
libraries as function blocks or functions.
ƒ In addition, quasi−hardware functions are available as system blocks (SBs).
1.5.1 System blocks ˘ principle
ƒ System blocks partially activate real hardware.

ƒ SBs are assigned/identified by node numbers. (
19)
ƒ Access to the inputs/outputs of the SBs is effected via:
– System variables (
20)
– Absolute memory addresses (
21)
ƒ Inputs/outputs are always classified from the program’s point of view. (
21)
ƒ Required SBs must be explicitly linked to the project via the control configuration of
the DDS. (
23)
The system−block principle can be explained by means of a PLC system in a rack:
ƒ The rack contains the CPU, digital I/Os, analog I/Os, counter card, positioning card,
etc. as additional cards:
CPU x x x x x x
x = Additional cards
ƒ The CPU can directly access the additional cards and process the resulting
information.
ƒ Additional cards have fixed addresses for access.
Tip!
In case of the ECSxA... axis modules, the system blocks correspond to these
attachment cards!
System blocks therefore are specific (hardware) function blocks which are
firmly integrated into the runtime system of the ECSxA... axis module.
System blocks ˘ principle
1.5.2 Node numbers
The system blocks feature the following node numbers:

Node System block Notes
number
1 DIGITAL_IO Digital inputs/outputs
11 ANALOG1_IO Analog input 1
21 DFIN_IO_DigitalFrequency Digital frequency input
22 DFOUT_IO_DigitalFrequency Digital frequency output
31 CAN1_IO System bus (CAN)
32 CAN2_IO
33 CAN3_IO
34 CANaux1_IO System bus (CAN−AUX)
35 CANaux2_IO
36 CANaux3_IO
41 AIF1_IO_AutomationInterface Automation interface (AIF)
42 AIF2_IO_AutomationInterface
43 AIF3_IO_AutomationInterface
60 OSC_Oscilloscope Oscilloscope function
101 CAN_Management System bus (CAN) management
102 CAN_Synchronization System bus (CAN) synchronisation
111 CANaux_Management System bus (CAN−AUX) management
121 DCTRL_DriveControl Device control
131 MCTRL_MotorControl Motor control
141 FCODE_FreeCodes Free codes
151 SYSTEM_FLAGS System flags
161 AIF_IO_Management Automation interface management
171 VAR_PERSISTENT Persistent variables
The node number is part of the absolute SB address. (

21)
Access via system variables
1.5.3 Access via system variables
If you have integrated a system block into the system configuration of the DDS, you can use
its system variables within your project.
You can call up the input assistance in the editors of the DDS via <F2>, among other things
listing all the system variables that are provided:
In this Manual, the system variables can be retrieved in the system variable table of the
corresponding system block.
Example: Table with the inputs of the SB Inputs_Digital of the ECSxA... axis module
Variable Data Signal Address Display Display Notes
type type code format
Controller inhibit ˘ takes
DIGIN_bCInh_b %IX1.0.0 ˘ ˘ direct effect on the
device control DCTRL.
DIGIN_bIn1_b %IX1.0.1
DIGIN_bIn2_b BOOL binary %IX1.0.2
C0443 bin
"Safe torque off"
DIGIN_b_safe_standstill_b %IX1.0.5
(former "safe standstill")
Access via absolute addresses
1.5.4 Access via absolute addresses
You can also access the inputs and outputs of the system blocks via absolute addresses
according to standard IEC 61131−3:
For inputs: For outputs:
a = node number
%IXa.b.c %QXa.b.c b = word address
c = bit address
In this Manual, the absolute addresses can be retrieved in the system variable table of the
corresponding system block.
Example: Table with the inputs of the SB Inputs_Digital of the ECSxA... axis module
C0443 bin
"Safe torque off"
DIGIN_b_safe_standstill_b %IX1.0.5
(former "safe standstill")
1.5.5 Definition of the inputs/outputs
For connecting the application program with the hardware, system blocks are connected
with program organisation units (POUs):
POE-Input POE-Output
SB-Output SB-Input
SB POE SB
Fig. 1−1 Plan: Connecting system blocks to a program organisation unit (POU)
Note!
Inputs and outputs are always classified from the program’s point of view.
ƒ Logical SB inputs are always hardware−side outputs of the ECSxA axis...
module
ƒ Logical SB outputs are always hardware−side inputs of the ECSxA axis...
module
Definition of the inputs/outputs
Example:
Use of the system blocks Inputs_Digital and Outputs_Digital
Inputs_DIGITAL Outputs_DIGITAL
X6
DIGIN_bIn1_b 0 X6
DI1 DIGOUT_bOut1_b
0 DIGIN_bIn2_b 1 DO1
DI2 C0444/1 1
1 DIGIN_bIn3_b
DI3 1
DIGIN_bIn4_b C0118/1
DI4 X6
C0114/1...4 safe torque off SO
C0443 POE
0
mP DIGOUT_bRelais_b
1
X6 C0444/2 1
DIGIN_bCInh_b
SI1
safe standstill DIGIN_b_safe_standstill_b X6 C0118/2 X25
SI2
B+ B1
C0443 mP + Imp
B- B2
MONIT-Rel1
C0602
ECSXA207
Fig. 1−2 Plan: connecting the system blocks "Inputs_Digital" and "Outputs_Digital"
If you want to use digital input 1 and digital output 1, carry out the following steps:
1. Explicitly integrate the SBs Inputs_Digital and Outputs_Digital into the DDS control
configuration. (
23)
2. For access to digital input 1:
– Assign the system variable DIGIN_bIn1_b to a POU variable.
3. For access to digital output 1:
– Assign the system variable DIGOUT_bOut1_b to a POU variable.
Note!
According to the IEC 61131−3 standard the system variables DIGIN_bIn1_b and
DIGOUT_bOut1_b may generally only be used once.
The use of one system variable in several POUs must be carried out via a copy
(as global variable).
Integrating system blocks into the DDS
1.5.6 Integrating system blocks into the DDS
The system blocks required have to be integrated explicitly into the project in the DDS via
the control configuration.
ƒ The control configuration is placed as an object in the Resources tab in the Object
organiser.
ƒ The control configuration lists all inputs and outputs including the identifiers of the
corresponding system variable, the absolute address and the data type of the
system variable for every linked SB.
0 1 2
ECSXA245
Fig. 1−3 Example: Control configuration including the SBs "Inputs_DIGITAL" and "Outputs_DIGITAL"
Identifier of the system variable
Absolute address
Data type of the system variable
Tip!
The control configuration can be accessed using the right mouse key. A
context menu helps you to add and delete SBs.
Signal types and scaling
1.5.7 Signal types and scaling
A signal type can be assigned to most inputs and outputs of the Lenze function
blocks/system blocks. The following signal types are distinguished:
ƒ digital and analog signals
ƒ position and speed signals
The identifier of the corresponding input/output variable has an ending (starting with an
underscore). It indicates the signal type.
Signal Scaling
Ending Memory
Type Symbol (external size º internal size)
Analog _a (analog) 16 Bit1 100 % º 16384
Digital _b (binary) 1 bit 0 º FALSE; 1 º TRUE
Angular _v (velocity) 16 Bit1 15000 rpm º 16384

difference or
speed (rot.) l Angular difference/speed ref. to 1 ms
l Normalisation example:
Speed (on motor side) + 15000 [rpm] + 15000
60 [s]
1 motor revolution + 65536 [inc]
Variable value (..._v) + 15000 @ 65536 [inc] + 16384 inc

60000 [ms] ms
ƪ ƫ
Angle or position _p (position) 32 Bit 1 motor revolution º 65536

31 High Word Low Word 0
Direction (0 º clockwise rotation; 1 º counter−clockwise rotation)

No. of motor revolutions (0 ... 32767)
Angle or position (0 ... 65535)
Due to their scaling, analog signals have an asymmetrical resolution range

(−200 % ... +199.99 %):
External: −200 % −100 % 0% +100 % +199.99 %
Internal: −32768 −16384 0 +16384 +32767
Safety instructions 2
General safety and application notes for Lenze controllers
2 Safety instructions
2.1 General safety and application notes for Lenze controllers
(in accordance with Low−Voltage Directive 2006/95/EC)
For your personal safety

Depending on their degree of protection, some parts of the Lenze controllers (frequency
inverters, servo inverters, DC speed controllers) and their accessory components can be
live, moving and rotating during operation. Surfaces can be hot.
Non−authorised removal of the required cover, inappropriate use, incorrect installation or
operation, creates the risk of severe injury to persons or damage to material assets.
For more information, please see the documentation.
High amounts of energy are produced in the controller. Therefore it is required to wear
personal protective equipment (body protection, headgear, eye protection, ear protection,
hand guard).
All operations concerning transport, installation, and commissioning as well as
maintenance must be carried out by qualified, skilled personnel (IEC 364 or
CENELEC HD 384 or DIN VDE 0100 and IEC report 664 or DIN VDE 0110 and national
regulations for the prevention of accidents must be observed).
According to this basic safety information, qualified, skilled personnel are persons who are
familiar with the assembly, installation, commissioning, and operation of the product and
who have the qualifications necessary for their occupation.
Application as directed
Controllers are components which are designed for installation in electrical systems or
machines. They are not to be used as domestic appliances, but only for industrial purposes
according to EN 61000−3−2.
When controllers are installed into machines, commissioning (i.e. starting of the operation
as directed) is prohibited until it is proven that the machine complies with the regulations
of the EC Directive 98/37/EC (Machinery Directive); EN 60204 must be observed.
Commissioning (i.e. starting of the operation as directed) is only allowed when there is
compliance with the EMC Directive (2004/108/EC).
The controllers meet the requirements of the Low−Voltage Directive 2006/95/EC. The
harmonised standard EN 61800−5−1 applies to the controllers.
The technical data and supply conditions can be obtained from the nameplate and the
documentation. They must be strictly observed.
Warning: Controllers are products which can be installed in drive systems of category C2
according to EN 61800−3. These products can cause radio interferences in residential areas.
In this case, special measures can be necessary.
Transport, storage
Please observe the notes on transport, storage, and appropriate handling.
Observe the climatic conditions according to the technical data.
Installation
The controllers must be installed and cooled according to the instructions given in the
corresponding documentation.
Ensure proper handling and avoid excessive mechanical stress. Do not bend any
components and do not change any insulation distances during transport or handling. Do
not touch any electronic components and contacts.
Controllers contain electrostatic sensitive devices which can easily be damaged by
inappropriate handling. Do not damage or destroy any electrical components since this
might endanger your health!
Electrical connection
When working on live controllers, observe the applicable national regulations for the
prevention of accidents (e.g. VBG 4).
The electrical installation must be carried out according to the appropriate regulations
(e.g. cable cross−sections, fuses, PE connection). Additional information can be obtained
from the documentation.
This documentation contains information on installation in compliance with EMC
(shielding, earthing, filters, and cables). These notes must also be observed for CE−marked
controllers. The manufacturer of the system is responsible for compliance with the limit
values demanded by EMC legislation. The controllers must be installed in housings (e.g.
control cabinets) to meet the limit values for radio interferences valid at the site of
installation. The housings must enable an EMC−compliant installation. Observe in
particular that e.g. the control cabinet doors have a circumferential metal connection to
the housing. Reduce housing openings and cutouts to a minimum.
Lenze controllers can cause a direct current in the protective conductor. If a residual current
device (RCD) is used as a protective means in case of direct or indirect contact, only a
residual current device (RCD) of type B may be used on the current supply side of the
controller. Otherwise, another protective measure such as separation from the
environment through double or reinforced insulation or disconnection from the mains by
means of a transformer must be applied.
Operation
If necessary, systems including controllers must be equipped with additional monitoring
and protection devices according to the valid safety regulations (e.g. law on technical
equipment, regulations for the prevention of accidents). The controllers can be adapted to
your application. Please observe the corresponding information given in the
documentation.
After the controller has been disconnected from the supply voltage, all live components
and power connections must not be touched immediately because capacitors can still be
charged. Please observe the corresponding stickers on the controller.
All protection covers and doors must be shut during operation.
Notes for UL−approved systems with integrated controllers: UL warnings are notes that
only apply to UL systems. The documentation contains special UL notes.
Safety functions
Special controller variants support safety functions (e.g. "safe torque off", formerly "safe
standstill") according to the requirements of Appendix I No. 1.2.7 of the EC Directive
"Machinery" 98/37/EC, EN 954−1 Category 3 and EN 1037. Strictly observe the notes on
the safety functions given in the documentation for the respective variants.
Maintenance and servicing

The controllers do not require any maintenance if the prescribed operating conditions are
observed.
If the ambient air is polluted, the cooling surfaces of the controller may become dirty or the
air vents may be obstructed. Therefore, clean the cooling surfaces and air vents periodically
under these operating conditions. Do not use sharp or pointed tools for this purpose!
Disposal
Recycle metal and plastic materials. Ensure professional disposal of assembled PCBs.
The product−specific safety and application notes given in these instructions must be
observed!
Residual hazards
2.2 Residual hazards
Protection of persons
ƒ Before working on the axis module, check that no voltage is applied to the power
terminals, because
– the power terminals +UG, −UG, U, V and W remain live for at least 3 minutes after
mains switch−off.
– the power terminals +UG, −UG, U, V and W remain live when the motor is stopped.
ƒ The heatsink has an operating temperature of > 70 °C:
– Direct skin contact with the heatsink results in burns.
ƒ The discharge current to PE is > 3.5 mA AC or. > 10 mA DC.
– EN 61800−5−1 requires a fixed installation.
– The PE connection must comply with EN 61800−5−1.
– Comply with the further requirements of EN 61800−5−1 for high discharge
currents!
Device protection
ƒ All pluggable connection terminals must only be connected or disconnected when
no voltage is applied!
ƒ The power terminals +UG, −UG, U, V, W and PE are not protected against polarity
reversal.
– When wiring, observe the polarity of the power terminals!
ƒ Power must not be converted until all devices of the power system are ready for
operation. Otherwise, the input current limitation may be destroyed.
Frequent mains switching (e.g. inching mode via mains contactor) can overload and
destroy the input current limitation of the axis module, if
ƒ the axis module is supplied via the ECSxE supply module and the input current
limitation is activated depending on the DC−bus voltage (C0175 = 1 or 2).
ƒ the axis module is not supplied via a supply module delivered by Lenze.
ƒ the low−voltage supply (24 V) is switched off.
For this reason allow a break of at least three minutes between two starting operations!
Use the safety function ˜Safe torque off˜ (STO) for frequent disconnections for safety
reasons.
Residual hazards
Motor protection
ƒ Only use motors with a minimum insulation resistance of û = 1.5 kV,
min. du/dt = 5 kV/ms.
– Lenze motors meet these requirements.
ƒ When using motors with an unknown insulation resistance, please contact your
motor supplier.
ƒ Some settings of the axis module lead to an overheating of the connected motor,
e.g. longer operation of self−ventilated motors with low speeds.
ƒ Use PTC thermistors or thermostats with PTC characteristic for motor temperature
monitoring.
Safety instructions for the installation according to UL or UR
2.3 Safety instructions for the installation according to UL or UR
Warnings!
General markings:
ƒ Use 60/75 °C or 75 °C copper wire only.
ƒ Maximum ambient temperature 55 °C, with reduced output current.
Markings provided for the supply units:
ƒ Suitable for use on a circuit capable of delivering not more than 5000 rms
symmetrical amperes, 480 V max, when protected by K5 or H Fuses
(400/480 V devices).
ƒ Alternate − Circuit breakers (either inverse−time, instantaneous trip types or
combination motor controller type E) may be used in lieu of above fuses
when it is shown that the let−through energy (i2t) and peak let−through
current (Ip) of the inverse−time current−limiting circuit breaker will be less
than that of the non−semiconductor type K5 fuses with which the drive has
been tested.
ƒ Alternate − An inverse−time circuit breaker may be used, sized upon the
input rating of the drive, multiplied by 300 %.
Markings provided for the inverter units:
ƒ The inverter units shall be used with supply units which are provided with
overvoltage devices or systems in accordance with UL840 2nd ed., Table 5.1.
ƒ The devices are provided with integral overload and integral thermal
protection for the motor.
ƒ The devices are not provided with overspeed protection.
Terminal tightening torque of lb−in (Nm)
Terminal lb−in Nm
X 21, X 22, X 23, X 24 10.6 ... 13.3 1.2 ... 1.5
X4, X6, X14 1.95 ... 2.2 0.22 ... 0.25
X 25 4.4 ... 7.1 0.5 ... 0.8
Wiring diagram AWG
Terminal AWG
X 21, X 22, X 23, X 24 12 ... 8
X4, X6, X14 28 ... 16
X 25 24 ... 12
Definition of notes used
2.4 Definition of notes used
The following pictographs and signal words are used in this documentation to indicate
dangers and important information:
Safety instructions
Structure of safety instructions:
Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph and signal word Meaning

Danger of personal injury through dangerous electrical voltage.
Danger!
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Danger of personal injury through a general source of danger.
Danger!
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.

Danger of property damage.
Stop! Reference to a possible danger that may result in property damage
if the corresponding measures are not taken.
Application notes
Note! Important note to ensure troublefree operation
Tip! Useful tip for simple handling
Reference to another documentation
Special safety instructions and application notes for UL and UR

Safety or application note for the operation of a UL−approved
Warnings!
device in UL−approved systems.
Possibly the drive system is not operated in compliance with UL if
the corresponding measures are not taken.
Safety or application note for the operation of a UR−approved
Warnings!
device in UL−approved systems.
Possibly the drive system is not operated in compliance with UL if
the corresponding measures are not taken.
3 Technical data
General data and operating conditions
3 Technical data
3.1 General data and operating conditions
Standards and operating conditions

Conformity CE Low−Voltage Directive (73/23/EEC)
Approvals UL 508C Power conversion equipment
Underwriter Laboratories (File No. E132659)
for USA and Canada
Max. permissible shielded 50 m For rated mains voltage and switching frequency of 8 kHz
motor cable length
Packaging (DIN 4180) Delivery packing
Installation l Installation in IP20 control cabinet
l For the "safe torque off" function (formerly "safe standstill"): mounting in IP54
control cabinet
Mounting position Vertically suspended
Free space above ³ 65 mm
below ³ 65 mm
With ECSZS000X0B shield mounting kit: > 195 mm
to the sides Side−by−side mounting without any clearance
Environmental conditions
Climate 3k3 in accordance with IEC/EN 60721−3−3
Condensation, splash water and ice formation
not permissible.
Storage IEC/EN 60721−3−1 1K3 (−25 ... + 55 °C)
Transport IEC/EN 60721−3−2 2K3 (−25 ... +70 °C)
Operation IEC/EN 60721−3−3 3K3 (0 ... + 55 °C)
l Atmospheric pressure: 86 ... 106 kPa
l Above +40 °C: reduce the rated output
current by 2 %/°C.
Site altitude 0 ... 4000 m amsl
l Reduce rated output current by
5 %/1000 m above 1000 m amsl.
l Over 2000 m amsl: use is only permitted in
environments with overvoltage category II
Pollution VDE 0110 part 2 pollution degree 2
Vibration resistance Accelerational stability up to 0.7 g (Germanischer Lloyd, general conditions)
Technical data 3
General data and operating conditions
General electrical data

EMC Compliance with EN 61800−3
Noise emission Compliance with limit value class A to EN 55011
(achieved with application−typical collective filter)
Noise immunity Requirements to EN 61800−3
Requirements Standard Severity
ESD 1) EN 61000−4−2 3, i. e.
l 8 kV with air discharge
l 6 kV with contact discharge
High frequency in cables EN 61000−4−6 10 V; 0.15 ... 80 MHz
RF interference (enclosure) EN 61000−4−3 3, i. e. 10 V/m;
80 ... 1000 MHz
Burst EN 61000−4−4 3/4, i. e. 2 kV/5 kHz
Surge (on mains cable) EN 61000−4−5 3, i. e. 1.2/50 ms
l 1 kV phase−phase
l 2 kV phase PE
Insulation resistance Overvoltage category III to VDE 0110
Discharge current to PE (to > 3.5 mA AC during operation
EN 61800−5−1)
Enclosure IP20 for
l standard mounting (built−in unit)
l Mounting in cold plate technique
l mounting with thermal separation (push−through technique), IP54 on the heatsink
side
Protective measure against l Short circuit in power terminals
– Motor terminal has a limited protection against short circuit (after short circuit
detection, the error message must be reset.)
l Short circuit in auxiliary circuits
– Digital outputs: protected against short circuit
– Bus and encoder systems: limited protection against short circuit (if necessary,
monitoring functions can be switched off, in this case, error messages must be
reset:)
l Short to earth (protected against short to earth during operation, limited
protection against short to earth on mains power−up)
l Overvoltage
l Motor stalling
l Motor overtemperature (input for KTY, I2 x t monitoring)
Protective insulation of control circuits Protective isolation of mains
Double/reinforced insulation to EN 61800−5−1
1) Noise immunity in the above−mentioned severities must be guaranteed through the control cabinet. The
user must check the compliance with the severities!
3 Technical data
Rated data
3.2 Rated data
Rated data Type Axis module

ECSx004 ECSx008 ECSx016
Output power 400 V mains Sr [kVA] 1.3 2.6 5.3
Data for operation with upstream supply module on Umains [V] 400 480 400 480 400 480
mains voltage
DC−bus voltage UDC [V] 15...770
DC−bus current IDC [A] 2.5 2.0 4.9 3.9 9.8 7.8
Rated output current at 4 kHz Ir [A] 2.0 1.6 4.0 3.2 8.0 6.4
(leads to a heatsink temperature of 70 °C at an ambient
temperature of 20 °C)
Rated output current at 8 kHz (leads to a heatsink Ir [A] 1.4 1.1 2.7 2.2 5.3 4.2
temperature of 70 °C at an ambient temperature of
20 °C) 1)
Max. output current Imax [A] 4.0 8.0 16.0
(acceleration current)
Continuous current at standstill I0,eff 4 kHz [A] 2.0 1.6 4.0 3.2 8.0 6.4
(holding current at 90 °C, 4 kHz)
Short−time standstill current I0,eff 4 kHz [A] 2.3 4.6 9.1
(holding current at 90 °C, 4 kHz) 2)
Power loss (operation with rated Interior 13.3 17.3 20.7
current at 4 kHz / 8 kHz) Ploss [W]
Heatsink 14.0 29.0 64.0
Max. output frequency fout [Hz] 600
Weight m [kg] approx. 2.4
1) If the heatsink temperature reaches 70 °C, the switching frequency automatically changes to 4 kHz.
2) The indicated temperature is the measured heatsink temperature (C0061).
Application software: S = Speed & Torque P = Posi & Shaft
M = Motion A = Application
Technical data 3
Rated data
Rated data Type Axis module

ECSx032 ECSx048 ECSx064
Output power 400 V mains Sr [kVA] 8.3 11.2 13.2
Data for operation with upstream supply module on Umains [V] 400 480 400 480 400 480
mains voltage
DC−bus voltage UDC [V] 15...770
DC−bus current IDC [A] 15.6 12.5 20.9 16.8 24.5 19.6
Rated output current at 4 kHz Ir [A] 12.7 10.2 17.0 13.6 20.0 16.0
(leads to a heatsink temperature of 70 °C at an ambient
temperature of 20 °C)
Rated output current at 8 kHz (leads to a heatsink Ir [A] 8.5 6.8 11.3 9.0 13.3 10.6
temperature of 70 °C at an ambient temperature of
20 °C) 1)
Max. output current Imax [A] 32.0 48.0 64.0
(acceleration current)
Continuous current at standstill 2) I0,eff 4 kHz [A] 16.0 12.8 23.0 18.4 27.0 21.6
(holding current at 90 °C, 4 kHz)
Power loss (operation with rated Interior 27.5 34.5 41.0
current at 4 kHz / 8 kHz) Ploss [W]
Heatsink 117.0 132.0 158.0
Max. output frequency fout [Hz] 600
Weight m [kg] approx. 2.4 approx. 3.3
1) If the heatsink temperature reaches 70 °C, the switching frequency automatically changes to 4 kHz.
2) The indicated temperature is the measured heatsink temperature (C0061).
Application software: S = Speed & Torque P = Posi & Shaft
M = Motion A = Application
3 Technical data
Current characteristics
Increased continuous current depending on the control factor
3.3 Current characteristics
3.3.1 Increased continuous current depending on the control factor
In the lower speed range ˘ the motor does not need the full motor voltage ˘ particularly
the more powerful ECS axis modules can be permanently operated with increased output
current (cp. continuous current I0,eff 34).
I [A]
I 0 [A]
30.0
27.0 ECSxS/P/M/A064
25.0
23.0 ECSxS/P/M/A048
I N [A]
20.0
20.0
17.0
16.0 ECSxS/P/M/A032
15.0
12.7
10.0
8.0 ECSxS/P/M/A016 8.0
5.0 4.0 ECSxS/P/M/A008 4.0

2.0 ECSxS/P/M/A004 2.0
0.0
0% 50 % 100 %
U Mot_n / U Mot_max
ECSXA002
Fig. 3−1 Continuous device current, depending on the output voltage for Umains £ 400 V at 4 kHz
Ir Rated output current of the axis module
UMot_n Actual controller output voltage
UMot_max 0.9 x current mains voltage
The permissible continuous current depends on the control factor of the power output
stages, approximately on the ratio of the motor voltage output in the operating point
(UMot_n) to the maximum possible output voltage (UMot_max). Due to voltage drops across
the components involved at rated load and a control margin, UMot_max can be estimated
with 90 % of the mains voltage.
Technical data 3
The following table shows the connections between mains voltage, DC−bus voltage and
motor voltage:
Mains voltage DC−bus voltage Output voltage (motor voltage)
[Umains] [UDC = Umains x 1.35] nominally achievable for 100 %
modulation
[Umot = 0.66 x UDC]
3 x 230 V AC 310 V DC 3 x 205 V AC
3 x 380 V AC 510 V DC 3 x 340 V AC
3 x 400 V AC 540 V DC 3 x 360 V AC
3 x 415 V AC 560 V DC 3 x 370 V AC
3 x 460 V AC 620 V DC 3 x 415 V AC
3 x 480 V AC 650 V DC 3 x 435 V AC
3 x 528 V AC 712 V DC 3 x 475 V AC
For steady−state operation in generator mode with increased DC−bus voltage or supply
from a closed−loop DC−voltage source, interpolate accordingly between the values given in
the table.
The increased rated currents are valid for the entire voltage range specified at switching
frequencies of 4 kHz and 8 kHz.
Note!
If in this connection a heatsink temperature of > 70 °C is reached, the drive
switches to a switching frequency of 4 kHz, independently of the selected
switching frequency.
Tip!
The operating threshold of the I x t monitoring is automatically derived from
the variable continuous currents.
3 Technical data
Example:
The ECS axis module suitable for operation in conjunction with a Lenze motor of type
MCS 14L32 is to be determined.
ƒ Rated motor data
– Rated motor torque (Mmot) = 17.2 Nm
– Rated motor speed (nmot) = 3225 rpm
– Motor voltage at 3250 rpm (Umot_n3250) = 275 V
– Rated motor current (Imot) = 15 A
– Max. motor current (Imot_max) = 92 A
ƒ Application data:
– Max. torque (Mmax) = 35 Nm
– Max. operating speed (nmax) = 2500 rpm
– An effective process power (Peff) of 4.5 kW arises on the basis of the Mn diagram.
– The drive rating results in an effective motor current (IMot_eff) of 14.8 A.
A first estimation based on the rated current of the ECS axis module would probably lead
to selecting the ECSxA048 module with a rated current of 17.0 A.
However, if we take into account the increased continuous current for smaller control
factors, the more cost−effective ECSxA032 axis module with a rated current of 12.7 A can
be used here.
ƒ When the MCS 14L32 is operated with 2500 rpm, the real motor voltage is
(UMot_n2500):
n 2500rpm
U Mot_n2500 + U Mot_n3250 @ nmax Þ 275V @ + 212V
Mot 3250rpm
ƒ This leads to the following max. control factor (αmax) of the axis module:
U Mot_n2500 212V + 0.59 + 59%
a max + Þ
U max 360V
Using the current characteristic of Fig. 3−1 ( 36), a continuous current of 15.5 A can
be determined for the ECSxA032 axis module when the control factor (αmax) is 59 %.
ƒ Result:
Under the conditions mentioned above the MCS 14L32 Lenze motor can be operated
continuously on the ECSxA032 axis module.
Technical data 3
Device protection by current derating
3.3.2 Device protection by current derating
The maximum output current is limited. With output frequencies < 5 Hz the limitation
depends on the heatsink temperature.
I out 1.00
1.00
I max
£ 70 °C
0.75
0.67
90 °C
0.57
0.38
0.00
0 5 10
f out [Hz]
ECSXA024
Fig. 3−2 Current derating characteristics

Operation with switching frequency = 8 kHz (C0018 = 1).
l If the current exceeds the characteristic , the switching frequency is automatically
changed to 4 kHz (e.g. for higher torque in acceleration processes).
Operation with switching frequency = 4 kHz (C0018 = 0).
l The current limitation follows the characteristic .
l With output frequencies < 5 Hz and heatsink temperatures between 70 and 90 °C the
current limit is steplessly adjusted in the range .
Type Imax [A]

Switching frequency 8 kHz Switching frequency 4 kHz
fout > 5 Hz fout 0 Hz fout > 5 Hz fout 0 Hz fout 0 Hz
£ 70 °C 90 °C
ECSxA004 2.7 1.5 4.0 3.0 2.3
ECSxA008 5.3 3.0 8.0 6.0 4.6
ECSxA016 10.7 6.0 16.0 12.0 9.1
ECSxA032 21.3 12.1 32.0 24.0 18.1
ECSxA048 32.0 18.1 48.0 36.3 27.2
ECSxA064 42.7 24.2 64.0 48.0 36.3
4 Mechanical installation
Important notes
4.1 Important notes
ƒ Axis modules of the ECS series provide IP20 enclosure and can therefore only be
used for installation in control cabinets.
ƒ If the cooling air contains air pollutants (dust, fluff, grease, aggressive gases):
– Take suitable preventive measures , e.g. separate air duct, installation of filters,
regular cleaning.
ƒ Possible mounting positions:
– Vertical at the mounting plate
– DC bus connections (X23) at the top
– Motor connection (X24) at the bottom
ƒ Maintain the specified clearances (above and below) to other installations!
– If the ECSZS000X0B shield mounting kit is used, an additional clearance is
required.
– Ensure unimpeded ventilation of cooling air and outlet of exhaust air.
– Several modules of the ECS series can be installed in the control cabinet next to
each other without any clearance.
ƒ The mounting plate of the control cabinet
– must be electrically conductive.
– must not be varnished.
ƒ In case of continuous vibrations or shocks use shock absorbers.
Mechanical installation 4
Mounting with fixing rails (standard installation)
Dimensions
4.2 Mounting with fixing rails (standard installation)
4.2.1 Dimensions
Note!
Mounting with ECSZS000X0B shield mounting kit:
ƒ Mounting clearance below the module > 195 mm
0 1
g g
³ 65 mm
h
h
d1
d1
b
b
d
d
³ 65 mm
g g
e a a
ECSxA005
Fig. 4−1 Dimensions for "panel−mounted" design
Axis module Dimensions [mm]

Type Size a b d d1 e h g
ECSEA004
ECSEA008
88.5
ECSEA016 176 6.5
240 276 260 10
ECSEA032 212 1) (M6)
ECSEA048
131
ECSEA064
1) max. 212 mm, depending on the plugged−on communication module
Mounting with fixing rails (standard installation)
Mounting steps
4.2.2 Mounting steps
How to install the axis module:

1. Prepare the fixing holes on the mounting surface.
– Use the drilling jig for this purpose.
2. Take the fixing rails from the accessory kit in the cardboard box.
3. Push the rails into the slots of the heatsink:
– From above: Push in the long side.
– From below: Push in the short side.
4. Attach the axis module to the mounting surface.
Mounting with thermal separation (push−through technique)
4.3 Mounting with thermal separation (push−through technique)
For the push−through technique the rear panel of the control cabinet must be a steel plate
with a thickness of at least 2 mm.
The edges of the mounting cutout and the fixing holes for the clamps must be slightly
curved inwards (towards the axis module).
Cooling
With the separated heatsink the heat generation in the control cabinet can be reduced.
ƒ Distribution of the power loss:
– approx. 65 % via separated cooler
– approx. 35 % in the inside of the axis module
ƒ Protection class of the separated cooler: IP54
– The sealing surface at the heatsink of the axis module must rest completely
against the mounting plate.
– Use a liquid thread sealant to bond the screws of the clamps.
ƒ For sufficient cooling of the drive system:
– Air flow behind the rear panel of the control cabinet must be ³ 3 m/s (e.g. by means
of a collective fan).
ƒ With sufficient cooling, the rated data of the axis modules remain valid.
Dimensions
4.3.1 Dimensions
Note!
0 1
Z Z
³ 65 mm
a1 a1
g g
h
b1
b1
d
b
b
d
³ 65 mm
c1 g c1 g
e e1 a a
ECSXA007
Fig. 4−2 Dimensions for "push−through design"

Z Mounting cutout (a1 x b1), 45

Type Size a a1 b b1 c1 d e e1 g h
ECSDA004
ECSDA008
88.5 78.5
ECSDA016 109
240 197 75 250 67 M5 10.5
ECSDA032 145 1)
ECSDA048
131 121.5
ECSDA064
Dimensions
Dimensions of mounting cutout
Note!
Installation with shield mounting ECSZS000X0B:
ƒ Clearance below the mounting cutout > 220 mm
³ 70 mm a1 a1
h
g
b1
b1
d
³ 90 mm
c1 c1
0 1 2
ECSXA063
Fig. 4−3 Dimensions of mounting cutout

Mounting surface
Mounting cutout for size
Mounting cutout for size

Type Size a1 b1 c1 d g h
ECSDA004
ECSDA008
78.5
ECSDA016
197 75 250 M5 10.5
ECSDA032
ECSDA048
121.5
ECSDA064
Mounting steps
How to mount the axis module:

1. Prepare the fixing holes for the wire clamps on the mounting area.
– For this purpose, apply a drilling jig.
2. Prepare mounting cutout.
– The edges of the mounting cutout and the fixing holes for the wire clamps have to
be slightly arched inwardly (to the axis module).
3. Brush the threads of the screws for the wire clamps with liquid thread seal.
4. Fix the wire clamps together with the functional earth conductor supplied (Fig. 4−4).
– The functional earth conductor is part of the scope of supply of the ECSDA...axis
modules.
5. Push the axis module into the mounting cutout.
6. Engage axis module in the wire clamp at the top and the bottom.
7. Connect the functional earth conductor to the axis module (Fig. 4−4).
Note!
Fixing the functional earth conductor to the ECSDA... axis module is required
for a better electromagnetic compatibility (EMC).
ECSXA081
Fig. 4−4 Functional earth conductor at the axis module ECSDA...

Functional earth conductor
Mounting in cold−plate design
4.4 Mounting in cold−plate design
The axis modules ECSC... are intended for mounting in cold−plate design (e.g. on collective
coolers).
Requirements for collective coolers

The following requirements must be met to ensure a safe operation of the axis modules:
ƒ Good thermal contact with the cooler
– The contact surface between collective cooler and axis module must be at least as
large as the cooling plate of the axis module.
– Smooth contact surface, max. deviation 0.05 mm.
– Connect the collective cooler with all specified screwed connections to the axis
module.
ƒ Maintain the thermal resistance Rth according to the table.
– The values apply for operating the axis modules under rated conditions.
Axis module Power to be dissipated Heatsink − environment
Type Ploss [W] Rth [k/W]
ECSCA004 14.0
ECSCA008 29.0 0.31
ECSCA016 64.0
ECSCA032 117.0
0.13
ECSCA048 132.0
ECSCA064 158.0 0.11
ƒ Ambient conditions:
– Furthermore the rated data regarding the ambient temperature and the derating
factors at increased temperature apply to the axis modules ( 32 et seqq.).
– Temperature of the cooling plate ("Cold Plate"): max. +85 °C
Dimensions
4.4.1 Dimensions
Note!
0 1
a a
a1 a1
g g
³ 65 mm
b
d
³ 65 mm
g
g
e c1 c1
ECSXA009
Fig. 4−5 Dimensions for "cold−plate design"

Type Size a a1 b c1 d e g
ECSCA004
ECSCA008
88.5 60
ECSCA016 121
282 50 286 M6
ECSCA032 157 1)
ECSCA048
131 90
ECSCA064
Mounting steps
À Á Â
ECSXA030
Fig. 4−6 Mounting for "cold−plate design"
Proceed as follows to mount the axis module:

1. Prepare the fixing holes on the mounting plate.
– Use a drilling jig for this purpose.
2. Clean and degrease the contact area of collective cooler and heatsink of the
axis module (e.g. with methylated spirit).
3. Screw the support onto the collective cooler.
4. Insert the axis module from above into the support and fasten the two stud
bolts with 3.5 ... 4.5 Nm .
Note!
Penetration depth of the screws into the collective cooler: approx. 15 mm!
Tip!
The heat transfer resistance is reduced if − following step 2. −
ƒ a thin layer of heat conducting paste is applied to the contact surface or
ƒ heat conducting foil is used.
5 Electrical installation
Electrical isolation
5.1 Electrical isolation
The integrated electrical isolation between the power section and the control section is a
protective separation (reinforced insulation) acc. to EN 61800−5−1.
To maintain this protective separation, it must be ensured that the external 24 V supply
and all components connected to this supply also have a protective separation (SELV/PELV)
acc. to EN 61800−5−1.
24 V supply
X6/+24, GND
Safe torque off
X6/S24, S0, SI1, SI2 Functional
Dig. input/output insulation (50 V)
X6/DI1, DI2, DI3, DI4, DO1
D bl iinsulation
Double l ti
Analog input
X6/AI+, AI−, AG
CAN
X4, X14 DC bus
AIF X23
X1
Analog input configuration Motor

X3 X24
Resolver
X7
Encoder
X8
Brake connection
X25
Brake supply
X6/B+, B−
Fig. 5−1 Electrical isolation
Electrical installation 5
Installation according to EMC (installation of a CE−typical drive system)
5.2 Installation according to EMC (installation of a CE−typical drive system)
General information
ƒ The electromagnetic compatibility of a machine depends on the type of installation
and care taken. Especially consider the following:
– Assembly
– Filters
– Shielding
– Earthing
ƒ For diverging installations, the evaluation of the conformity to the EMC Directive
requires a check of the machine or system regarding the EMC limit values. This for
instance applies to:
– Use of unshielded cables
– Use of collective interference filters instead of the assigned RFI filters
– Operation without RFI filters
ƒ The compliance of the machine application with the EMC Directive is in the
responsibility of the user.
– If you observe the following measures, you can assume that the machine will
operate without any EMC problems caused by the drive system, and that
compliance with the EMC Directive and the EMC law is achieved.
– If devices which do not comply with the CE requirements concerning noise
immunity EN 61000−6−2 are operated close to the axis modules, these devices may
be electromagnetically affected by the axis modules.
Assembly
ƒ Connect the power supply modules, capacitor modules (optional), axis modules, RFI
filters, and mains chokes to the earthed mounting plate with a surface as large as
possible.
– Mounting plates with conductive surfaces (zinc−coated or stainless steel) allow
permanent contact.
– Painted plates are not suitable for an EMC−compliant installation.
ƒ If you use the ECSxK... capacitor module:
– Install the capacitor module between the power supply module and the axis
module(s).
– If the total cable length in the DC−bus connection is > 5 m, install the capacitor
module as close as possible to the axis module with the greatest power.
ƒ Use of several mounting plates:
– Connect as much surface of the mounting plates as possible (e.g. with copper
bands).
ƒ Ensure the separation of motor cable and signal or mains cables.
ƒ Avoid a common terminal/power strip for the mains input and motor output.
ƒ Lay the cables as close as possible to the reference potential. Freely suspended
cables act like aerials.
Installation according to EMC (installation of a CE−typical drive system)
Filters
Only use RFI filters and mains chokes which are assigned to the power supply modules:
ƒ RFI filters reduce impermissible high−frequency interferences to a permissible value.
ƒ Mains chokes reduce low−frequency interferences which depend on the motor
cables and their lengths.
Shielding
ƒ Connect the motor cable shield to the axis module
– with the ECSZS000X0B shield mounting kit.
– to the mounting plate below the axis module with a large surface.
– Recommendation: For the shield connection, use ground clamps on bare metal
mounting surfaces.
ƒ If contactors, motor−protecting switches or terminals are located in the motor cable:
– Connect the shields of the connected cables and connect the shields to the
mounting plate, too, with a surface as large as possible.
ƒ Connect the shield in the motor terminal box or on the motor housing to PE:
– Metal glands at the motor terminal box ensure a large−surface connection of the
shield and the motor housing.
ƒ Shield the control cables:
– Connect both shield ends of the digital control cables.
– Connect one shield end of the analog control cables.
– Always connect the shields to the shield connection at the axis module over the
shortest possible distance.
ƒ Using the axis modules in residential areas:
– Additionally dampen the shield in order to limit the interfering radiation: ³10 dB .
This can be implemented by using standard, closed, metallic, and earthed control
cabinets or boxes.
Earthing
ƒ Earth all metallically conductive components (e. g. power supply module, capacitor
module, axis module, RFI filter, motor filter, mains choke) using suitable cables
connected to a central point (PE bar).
ƒ Maintain the minimum cross−sections prescribed in the safety regulations:
– For the EMC, not the cable cross−section is important, but the cable surface and the
contact surface which should be as large as possible.
Power terminals
5.3 Power terminals
ECSXA080
Fig. 5−2 Plug connectors for power terminals
Danger!
Dangerous voltage
The leakage current to earth (PE) is > 3.5 mA AC or > 10 mA DC.
Possible consequences:
ƒ Death or severe injuries when the device is touched in the event of a fault.
Protective measures:
ƒ Implement the actions required in the EN 61800−5−1. Especially:
– Fixed installation
– PE connection must conform to standards (PE conductor diameter
³ 10 mm2 or PE conductor must be connected twice)
Stop!
No device protection in the event of too high mains voltages
The mains input is not fused internally.
ƒ Destruction of the device if the mains voltage is too high.
ƒ Observe the max. permissible mains voltage.
ƒ Fuse the device correctly on the supply side against mains fluctuations and
voltage peaks.
Power terminals
ƒ All power connections are plug connections and coded. The ECSZA000X0B plug
connector set must be ordered separately.
ƒ Installation of the cables to EN 60204−1.
ƒ The cables used must comply with the approvals required at the site of use (e.g. VDE,
UL, etc.).
Note!
ECSDA... axis modules:
For a better electromagnetic compatibility (EMC), connect the functional earth
conductor to the ECSDA... axis module ( 46).
This is not required for the ECSEA... (standard installation) and ECSCA... (cold
plate) axis modules!
Assignment of the plug connectors

Plug Function Electrical data
connector/terminal
X23 DC−bus voltage connection
X23/+UG Dependent on application and type
Positive DC−bus voltage 0 ... 770 V
X23/+UG
2 ... 24.5 A ( 34)
X23/−UG
Negative DC−bus voltage
X23/−UG
X23/PE
Earth connection
X23/PE
X24 Motor connection
X24/U Motor phase U Dependent on application and type
X24/V Motor phase V 0 ... 480 V
1.6 ... 20 A ( 34)
X24/W Motor phase W
X24/PE Earth connection
X25 Motor holding brake connection
X25/BD1 Brake connection + 23 ... 30 V DC,
X25/BD2 Brake connection − max. 1.5 A
Power terminals
Cable cross−sections and screw−tightening torques

Cable type Wire end ferrule Possible cable Tightening torque Stripping length
cross−sections
Plug connectors X23 and X24
0.2 ... 10 mm2
rigid ˘
(AWG 24 ... 8)
0.2 ... 10 mm2
without wire end ferrule
(AWG 24 ... 8) 1.2 ... 1.5 Nm
5 mm
0.25 ... 6 mm2 (10.6 ... 13.3 lb−in)
flexible with wire end ferrule
(AWG 22 ... 10)
0.25 ... 4 mm2
with TWIN wire end ferrule
(AWG 22 ... 12)
Plug connector X25
with insulated wire end 0.25 ... 2.5 mm2
flexible ferrule (AWG 22 ... 12) 0.5 ... 0.8 Nm
screw 5 mm
connection 0.2 ... 2.5 mm2 (4.4 ... 7.1 lb−in)
(AWG 24 ... 12)
flexible ferrule (AWG 22 ... 12)
spring −−− 10 mm
connection 0.2 ... 2.5 mm2
(AWG 24 ... 12)
Shielded cables
The following factors decisively determine the effect of the shielded cables:
ƒ Good shield connection
– Ensure a contact surface as large as possible
ƒ Low shield resistance
– Only use shields with tin−plated or nickel−plated copper braids (shields with steel
braids cannot be used).
ƒ High overlap rate of the braid
– At least 70 ... 80 % with 90° overlap angle
The ECSZS000X0B shield mounting kit includes a wire clamp and shield sheet.
Power terminals
Connection to the DC bus (+UG, −UG)
5.3.1 Connection to the DC bus (+UG, −UG)
Stop!
No device protection for DC bus voltage surges
In passive axis modules (without 24 V−supply), the charging circuit can be
overloaded through DC bus voltage surges.
ƒ Destruction of the device
ƒ All axis modules in the DC−bus connection should be basically supplied with
a control voltage of 24 V.
ƒ If the total cable length is > 20 m, install an axis module or a capacitor module
directly at the power supply module.
ƒ Design the ±UG cables twisted and as short as possible. Ensure short−circuit−proof
routing!
ƒ Cable length (module « module) > 30 cm: install shielded ±UG cables.
Cable cross−sections
Cable length 1) Wire end ferrule Cable cross− Tightening torque Stripping
section length
Without wire end ferrule 6 mm2
Up to 20 m
With wire end ferrule (AWG 10)
1.2 ... 1.5 Nm
Without wire end ferrule 5 mm
10 mm2 (10.6 ... 13.3 lb−in)
> 20 m With wire end ferrule
(AWG 8)
Use pin−end connectors for wiring!
1) Respective cable length from module to module
Fuses
ƒ When using ECSxE power supply modules which are fused on the supply side the
DC−bus supply need not be fused.
ƒ When ECS axis modules are supplied by devices of the 82xx or 93xx series which can
supply a continuous current > 40 A, use the following fuses between the supplying
device and the ECS devices:
Fuse Support
Value [A] Lenze type Lenze type
50 EFSGR0500ANIN EFH20007
Warnings!
ƒ Use UL−approved cables, fuses and fuse holders only.
ƒ UL fuse:
– Voltage 500 ... 600 V
– Tripping characteristic "H", "K5" or "CC"
Power terminals
Connection to the DC bus (+UG, −UG)
Replacing defective fuses
Danger!
Hazardous electrical voltage
Components can carry hazardous voltages until up to 3 minutes after
power−off.
ƒ Death or severe injuries when touching the device.
ƒ Replace fuses in the deenergised state only.
– Set controller inhibit (CINH) for all axis modules in DC−bus operation and
disconnect all power supply modules from the mains.
Power terminals
Connection plans
5.3.2 Connection plans
Observe...
the notes in the detailed documentation of the power supply module.
Minimum wiring for internal brake resistor

The ECSEE... and ECSDE... power supply modules are provided with an integrated brake
resistor. For using the internal brake resistor, carry out the following wiring:
ƒ Jumper between X22/BR0 and X22/+UG (internal brake resistor connected with
brake transistor)
ƒ Jumper between X6/T1 and X6/T2 (temperature monitoring of non−installed
external brake resistor deactivated)
K1
L1
L2
L3
N
F1...F3
F4
Z1
Off "
On
"
L1 L2 L3 PE BR0 BR1 +UG +UG -UG PE +UG +UG -UG -UG PE PE +UG +UG -UG -UG PE PE
K1
X21 X22 X23 X23
Rb
ECSEE... ECSxS/P/M/A... ECSxS/P/M/A...
K1
ECSDE...
X6 X25 X24 X25 X24
... X7 X7
T1
T2
BD1 BD2 U V W PE BD1 BD2 U V W PE
0 0
" " " "
" " 6
" " 6
M M
3~ R 3~ R
J J
2 2
+ +
ECSXA011
Fig. 5−3 Interconnected power system with internal brake resistor

HF−shield termination by large−surface connection to functional earth (see Mounting
Instructions for ECSZS000X0B shield mounting kit)
Twisted cables
K1 Mains contactor
F1 ... F4 Fuse
Z1 Mains choke / mains filter, optional
Rb Brake resistor
System cable ˘ feedback
Power terminals
Connection plans
Minimum wiring with external brake resistor

Due to its design, the ECSCE... power supply module is not equipped with an integrated
brake resistor. Therefore, install an ERBM..., ERBS... or ERBD... brake resistor:
ƒ Connect the brake resistor to X22/BR1 and X22/+UG.
ƒ Connect a temperature sensor (NC contact) to X6/T1 and X6/T2.
K1
L1
L2
L3
N
F1...F3
F4 Rb
Z1 J
"
"
Off
On X21 X22 X23 X23
K1 ECSCE... ECSxS/P/M/A... ECSxS/P/M/A...
X6 X25 X24 X25 X24

... X7 X7
T1
T2
K1 BD1 BD2 U V W PE BD1 BD2 U V W PE
0 0
" "
Rb
J " "
" " 6
" " 6
M M
3~ R 3~ R
J J
2 2
+ +
ECSXA012
Fig. 5−4 Interconnected power system with external brake resistor

Twisted cables
K1 Mains contactor
F1 ... F4 Fuse
Rb Brake resistor
Power terminals
Motor connection
5.3.3 Motor connection
ECSXA010
Fig. 5−5 Motor and motor holding brake connection
Motor cables
ƒ Use low−capacitance motor cables. Capacitance per unit length:
– Core/core: max. 75 pF/m
– Core/shield: max. 150 pF/m
ƒ Length: max. 50 m, shielded
ƒ The cross−section of the motor cables are selected according to the motor standstill
current (I0) when using synchronous motors or according to the rated motor current
(IN) for asynchronous motors.
ƒ Length of the unshielded ends: 40 ... 100 mm (depending on the cable cross−section)
ƒ Lenze system cables meet these requirements.
ƒ Use the ECSZS000X0B shield mounting kit for EMC−compliant wiring.
Further information ....

with regard to the EMC−compliant wiring can be found in the Mounting
Instructions of the ECSZS000X0B shield mounting kit.
Power terminals
Motor holding brake connection
5.3.4 Motor holding brake connection
The motor holding brake

ƒ is connected to X25/BD1 and X25/BD2
ƒ and is supplied with low voltage via the terminals X6/B+ and X6/B−:
+23 ... +30 V DC, max.1.5 A
Stop!
ƒ Protect X6/B+ with an F 1.6 A fuse.
ƒ If no appropriate voltage (incorrect height, incorrect polarity) is applied to
the brake, it engages and can be overheated and damaged by the motor
that keeps rotating.
5.3.4.1 Spark suppressor

A spark suppressor is integrated into the axis module for the motor holding brake.
5.3.4.2 Brake monitoring

The connection of the motor holding brake can be monitored for voltage failure and cable
breakage if monitoring is activated under C0602.
Motor holding brake open (inactive):
The connection of the motor holding brake is monitored with regard to voltage failure and
cable breakage:
ƒ Threshold value for cable breakage: 140 mA ±10 %
ƒ Threshold value for voltage failure: +4 V ±10 %
Motor holding brake closed (active):
The connection of the motor holding brake is monitored with regard to cable breakage if
the threshold value of the voltage supply X6/B+ and X6/B− exceeds 4 V.
5.3.4.3 Requirements on the brake cables

ƒ Use Lenze system cable with integrated brake cable.
– The shielding of the brake cable must be separated.
ƒ Length: max. 50 m
ƒ If a separately installed brake cable is required, lay it in a shielded manner.
Note!
By the current monitoring, an ohmic voltage loss of 1.5 V along the motor
cable is produced. The voltage loss can be compensated by a higher voltage at
the cable entry.
Power terminals
Motor holding brake connection
The following applies to Lenze system cables:
U K[V] + U B[V] ) 0.08 ƪm V@ Aƫ @ L [m] @ I [A] ) 1.5[V]

L B
UK Voltage for compensating the voltage loss at 6X/B+ and X6/B− [V]
UB Rated operating voltage of the brake [V]
LL Cable length [m]
IB Brake current [A]
1.5 A
X6 B+ B- X25 BD2 BD1
F 1.6 A "
" _
+
_
+
+23 ... +30 V DC

max. 1.5 A M
3~
+
ECSXA017
Fig. 5−6 Connection of the motor holding brake to X25

HF−shield termination by large surface connection to functional earth (see Mounting
Instructions of the ECSZS000X0B shield mounting kit)
Power terminals
Connection of an ECSxK... capacitor module (optional)
5.3.5 Connection of an ECSxK... capacitor module (optional)
Observe...
the notes in the detailed documentation of the capacitor module.
K1
L1
L2
L3
N
F1...F3
F4
Z1
Off "
On
"
K1
X21 X22 X23 X23
ECSxE... ECSxK... ECSxS/P/M/A...

K1 X6
X26 X25 X24 X7
+24V
GND
DO1
D24
DI2
DI1
T1
T2
BD1 BD2 U V W PE
1
" " "
" " " 6

M
0 3~
J
R
2
2 +
GND -
+
24 V DC
ECSXX004
Fig. 5−7 Wiring of capacitor module ECSxK...

Twisted cables
K1 Mains contactor
F1 ... F4 Fuse
Contactor relay
Terminal X6/SI1 of the connected axis modules (controller enable/inhibit)
Control terminals
5.4 Control terminals
ECSXA070
Fig. 5−8 Plug connectors for control terminals (X6)
For the supply of the control electronics an external 24 V DC voltage at terminals X6/+24
and X6/GND is required.
Stop!
ƒ The control cables must always be shielded to prevent interference
injections.
ƒ The voltage difference between X6/AG, X6/GND and PE of the axis module
may maximally amount to 50 V.
ƒ The voltage difference can be limited by:
– overvoltage−limiting components or
– direct connection of X6/AG and X6/GND to PE.
ƒ The wiring has to ensure that for X6/DO1 = 0 (LOW level) the connected axis
modules do not draw energy from the DC bus. Otherwise, the power supply
module may be damaged.
Shield connection of control cables and signal cables

The plate on the front of the device serves as the mounting place (two threaded holes M4)
for the shield connection of the signal cables. The screws used may extend into the inside
of the device by up to 10 mm. For optimum contact of the shield connection, use the wire
clamps from the ECSZS000X0B shield mounting kit.
Control terminals
L1 L2 L3 PE BR0 BR1 +UG +UG -UG PE +UG +UG -UG -UG PE PE

X21 X22 X23
ECSxE... ECSxS/P/M/A...
X6 X6
+24V
+24V
GND
DO1
GND
S24
DO1
DI1
SI1
DI2
DI3
DI4
AI+
SI2
AG
SO
AI-
D24
B+
B-
DI1
DI2
T1
T2
"
"
F 1,6 A
" "
U 2
" " - "
0 1 =
+ 3
+24 VDC
+
=
24 VDC
GND -
4
ECSXA013
Fig. 5−9 Interconnection: Control signals with internal brake resistor

/ Contactor relay
Voltage supply for motor holding brake 23 ... 30 V DC, max. 1.5 A
Safe torque off (formerly "safe standstill")
Controller enable/inhibit
Switch−on sequence of the auxiliary relay

The auxiliary relay (see Fig. 5−9) must only switch digital input X6/DI2 of the power
supply module.
The switch−on sequence is as follows:
1. The higher−level control system or the operator switches digital input X6/DI1 of the
power supply module to HIGH.
– The DC bus is charged.
2. Digital output X6/DO1 of the axis module switches digital input X6/DI2 of the
power supply module via relay .
– In the ECS axis modules, X6/DO1 is set to "Ready" in the Lenze setting. "Ready" is
only set when the minimum DC−bus voltage is reached.
3. If X6/DI1 = HIGH and X6/DI2 = HIGH at the power supply module, X6/DO1 is
switched.
– X6/DO1 of the power supply module switches the controller enable of the axis
modules.
The above switch−on sequence must be observed to ensure that the axes will only be
enabled after the DC bus has been charged. Otherwise, the switch−on circuit in the power
supply module can be overloaded.
Control terminals

Plug connector X6
Terminal Function Electrical data
X6/+24 Low−voltage supply of the control electronics 20 ... 30 V DC, 0. A (max. 1 A)
for starting current of 24 V:
X6/GND Reference potential of low−voltage supply max. 2 A for 50 ms
X6/DO1 Digital output 1 24 V DC, 0.7 A (max. 1.4 A)
short−circuit−proof
X6/DI1 Digital input 1 LOW:
−3 ... +5 V;
X6/DI2 Digital input 2 −3 ... +1.5 mA
HIGH:
X6/DI3 Digital input 3 +15 ... +30 V;
+2 ... +15 mA
X6/DI4 Digital input 4 Input current at 24 V DC:
8 mA per input
X6/AI+ Analog input + Adjustable with jumper strip X3:
X6/AI− Analog input − −10 ... +10 V, max. 2 mA
−20 ... +20 mA
X6/AG Reference potential of analog input (internal Resolution: 11 bits + sign
ground)
X6/B+ Brake supply + 23 ... 30 V DC
max. 1.5 A
Set brake voltage so that the permissible
X6/B− Brake supply − voltage at the brake is not under−run or
exceeded ˘ otherwise malfunction or
destruction!
X6/S24 Connection of "safe torque off" (formerly "safe 69
X6/SO standstill")
X6/SI1
X6/SI2

Cable type Wire end ferrule Cable cross−section Tightening torque Stripping length
0.08 ... 1.5 mm2
Without wire end ferrule
(AWG 28 ... 16) 0.22 ... 0.25 Nm
flexible 5 mm
With insulated wire end 0.25 ... 0.5 mm2 (1.95 ... 2.2 lb−in)
ferrule (AWG 22 ... 20)
We recommend to use control cables with a cable cross−section of 0.25 mm2.
Control terminals
Digital inputs and outputs
5.4.1 Digital inputs and outputs
Stop!
If an inductive load is connected to X6/DO1, a spark suppressor with a limiting
function to max. 50 V ± 0 % must be provided.
GNDext
47k
1k
1.5 A
3k3
3k3
3k3
3k3
X6 DI1 DI2 DI3 DI4 GND DO1 +24
"
"
_
24 VDC =
+
ECSXA014
Fig. 5−10 Digital inputs and outputs at X6
ƒ The digital inputs X6/DI1 ... DI4 are freely assignable.

ƒ The polarity of the digital inputs X6/DI1 ... DI4 is set under C0114/x.
ƒ The polarity of the digital output (X6/DO1) is set under C0118/1.
Control terminals
Analog input
5.4.2 Analog input
82k5
82k5
X3
250R
5 6
GND
3.3 nF 3.3 nF
=
X6 AI- AG AI+
"
"
ECSXA015
Fig. 5−11 Analog input at X6

Analog input configuration

ƒ Set via C0034 whether the input is to be used for a master voltage or a master
current.
ƒ Set jumper bar X3 according to setting in C0034:
Stop!
Do not plug the jumper on 3−4! The axis module cannot be initialised like this.
Jumper bar X3 Setting Measuring range

C0034 = 0
5 6 l Level: −10 ... +10 V
5−6 open
3 4 Jumper on 1−2: Parking position l Resolution: 5 mV (11 Bit + sign)
1 2 l Scaling: ±10 V º±16384 º±100%
C0034 = 1
l Level: +4 ... +20 mA
l Resolution: 20 mA (10 bits without sign)
l Scaling:
5 6
+4 mA º 0 º 0 %
3 4 5−6 closed +20 mA º 16384 º 100 %
1 2
C0034 = 2
l Level: −20 ... +20 mA
l Resolution: 20 mA (10 bits + sign)
l Scaling: ±20 mA º±16384 º±100%
Control terminals
Safe torque off
5.4.3 Safe torque off
The axis modules support the safety function "safe torque off" (formerly "safe standstill"),
"protection against unexpected start−up", according to the requirements of control
category 3 of EN ISO 13849. For this purpose, the axis modules are equipped with two
independent safety routes. Control category 3 is reached when the output signal at X6/SO
is checked as well.
Control terminals
Safe torque off
5.4.3.1 Important notes
Installation/commissioning
ƒ The "safe torque off" function must only be installed and commissioned by qualified
personnel.
ƒ All control components (switches, relays, PLC, ...) and the control cabinet must meet
the requirements of EN ISO 13849. These include for instance:
– Switches, relays in enclosure IP54.
– Control cabinet in enclosure IP54.
– All other requirements can be found in EN ISO 13849.
ƒ Wiring with insulated wire end ferrules is essential.
ƒ All safety−relevant cables (e.g. control cable for the safety relay, feedback contact)
outside the control cabinet must be protected, e.g. in the cable duct. It must be
ensured that short circuits between the individual cables cannot occur. For further
measures, see EN ISO 13849.
ƒ If force effects from outside (e.g. sagging of hanging loads) are to be expected when
the "safe torque off" function is active, additional measures have to be taken (e.g.
mechanical brakes).
Danger!
When using the "safe torque off" function, additional measures are required
for "emergency stops"!
There is neither an electrical isolation between motor and axis module not a
"service" or "repair switch".
ƒ Death or severe injuries
ƒ The machine/drive may be destroyed or damaged
ƒ An "emergency stop" requires the electrical isolation of the motor cable, e.g.
by means of a central mains contactor with emergency stop wiring.
During operation
ƒ After installation, the operator must check the "safe torque off" function.
ƒ The function check must be repeated at regular intervals, but no later than after one
year.
Control terminals
Safe torque off
5.4.3.2 Implementation
In the axis module, the "safe torque off" connection is implemented with optocouplers.
The optocouplers isolate the following areas electrically from each other:
ƒ The digital inputs and outputs:
– input X6/SI1 (controller enable/inhibit)
– input X6/SI2 (pulse enable/inhibit)
– brake output X6/B+, B−
– output X6/SO ("safe torque off" active/inactive)
ƒ The circuit for the internal control
ƒ The final power stage

U &
X6
X2
Sl1
V &
U
Sl2 W &
µP V
S24
>1 X &
W
SO
Y &
GND
B+
Z &
B-
X25
BD2
BD1
ECSXA100
Fig. 5−12 Implementation of the "safe torque off" function

Area 1: Inputs and outputs
Area 2: Circuit for the internal control
Area 3: Power output stage
Stop!
Use insulated wire end ferrules when wiring the "safe torque off" circuits to
X6.
Control terminals
Safe torque off
5.4.3.3 Functional description

The "safe torque off" state can be initiated any time via the input terminals X6/SI1
(controller enable/inhibit) and X6/SI2 (pulse enable/inhibit). For this purpose a LOW level
has to be applied at both terminals:
ƒ X6/SI1 = LOW (controller inhibited):
The inverter is inhibited via the microcontroller system.
ƒ X6/SI2 = LOW (pulses inhibited):
The supply voltage for the optocouplers of the power section driver is switched off, i.
e. the inverter can no longer be enabled and controlled via the microcontroller system.
The input signal at X6/SI2 to the hardware is additionally directed to the
microcontroller system and is evaluated for the state control there. For the external
further processing a HIGH level is output for the state "safe torque off active" at the
digital output X6/SO.
The control of the inverter thus is prevented by two different methods that are
independent of each other. Therefore an unexpected start−up by the motor is avoided.
5.4.3.4 Technical data
Terminal assignment
Plug connector X6
Terminal Function Level Electrical data
X6/S24 Low−voltage supply 18 ... 30 V DC
0.7 A
X6/SO "Safe torque off" feedback LOW During operation 24 V DC
output 0.7 A (max. 1.4 A)
HIGH "Safe torque off" active Short−circuit−proof
X6/SI1 Input 1 (controller LOW Controller inhibited LOW level:
enable/inhibit) −3 ... +5 V
HIGH Controller enabled −3 ... +1.5 mA
X6/SI2 Input 2 (pulse enable/inhibit) LOW Pulses for power section are HIGH level:
inhibited +15 ... +30 V
+2 ... +15 mA
HIGH Pulses for power section are Input current at 24 V DC:
enabled 8 mA per input

Cable type Wire end ferrule Cable cross−section Tightening torque Stripping length
flexible ferrule (AWG 22 ... 16) 0.22 ... 0.25 Nm
screw 5 mm
connection 0.14 ... 1.5 mm2 (1.95 ... 2.2 lb−in)
(AWG 28 ... 16)
flexible ferrule (AWG 22 ... 16)
spring −−− 9 mm
connection 0.14 ... 1.5 mm2
(AWG 28 ... 16)
Control terminals
Safe torque off
5.4.3.5 Minimum wiring

In order to reach control category 3, the signal at X6/SO must be verified additionally. This
requires external wiring. The external wiring must be adapted to the existing safety
concepts and checked for correct operation.
Tip!
Please see page 77 for a wiring example with an electronic safety control
unit for category 3.
"Safe torque off" with multiple−contact switches

The example circuit shows the minimum external wiring of the axis module with
multiple−contact switches for a motor with brake.
24VDC
11 13 23
S1
12 14 24
11 13 23
S2
12 14 24 X6
Sl1
Sl2
S24
SO
GND
B+
B-
H1 X25
BD2
Y1
BD1
GND
ECSXA101
Fig. 5−13 Minimum external wiring with multiple−contact switches
Stop!
Observe the reaction of the drive when you activate controller enable and/or
pulse enable (X6/SI1 or SI2 = HIGH level):
ƒ The motor brake is applied immediately. This can lead to high wear on the
motor holding brake (see data sheet for the brake).
ƒ If the brake monitoring is active (C0602 = 0), TRIP "Rel1" is set. Before
recommissioning, the TRIP must be reset.
Control terminals
Safe torque off
Preconditions for external wiring with multiple−contact switches:

ƒ Switches S1 and S2 must have at least three contacts:
– At least one NC contact and two NO contacts. All contacts must be electrically
independent and positively driven.
– The contacts must not be bridged.
ƒ Switches S1 and S2 must be separated mechanically to avoid simultaneous
switching after activation.
ƒ The NO contacts of S1 and S2 must only close when the NC contacts are open. NO
and NC contacts must not be activated at the same time.
ƒ S1 and S2 must be designed for 24 V DC voltage. If a higher voltage occurs in the
electrical environment, the switches must have an insulation voltage. The insulation
voltage must at least be as high as the highest voltage that can occur in case of an
error.
ƒ Ensure that two channels are available for control category 3:
– Every time the controller is switched off (even in case of a single−channel
switch−off) via the contacts 13/14 of switches S1 and S2, the brake supply is
interrupted and the brake is applied. In addition, the internal brake relay must be
switched off by the application.
– The voltage supply for the output (X6/S24) via the NC contacts 11/12 of switches
S1 and S2 is only switched through in case of a two−channel controller switch−off.
This ensures that the output X6/SO will not be at HIGH level if a short−circuit
occurs in the internal transistor while the drive is not switched off via both
channels.
ƒ The switching contacts must resist the maximum current of the 24 V DC voltage
supply.
ƒ Wiring with wire end ferrules is essential.
ensured that short circuits between the individual cables cannot occur! For further
Control terminals
Safe torque off
"Safe torque off" with safety PLC

The version "safe torque off" with safety PLC must ensure the function of the
multiple−contact switches. The following conditions must be met:
ƒ The NO contacts only close when the NC contacts are open.
ƒ The voltage supply for the brake must be switched off safely in the event of LOW
level at X6/SI1 and/or LOW level at X6/SI2.
ƒ The voltage supply for the output X6/SO must be switched off safely in the event of
HIGH level at X6/SI1 and/or HIGH level at X6/SI2.
ƒ Safe processing of the output signal at X6/SO for higher level safety concepts.
ƒ The PLC must be programmed such that
– the input and output states of the output X6/SO are checked for plausibility
according to the following truth table.
– the entire system will immediately change to a safe state when the plausibility
check results in an impermissible state.
States of the "safe torque off" function at the axis module
Resulting level at Impermissible level at
Level at input terminal
output terminal output terminal
X6/SI1 X6/SI2 X6/SO X6/SO
LOW LOW HIGH LOW
LOW HIGH LOW
HIGH LOW LOW HIGH
HIGH HIGH LOW
ƒ Wiring with wire end ferrules is essential.
ensured that short circuits between the individual cables cannot occur! For further
Control terminals
Safe torque off
5.4.3.6 Function check

ƒ After installation the operator must check the "safe torque off" function.
ƒ The function check must be repeated at regular intervals, after one year at the
latest.
Stop!
If the function check leads to impermissible states at the terminals,
commissioning cannot take place!
Test specifications
ƒ Check the circuitry with regard to correct function.
ƒ Check directly at the terminals whether the "safe torque off" function operates
faultlessly in the axis module:
States of the "safe torque off" function on the axis module
Resulting level at Impermissible level at
Level at input terminal
output terminal output terminal
X6/SI1 X6/SI2 X6/SO X6/SO
LOW LOW HIGH LOW
LOW HIGH LOW
HIGH LOW LOW HIGH
HIGH HIGH LOW
Control terminals
Safe torque off
5.4.3.7 Example: Wiring with electronic safety control unit for category 3
ECSXA102
Fig. 5−14 Example: Wiring with "Siemens 3TK2842"safety control unit

T1 Test key 1
T2 Test key 2
ƒ The motor is shutdown in accordance with stop category 1 of EN 60204 when the
safety function is requested.
ƒ The delay time of the safety control unit and the quick stop deceleration time have
to be coordinated with the brake closing time.
ƒ The diode−capacitor combination prevents the test pulses of the safety control unit
from disturbing the smooth running of the motor, as otherwise a short−time inhibit
of the controller cannot be ruled out. It can be procured from the company Pilz (Pilz
order number: 774195) as a complete terminal.
Manual test of the disconnecting paths

ƒ The disconnecting paths have to be checked individually in succession.
ƒ If the test keys (T1, T2) are pressed, the motor has to be torqueless immediately and
the brake has to engage.
ƒ When the safety control unit is switched off, or if both test keys are pressed at the
same time, the feedback "STO" has to signalise. This feedback is not reliable and
only serves as an information for the operator that a switch−on is possible now.
ƒ If the actual state deviates from the facts described here, switch off the drive
immediately. Eliminate the fault before the restart is carried out.
Automation interface (AIF)
5.5 Automation interface (AIF)
The keypad XT or a communication module can be attached to or removed from the

automation interface (X1). This is also possible during operation.
ƒ The keypad XT serves to enter and visualise parameters and codes.
ƒ The communication modules serve to network the power supply modules and axis
modules of the ECS servo system with the host system (PLC or PC).
The following combinations are possible:
Operating/communication module Type/order number Can be used together with
ECSxE ECSxS/P/M/A
Keypad XT EMZ9371BC ü ü
Diagnosis terminal (keypad XT with hand−held) E82ZBBXC ü ü
LECOM−A (RS232) EMF2102IB−V004 ü ü
LECOM−B (RS485) EMF2102IB−V002 ü ü
LECOM−A/B (RS232/485) EMF2102IB−V001 ü ü
LECOM−LI (optical fibre) EMF2102IB−V003 ü ü
LON EMF2141IB ˘ ü
INTERBUS EMF2113IB ˘ ü
PROFIBUS−DP EMF2133IB ˘ ü
CANopen/DeviceNet EMF2175IB ˘ ü

on wiring and application of communication modules can be found in the
corresponding Mounting Instructions and Communication Manuals.
Wiring of the system bus (CAN)
5.6 Wiring of the system bus (CAN)
Note!
System bus (CAN)
In case of the ECSxA... axis module the communication can take place with a
master system or further controllers via both CAN bus interfaces (X4 or X14).
MotionBus (CAN)
The term "MotionBus (CAN)" expresses the functionality of the CAN bus
interface X4 for the ECSxS/P/M... axis modules. In these devices the
communication with a master system or further controllers is exclusively
carried out via X4. The parameter setting and the diagnostics is exclusively
executed via the interface X14.
Basic wiring of the CAN buses

The two following schematic diagrams show drive systems with different master value
concepts:
ƒ In Fig. 5−15 a higher−level control takes over the function of the master, e. g. ETC.
ƒ In Fig. 5−16 the function of the master is enabled by a controller that is assigned to
the master.
In both representations the master value transmission is effected via the
MotionBus(CAN).
The system bus (CAN) serves to diagnose and/or parameterise the drives.
M PC HMI
MB
SB
X4 X14 X4 X14 X4 X14
S S S
ECS_COB006
Fig. 5−15 MotionBus (CAN) with higher−level control

MB MotionBus (CAN), connection to plug connector X4
SB System bus (CAN), connection to plug connector X14
M Master
E Slave
PC PC
HMI HMI / operating unit
PC HMI
MB
SB
X4 X14 X4 X14 X4 X14
M S S
ECS_COB007
Fig. 5−16 MotionBus (CAN) with controller as master

MB MotionBus (CAN), connection to plug connector X4
SB System bus (CAN), connection to plug connector X14
M Master
E Slave
PC PC
HMI HMI / operating unit
ECS_COB003
Fig. 5−17 Bus connections on the controller

X4 (CAN) X14 (CAN−AUX) Description
CH CAH CAN−HIGH
CL CAL CAN−LOW
CG CAG Reference potential
Specification of the transmission cable

For the use of the transmission cable, follow our recommendations:
Specification of the transmission cable
Total length £ 300 m £ 1000 m
Cable type LIYCY 2 x 2 x 0.5 mm2 CYPIMF 2 x 2 x 0.5 mm2
(paired with shielding) (paired with shielding)
Cable resistance £ 80 W/km £ 80 W/km
Capacitance per unit £ 130 nF/km £ 60 nF/km
length
System bus(CAN) wiring
ECS_COB004
Fig. 5−18 Example: System bus (CAN) wiring via interface X4

ECS ECS axis module
M Master control, e.g. ETC
Note!
Connect one bus terminating resistor (120 W) each to the first and last node of
the system bus (CAN).
Bus cable length
Note!
Be absolutely sure to observe the permissible cable lengths.
1. Check the compliance with the total cable length in Tab. 5−1.
The total cable length is defined by the baud rate.
Baud rate [kBit/s] Max. bus length [m]
50 1500
125 630
250 290
500 120
1000 25
Tab. 5−1 Total cable length
2. Check the compliance with the segment cable length in Tab. 5−2.
The segment cable length is defined by the cable cross−section used and by the number of nodes. Without
using a repeater, the segment cable length equals the total cable length.
Nodes Cable cross−section

0.25 mm2 0.5 mm2 0.75 mm2 1.0 mm2
2 240 m 430 m 650 m 940 m
5 230 m 420 m 640 m 920 m
10 230 m 410 m 620 m 900 m
20 210 m 390 m 580 m 850 m
32 200 m 360 m 550 m 800 m
63 170 m 310 m 470 m 690 m
Tab. 5−2 Segment cable length
3. Compare the two values to each other.

If the value determined from Tab. 5−2 is smaller than the total cable length from Tab. 5−1 that is to be realised,
the use of repeaters is required. Repeaters divide the total cable length into segments.
Example: Selection help

Specifications
l Cable cross−section: 0.5 mm2 (according to cable specifications 81)
l Number of nodes: 63
l Repeater: Lenze−repeater, type 2176 (cable reduction: 30 m)
For the max. number of nodes (63), the following cable lengths / number of repeaters from
the specifications must be observed:
Baud rate [kbit/s] 50 120 250 500 1000
Max. cable length [m] 1500 630 290 120 25
Segment cable length [m] 310 310 290 120 25
Number of repeaters 5 2 − − −
Check repeater application

Specifications
l Baud rate: 125 kbit/s
l Cable cross−section: 0.5 mm2
l Number of nodes: 28
l Cable length: 450 m
Test steps Cable length See

1. Total cable length at 125 kbit/s: 630 m Tab. 5−1
2. Segment cable length for 28 nodes and a cable cross−section of 360 m Tab. 5−2
0.5 mm2:
3. Comparison: The value in point 2 is smaller than the cable length of 450 m to be implemented.
Conclusion
l Without the use of repeaters, the cable length of 450 m that is to be implemented is not possible.
l After 360 m (point 2), a repeater has to be used.
Result
l The Lenze repeater, type 2176 (cable reduction: 30 m) is used
l Calculation of the max. cable length:
First segment: 360
Second segment: 360 m (according to Tab. 5−1) minus 30 m (cable reduction if a repeater is used)
à Max. cable length to be implemented with a repeater: 690 m.
à Therefore, the specified cable length can be implemented.
Note!
The use of further repeaters is recommended as
ƒ a service interface
Advantage: Trouble−free connection during bus operation is possible.
ƒ Calibration interface
Advantage: The calibration/programming unit remains electrically isolated.
Wiring of the feedback system
5.7 Wiring of the feedback system
Different feedback systems can be connected to the axis module:

ƒ Resolver to X7 ( 86)
ƒ Encoder to X8 ( 87)
– Incremental encoder with TTL level
– Sin/cos encoder with rated voltage (5 ... 8 V)
– Sin/cos absolute value encoder (single−turn/multi−turn) with serial
communication (Hiperface® interface)
Note!
If a "safe isolation" acc. to EN 61140 between the encoder cable and motor
cable (e.g. by using separating webs or separated draglines) is not ensured on
the entire cable length cable due to an installation on the system side, the
encoder cable must be provided with an insulation resistance of 300 V. Lenze
encoder cables meet this requirement.
ƒ We recommend to use Lenze encoder cables for wiring.
ƒ In case of self−prepared cables
– only use cables with shielded cores twisted in pairs.
– observe the notes on wiring/preparation on the following pages.
Resolver connection
5.7.1 Resolver connection
Note!
Before using a resolver from another manufacturer, please consult Lenze.
Connect a resolver via the 9−pole Sub−D socket X7.
Features
ƒ Resolver: U = 10 V, f = 4 kHz
ƒ Resolver and resolver supply cable are monitored for open circuit (fault
message "Sd2").
X7
Æ
2
mm AWG
+REF
1
0.5 20
-REF
2 X7
3 1
6
+COS
4
-COS
5 9
+SIN
5
6
-SIN 0.14 26
7
R1 (+KTY)
8
R2 (-KTY)
9
KTY
ECSXA022
Fig. 5−19 Resolver connection
Assignment of socket connector X7: Sub−D 9−pole

Pin 1 2 3 4 5 6 7 8 9
Signal +Ref −Ref GND +COS −COS +SIN −SIN R1 R2
(+KTY) (−KTY)
0.5 mm2 0.14 mm2
˘
(AWG 20) (AWG 26)
Encoder connection
5.7.2 Encoder connection
Danger!
For operating systems up to and including version 7.0:
Uncontrolled movements of the drive possible when absolute value encoders
are used!
If an absolute value encoder is disconnected from the axis module during
operation, a OH3−TRIP (fault no. "0053") occurs. If the absolute value encoder
now is connected to X8 again and a TRIP−RESET is carried out, the drive may
start up in an uncontrolled manner with a high speed and a high torque. An
SD8−TRIP (fault no. "0088") will not occur, as would be expected.
ƒ Death or severest injuries
ƒ Destruction or damage of the machine/drive
ƒ If a TRIP occurs during commissioning when an absolute value encoder is
used, check the history buffer C0168. If an SD8−TRIP (fault no. "0088") is at
the second or third place, it is absolutely necessary to switch off and on
again the supply of the control electronics (24 V supply).
Via the 9−pole Sub−D−plug X8, you can connect the following encoders:
ƒ Incremental encoder
– with two 5 V complementary signals (TTL encoders) that are electrically shifted by
90°.
– Optionally, the zero track can be connected.
ƒ Sin/cos encoder
– with rated voltage (5 ... 8 V).
– with serial communication (single−turn or multi−turn; the initialisation time of the
axis module is extended to approx. 2 s).
The controller supplies the encoder with voltage.
Use C0421 to set the supply voltage VCC (5 ... 8 V) to compensate, if required, the voltage
loss [DU] on the encoder cable:
DU ^ 2 @ L L[m] @ Rńm[Wńm] @ I G[A]

DU Voltage loss on the encoder cable [V]
LL Cable length [m]
R/m Resistance per meter of cable length [W/m]
IG Encoder current [A]
Stop!
Observe the permissible connection voltage of the encoder used. If the values
in C0421 are set too high, the encoder can be destroyed!
Encoder connection
Incremental encoder (TTL encoder)

Features
Input/output frequency: 0 ... 200 kHz
Current consumption: 6 mA per channel
Current on output VCC (X8/pin 4): Max. 200 mA
< 50 m 5
9
B X8
B
1 1 6
A
2
A
3
VCC
4
GND A
5
Z A
6
Z B
KTY 7 B
R1 (+KTY)
8 Z
R2 (-KTY)
9 Z
ECSXA026
Fig. 5−20 Connection of incremental encoder with TTL level

Signals in case of clockwise rotation
Cores twisted in pairs
Assignment of plug connector X8: Sub−D 9−pole

Pin 1 2 3 4 5 6 7 8 9
Signal B A A VCC GND Z Z R2 B
(R1/+KTY) (−KTY)
0.14 mm2 1 mm2 0.14 mm2
(AWG 26) (AWG 18) (AWG 26)
Encoder connection
SinCos encoder
Features
Input/output frequency: 0 ... 200 kHz
Internal resistance (Ri): 221 W
Offset voltage for signals SIN, COS, Z: 2.5 V
ƒ The differential voltage between signal track and reference track must not exceed
1 V ± 10 %.
ƒ The connection is open−circuit monitored (fault message "Sd8")
ƒ For encoders with tracks sine, sine and cosine, cosine:
– Assign RefSIN with sine.
– Assign RefCOS with cosine.
< 50 m 5
9
RefSIN X8
SIN
1 1 6
RefCOS
2
COS
3
VCC
4
GND SIN
5
Z
6 RefSIN
0.5V
= 2.5 V
Z
KTY 7
R1 (+KTY) COS
8
R2 (-KTY) RefCOS = 2.5 V
9 0.5 V
ECSXA023
Fig. 5−21 Sin/cos encoder connection

Signals in case of clockwise rotation

Pin 1 2 3 4 5 6 7 8 9
Signal SIN RefCOS COS VCC GND Z or Z or R1 RefSIN
(cos) (R2/−KTY) −RS458 +RS485 (+KTY) (sin)
0.14 mm2 1 mm2 0.14 mm2
(AWG 26) (AWG 18) (AWG 26)
Digital frequency input/output (encoder simulation)
5.7.3 Digital frequency input/output (encoder simulation)
The digital frequency coupling of ECSxS/P/A axis modules basically is effected as a

master−slave connection via the interface X8. This interface can either be used as a digital
frequency input or as a digital frequency output (e. g. for encoder simulation)
(configuration via C0491).
Features
X8 as digital frequency input X8 as digital frequency output
l Input frequency: 0 ... 200 kHz l Output frequency: 0 ... 200 kHz
l Current consumption: max. 6 mA per channel l Permissible current loading: max. 20 mA per
l Two−track with inverse 5 V signals and zero track channel
l Possible input signals: l Two−track with inverse 5 V signals (RS422)
– incremental encoder with two 5 V complementary l The function of the output signals can be set via
signals (TTL encoders) offset by 90° C0540.
l The function of the inputs signals can be set via
C0427.
Wiring
ƒ 1 slave on the master:
Wire master and slave to each other directly via interface X8.
< 50 m
5
9
X8 B X8
(ECS-Master) (ECS-Slave)
B
1 1 1 6
A
2 2
A
3 3
4 4
GND A
5 5
Z A
6 6
Z B
7 7 B
8 8 Z
9 9 Z
ECSXA029
Fig. 5−22 Connection of the master frequency input/output X8 (master « slave)

Signals for clockwise rotation

Pin 1 2 3 4 5 6 7 8 9
Input signal B A A ˘ GND Z Z ˘ B
Output signal B A A ˘ GND Z Z ˘ B
0.14 mm2 1 mm2 0.14 mm2
(AWG 26) (AWG 18) (AWG 26)
Digital frequency input/output (encoder simulation)
ƒ 2 to 3 slaves connected to the master:

Use the EMF2132IB digital frequency distributor to wire the ECS axis modules with
master digital frequency cable EYD0017AxxxxW01W01 and slave digital frequency
cable EYD0017AxxxxW01S01.
P M S1 S2 S3
120
X4 X4 X4 X4
XS
X14 X14 X14 X14
120
120
120
X8 X8 X8 X8
0 1 1 1
EMF2132IB
X5
X1 X2 X3 X4
ECSXP001
Fig. 5−23 ECS axis modules in the CAN network with EMF2132IB digital frequency distributor
p Drive PLC or customer PLC for controlling the drive system (optional)
M Master value of the master (ECSxS/P/A axis module)
S1...3 Slave 1, slave 2, slave 3 (ECSxS/P/A axis module)
EYD0017AxxxxW01W01 digital frequency cable of master
EYD0017AxxxxW01S01 digital frequency cable of slave
Tip!
"xxxx" in the type designation of the digital frequency cables serves as a
wildcard for the specification of the cable length in decimetres.
Example: EYD0017A0015W01W01 ® cable length = 15 dm
6 Commissioning
Before you start
6 Commissioning
6.1 Before you start
Note!
ƒ The use of a Lenze motor is assumed in this description of the
commissioning steps. For details on the operation with other motors see
122.
ƒ The description is based on operation with the Lenze programs "Drive PLC
Developer Studio" (DDS) and "Global Drive Control" (GDC). The parameters
are displayed in online mode, i.e. GDC can directly access the codes of the
axis module.
Prior to initial switch−on of the drive system, check the wiring for completeness,
short−circuit, and earth fault:
ƒ Power connection:
– Polarity of the DC−bus voltage supply via terminals +UG, −UG
ƒ Motor connection:
– In−phase connection to the motor (direction of rotation)
ƒ Wiring of safe torque off" (formerly "safe standstill")
ƒ Feedback system
ƒ Control terminals:
– Wiring adjusted to the signal assignment of the control terminals.
Commissioning 6
Commissioning steps (overview)
6.2 Commissioning steps (overview)
Start
Create a new project with the Drive PLC Developer

Studio (DDS) and load it into the ECSxA... axis module
DDS Manuals:
– Introduction in the IEC 61131−3 programming
– Getting started
– Reference Manual
Make the basic settings using the parameter setting

program Global Drive Control (GDC).
( 94)
l Switch on the mains.

l Enable controller ( 130).
l Save parameters in the controller with C0003 = 1.
l Save parameter set with GDC in the parameter set
file.
Optimise
drive behaviour
( 130)
l Save parameters in the controller with C0003 = 1.

l Save parameter set with GDC in the parameter set
file.
End
6 Commissioning
Carrying out basic settings with GDC
6.3 Carrying out basic settings with GDC
Note!
Follow the commissioning steps in the given order!
Setting Short description Detailed

information
Requirements l Mains is switched off. (Green LED is dark, red LED is
blinking)
l Controller inhibit is active.
– Press the <F9> key in GDC.
– X6/SI1 orX6/SI2 must be open (LOW).
l DDS project has been created and loaded into the
ECSxA axis module.
See DDS Manuals:
– Introduction in the IEC 61131−3 programming
– Getting started
– Reference Manual
1. Switch on low−voltage supply.
2. Connect PC/laptop (with Connection to X14 (system bus (CAN)) using EMF2177IB PC 138
installed GDC parameter system bus adapter.
setting program) to controller.
3. Start GDC and select the device Selecting a device: GDC online
to be set. Change to the online mode via the GDC tool bar with help
the <F4> key and select "Searching for drives" using the
<F2> key.
ð Drive is identified and the parameter menu is opened.
4. Set communication parameters Comm. parameters − AIF interface X1 145
according the interface used. Comm. parameters − CAN bus interface X4 159
Comm. parameters − CAN bus interface X14
5. Set mains data. Select the Code list in the GDC parameter menu and set 96
the following codes:
l C0173 (voltage thresholds)
l C0175 (function of the charge relay)
– For operation with power supply module ECSxE set
C0175 = 3.
6. Enter motor data. Lenze motors: 98
Use the GDC motor assistant.
Motors from other manufacturers: 122
Select Motor/feedback system Motor setting in the GDC
parameter menu and set the codes.
7. Configure holding brake. l Not required if a holding brake is not available; 100
otherwise
l set C0472/10 (speed threshold) > 0 (e. g. 1 %) for closing
the holding brake.
8. Set feedback system. l Lenze motors with resolvers do not require any further 101
settings.
l Select Motor/feedback systems Feedback system to
set third−party resolvers and encoders in the GDC
parameter menu.
9. Enter machine parameter. In GDC, the codes for machine parameters such as 119
maximum speed and ramp times can be found in the
parameter menu under Short setup Motor setting.
Commissioning 6
Carrying out basic settings with GDC
Setting Short description Detailed

information
10. Set the polarity of the digital Select Terminal I/O Digital inputs/outputs in the GDC 118
inputs and outputs. parameter menu to set the polarity:
l C0114/x (polarity of dig. inputs X6/DI1 ... DI4)
l C0118/1 (polarity of dig. output X6/DO1)
11. Switch on the mains. l Green LED is blinking and red LED is off:
– Controller is ready for operation.
l Green LED is off and red LED is blinking:
– An error has occurred. Eliminate the error before you
continue commissioning.
The basic settings are now completed. Continue with:

ƒ Enable controller ( 130).
ƒ Save parameters in the controller with C0003 = 1.
ƒ Save parameter set with GDC in the parameter set file.
6 Commissioning
Setting of mains data
Selecting the function of the charging current limitation
6.4 Setting of mains data
In GDC, you can find the parameters and codes to be set in the parameter menu under
Code list:
Fig. 6−1 GDC view: Network data in the code list
6.4.1 Selecting the function of the charging current limitation
The ECS axis modules are provided with a charging current limitation by means of charge
resistors and charge relays. In the Lenze setting the charging current limitation is activated
(C0175 = 1).
At mains connection the charge relay remains open for a while so that the charging current
of the DC bus is limited by the charging resistors. When a certain voltage level has been
reached, the charging resistors are short circuited by switching on (closing) the charge
relay contacts.
Stop!
ƒ If the DC−bus voltage is generated with an ECSxE power supply module, the
DC bus is charged in a controlled way. Therefore, set C0175 = 3 for the axis
module (charging current limitation inactive, charging resistor
short−circuited).
If the Lenze setting has been loaded via C0002, C0175 = 3 must be set again.
ƒ Cyclic switching of the mains voltage at the power supply module can
overload and destroy the charging current limitation of the axis module if
activated (C0175 = 1 or C0175 = 2).
For this reason, allow a break of at least three minutes between two starting
operations in case of cyclic mains switching over a longer period of time!
Commissioning 6
Setting of mains data
Setting the voltage thresholds
Code Possible settings IMPORTANT

No. Designation Lenze/ Selection
{Appl.}
C0175 UG−Relais Fkt 1 Charge relay behaviour with 96
undervoltage (LU) in the DC bus.
1 Standard Relay switches as a function of
LU.
2 One Time Relay switches when LU is
exceeded for the first time and
remains on.
3 Fixed On Charging current limitation is
inactive.
l Relay is always switched on
and the charging resistors of
the axis module are thus
permanently jumpered.
l Setting for operation with
ECSxE power supply module.
6.4.2 Setting the voltage thresholds
Note!
All drive components in DC−bus connections must have the same thresholds!
Selection Mains voltage Brake unit LU message OU message

(Undervoltage) (Overvoltage)
C0173 Power supply module Setting Resetting Setting Resetting
[V AC] [V DC] [V DC] [V DC] [V DC]
0 230 yes/no 130 275 400 390
1 400 yes/no 285 430 800 790
2 400 ... 460 yes/no 328 473 800 790
3 480 no 342 487 800 785
4 480 yes 342 487 800 785
10 230 yes/no C0174 C0174 + 5 V 400 390
11 400 (Lenze setting) yes/no C0174 C0174 + 5 V 800 790
12 400 ... 460 yes/no C0174 C0174 + 5 V 800 790
13 480 no C0174 C0174 + 5 V 800 785
14 480 yes C0174 C0174 + 5 V 800 785

{Appl.}
C0174 UG min 60 Undervoltage threshold of DC 96
bus (LU)
15 {1 V} 342
6 Commissioning
Entry of motor data for Lenze motors
6.5 Entry of motor data for Lenze motors
Note!
ƒ The following only describes the parameter setting for Lenze motors! (If you
use a motor from another manufacturer, see 122.)
ƒ If the Lenze setting has been loaded via C0002, the motor data must be
entered once again.
ƒ In "GDC Easy", the "Input assistant for motor data" is not available. In this
case, please contact your Lenze representative for the stator resistance and
leakage inductance data.
Parameter setting with the "Input assistant for motor data" of the GDC
1. Go to the GDC menu bar and select the Tool Motor data menu item or click the
button with the voltage divider symbol in the tool bar (rightmost in Fig. 6−2):
ECSXA300
Fig. 6−2 GDC view: menu bar and tool bar
– The "Input assistant for motor data" opens:
ECSXA311
Fig. 6−3 GDC view: Selection of motor list
Commissioning 6
Entry of motor data for Lenze motors
2. Select the "Lenze motor list" and click the [ Continue ] button.
ECSXA302
Fig. 6−4 GDC view: Motor selection
3. Select the connected motor from the list (see motor nameplate).
– The corresponding motor data is displayed on the right in the "Motor data" fields.
4. Click the [ Complete ] button.
– The data is transferred to the controller. This process can take a few seconds and is
confirmed by a message after being completed.
6 Commissioning
Holding brake configuration
6.6 Holding brake configuration
Tip!
If you use a motor without a holding brake, you can skip this chapter.
Complete code list.
Code Name Description
C0472/10 FCODE analog [%] Speed threshold from which the drive is allowed to output the signal "Close
brake".
l This code refers to the maximum speed set in C0011.
Note: Enter a value > 0 so that the brake can be opened.
C0472/11 FCODE analog [%] Value/direction of the torque against the holding brake.

Commissioning 6
Setting of the feedback system for position and speed control
Resolver as position and speed encoder
6.7 Setting of the feedback system for position and speed control
The following feedback systems can be selected for position and speed control:
ƒ Resolver (
101)
ƒ TTL incremental encoder/sin/cos encoder without serial communication (
104)
– as position and speed encoder (
104)
– as position encoder and resolver as speed encoder (
107)
ƒ Absolute value encoder (Hiperface®, single−turn/multi−turn)
– as position and speed encoder (
110)
– as position encoder and resolver as speed encoder (
114)
The GDC contains the parameters or codes to be set in the parameter menu under
Motor/Feedb. Feedback:
Fig. 6−5 GDC view: Commissioning of the feedback system
Note!
If the Lenze setting has been loaded via C0002, the feedback system must be
reset.
6.7.1 Resolver as position and speed encoder
If a resolver is connected to X7 and used as a position and speed encoder, no settings are
necessary.
Lenze setting:
ƒ Resolver as position encoder: C0490 = 0
ƒ Resolver as speed encoder: C0495 = 0

6 Commissioning
Codes for feedback system selection

{Appl.}
[C0490] Feedback pos 0 Selection of feedback system for 101
positioning control
0 Resolver at X7 Standard setting
1 TTL encoder at X8 l Sets C0495 to the same value
2 SinCos encoder at X8 if C0495 > 0.
l Sets C0419 = 0 ("Common") if
3 Absolute value encoder (single−turn) at a different encoder type as
X8 under C0419 is set here.
4 Absolute encoder (multi−turn) at X8
[C0495] Feedback n 0 Selection of feedback system for 101
speed control
Codes for optimising the operation and display

{Appl.}
C0058 Rotor diff −90.0 Rotor displacement angle for 127
synchronous motors (C0095)
−180.0 {0.1 _} 179.9
C0060 Rotor pos Current rotor position; value is 124
derived from position encoder.
Therefore, it is only valid as rotor
position if the position encoder
settings under C0490 are
identical with the settings of the
speed encoder on the motor
shaft under C0495.
Only display
0 {1 inc} 2047 1 rev = 2048 inc
[C0080] Res pole no. 1 Number of pole pairs of resolver
1 {1} 10
C0414 DIS: ResQual. Resolver modulation 101
Quality of the resolver excitation
amplitude set under C0416
(recommendation: 0.5 ... 1.2;
ideal 1.0)
0.00 {0,01} 1.60

Commissioning 6

{Appl.}
[C0416] Resolver adj. 5 Resolver excitation amplitude 101
0 100 %
1 80 %
2 68 %
3 58 %
4 50 %
5 45 %
6 40 %
7 37 %
[C0417] Resolver cor. 0 Resolver adjustment 136
0 Ready
1 Start adjustment
2 Loading default values

6 Commissioning
TTL/sin/cos encoder without serial communication
6.7.2 TTL/sin/cos encoder without serial communication
If a TTL incremental encoder or a sin/cos encoder without serial communication is

connected to X8 and used for position and speed control, the following setting sequence
must be observed:
1. Select encoder for position and speed control.
– Incremental encoder (TTL encoder): C0490 and C0495 = 1
– Sin/cos encoder without serial communication: C0490 and C0495 = 2
If X8 has been selected as output by changing C0491, X8 will be automatically reset to
input through the encoder selection.
Note!
When encoders are used for position and speed control, the same feedback
system will automatically be set for both control modes under C0490 and
C0495. Separate feedback systems can only be selected in connection with a
resolver.
2. Select encoder used.
– Incremental encoder (TTL encoder): C0419 = 110 ... 113
– Sin/cos encoder without serial communication: C0419 = 210 ... 213
– Encoder used is not in the list: C0419 = 1 ("Common")
3. When setting C0419 = 1 ("Common") configure encoder data.
Note!
When setting C0419 = 11x or 21x do not configure encoder data.
The encoder data (C0420, C0421, C0427) is set automatically in accordance
with the selection.
– C0420 (number of increments of the encoder)
– C0421 (encoder voltage)
– C0427 (signal type of the encoder)
4. Save settings with C0003 = 1.

Commissioning 6

{Appl.}
positioning control
speed control

6 Commissioning

{Appl.}
[C0419] Enc. Setup 110 Encoder selection 309
l Selection of encoder type 104
indicated on the nameplate of 110
the Lenze motor.
l The encoder data (C0420,
C0421, C0427) is set
automatically in accordance
with the selection.
0 Common
110 IT512−5V Incremental encoder with TTL
111 IT1024−5V level
112 IT2048−5V
113 IT4096−5V
210 IS512−5V SinCos encoder
211 IS1024−5V
212 IS2048−5V
213 IS4096−5V
307 AS64−8V SinCos absolute value encoder
308 AS128−8V with Hiperface® interface
(single−turn)
309 AS256−8V Selections 307, 308, 309 are only
310 AS512−8V possible with operating system
7.0 or higher.
311 AS1024−8V
407 AM64−8V SinCos absolute value encoder
408 AM128−8V with Hiperface® interface
(multi−turn)
409 AM256−8V Selections 407, 408, 409 are only
410 AM512−8V possible with operating system
7.0 or higher.
411 AM1024−8V
[C0420] Encoder const. 512 Number of increments of the 309
encoder 104
110
1 {1 inc/rev} 8192 Sets C0419 = 0 ("common") if the
value is altered.
[C0421] Encoder volt 0 Encoder voltage 309
0 5.0 V Sets C0419 = 0 ("common") if the 104
value is altered. 110
1 5.6 V
2 6.3 V
3 6.9 V
4 7.5 V
5 8.1 V
[C0427] Enc. signal 0 Function of the master frequency 309
input signals on X8 (DFIN) 104
0 2−phase 110
1 A: speed
B: direction
2 A or B: speed or direction
[C0491] X8 in/out 0 Function of X8 309
0 X8 is input 104
110
1 X8 is output

Commissioning 6
TTL/sin/cos encoder as position encoder and resolver as speed encoder
6.7.3 TTL/sin/cos encoder as position encoder and resolver as speed encoder
A TTL incremental encoder connected to X8 or a sin/cos encoder without serial

communication can be configured as a position encoder with a resolver connected to X7
being used as a speed encoder.
Observe the following setting sequence:
1. Select TTL/sin/cos encoder as position encoder.
– Incremental encoder (TTL encoder): C0490 = 1
– Sin/cos encoder without serial communication: C0490 = 2
2. Select resolver as speed encoder.
– C0495 = 0
3. Select encoder used.
– Incremental encoder (TTL encoder): C0419 = 110 ... 113
– Sin/cos encoder without serial communication: C0419 = 210 ... 213
– Encoder used is not in the list: C0419 = 1 ("Common")
4. When setting C0419 = 1 ("Common") configure encoder data.
Note!
When setting C0419 = 11x or 21x do not configure encoder data.
The encoder data (C0420, C0421, C0427) is set automatically in accordance
with the selection.
– C0420 (number of increments of the encoder)
– C0421 (encoder voltage)
– C0427 (signal type of the encoder)

6 Commissioning

{Appl.}
positioning control
speed control

{Appl.}
−180.0 {0.1 _} 179.9
shaft under C0495.
Only display
0 {1 inc} 2047 1 rev = 2048 inc
1 {1} 10
ideal 1.0)
0.00 {0,01} 1.60

Commissioning 6

{Appl.}
0 100 %
1 80 %
2 68 %
3 58 %
4 50 %
5 45 %
6 40 %
7 37 %
0 Ready
1 Start adjustment
the Lenze motor.
C0421, C0427) is set
with the selection.
0 Common
112 IT2048−5V
113 IT4096−5V
211 IS1024−5V
212 IS2048−5V
213 IS4096−5V
(single−turn)
7.0 or higher.
311 AS1024−8V
(multi−turn)
7.0 or higher.
411 AM1024−8V
encoder 104
110
value is altered.

6 Commissioning
Absolute value encoder as position and speed encoder

{Appl.}
1 5.6 V
2 6.3 V
3 6.9 V
4 7.5 V
5 8.1 V
0 2−phase 110
1 A: speed
B: direction
0 X8 is input 104
110
1 X8 is output
6.7.4 Absolute value encoder as position and speed encoder
Danger!
are used!
If an absolute value encoder with Hiperface® interface is connected to X8 and used as
position and speed encoder, the following setting sequence must be observed:
1. Select absolute value encoder as position and speed encoder.
– Single−turn encoder: C0490 and C0495 = 3
– Multi−turn encoder: C0490 and C0495 = 4

Commissioning 6
Note!
When encoders are used for position and speed control, the same feedback
system will automatically be set for both control modes. Separate feedback
systems can only be selected in connection with a resolver (see code table,
C0490 and C0495).
2. Select an absolute value encoder.
– Single−turn encoder: C0419 = 307 ... 311
– Multi−turn encoder: C0419 = 407 ... 411
The encoder data (C0420, C0421, C0427) is set automatically in accordance with the
selection.
Danger!
When absolute value encoders are used, uncontrolled movements of the drive
are possible!
With operating systems up to and including version 6.7, the drive may start up
in an uncontrolled manner with a high speed and a high torque after mains
connection and controller enable.
ƒ Do not parameterise codes C0420, C0421 and C0427!
Note!
When configuring the absolute value encoder, an "SD7" system error is
activated. The error can only be reset by means of mains switching.

6 Commissioning

{Appl.}
positioning control
speed control

{Appl.}
the Lenze motor.
C0421, C0427) is set
with the selection.
0 Common
112 IT2048−5V
113 IT4096−5V
211 IS1024−5V
212 IS2048−5V
213 IS4096−5V
(single−turn)
7.0 or higher.
311 AS1024−8V
(multi−turn)
7.0 or higher.
411 AM1024−8V

Commissioning 6

{Appl.}
encoder 104
110
value is altered.
1 5.6 V
2 6.3 V
3 6.9 V
4 7.5 V
5 8.1 V
0 2−phase 110
1 A: speed
B: direction
0 X8 is input 104
110
1 X8 is output

6 Commissioning
Absolute value encoder as position encoder and resolver as speed encoder
6.7.5 Absolute value encoder as position encoder and resolver as speed encoder
Danger!
are used!
An absolute value encoder Hiperface® interface connected to X8 can be configured as a
position encoder with a resolver connected to X7 being used as a speed encoder.
Observe the following setting sequence:
1. Select absolute value encoder as position encoder.
– Single−turn encoder: C0490 = 3
– Multi−turn encoder: C0490 = 4
2. Select resolver as speed encoder.
– C0495 = 0
3. Select an absolute value encoder.
– Single−turn encoder: C0419 = 307 ... 311
– Multi−turn encoder: C0419 = 407 ... 411
The encoder data (C0420, C0421, C0427) is set automatically in accordance with the
selection.

Commissioning 6
Danger!
When absolute value encoders are used, uncontrolled movements of the drive
are possible!
With operating systems up to and including version 6.7, the drive may start up
in an uncontrolled manner with a high speed and a high torque after mains
connection and controller enable.
ƒ Do not parameterise codes C0420, C0421 and C0427!

{Appl.}
positioning control
speed control

6 Commissioning

{Appl.}
−180.0 {0.1 _} 179.9
shaft under C0495.
Only display
0 {1 inc} 2047 1 rev = 2048 inc
1 {1} 10
ideal 1.0)
0.00 {0,01} 1.60
0 100 %
1 80 %
2 68 %
3 58 %
4 50 %
5 45 %
6 40 %
7 37 %
0 Ready
1 Start adjustment

Commissioning 6

{Appl.}
the Lenze motor.
C0421, C0427) is set
with the selection.
0 Common
112 IT2048−5V
113 IT4096−5V
211 IS1024−5V
212 IS2048−5V
213 IS4096−5V
(single−turn)
7.0 or higher.
311 AS1024−8V
(multi−turn)
7.0 or higher.
411 AM1024−8V
encoder 104
110
value is altered.
1 5.6 V
2 6.3 V
3 6.9 V
4 7.5 V
5 8.1 V
0 2−phase 110
1 A: speed
B: direction
0 X8 is input 104
110
1 X8 is output

6 Commissioning
Setting the polarity of digital inputs and outputs
6.8 Setting the polarity of digital inputs and outputs
The polarity can be set for each digital input and output. This determines whether the
input or output is HIGH active or LOW active.
The following are available:
ƒ 4 digital inputs (X6/DI1 ... DI4)
ƒ 1 digital output (X6/DO1)
ƒ 1 relay output (X25/BD1, BD2)
The GDC contains codes for setting the polarity of digital inputs and outputs in the
parameter menu under Terminal I/O:
Fig. 6−6 GDC view: Setting of the polarity of digital inputs and outputs

{Appl.}
C0114 Polarity of the digital inputs 118
1 DIGIN pol 0 HIGH level active X6/DI1 (DIGIN_bIn1_b)
0 HIGH level active
1 LOW level active
C0118 Polarity of the digital outputs 323
1 DIGOUT pol 0 HIGH level active X6/DO1 (DIGOUT_bOut1_b) 118
2 DIGOUT pol 0 HIGH level active X25 (DIGOUT_bRelais_b, brake
connection)
0 HIGH level active
1 LOW level active

Commissioning 6
Entry of machine parameters
6.9 Entry of machine parameters
In GDC the codes for machine parameters such as maximum speed and ramp times can be
found in the parameter menu under:
ƒ Short setup
Fig. 6−7 GDC view: Machine parameters

6 Commissioning
Controller enable
6.10 Controller enable
ƒ The controller is only enabled if enable is given by all relevant signal sources (AND
operation).
ƒ If the controller is not enabled (inhibited), the responsible signal source is indicated
under C0183 (drive diagnostics) in the parameter menu under Diagnostics
Current status:
Fig. 6−8 GDC view: Diagnostic of the current operation
The following table shows the signal sources for controller enable:
Source for controller Controller Controller Note
inhibit inhibit enable
Terminal X6/SI1 0 ... +4 V +13 ... +30 V For controller enable, X6/SI1 has to be
(LOW level) (HIGH level) = HIGH and X6/SI2 = HIGH.
Terminal X6/SI2 0 ... +4 V +13 ... +30 V
(LOW level) (HIGH level)
C0040 C0040 = 0 C0040 = 1
Operating key key Inhibiting with key is only possible if
module/keypad the key is assigned with "CINH" via
C0469.
Fault l In case of TRIP l No TRIP/message For check see 213.
l In case of active
message l TRIP reset
Control word − C0135/bit 9 = 1 C0135/bit 9 = 0 GDC function keys:
system bus (CAN), l <F8> key (controller enable/start)
C0135 l <F9> key (controller inhibit/stop)
Fieldbus module See Operating Instructions of the corresponding fieldbus module.
Note!
All signal sources act like a series connection of switches which are
independent of each other.

Commissioning 6
Loading the Lenze setting
6.11 Loading the Lenze setting
Note!
After loading the Lenze setting, all parameters are set to basic setting defined
by Lenze. Settings that have been adjusted before get lost during this process!
In GDC, you can find the parameters and codes to be set in the parameter menu under Load
/ Save / PLC / Multitasking:
Fig. 6−9 GDC view: Load / Save / PLC / Multitasking
Setting sequence
1. Stop the PLC program: C2108 = 2
2. Load the Lenze setting: C0002 = 0
3. Continue with 3.1 or 3.2.
3.1 (The 24 V−supply voltage can be switched.):
A Switch off and on again the 24 V−supply voltage.
B Plug the XT keypad onto the AIF interface (X1).
3.2 (The 24 V−supply voltage cannot be switched.):
A Plug the XT keypad onto the AIF interface (X1).
B Reset the PLC: C2108 = 3
4. Select the communication parameters for the interfaces.

– Automation interface X1, see 145
– CAN bus interface X4/X14, see 159
5. Continue with the basic settings starting from point 5 of the table on 94 .
6. Automatic start of the PLC program after mains connection: C2104 = 1
7. Start PLC program: C2108 = 1
8. Save parameter set: C0003 = 1

6 Commissioning
Operation with servo motors from other manufacturers
Entering motor data manually
6.12 Operation with servo motors from other manufacturers
6.12.1 Entering motor data manually
If you operate servo motors of other manufacturers on the controller, you have to enter the
motor data manually. The GDC includes the corresponding codes in the parameter menu
under Motor/Feedb. Motor adjustment.
Fig. 6−10 GDC view: Manual setting of the motor data

{Appl.}
[C0006] Op mode 1 Operating mode of the motor
control
1 Servo PM−SM Servo control of synchronous
motors
2 Servo ASM Servo control of asynchronous
motors
C0018 fchop 2 Switching frequency
1 4 kHz sin 4 kHz permanent PWM
frequency
2 8/4 kHz sin 8 kHz PWM frequency with
automatic derating to 4 kHz at
high load
C0022 Imax current à Imax limit
0 {0.01 A} à Device−dependent list
Max. current can be gathered
from the technical data.
−180.0 {0.1 _} 179.9
1 {1} 10
[C0081] Mot power 3.20 Rated motor power according to
nameplate
0.01 {0.01 kW} 500.00

Commissioning 6
Entering motor data manually

{Appl.}
[C0084] Mot Rs 1.10 Stator resistance of the motor
The upper limit is
device−dependent.
0.00 {0.01 W} 95.44 ECSxS/P/M/A004
47.72 ECSxS/P/M/A008
7.95 ECSxS/P/M/A048
5.96 ECSxS/P/M/A064
[C0085] Mot Ls 5.30 Leakage inductance of the motor
0.00 {0.01 mH} 200.00
[C0087] Mot speed 3700 Rated motor speed
300 {1 rpm} 16000
[C0088] Mot current 7.0 Rated motor current
0.5 {0.1 A} 500.0
[C0089] Mot 185 Rated motor frequency
frequency 10 {1 Hz} 1000
[C0090] Mot voltage 325 Rated motor voltage
50 {1 V} 500
[C0091] Mot cos phi 1.0 cos j of the asynchronous motor
0.50 {0.01} 1.00
[C0095] Rotor pos adj 0 Activation of rotor position 127
adjustment of a synchronous
motor
C0058 shows the rotor
displacement angle.
0 Inactive
1 Active
C0110 Service Code Fine adjustment − mutual
inductance
50 {1 %} 200
C0111 Service Code Fine adjustment − rotor
resistance
50,00 {1 %} 199,99
C0112 Service Code Fine adjustment − rotor time
constant
50 {1 %} 200
C0113 Service Code Fine adjustment − magnetising
current (Isd)
50 {1 %} 200
C0128 Tau motor 5.0 Thermal time constant of the 201
motor
0.5 {0.1 min} 25.0 For calculating the I2 x t
disconnection
[C0418] Test Cur.Ctrl 0 Controller adjustment: 125
0 Deactivated Deactivate test mode
1 Activated Activate test mode

6 Commissioning
Checking the direction of rotation of the motor feedback system
6.12.2 Checking the direction of rotation of the motor feedback system
Motor/Feedback Feedback.
Fig. 6−11 GDC view: Feedback system
C0060 indicates the rotor position within one revolution as a numerical value between 0
and 2047. The indicated rotor position is derived from the selected position encoder
(C0490).
Evaluation:
If the motor controller (resolver) is set as position encoder (C0490) and the rotor rotates in
CW direction (view on the front of the motor shaft), the numerical value must rise. If the
values are falling, reverse the Sin+ and Sin− connections.
{Appl.}
shaft under C0495.
Only display
0 {1 inc} 2047 1 rev = 2048 inc

Commissioning 6
Adjusting current controller
6.12.3 Adjusting current controller
For an optimum machine operation, the current controller settings must be adapted to the
electrical motor data.
The parameters of the current controller depend on the electrical motor data. They do not
depend on mechanical data as with the speed and position control circuit. This is why the
default current controller settings of the "GDC motor data input assistant" can usually be
used. A current controller adjustment is only required for third−party motors and for Lenze
motors only in special cases.
Note!
If possible, adjust the current controller with the maximum current (C0022)
provided for operation.
Leakage inductance and stator resistance of the motor are known:

The gain of the current controller Vp and the integral−action time of the current controller
Tn can be calculated by approximation:
Current controller gain (Vp) Integral−action time of the current controller (Tn)
L1 S L1 S
V p + T n +
250ms R1 S
L1S Motor leakage inductance

R1S Motor stator resistance
Note!
Depending on the leakage inductance of the motor, the calculated values can
be outside the adjustable range. In this case
ƒ set a lower gain and a higher integral−action time;
ƒ adjust the current controller metrologically ( 126).
For applications with high current controller dynamics the pilot control of the current
controller outputs can be activated with C0074 (C0074 = 1). For this, it is vital to enter the
correct values for the stator resistance (C0084) and leakage inductance (C0085).These can
be obtained from the data sheet of the motor used!

6 Commissioning
Adjusting current controller
Leakage inductance and stator resistance of the motor are not known:
The current controller can be optimised metrologically with a current probe and an
oscilloscope. For this, a test mode is available in which the current C0022 x Ö2 flows in phase
U after controller enable.
Stop!
Avoid damage to the motor and machine
ƒ During the current controller adjustment, the motor must be freely
rotatable.
ƒ The test current must not exceed the maximum permissible motor current.
ƒ Always adjust the current controller at a switching frequency of 8 kHz.
Observe the current step in phase U to adjust the current controller.
Setting sequence
1. Select 8 kHz as switching frequency (C0018 = 2).
2. Select the test current under C0022:
– Start with a low current value, e.g. half the rated motor current.
3. Activate the test mode with C0418 = 1.
4. Enable the controller. ( 120)
– Adjust the synchronous motor.
– The asynchronous motor remains at standstill.
5. Enable and inhibit the controller several times in a row changing the current
controller gain (C0075) and the current controller adjustment time (C0076) such
that the current characteristic is free of harmonics.
6. After the adjustment has been completed, deactivate the test mode with C0418 = 0.
7. If required, change the switching frequency under C0018.

Commissioning 6
Effecting rotor position adjustment
6.12.4 Effecting rotor position adjustment
Note!
Resolver / absolute value encoder with Hiperface® interface
ƒ If the rotor zero phase is not known, the rotor position only has to be
adjusted once during commissioning.
ƒ For multi−turn absolute value encoders, the traversing range must be within
the display range of the encoder (0 ... 4095 revolutions) if the traversing
range is limited.
TTL incremental encoder / sin/cos encoder with zero track
ƒ If these encoder types are used for the operation of synchronous motors, the
rotor position must be adjusted every time the low−voltage supply is
switched on.
The rotor position must be adjusted if:
ƒ A servo motor from another manufacturer is operated on the controller.
ƒ Another encoder has been mounted subsequently.
ƒ A defective encoder has been replaced.
The rotor position can only be adjusted if:
ƒ The resolver is polarised correctly.
ƒ The current controller has been adjusted.
The GDC contains the parameters or codes to be set on the parameter menu under
Motor/Feedb. Rotor position adjustment:
Setting sequence
1. Inhibit controller. ( 120)
– Press <F9> key in GDC.
– Green LED is blinking, red LED is off
2. Unload motor mechanically.
– Disconnect motor from gearbox or machine.
– Where required, remove toothed lock washers, gear wheels, etc. from the motor

6 Commissioning
shaft.
– Where required, support holding torques held by a mounted motor brake by
means of retainers.
3. Deactivate "Safe torque off" (
69) so that the motor can be energised during rotor
position adjustment.
– X6/SI1 = HIGH
– X6/SI2 = HIGH
4. Open holding brake (if available).
5. Activate rotor position adjustment with C0095 = 1.
6. Enable controller. ( 120)
The rotor position adjustment program of the controller is started:
– The rotor rotates half a revolution in 16 steps (for resolver with 1 pole pair:
180° electrically ¢ 180° mechanically).
– After one revolution, C0095 is reset to "0".
– The rotor zero phase is stored under C0058. (For absolute value encoders
(Hiperface®, single−turn/multi−turn) at X8, C0058 is always "0".)
Danger!
Uncontrolled drive movements after an Sd7 fault with absolute value
encoders
If absolute value encoders are used and the rotor position adjustment is
completed with the fault message "Sd7" (
222), the rotor position could not
be assigned to the feedback system. In this case, the drive may carry out
uncontrolled movements after controller enable.
ƒ Repeat rotor position adjustment (starting with step 1).
ƒ Check wiring and interference immunity of the encoder at X8.
7. Inhibit controller. ( 120)

– Green LED is blinking, red LED is off
8. Save the data determined by the controller with C0003 = 1.
Tip!
The values for C0058 and C0095 are only displayed in GDC if you place the bar
cursor on them and read back the code using function key <F6>.

Commissioning 6

{Appl.}
−180.0 {0.1 _} 179.9
motor
displacement angle.
0 Inactive
1 Active

6 Commissioning
Optimising the drive behaviour after start
Speed controller adjustment
6.13 Optimising the drive behaviour after start
For applications with high current controller dynamics, the pilot control for the current
controller can be adjusted under C0074:
{Appl.}
C0074 Dynamics 0 Pilot control of the current 125
controller for higher dynamics
0 Normal
1 Enhanced
6.13.1 Speed controller adjustment
ƒ The speed controller can only be set correctly when the system constellation has
been completed.
ƒ Please note that the input and output variables of the speed controller are scaled:
– Input: scaling to nmax (C0011)
– Output: scaling to Imax (C0022)
ƒ Hence, C0011 and C0022 have a direct impact on the proportional gain of the speed
controller (C0070).
ƒ The speed controller can only be optimally adjusted if
– the current controller is set correctly.
– the time constant for the actual speed value filter is not set too high (C0497).
– the axis module is appropriately connected to PE so that no noisy speed and
current signals occur.
– there are as few as possible elastic or loose connections between drive and load.
ƒ The speed controller is designed as an ideal PID controller.
In GDC, you can find the codes for adjusting the speed controller in the parameter menu
under Controller settings Speed/position.

Commissioning 6
Parameter setting
ƒ Via C0070 you set the proportional gain (Vpn):
– Enter approx. 50 % of the speed setpoint (100 % = 16384 = nmax).
– Increase C0070 until the drive becomes instable (pay attention to engine noises).
– Reduce C0070, until the drive runs stable again.
– Reduce C0070 to approx. half the value.
{Appl.}
C0070 Vp speedCTRL 3.0 Proportional gain of speed 130
controller (Vpn)
0.00 { 0.01} 127.99
ƒ The reset time (Tnn) is set via C0071:

– Reduce C0071 until the drive becomes instable (pay attention to engine noises).
– Increase C0071, until the drive runs stable again.
– Increase C0071 to approx. the double value.
{Appl.}
C0071 Tn speedCTRL 24.0 Reset time − speed controller 130
(Tnn)
1.0 {0.5 ms} 6000.0
ƒ The derivative gain (Tdn) is set via C0072:

– Increase C0072 during operation until an optimal control mode is reached.
{Appl.}
C0072 Td speedCTRL 0.0 Derivative gain of speed 130
controller (Tdn)
0.0 {0.1 ms} 32.0
ƒ The proportional gain (Vpn) can be altered by the PLC program via
MCTRL_nNAdapt_a):
– Vpn = MCTRL_nNAdapt_a [%] × C0070
– Default: MCTRL_nNAdapt_a = 100 % ð Vpn = 100 % × C0070 = C0070
Signal edge
If the drive operates with the maximum torque, the speed controller operates within the
limitation.
ƒ The drive cannot follow the speed setpoint.
ƒ MCTRL_bMMax_bis set to TRUE.

6 Commissioning
Setting integral action component

For selecting defined starting values for the torque, the integral component of the speed
controller can be set externally (e.g. when using the brake control).
ƒ MCTRL_bILoad_b = TRUE
– The speed controller accepts the value defined at MCTRL_nISet_a to its integral
action component.
– The value at MCTRL_nISet_a acts as a torque setpoint for the motor control.
ƒ MCTRL_bILoad_b = FALSE
– The function is switched off.

Commissioning 6
Adjustment of field controller and field weakening controller
6.13.2 Adjustment of field controller and field weakening controller
Stop!
ƒ Field weakening operation is only possible with asynchronous motors.
ƒ The field weakening reduces the available torque.
To optimise the machine operation during field weakening, you can set the field controller
and the field weakening controller accordingly.
ƒ Field weakening occurs if the maximum output voltage of the controller is reached
with rising speed and cannot be increased further.
ƒ The maximum possible output voltage depends on
– the DC−bus voltage (mains voltage).
– the voltage reduction through the controller.
– the voltage drop at the mains choke.
ƒ Practical values for the voltage drop under the influence of mains choke and inverter
are between 6 ... 10 %.
Max.outputvoltage[V] + mainsvoltage[V] * voltagedrop[%]
In GDC, you can find the codes for adjusting the field controller/field weakening controller
in the parameter menu under Controller settings Field controller/field weakening
controller:
Fig. 6−13 GDC view: Field controller / field weakening controller adjustment

6 Commissioning
6.13.2.1 Adjusting the field controller

The field controller settings depend on the motor data.
Setting sequence
1. Stop the PLC program: C2108 = 2
– As of operating system version 7.0 (see nameplate), this is no longer necessary,
because C0006 (see 2.) can also be written when the PLC program is running!
2. Set motor control for asynchronous motors: C0006 = 2
– The motor nameplate data must be entered correctly!
3. Read rotor time constant Tr (C0083).
4. Read magnetising current Id (C0092).
5. Calculate field controller gain VpF and enter in C0077.
T r(C0083) @ I d(C0092)
V pF +
875ms @ I max
Imax Maximum current of axis module
6. Enter rotor time constant Tr as field controller integral−action time TnF in C0078.

Commissioning 6
6.13.2.2 Field weakening controller adjustment

ƒ The field weakening controller determines the speed performance of the
asynchronous motor in the field weakening range.
ƒ The field weakening controller can only be set correctly when the system
constellation has been completed and is under load.
Note!
An excessive value of Imax (C0022) can cause a malfunction of the drive in the
field weakening range of the asynchronous motor. For this reason, the current
is limited in terms of speed in the field weakening range. The limitation has a
1/n characteristic and is derived from the motor parameters.
The limitation can be adjusted with the stator leakage inductance (C0085):
ƒ Low values cause a limitation at higher speeds.
ƒ Higher values cause a limitation at lower speeds.
Setting sequence:
1. Set gain Vp: C0577 = 0.01 ... 0.99
– Vp must not be "0"!
2. Set integral−action time Tn: C0578 = 1 ... 40 ms
3. Select a speed setpoint so that the motor is operated in the field weakening range.
4. Observe the speed curve
– If the speed takes an irregular course, the field weakening controller must be
readjusted.
– The field weakening controller must be provided with a distinct integral action.

6 Commissioning
Resolver adjustment
6.13.3 Resolver adjustment
For resolver adjustment, mainly component tolerances of the resolver evaluation are
compensated in the device. A resolver error characteristic is not included.
The resolver adjustment
ƒ is required if the speed characteristic is unstable.
ƒ is carried out by C0417 = 1 while the motor is idling.
ƒ is started after controller enable has been effected. It stops automatically after
16 shaft revolutions by selecting a setpoint or by manual rotation in the inhibited
state (X6/SI1 or X6/SI2 = LOW).
If it is not possible to adjust the resolver (due to a fault or a defective cable), the original
adjustment values can be restored with C0417 = 2.
The GDC contains the parameters or codes to be set in the parameter menu under
Motor/Feedb. Feedback:

Parameter setting 7
General information
7 Parameter setting
7.1 General information
ƒ Controllers and power supply modules can be adapted to your application by setting
the parameters. A detailed description of the functions can be found in the chapter
"Commissioning" (
92).
ƒ The parameters for the functions are stored in numbered codes:
– The codes are marked in the text with a "C".
– The code list in the appendix (
359) provides a quick overview of all codes. The
codes are sorted in numerical ascending order, thus serving as a "reference book".
Parameter setting with keypad XT or PC/laptop

Detailed information on parameter setting with the keypad XT can be found in the
following chapters.
Detailed information ...

on parameter setting with a PC/laptop can be found in the documentation on
the parameter setting and operating program "Global Drive Control" (GDC).
In addition to parameter setting, the keypad XT or the PC/laptop can be used to:
ƒ Control the controller (e. g. inhibiting or enabling)
ƒ Select the setpoints
ƒ Display operating data
ƒ Transfer of parameter sets to other controllers (only with PC/laptop).
Parameter setting with a bus system
Detailed information ...

on parameter setting with a bus system can be found in the documentation on
the communication module to be used (
429).

7 Parameter setting
Parameter setting with "Global Drive Control" (GDC)
7.2 Parameter setting with "Global Drive Control" (GDC)
With the "Global Drive Control" (GDC) parameterisation and operating program, Lenze
provides a plain, concise and compatible tool for the configuration of your
application−specific drive task with the PC or laptop:
ƒ The GDC input assistant offers a comfortable motor selection.
ƒ The menu structure supports the commissioning process by its clear structuring.
0 1
2 L
X14
4
3
ECSXA453
Fig. 7−1 Using the GDC

Lenze parameter program "Global Drive Control" (GDC)
PC or laptop
PC system bus adapter (EMF2173IB/EMF2177IB) with connecting cable
Sub−D plug with 3−pole cable
3−pole plug (CAG ˘ CAL ˘ CAH) from ECSZA000X0B connector set
ECSxS/P/M/A axis module
More detailed information ...

is given in the documentation on the parameter setting and operating
program Global Drive Control (GDC).

Parameter setting 7
Parameter setting with the XT EMZ9371BC keypad
Connecting the keypad
7.3 Parameter setting with the XT EMZ9371BC keypad
The keypad is available as accessories.

A complete description is given in the documentation on the keypad.
7.3.1 Connecting the keypad
Lx
xx
W
2Z
A
E8
B 00
b 50
c 00 0_Hz
Mene
u
d p
Coda
.0
Par
dcbBA
SHP
RG
50 T
U SHPRG p Menu
NO 0050 00
UV
Code
L-
Para
TR 50.00_Hz
ST
MC
MCTRL-NOUT
zZ
S T
U V
Yy z
Y Z
y
EMZ9371BC
dcbBA
SHPRG p
Code
Para
Menu
0050 00
GLOBAL DRIVE
E82ZBBXC
Init
S T
U V
z
Y Z
y
d
0050 00 0 BA
dcb
50.00 Hz
20 %
1
S T
U V
z
Y Z
y 2 3
d
0050 00
50.00 Hz
20 %
S T
U V
z
Y Z
y
9371BC018
Connect the keypad to the AIF interface (X1) of the axis module/power supply module.
It is possible to connect/disconnect the keypad during operation.
As soon as the keypad is supplied with voltage, it carries out a short self−test.
The operation level indicates when the keypad is ready for operation:
Current status of the axis module/power supply module
Code number, subcode number, and current value
Active fault message or additional status message
Current value in % of the status display defined under C0004
must be pressed to leave the operation level.

7 Parameter setting
Description of the display elements
7.3.2 Description of the display elements
0 4
1 dcbBA 5
6
SHPRG p Menu
Code
Para
0050 00
2 50.00_Hz
3 MCTRL-NOUT 7
S T
U V
z 8
Y Z
y
9371BC002
Fig. 7−2 Keypad front view
Status displays
Display Meaning Explanation
Ready for operation
Pulse inhibit active Power outputs inhibited
! Adjusted current limitation is exceeded in
motor mode or generator mode
" Speed controller 1 within its limitation l Drive is torque−controlled
l Only active for operation with Lenze
devices of the 9300 series!
# Active fault
Parameter acceptance
$ Parameter is accepted immediately The device immediately operates with the
new parameter value.
SHPRG $ The parameter must be confirmed with % The device operates with the new
parameter value after being confirmed.
SHPRG When the controller is inhibited, the The device operates with the new
parameter must be confirmed with % parameter value after the controller has
been released again.
None Display parameters Cannot be changed.
Active level
Menu Active menu level l Selection of main menu and submenus
l No menu for ECSxE power supply
module
Code Active code level Selection of codes and subcodes
Para Active parameter level Change of parameters in the codes or
subcodes
None Active operating level Display of operating parameters
Short text
Alphanumerical Contents of the menus, meaning of the codes
and parameters
Display of C0004 in % and the active fault in
the operating level

Parameter setting 7
Description of the function keys
Number
Active level Meaning Explanation
Menu level Menu number l Display is only active when operating
Lenze devices of the 8200 vector or
8200 motec series.
module
Code level Four−digit code number
Number
Active level Meaning Explanation
Menu level Submenu number l Display is only active when operating
Lenze devices of the 8200 vector or
8200 motec series.
module
Code level Two−digit subcode number
& Parameter value
Parameter value with unit
' Cursor
The figure over the cursor can be changed directly in the parameter level.
( Function keys
For description see the following table.
7.3.3 Description of the function keys
Note!
Key combinations with %:
Press % and keep it pressed, then press second key in addition.
Key Function
Menu level 1) Code level Parameter level Operating level
Change to parameter Change to operating
Change to code level
level level
Load predefined Accept parameters
% configurations in the when SHPRG $ or
menu "Short setup" 2) SHPRG is displayed
) Change between menu Change figure over
Change code number
* items cursor
%) Quick change between Quick change of code Quick change of figure
%* menu items number over cursor
+ Change between main menu, submenus and Cursor to the right
, code level Cursor to the left
- Cancel function of . key, the LED in the key goes out.
. Inhibit the controller, LED in the key lights up.
Reset fault (TRIP reset): 1. Remove cause of malfunction
2. Press .
3. Press -
1) No menu for ECSxE power supply module
2) Only active when operating Lenze devices of the 8200 vector or 8200 motec series.

7 Parameter setting
Changing and saving parameters
7.3.4 Changing and saving parameters
All parameters for the axis module/power supply module parameterisation or monitoring
are stored in codes. The codes are numbered and marked with a "C" in the documentation.
Some codes store the parameters in numbered "subcodes" to provide a clear structure for
parameter setting (e.g. C0517 user menu).
Stop!
Your settings have an effect on the current parameters in the main memory.
You must store your settings as a parameter set to prevent that they will get
lost when switching the mains!
Step Keys Action

1. Select menu )*+, Select the desired menu with arrow keys.
2. Change to code level + Display of first code in the menu
3. Select code or subcode *) Display of the current parameter value
4. Change to parameter level
5. If SHPRG is displayed, inhibit . The drive is coasting.
controller
6. Change parameter
A +, Move cursor under the digit to be changed
B *) Change digit
%* Change digit quickly
%)
7. Accept changed parameter
Display SHPRG or SHPRG $ % Confirm change to accept parameter
Display "OK"
Display $ − The parameter was accepted immediately.
8. If necessary, enable controller - The drive should be running again.
9. Change to code level
A Display of operating level
B Display of the code with changed parameters
10. Change further parameters Restart the "loop" at step 1. or step 3.
11. Save changed parameters
A )*+, Select Code C0003 "PAR SAVE" in the menu
"Load/Store"
B Change to parameter level
Display "0" and "Ready"
Select parameter set in which the C + Save as parameter set 1:
parameters are to be saved ð set "1" "Save PS1"
permanently
D % When "OK" is displayed, the settings are permanently
saved.
12. Change to code level
A Display of operating level
B Display C0003 "PAR SAVE"

Parameter setting 7
Menu structure
7.3.5 Menu structure
For easy operation, the codes are clearly arranged in function−related menus:
Main menu Submenu Description
Display Display
User menu Codes defined under C0517
Code list All available codes
User code list List of application−specific codes
Load / Store Parameter set management

Parameter set transfer, restore delivery state
Multitasking
Diagnostic Diagnostics
Actual info Display codes for drive monitoring
History Fault analysis with history buffer
SystemBlocks Configuration of the main function blocks
MCTRL Motor control
DCTRL Internal control
Terminal I/O Assigning inputs and outputs to internal signals
AIN1 Analog input 1
DIGIN Digital inputs
DIGOUT Digital outputs
DFIN Digital frequency input
DFOUT Digital frequency output
Controller Configuration of internal control parameters
Speed Speed controller
Current Current controller or torque controller
Phase Phase controller
Field Field controller
Field weak Field weakening controller
Motor/Feedb. Motor data input, configuration of speed feedback
Motor adj Motor data
Feedback Configuration of feedback systems
Monitoring Configuration of monitoring functions
LECOM/AIF Configuration of operation with communication modules

LECOM A/B Serial interface
AIF interface Process data
Status word Display of status words

7 Parameter setting
Menu structure
Main menu Submenu Description

Display Display
System bus 1) System bus/MotionBus (CAN) configuration
Management CAN communication parameters
CAN−IN1
CAN object 1
CAN−OUT1
CAN−IN2
CAN object 2
CAN−OUT2
CAN−IN3
CAN object 3
CAN−OUT3
Status word Display of status words
Sync.manag.
Diagnostics CAN diagnostics
FCODE Configuration of free codes
Identify Identification
Drive Software version of basic device
Op Keypad Software version of XT keypad
1) For ECSxS/P/M... modules, the MotionBus (CAN) configuration is made on the "System bus" menu level!

AIF interface (X1) configuration 8
CAN baud rate
8 AIF interface (X1) configuration
With a corresponding fieldbus module (e.g. 2175) the AIF interface X1 of the ECSxA... axis
module can be used as an additional system bus interface.
Note!
If the fieldbus module plugged on the AIF interface X1 and the integrated
system bus interface are connected to the same system bus network, ensure
that different CAN addresses and different identifiers are set for the
interfaces!
Tip!
Changes of the CAN baud rate, the CAN addresses and the identifiers for PDOs
are only accepted after a reset node.
A reset node can be executed by
ƒ New mains connection
ƒ Reset−node command by NMT command.
ƒ Reset−node command via the SB AIF_IO_Management (
231)
8.1 CAN baud rate
In order that communication can be established via the system bus, all nodes must use the
same baud rate for the data transmission.
ƒ The baud rate is configured via code C2351:
No. Name Lenze/ Selection
appl.
C2351 XCAN baud 0 Baud rate XCAN
rate l Modifications are only valid
after reset node!
0 500 kbit/s
1 250 kbit/sec
2 125 kbit/s
3 50 kbit/s
4 1000 kbit/s

CAN boot up (AIF)
8.2 CAN boot up (AIF)
If the system bus initialisation and the related state change from Pre−Operational to
Operationalis not executed by a higher−level master system, a controller can be intended
for a "quasi" master to execute this task.
ƒ The configuration is done via code C2352:
appl.
C2352 XCAN mst 0 Establish XCAN master
operation.
0 Slave
1 Master
Delay time for system bus initialisation (boot up)

Some nodes (e.g. HMIs) need a certain starting time after mains power−up until they can
be put into the Operational state by the master via NMT commands.
In order to ensure that the node with the largest starting time is ready to receive NMT
commands, you can set a delay time. After this time has expired, the NMT commands can
only be sent after mains power−up.
ƒ This delay time is configured via code C2356/1:
appl.
C2356 Time settings for XCAN
1 XCAN times 0 0 {1 ms} 65000 XCAN boot−up time:
Delay time after mains
connection for initialisation
through the master.
2 XCAN times 0 XCAN1...3_OUT cycle times:
Factor to task time for process
3 XCAN times 0 data object transmission.
0 = event−controlled
4 XCAN times 0
transmission
5 XCAN times 0 XCAN delay time:
When the Operational NMT
status is reached (after
Pre−operational), the ˜CANdelay˜
delay time is started. After the
delay time, the PDOs
XCAN2_OUT and XCAN3_OUT
are sent for the first time.

Node address (Node ID)
8.3 Node address (Node ID)
Assign each node within the system bus network to a node address ˘ also called node ID
˘ for a clear identification in the range 1 to 63.
ƒ A node address may not be assigned more than once within a network.
ƒ The node address for the AIF interface X1 of the ECSxA axis module is configured via
code C2350:
appl.
C2350 XCAN address 1 XCAN node address
XCAN = system bus (CAN) at AIF
1 {1} 63
Assignment of the node address for the data exchange between Lenze devices
If Lenze devices are assigned with node addresses in a complete ascending order, the
identifiers of the event−controlled data objects (XCAN2_IO/XCAN3_IO) are factory−set so
that the devices are able to communicate with each other:
L L L
XCAN2_OUT XCAN2_IN XCAN2_OUT XCAN2_IN
XCAN3_OUT XCAN3_IN XCAN3_OUT XCAN3_IN
Node-ID 1 Node-ID 2 Node-ID 3
Fig. 8−1 Data exchange between Lenze devices

Identifiers of the process data objects
Individual identifier assignment
8.4 Identifiers of the process data objects
The identifiers for the process data objects XCAN1_IO ... XCAN3_IO consist of the basic
identifiers and the node address set in C2350:
Identifier = basic identifier + node address
Object Basic identifier
dec hex
PDO1 XCAN1_IO (cyclic process data)
(Process data channel 1)
XCAN1_IN 512 200
XCAN1_OUT 384 180
PDO2 XCAN2_IO (event/time−controlled process data)
XCAN2_IN 640 280
XCAN2_OUT 641 281
PDO3 XCAN3_IO (event/time−controlled process data)
XCAN3_IN 768 300
XCAN3_OUT 769 301
8.4.1 Individual identifier assignment
In case of larger system bus networks with many nodes it may be sensible to set individual
identifiers for the process data objects XCAN1_IO ... XCAN3_IO via C2353/C2354 which
are independent of the node address set in C2350:
1. Set C2353/x to "1".
– (x = Subcode of the corresponding process data object):
appl.
C2353 Source for system bus node
addresses of
XCAN_IN/XCAN_OUT
1 XCAN addr sel 0 CAN node address (C2350) XCAN1_IN/XCAN1_OUT address
0 C2350 (auto) Automatically determined by
C2350
1 C2354 (man.) Determined by C2354

Identifiers of the process data objects
Display of the identifier set
2. Set in C2354/x the value which results in the desired identifier when added to
"384".
– (x = Subcode of the corresponding process data object):
appl.
C2354 XCAN: altern. node addresses for
XCAN_IN/XCAN_OUT
1 XCAN addr. 129 1 {1} 512 XCAN1_IN address 2
2 XCAN addr. 1 XCAN1_OUT address 2
3 XCAN addr. 257 XCAN2_IN address 2
ƒ Ensure that the identifier of the telegram to be sent must correspond to the
identifier of the process data object to be addressed.
ƒ In case the addresses are assigned individually, the identifier for the process data
objects is made up as follows:
Identifier = 384 + value of C0354/x
ƒ Thus, identifiers can be assigned for the process data objects within the range
385 ... 896.
8.4.2 Display of the identifier set
The identifier which is set for the process data objects can be displayed via C2355.
ƒ C2355 is a display code. Settings via C2355 are not possible.
appl.
C2355 Identifier for
XCAN_IN/XCAN_OUT
Read only
1 XCAN Id 1 {1} 2047 Identifier XCAN1_IN
2 XCAN Id Identifier XCAN1_OUT
3 XCAN Id Identifier XCAN2_IN

Cycle time (XCAN1_OUT ... XCAN3_OUT)
8.5 Cycle time (XCAN1_OUT ... XCAN3_OUT)
The transfer of the output data of XCAN1_OUT ... XCAN3_OUT can be event or
time−controlled.
ƒ The transmission mode can be configured via code C2356/x:
appl.
through the master.
4 XCAN times 0
transmission
Event−controlled transmission
C2356/x = 0
ƒ The output data is always transferred when one value in the eight bytes of user data
has changed (Lenze default setting).
Time−controlled transmission
C2356/x = 1 ... 65000
ƒ The output data is transferred with the cycle time set in C2356/x (referred to the
task cycle time).
Example:
ƒ The CAN object is used in a 10 ms task.
ƒ Factor set via C0356/2 = 5
ðThe CAN object is sent in every fifth task cycle, hence every 50 ms (10 ms x 5).
Code for activating the transmission of event−controlled PDOs

appl.
C2364 0 Event−controlled PDO
transmission
0 Send PDOs when changing to
Operational mode
1 Do not send PDOs

Cycle time (XCAN1_OUT ... XCAN3_OUT)
Code for enabling the second parameter channel and the PDO channels
appl.
C2365 Enabling the second parameter
channel and the PDO channels
1 0 0 {1} 3 Enabling the second parameter
channel
2 1 Enabling the first parameter
channel
3 1 Enabling the second process data
channel
4 1 Enabling the third process data
channel
0 Deactivated
1 Activated
2 Reception activated
3 Transmission activated

Synchronisation
XCAN sync response
8.6 Synchronisation
8.6.1 XCAN sync response
The response to the receipt of a sync telegram can be configured via C2375:
appl.
C2375 TX mode for XCANx_OUT
1 XCAN Tx 0 Response to sync XCAN1_OUT
mode
mode
mode
0 Response to sync
1 No response to sync
2 Event
3 Event, cycle C2356 superimposed
8.6.2 XCAN sync identifier
The transmission or receipt identifiers of the the sync telegram can be configured via
C2367/C2368:
appl.
C2367 Sync Rx Id 128 XCAN receive identifier of the
sync telegram
1 {1} 2047
C2368 Sync Tx Id 128 XCAN send identifier of the sync
telegram
1 {1} 2047

Reset node
XCAN Sync Tx transmission cycle
8.6.3 XCAN Sync Tx transmission cycle
The cycle time required for transmitting a sync telegram with the identifier set in C2368
can be configured via C2356/5:
appl.
through the master.
4 XCAN times 0
transmission
8.7 Reset node
Changes of the CAN baud rate, the node addresses and the identifiers are only accepted
after a node has been reset.
A reset node can be executed by
ƒ New mains connection
ƒ Reset−node command via the bus system (by the network management (NMT))

Monitoring
Time monitoring for XCAN1_IN ... XCAN3_IN
8.8 Monitoring
8.8.1 Time monitoring for XCAN1_IN ... XCAN3_IN
For the inputs of the process data objects XCAN1_IN ... XCAN3_IN a time monitoring can
be configured via C2357:
appl.
C2357 Monitoring time for XCAN
process data input objects
1 CE monit time 3000 1 {1 ms} 65000 XCAN1_IN monitoring time
2 CE monit time 3000 XCAN2_IN monitoring time
4 CE monit time 3000 Bus off
5 CE monit time 3000 AIF monitoring time (can only be
set if C2357/6 = 0)
6 CE monit time 0 Sync monitoring time (can only
be set if C2357/5 = 0)
The response, if no telegram has been received within the defined monitoring time, can be
configured via the code C2382/x:
appl.
C2382 Configuration of monitoring
XCAN
(no telegrams received)
1 XCAN Conf. CE 0 Off XCAN1_IN
4 XCAN Conf. CE 0 Off Bus off
5 XCAN Conf. CE 0 Off Life guarding event
6 XCAN Conf. CE 0 Off Response to sync reception
0 Off
1 Controller inhibit (CINH)
2 Quick stop (QSP)

Monitoring
Bus off
8.8.2 Bus off
If the ECSxA... axis module has been decoupled from the system bus due to too many faulty
received telegrams, the signal "BusOffState" (CE14) is set.
The response to this can be configured via C2382/4
appl.
XCAN
4 XCAN Conf. CE 0 Off Bus off
0 Off
2 Quick stop (QSP)
Tip!
Possible causes of faulty received telegrams may be:
ƒ Missing bus termination
ƒ Insufficient shielding
ƒ Potential differences in the grounding of the control electronics
ƒ Bus load is too high. See chapter 9.13.3, "Bus load by the ECSxA.. axis
module" (
180).
Codes for heartbeat

appl.
C2369 0 Consumer heartbeat COB−ID
0 {1} 255
C2370
1 0 0 {1 ms} 65535 Consumer heartbeat time
2 0 0 {1 ms} 65535 Producer heartbeat time

Monitoring
Codes for emergency

appl.
C2371 128 Emergency objectCOB−ID
0 {1} 2047
C2372 0 Emergency objectCOB−ID
0 {1} 65535 Inhibit time emergency
Code extension for setting a monitoring response

appl.
C2382 Configuration of XCAN
monitoring
0 Off
2 Quick stop (QSP)

Diagnostics
Operating status of CAN interface
8.9 Diagnostics
The following codes can be used for diagnostic purposes:

code Information displayed Description
C2121 Operating status of system bus (AIF interface X1) Chapter 8.9.1 157
ƒ Settings via these codes are not possible.
8.9.1 Operating status of CAN interface
The operating status of the automation interface can be displayed via C2121:
appl.
C2121 AIF:State AIF−CAN: Status
l For detailed information: see
description of the
corresponding fieldbus
module.
Read only
1 {1} 255 Binary interpretation reflects bit
states
Bit 0 XCAN1_IN monitoring time
Bit1 XCAN2_IN monitoring time
Bit3 XCAN bus off
Bit4 XCAN operational
Bit5 XCAN pre−operational
Bit6 XCAN warning
Bit 7 Internally assigned

Diagnostics
Operating status of CAN interface
C2121 Operating state Description

Bit4 = 1 Operational The system bus is fully operational. The ECSxA... axis module can transmit
and receive parameter and process data.
Bit5 = 1 Pre−operational The ECSxA... axis module can transmit and receive parameter data.
Process data, however, are ignored.
The Pre−Operational status can be changed to Operational status by:
l CAN master
l Reset node
– Via C0358 if the ECSxA... axis module has been configured as "quasi
master". 167
– via the binary input signal "Reset node" at the SB CAN_Management
253
l the "Pre−operational to Operational" NMT
Bit6 = 1 Warning The ECSxA... axis module has received faulty telegrams and participates
only passively in the system bus, i.e. the axis module no longer transmits
any data.
Possible causes:
l Missing bus termination
l Insufficient shielding
l Potential differences in the grounding of the control electronics
l Excessive bus load
l The ECSxA... axis module is not connected to the system bus.
Bit3 = 1 Bus off The ECSxA... axis module has been decoupled from the system bus due to
too many faulty telegrams received.
l The response to this status can be configured via C2382/4. 155

System bus (CAN / CAN−AUX) configuration 9
Setting the CAN node address and baud rate
9 System bus (CAN / CAN−AUX) configuration
The codes for the system bus (CAN / CAN−AUX) configuration can be found in the GDC
parameter menu under System bus. They are divided into separate code ranges:
Interface Code range
X4 System bus (CAN) C03xx
X14 System bus (CAN−AUX) C24xx
9.1 Setting the CAN node address and baud rate
System bus (CAN) interface X4

The CAN node address and baud rate for the system bus (CAN) can be set via DIP switch (S1)
or under C0350/C0351.
ƒ If one of the (address) switches 2 ... 7 of the DIP switch is switched on (ON) and the
low−voltage supply is connected, the setting of the DIP switch is evaluated and
entered into C0350 (CAN node address) and C0351 (baud rate).
ƒ If (address) switches 2 ... 7 are switched off (OFF), the switch position is not
evaluated. In this case, the CAN node address and the baud rate are taken from
C0350 and C0351.
System bus (CAN−AUX) interface X14

The CAN node address and baud rate for the system bus (CAN−AUX) can only be set under
C2450/C2451.
If DIP switch 1 is switched on, the setting of DIP switches 2..7 will be evaluated when the
low−voltage supply is switched on and entered under C2450 (CAN node address). The
switch position for the baud rate is not taken over under CAN−AUX C2451 (CAN baud rate).

Addressing of parameter and process data objects
9.2 Addressing of parameter and process data objects
The CAN bus system is based on a message−oriented data exchange between a transmitter
and many receivers. Thus, all nodes can transmit and receive messages at the same time.
The identifier in the CAN telegram ˘ also called COB−ID (Communication Object Identifier)
controls which node is to receive a transmitted message. With the exception of the
network management (NMT) and the sync telegram (Sync) the identifier contains the
node address of the drive besides the basic identifier:
Identifier (COB−ID) = basic identifier + adjustable node address (node ID)
The basic identifier is preset with the following values:
Direction Basic identifier
Object to the from the dec hex
ECS module ECS module
NMT 0 0
Sync 128 80
XCAN1_IN
RPDO1 CAN1_IN X 512 200
PDO1 CANaux1_IN
(Process data channel 1) XCAN1_OUT
TPDO1 CAN1_OUT X 384 180
CANaux1_OUT
XCAN2_IN
PDO2 CANaux2_IN
CANaux2_OUT
XCAN3_IN
PDO3 CANaux3_IN
CANaux3_OUT
SDO1 X 1536 600

(Parameter data channel 1) X 1408 580
SDO2 X 1600 640
(Parameter data channel 2) X 1472 5C0
Node guarding X 1792 700

Settings via DIP switch
Assignment of the node address for the data exchange between Lenze devices
If Lenze devices are assigned with node addresses in a complete ascending order, the
identifiers of the event−controlled data objects (CAN2_IO/CAN3_IO) are factory−set so
that the devices are able to communicate with each other.
L L L
CAN2_OUT CAN2_IN CAN2_OUT CAN2_IN
CAN3_OUT CAN3_IN CAN3_OUT CAN3_IN
Node-ID 1 Node-ID 2 Node-ID 3
Fig. 9−1 Data exchange between Lenze devices
Assign each node within the system bus network to a node address ˘ also called node ID
˘ for a clear identification in the range 1 to 63.
ƒ A node address may not be assigned more than once within a network.
9.2.1 Settings via DIP switch
ECS_COB005
Fig. 9−2 DIP switch for node address and baud rate (all switches: OFF)
Note!
ƒ If all DIP switches for the node address (S2 ... S7) are in "OFF" position, the
settings under code C0350 (node address) and C0351 (baud rate) apply.
ƒ If only one DIP switch for the node address (S2 ... S7) is in "ON" position, the
settings of DIP switches S2 ... S10 apply.
ƒ The baud rate must be set identically for all CAN nodes.

Settings via codes
Node address setting

The node address is set with the switches 2 ... 7 of the DIP switch. The switches are
assigned to certain valencies. The sum of the valencies make the node address to be set
(see example).
Switch Valency Example
Switching status Node address
OFF: Node address setting is only valid for CAN
ON
(C0350 is overwritten if one of switches S2 ... S7

1
is in ON position)
2
S1
ON: Node address setting is valid for CAN and
3
CANaux (C0350 and C2450 are overwritten if

4
one of switches S2 ... S7 is in ON position)

5
S2 32 ON
6
32 + 16 + 8 = 56
7
S3 16 ON
8
S4 8 ON
9
S5 4 OFF
10
S6 2 OFF
OFF ON S7 1 OFF
Baud rate setting
Note!
The baud rate must be set identically for all CAN nodes.
Switch Baud rate [kbit/s]
1000 500 250 125 50
ON
1
8 ON OFF OFF OFF OFF

2
3
4
5
6
9 OFF OFF OFF ON ON

7
8
9
10
10 OFF OFF ON OFF ON

OFF ON
9.2.2 Settings via codes
Note!
ƒ If all DIP switches for the node address (S2 ... S7) are in "OFF" position, the
settings under code C0350 (node address) and C0351 (baud rate) apply.
ƒ If only one DIP switch for the node address (S2 ... S7) is in "ON" position, the
settings of DIP switches S2 ... S10 apply.
ƒ The baud rate must be set identically for all CAN nodes.

Settings via codes

{Appl.}
C0350 CAN address 32 Node address for CAN bus 161
interface X4 426
l This code is not active if one
of the switches 2 ... 7 of the
DIP switch is set to "ON".
( 161)
l After the setting, a reset node
is required.
1 {1} 63
C0351 CAN baud rate 0 Baud rate for CAN bus interface 161
X4
0 500 kbit/s l The baud rate must be set
1 250 kbit/s identically for all CAN nodes.
2 125 kbit/s of the switches 2 ... 7 of the
3 50 kbit/s DIP switch is set to "ON".
4 1000 kbit/s is required.
C2450 CANa address 1 Node address for CAN bus 161
interface X14 (CAN−AUX) 426
1 {1} 63 This code is inactive if one of DIP
switches 2 ... 7 and switch 1 are
set to "ON".
C2451 CANa baud 0 Baud rate for CAN bus interface 161
rate X14 (CAN−AUX)
0 500 kBit/s
1 250 kBit/s
2 125 kBit/s
3 50 kBit/s
4 1000 kBit/s
Save changes with C0003 = 1.

The settings are only accepted after carrying out one of the following actions:
ƒ Switching on the low−voltage supply
ƒ Reset node via the bus system (by the network management (NMT))
ƒ Reset node with C0358/2458 = 1 via the XT keypad ( 255)
Note!
If reset node is executed via GDC, communication will be interrupted. You
therefore have to log in again manually or find the devices connected to the
bus once again.

Individual addressing
9.3 Individual addressing
Under C0353/C2453 you can determine whether the identifier (COB−ID) is defined with a
basic identifier ( 426) and the node address under C0350/C2453 or individually by
means of an "ID offset".
The "ID offset" can be selected under C0354/C2454. For all process data input and output
objects, the identifier is calculated as follows:
Identifier (COB−ID) = 384 + ID offset (C0354 or C2454)
Note!
The identifier of the telegram to be sent must correspond to the identifier of
the process data input object to be addressed.

{Appl.}
C0353 Source for node address of
CAN_IN/CAN_OUT (CAN bus
interface X4)
1 CAN addr sel 0 CAN node address (C0350) Address CAN1_IN/OUT
C0350.
1 C0354 (man.) Determined by C0354.
C0354 Alternative node addresses for
interface X4)
1 CAN addr. 129 1 {1} 512 Address 2 CAN1_IN
2 CAN addr. 1 Address 2 CAN1_OUT
3 CAN addr. 257 Address 2 CAN2_IN
addresses of
CANaux_IN/CANaux_OUT (CAN
bus interface X14)
1 CANa addr sel 0 CAN node address (C2450) Address CANaux1_IN/OUT
C2450

Individual addressing

{Appl.}
bus interface X14)
1 CANa addr. 129 1 {1} 512 CANaux1_IN address 2
2 CANa addr. 1 CANaux1_OUT address 2
3 CANa addr. 257 CANaux2_IN address 2

Note!
bus once again.

Display of the resulting identifiers
9.4 Display of the resulting identifiers
C0355/C2455 is the display code for the resulting identifiers:

ƒ General addressing ( 426):
Identifier (COB−ID) = basic identifier + adjustable node address (Node ID)
ƒ Individual addressing ( 164):
Identifier (COB−ID) = 384 + ID offset (C0354 or C2454)
{Appl.}
C0355 Identifier for CAN_IN/CAN_OUT 426
(CAN bus interface X4)
Read only
1 CAN Id 1 {1} 2047 Identifier CAN1_IN
2 CAN Id Identifier CAN1_OUT
3 CAN Id Identifier CAN2_IN
C2455 Identifier for 426
bus interface X14)
Read only
1 CANa Id 1 {1} 2047 Identifier CANaux1_IN
2 CANa Id Identifier CANaux1_OUT
3 CANa Id Identifier CANaux2_IN

Determining the boot−up master for the drive system
9.5 Determining the boot−up master for the drive system
Unless the bus initialisation and the corresponding status change from "Pre−operational"
to "Operational" is carried out by a higher−level host system, the controller can be defined
as master to carry out this task.
The master functionality is only required for the initialisation phase of the drive system.
Under C0356/C2456, you can set a boot−up time for the master for the initialisation phase
(
168).
The NMT telegram start_remote_node (broadcast telegram) serves to set all nodes to the
"Operational" NMT status by the master. A data exchange via the process data objects is
only possible in this status.
Use C0352/C2452 for configuration.
{Appl.}
C0352 CAN mst 0 Master/slave configuration for 167
CAN bus interface X4
0 Slave CAN boot−up is not active
1 Master CAN boot up is active
2 Master with node guarding
3 Slave and heartbeat producer
4 Slave with node guarding
C2452 CANa mst 0 Configuration of master/slave 167
for CAN bus interface X14
(CAN−AUX)
0 Slave
1 Master

Note!
bus once again.

Setting the boot−up time/cycle time
9.6 Setting the boot−up time/cycle time
Boot−up time
Code Meaning
C0356/1 l Delay time (in ms) after mains connection for the initialisation by the master.
C2456/1 – Only valid if C0352/C2452 = 1 (master).
– Normally the Lenze setting (3000 ms) is sufficient.
l In a CAN network without a higher−level host, one node (master) must initialise the CAN
network. The master activates the entire network once at a specific instant and thus starts
the process data transfer.
– Status changes from "pre−operational" to operational".
Cycle time for process output data

Code Meaning
C0356/2 Cycle time (in ms) for CAN2_OUT/CANaux2_OUT in cyclic operation (without sync)
C2456/2 l Setting "0" = event−controlled data transmission
(The output data will only be sent if a value changes in the output object.
C0356/3 Cycle time (in ms) for CAN3_OUT/CANaux3_OUT in cyclic operation (without sync)
C2456/3 l Setting "0" = event−controlled data transmission
(The output data will only be sent if a value changes in the output object.
Activation delay for process output data

Code Meaning
C0356/4 Delay time (in ms) for process data transmission via CAN2_OUT/CANaux2_OUT or
C2456/4 CAN3_OUT/CANaux3_OUT
l When the "Operational" NMT status is reached (after "Pre−operational"), the delay time is
started. After the delay time, the PDOs CAN2_OUT/CANaux2_OUT and
CAN3_OUT/CANaux3_OUT are sent for the first time.

Node guarding
9.7 Node guarding
With cyclic node monitoring (Node Guarding), the CAN master regularly queries the states
of the slaves being monitored.
ƒ The master starts the node guarding by sending the node guarding telegram.
ƒ If the slave does not receive a node guarding telegram within the monitoring time
(Node Life Time), the "Life Guarding Event" is activated (fault message "Err
NodeGuard").
Settings
In order that the power supply module takes over the function of the
"Node Guarding Slave", make the following settings:
1. Set C0352 = 2.
(The power supply module is configured as "Node Guarding Slave".)
2. Set the time interval of the status enquiry by the master (Node Guard Time) via
C0382.
3. Set the factor for the monitoring time (Node Life Time Factor) via C0383.
NodeLifeTime + NodeGuardTime(C0382) @ NodeLifeTimeFactor(C0383)
4. Set the response to a "Life Guarding Event" via C0384.

{Appl.}
C0382 GuardTime 0 Node Guarding (slave):
NodeGuardTime
l Time interval of the status
inquiry of the master.
l Only relevant if C0352 = 4.
0 {1 ms} 65535
C0383 LifeTimeFact 0 Node Guarding (slave):
NodeLifeTime factor
l Factor for the monitoring
time of NodeLifeTime
l NodeLifeTime = C0383 x
C0382 (NodeGuardTime)
0 {1} 255

Node guarding

{Appl.}
C0384 Err 3 Node Guarding (slave)
NodeGuard l Response for the occurrence
of a NodeGuard−Event
l Only relevant for setting
C0352 = 4.
0 TRIP
1 Message
2 Warning
3 Off
4 FAIL−QSP

CANSync (CAN bus synchronisation)
CAN sync response
9.8 CANSync (CAN bus synchronisation)
Tip!
The SB CAN_Synchronization is used to synchronise the internal time base of
the ECS axis module with the arrival of the sync telegram.
In this way, the internal computing processes (e.g. control processes) of the
ECS axis module can be synchronised with the computing processes of other
bus nodes which can also process the sync telegram.
For detailed information about the SB CAN_Synchronization, please see page
(
257) in this documentation.
9.8.1 CAN sync response
The response to the reception of a sync telegram can be configured under C0366/C02466:
{Appl.}
C0366 Sync Response 1 CAN sync response for CAN bus 260
interface X4
0 No response
1 Response
C2466 Sync Response 1 CAN−AUX sync response for CAN
bus interface X14
0 No response
1 Response
9.8.2 CAN sync identifiers
The transmit and receive identifiers of the sync telegram can be configured under
C0367/C2467 and C0368/C2468:
{Appl.}
C0367 Sync Rx ID 128 CAN sync receipt ID for CAN bus 259
interface X4
1 {1} 256
C0368 Sync Tx ID 128 Sync transmission ID for CAN bus 412
interface X4 171
1 {1} 256
C2467 Sync Rx ID 128 CAN−AUX sync receipt ID for CAN 259
bus interface X14
1 {1} 256
C2468 Sync Tx ID 128 CAN−AUX Sync−transmission ID 412
for CAN bus interface X14 260
1 {1} 256

CANSync (CAN bus synchronisation)
CAN sync Tx transmission cycle
9.8.3 CAN sync Tx transmission cycle
The cycle time for sending a sync telegram with the identifier set under C0368/C2468 can
be configured under C0369/C2469:
{Appl.}
C0369 SyNc Tx time 0 CAN sync transmission cycle for 258
A sync telegram with the
identifier of C0368 is sent with
the cycle time set.
ECSxP: The setting is effected
automatically depending on
C4062!
0 {1 ms} 65000 0 = switched off
C2469 Sync Tx time 0 CAN−AUX sync transmission cycle 257
the set cycle time.

Reset node
9.9 Reset node
The following changes will only be valid after a reset node:

ƒ Changes of the CAN node addresses and baud rates ( 161)
ƒ Changes of the addresses of process data objects (COB−IDs)
– General addressing ( 426)
– Individual addressing ( 164)
ƒ Change of the master/slave boot up configuration ( 167)
Reset node can be activated by:

ƒ switching on the low−voltage supply
ƒ the bus system (via the network management (NMT))
ƒ C0358/C2458 = 1 using the XTkeypad
ƒ CAN_bResetNode_b or CANaux_bResetNode_b = TRUE
Note!
bus once again.

{Appl.}
C0358 Reset node 0 Execute reset node 255
0 No function
1 CAN reset
C2458 Reset node 0 Resetting a node 255
0 No function
1 CAN−AUX reset

System bus management
9.10 System bus management
The SB CAN_Management/CANaux_Managementis used to

ƒ activate a node reset.
ƒ process "Communication Error" and "Bus Off State" in the PLC program.
ƒ influence the transmission time of CAN2_OUT/CANaux2_OUT and
CAN3_OUT/CANaux3_OUT.
Tip!
Detailed information on the SB CAN_Management can be found in chapter
13.6 (
253).
Detailed information on the SB CANaux_Management can be found in chapter
13.11 (
279).

Mapping of indices to codes
9.11 Mapping of indices to codes
The operating system from V6.0 of the ECSxA axis module contains a special CanDSx driver
which can be activated by means of the functions of the function library
LenzeCanDSxDrv.lib.
By means of this driver, indices of the ECSxA... axis modules and other Lenze PLCs can be
assigned to another code than the one that is assigned automatically.
Note!
ƒ Each Lenze code is firmly assigned to an index via the following formula:
– Index = 5FFFhex − code
– Index = 24575dec − code
ƒ The function of the CanDSx driver is restricted to the system bus (CAN).
Functional principle using the following example
Problem
Users have equipped the ECSxA... axis module with a function which can be parameterised
via the user code C3200/5. The code C3200 is automatically assigned to the index
21375dec.
Index = 24575dec − code = 24575dec − 3200 = 21375dec
Due to the communication profile used, however, this function should be parameterised
via the index 4101dec/subindex 2.
Solution
By means of the functions of the function library LenzeCanDSxDrv.lib the
index 4101dec/subindex 2 in the ECSxA... axis module is simply redirected to code C3200/5
so that the communication profile can be used as usual.

Mapping of indices to codes
Functional principle
The operating system (from V6.0) of the ECSxA... axis module contains a "mapping table".
According to this table up to 256 indices within the ECSxA... can be "mapped" to other
codes than the ones that are automatically assigned.
If a CAN telegram arrives and the index is within the valid range, it is checked if this index
is listed in the mapping table.
ƒ If the index is listed in the mapping table, the codes which are reassigned to this
index in the mapping table are accessed.
ƒ If the index is not listed in the mapping table, the automatically assigned code
which results from the formula mentioned above is accessed.

Index access: 4101/2 Index access: 21475/1
SDO telegram SDO telegram
Index number Index number

valid ? valid ?
yes yes
Mapping table Mapping table

CAN index CAN subindex Lenze code Lenze subcode CAN index CAN subindex Lenze code Lenze subcode
4101 1 3200 4 4101 1 3200 4
4101 2 3200 5 4101 2 3200 5
20000 0 3000 0 20000 0 3000 0
Code access: C3200/5 Lenze code = 24575 - Index = 24575 - 21475 = 3100
Code access = C3100/1
Fig. 9−3 Redirection process of indices to codes

Remote parameterisation (gateway function)
9.12 Remote parameterisation (gateway function)
From operating system V6.x the ECSxA axis module supports the remote parameterisation
of other system bus nodes. All write/read accesses to parameters will not be listed in the
ECSxA... axis module anymore but redirected to the node selected for remote
maintenance.
ƒ The redirection takes place via the parameter data channel SDO1 of the selected
node.
ƒ The node to which the write/read accesses are to be redirected, is determined via
C0370 by setting here the node address of the corresponding node.
ƒ A time−out during remote parameterisation activates the system error message
"CE5". The corresponding response can be configured under C0603 (
192).
{Appl.}
[C0370] SDO Gateway 0 Gateway address
Activating remote parameter
setting
l When selecting a setting ¹0,
all code read/write accesses
will be redirected to the
system bus device with the
corresponding CAN node
address.
l The respective code is
accessed via parameter data
channel 1 of the target device.
0 {1} 63 0 = remote parameterisation
deactivated

Diagnostics codes
Bus status (C0359/C2459)
9.13 Diagnostics codes
By means of the following diagnostic codes you can trace the process via the MotionBus
(CAN) and the system bus (CAN):
ƒ C0359/C2459: Bus state
ƒ C0360/C2460: Telegram counter
ƒ C0361/C2461: Bus load
9.13.1 Bus status (C0359/C2459)
C0359/C2459 indicates the current operating status of the MotionBus/system bus (CAN).
Value of Operating status Description
C0359/C2459
0 Operational The bus system is fully operative.
1 Pre−operational Only parameters (codes) can be transferred via the bus system.
Data exchange from controller to controller is not possible. A
status change to "Operational" is possible via a special signal on
the MotionBus/system bus (CAN).
A status change from "Pre−operational" to "Operational" is
possible through:
l The master functionality of a higher−level host
l If a master has been selected under C0352/C2452, the
operating status will be changed automatically for the entire
drive system after the set boot−up time (C0356/C2456) when
power is switched on.
l Reset node via C0358/C2458 ( 255)
l The binary input signal "Reset node", which can be set
accordingly.
l Reset node via the connected host
2 Warning Faulty telegrams have been received. The controller is passive
(does not send any data). Possible causes:
l Missing bus termination
l Insufficient shielding
l Potential differences in the grounding of the control
electronics
l Bus load is too high
l Controller is not connected to the MotionBus/system bus
(CAN)
3 Bus off Too many faulty telegrams: Controller has disconnected from the
MotionBus/system bus (CAN). Reconnection is possible through:
l TRIP reset
l Reset node ( 255)
l Mains connection

Diagnostics codes
Telegram counter (C0360/2460)
9.13.2 Telegram counter (C0360/2460)
C0360/2460 counts for all parameter data channel the telegrams which are valid for the
controller. The counters have a width of 16 bits. If the value "65535" is exceeded, counting
restarts with "0".
Counted messages:
C0360/C2460 Meaning
Subcode 1 All sent telegrams
Subcode 2 All received telegrams
Subcode 3 Telegrams sent of CAN1_OUT/CANaux1_OUT
l Always "0"; channel is not used!
Subcode 6 Telegrams sent of parameter data channel 1
Subcode 8 Telegrams received of CAN1_IN/CANaux1_IN
Subcode 11 Telegrams received of parameter data channel 1
Subcode 12 Telegrams received of parameter data channel 2

Diagnostics codes
Bus load (C0361/2461)
9.13.3 Bus load (C0361/2461)
Use C0361/C2461 to determine the bus load through the controller and the individual
data channels in percent. Faulty telegrams are not considered.
Bus load of the individual subcodes:
C0361/C2461 Meaning
Subcode 1 All sent telegrams
Subcode 2 All received telegrams
Subcode 8 Telegrams received of CAN1_IN/CANaux1_OUT
Subcode 11 Telegrams received from parameter data channel 1
Subcode 12 Telegrams received from parameter data channel 2
The data transfer is limited. The limits are determined by the number of telegrams
transmitted per time unit and the baud rate.
The limits can be determined during data exchange in a drive network by adding all drives
involved under C0361/1 and C2461/1.
Example:
Drive/host Bus load
C0361/1 − controller 1 23.5 %
C0361/1 − controller 2 12.6 %
Host 16.0 %
52.1 % (total)
Two drives and the host are interconnected via the MotionBus (CAN).
Note!
ƒ Max. bus load of all devices involved: 80 %
ƒ If other devices are connected, as for instance decentralised inputs and
outputs, their telegrams must be taken into consideration.
ƒ If the time between the individual sync telegrams is too short the bus can be
overloaded.
– Remedy: Change the synchronisation cycle of the higher−level control
system and the controller (C1121).

Diagnostics 10
Diagnostics with Global Drive Control (GDC)
10 Diagnostics
10.1 Diagnostics with Global Drive Control (GDC)
In GDC, the codes for drive system diagnostics can be found in the parameter menu under
Diagnostics and the corresponding submenus. Fault history values can be found in the
Faults menu.
Fig. 10−1 GDC view: Diagnostics − Device − current status

10 Diagnostics
Diagnostics with Global Drive Oscilloscope (GDO)
10.2 Diagnostics with Global Drive Oscilloscope (GDO)
The "Global Drive Oscilloscope" (GDO) is included in the scope of supply of the Lenze
parameter setting and operating program "Global Drive Control" (GDC) and the "Drive PLC
Developer Studio" (DDS) and can be used as an additional diagnostic program.
The GDO serves to record e.g. input and output data and device−internal states during
controller operation.
Note!
Detailed information about the functionality and handling of GDO can be
found in the Manual "Global Drive Oscilloscope (GDO), Getting started".

ECSXA480
Fig. 10−2 Global Drive Oscilloscope (GDO)
Menu bar
Symbol bar at the top
Data sets
Symbol bar on the left
Graph display field
Vertical operating elements
Status display
Trigger/cursor operating elements
Horizontal operating elements
Operating elements for recording

Diagnostics 10
Diagnostics with the XT EMZ9371BC keypad
10.3 Diagnostics with the XT EMZ9371BC keypad
In the "Diagnostic" menu the two submenus "Actual info" and "History" contain all codes
for
ƒ monitoring the drive
ƒ fault/error diagnosis
In the operating level, more status messages are displayed. If several status messages are
active, the message with the highest priority is displayed.
Priority Display Meaning
1 GLOBAL DRIVE INIT Initialisation or communication error between
keypad and controller
2 XXX − TRIP Active TRIP (contents of C0168/1)
3 XXX − MESSAGE Active message (contents of C0168/1)
4 Special device states:
Switch−on inhibit
5 Source for controller inhibit (the value of C0004 is displayed simultaneously):
STP1 9300 servo: Terminal X5/28
ECSxS/P/M/A: Terminal X6/SI1
STP3 Operating module or LECOM A/B/LI
STP4 INTERBUS or PROFIBUS−DP
STP5 9300 servo, ECSxA/E: System bus (CAN)
ECSxS/P/M: MotionBus (CAN)
STP6 C0040
6 Source for quick stop (QSP):
QSP−term−Ext The MCTRL−QSP input of the MCTRL function block is on HIGH signal.
QSP−C0135 Operating module or LECOM A/B/LI
QSP−AIF INTERBUS or PROFIBUS−DP
QSP−CAN 9300 servo, ECSxA: System bus (CAN)
7 XXX − WARNING Active warning (contents of C0168/1)
8 xxxx Value below C0004

11 Monitoring functions
Overview of monitoring functions
11.1 Overview of monitoring functions
Responses (
189) of monitoring functions can be parameterised partly via codes ˘ in the
GDC parameter menu ) under Monitoring.

EDBCSXA064 EN 2.0
Monitoring Possible reactions

l Lenze setting
ü Can be set
Fault message Description Source Code TRIP Message Warning Fail−QSP Off
x071 CCR System fault Internal l

x091 EEr External monitoring (activated via DCTRL) FWM C0581 l ü ü ü ü
x191 HSF Internal error Internal l
Voltage supply
1020 OU Overvoltage in the DC bus (C0173) MCTRL l
1030 LU Undervoltage in the DC bus(C0174) MCTRL l
0070 U15 Undervoltage of internal 15 V voltage supply Internal l
0107 H07 Internal fault (power section) Internal l
Communication
x041 AP1 Internal fault (signal processor) Internal l
x061 CE0 Communication error on the automation interface (AIF) AIF C0126 ü ü l
x062 CE1 Communication error on the CAN1_IN process data input object CAN1_IN C0591 ü ü l
(monitoring time adjustable via C0357/1)
x065 CE4 BUS−OFF status of MotionBus (CAN) CAN C0595 ü ü l
(too many faulty telegrams)
x066 CE5 Communication error of the Gateway function (C0370, C0371) via CAN C0603 ü ü l
MotionBus (CAN)
Monitoring functions
x122 CE11 Communication error on the CANaux1_IN process data input object ( time CANaux1_IN C2481 ü ü l
monitoring adjustable via C2457/1)
x125 CE14 BUS−OFF status of system bus (CANaux) CANaux C2484 ü ü l
(too many faulty telegrams)
x126 CE15 Communication error of the Gateway function (C0370, C0371) via system CANaux C2485 ü ü l
bus (CAN)
x260 Err Node "Life Guarding Event": Node C0384 l ü ü ü2) ü
Guard The controller configured as CAN slave does not receive a "Node Guarding" Guarding
telegram with the "Node Life Time" from the CAN master.
Temperatures / sensors
x: 0 = TRIP, 1 = message, 2 = warning, 3 = FAIL−QSP
1) Adjustable in the DDS under Project Exceptional handling
2) For ECSxA... only
185
11
11
186

l Lenze setting
ü Can be set
0050 OH Heatsink temperature > 90° C MCTRL l

0051 OH1 Interior temperature > 90° C MCTRL l
x053 OH3 Motor temperature > 150° C MCTRL C0583 l ü ü
x054 OH4 Heatsink temperature > C0122 MCTRL C0582 ü l ü
x055 OH5 Interior temperature > C0124 MCTRL C0605 ü l ü
x057 OH7 Motor temperature > C0121 MCTRL C0584 ü l ü
x058 OH8 Motor temperature via inputs T1 and T2 is too high. MCTRL C0585 ü l ü
x086 Sd6 Thermal sensor error on the motor (X7 or X8) MCTRL C0594 ü ü l
x095 FAN1 Fan monitoring (only for built−in units) ü l
X110 H10 Thermal sensor error on heatsink FWM C0588 l ü
x111 H11 Thermal sensor error in the interior of the device FWM C0588 l ü
Motor / feedback system
0011 OC1 Short circuit of motor cable MCTRL l
0012 OC2 Motor cable earth fault MCTRL l
0015 OC5 I x t overload MCTRL l

0016 OC6 I2 x t overload TRIP (motor, C0120) MCTRL l
x017 OC7 I x t overload warning (axis module, C0123) MCTRL C0604 ü l ü
x018 OC8 I2 x t overload warning (motor, C0127) MCTRL C0606 ü l ü
x032 LP1 Motor phase failure MCTRL C0597 ü ü l
Note: Can only be used for asynchronous motors. Activation of the motor
phase failure detection minimises the computing time available to the
user!
x081 Rel1 Open circuit monitoring of the brake relay output (X25) FWM C0602 ü l
x082 Sd2 Resolver error at X7 MCTRL C0586 l ü ü
Note: If monitoring is switched off or in the case of "Warning", the machine
can reach very high speeds in the case of fault, which may result in the
damage of the motor and the machine that is driven!
x085 Sd5 Master current value encoder error on analog input X6/AI+, AI− (C0034 = 1) MCTRL C0598 ü ü l
x087 Sd7 Absolute value encoder error at X8 MCTRL l
x088 Sd8 SinCos encoder error on X8 MCTRL C0580 ü l
x089 PL Error with regard to rotor position adjustment MCTRL l
Speed
EDBCSXA064 EN 2.0
x190 nErr Speed control error (monitoring window C0576) MCTRL C0579 ü ü ü ü l
x200 Nmax Maximum speed (C0596) has been exceeded. MCTRL C0607 l ü ü
EDBCSXA064 EN 2.0

l Lenze setting
ü Can be set
Float error
0209 float Sys−T Float error in system task (ID 0) Internal l ü ü 1)
0210 float Cycl.−T Float error in cyclic task (PLC_PRG ID 1) Internal l ü ü 1)
0211 float Task1 Float error in task 1 (ID 2) Internal l ü ü 1)
... ... ...

0218 float Task8 Float error in task 8 (ID 9)
Time−out / overflow
0105 H05 Internal fault (memory) Internal l
x108 H08 Extension board not connected properly or not supported by program. Internal l
0201 overrun Time−out in task 1 (ID 2) Internal l ü ü 1)
Task1
... ... ...
0208 overrun Time−out in task 8 (ID 9)
Task8
l ü ü
0219 overrun Time−out in cyclic task (PLC_PRG, ID 1) Internal

Cycl.−T
0220 noT−Fkt Not enough technology units available in the PLC. Internal l
Credit
0230 No program No PLC program loaded in the PLC. Internal l
0231 Unallowed You have called the library function in the PLC program. This function is not Internal l
Lib supported.
x232 NoCamData Motion profiles (cam data) are not available. Internal l
x240 ovrTrans Overflow of transmit request memory Free CAN C0608 l ü ü ü ü
Queue objects
x241 ovr Receive Too many receive telegrams Free CAN C0609 l ü
objects
Parameter setting
0072 PR1 Check sum error in parameter set 1 Internal l
0074 PEr Program error Internal l
0075 PR0 Error in the parameter sets Internal l
0079 PI Error during parameter initialisation Internal l
0080 PR6 l For ECSxS/P/M:Internal fault Internal l
l For ECSxA: Too many user codes
Application−specific fault messages
187
11
11
188

l Lenze setting
ü Can be set
0425 InvHoming− Homing measuring system offset (C3012) is invalid. l

Offs
2402 PosPosLimit Positive software limit position (C3040) has been reached. l
2403 NegPosLimi Negative software limit position (C3041) has been reached. l
t
2404 FollowErrW Following error warning limit (C3030) has been reached. l
arn
2422 InvProfData Impermissible positioning profile parameters l
2423 OverflIntPos Position setpoint overflow l
2424 SWLimOut− Impermissible software limit positions l
OfRan
3400 PosLimitSw Positive hardware limit switch has been approached. l
3401 NegLimitSw Negative hardware limit switch has been approached. l
3402 PosPosLimit Positive software limit position (C3040) has been reached in positioning l
profile mode.
3403 NegPosLimi Negative software limit position (C3041) has been reached in positioning l
t profile mode.
3405 FollowErrFai Following error limit (C3031) has been reached. l
l
3406 HomePosErr Home position has not been reached. l
3409 MaxVelErr Max. speed has been reached. l
3417 InSftw− Impermissible setting of the software limit positions l
Limits
3500 ExtTripSet External error has been actuated. l
3501 InvTpProfN Invalid positioning profile number l
o
3503 InvalidFeed Impermissible feedback system selection l
b
3504 InvalidOS Version of operating system is not compatible. l
EDBCSXA064 EN 2.0
Monitoring functions 11
Configuring monitoring functions
Responses
11.2 Configuring monitoring functions
11.2.1 Responses
Various monitoring functions (

184) protect the drive system against impermissible
operating conditions.
If a monitoring function is activated,
ƒ the set response is triggered to protect the drive.
ƒ the fault message is entered at position 1 in the history buffer (
213).
The fault history buffer (C0168/x) saves fault messages with an offset that indicates the
type of response.
No. of the fault message Type of response
0xxx TRIP
1xxx Message
2xxx Warning
3xxx FAIL−QSP (only for ECSxS/P/M/A axis modules)
Example: C0168/1 = 2061

ƒ x061:
The current fault (subcode 1 of C0168) is a communication error (fault message
"CE0"/no. "x061") between the AIF module and the ECS axis module.
ƒ 2xxx:
The response is a warning.

Responses
Response ð Consequence Display

Keypad XT
RDY IMP Fail
TRIP o n n
TRIP active: ð The power outputs U, V, W are switched to high resistance.
ð The drive is coasting (no control).
TRIP reset: ð The drive decelerates to its setpoint within the set deceleration
times.
Message Danger! o n n
The drive restarts automatically if the message is removed.
Message active: ð The power outputs U, V, W are switched to high resistance.
£ 0,5 s ð The drive is coasting (no control).
> 0,5 s ð The drive is coasting (due to internal controller inhibit). If
necessary, restart program.
Message reset: ð The drive runs to its setpoint with the maximum torque.
FAIL−QSP ð The drive is decelerated to standstill within the quick stop
˘ ˘ n
deceleration time (C0105).
Warning STOP! n o n
The drive can be destroyed due to deactivated monitoring
functions.
ð The failure merely is displayed, the drive runs on in a controlled
manner.
Off STOP! ˘ ˘ ˘
The drive can be destroyed due to deactivated monitoring
functions.
ð There is no response to the failure.
o = off n = on

Monitoring times for process data input objects
11.2.2 Monitoring times for process data input objects
Error message Monitoring function System variable Possible response

TRIP Message Warning Off
x062 CE1 Communication error at the CAN_bCe1CommErrCanIn1_b ü ü ·
process data input object
CAN1_IN
CAN2_IN
CAN3_IN
x065 CE4 BUS−OFF status of MotionBus CAN_bCe4BusOffState_b ü ü ·
(CAN)
x122 CE11 Communication error at the CANaux_bCe1CommErrCanIn1 ü ü ·
process data input object _b
CANaux1_IN
CANaux2_IN
CANaux3_IN
x125 CE14 BUS−OFF status of system CANaux_bCe4BusOffState_b ü ü ·
bus (CANaux)
· Default setting
ü Setting possible
Each process data input object can monitor whether a telegram has been received within
a specified time. As soon as a telegram arrives, the corresponding monitoring time
(C0357/C02457) is restarted ("retriggerable monoflop" function).
The following assignments are valid:
{Appl.}
C0357 Monitoring time for CAN1...3_IN 191
1 CE monit time 3000 1 {1 ms} 65000 CE1 monitoring time
2 CE monit time 3000 CE2 monitoring time
C2457 Monitoring time for 191
CANaux1...3_IN (CAN bus
interface X14)
The following responses can be set for communication errors:

ƒ 0 = Error (TRIP) − controller sets controller inhibit (CINH)
ƒ 2 = Warning
ƒ 3 = Monitoring is switched off
Codes for setting the response to the monitoring functions:

Time−out with activated remote parameterisation
CAN bus interface Code Monitoring

C0591 CAN1_IN ("CE1")
C0592 CAN2_IN ("CE2")
X4
ECSxS/P/M: MotionBus (CAN) C0593 CAN3_IN ("CE3")
ECSxA: System bus (CAN)
C0595 Bus off ("CE4")
C0603 Gateway function ("CE5")
C2481 CANaux1_IN ("CE11")
C2482 CANaux2_IN ("CE12")
X14 C2483 CANaux3_IN ("CE13")
System bus (CAN)
C2484 Bus off ("CE14")
C2485 Gateway function ("CE15")
The input signals (CAN1...3_IN/CANaux1...3_IN) can also be used as binary output signals,
e.g. for the assignment of the output terminal.
Bus off
If the controller disconnects from the MotionBus/system bus (CAN) due to faulty
telegrams, the "BusOffState" signal (CE4/CE14) is set.
"BusOffState" can activate an error (TRIP) or warning. The signal can also be switched off.
The response is set under C0595/C2484. You can also assign the terminal output for this.
11.2.3 Time−out with activated remote parameterisation
If a time−out occurs during remote parameterisation (gateway function) activated via

C0370, the system error message CE5 is output.
The response to this can be configured via C0603:
{Appl.}
C0603 MONIT CE5 3 Configuration of gateway 191
function monitoring (CE5)
"Time−out" when remote
parameter setting is activated
(C0370)
0 TRIP
2 Warning
3 Off

Short circuit monitoring (OC1)
11.2.4 Short circuit monitoring (OC1)

011 OC1 Short circuit MCTRL_bShortCircuit_b ·
· Default setting
ü Setting possible
The monitoring process is activated if a short circuit occurs in the motor phases. This can
also be caused by an interturn fault in the machine.
ƒ Monitoring can also be actuated at mains connection, if an earth fault occurs.
ƒ If monitoring is actuated, the drive controller has to be disconnected from the
mains, and the short circuit has to be eliminated.
11.2.5 Earth fault monitoring (OC2)

012 OC2 Earth fault MCTRL_bEarthFault_b ·
· Default setting
ü Setting possible
The ECSxA... axis module is equipped with a standard earth fault detection.
ƒ If monitoring is actuated, the drive controller has to be disconnected from the
mains, and the earth fault has to be eliminated.
Possible causes for an earth fault are:
ƒ Short circuit to frame of the machine
ƒ Short circuit of a phase to the shield
ƒ Short circuit of a phase to PE
11.2.6 Motor temperature (OH3, OH7)
The motor temperature is monitored by means of a continuous thermal sensor (KTY).

Motor temperature (OH3, OH7)

053 OH3 Motor temperature MCTRL_bMotorTempGreaterSe · ü ü
(fixed, 150 °C) tValue_b
057 OH7 Motor temperature MCTRL_bMotorTempGreaterC0 ü · ü
(adjustable, C0121) 121_b
· Default setting
ü Setting possible
Note!
This monitoring only applies to temperature sensors specified by Lenze like the
temperature sensors included in the standard servo motors.
With regard to default setting, this monitoring is switched actively and is
actuated when no Lenze servo motor is used!
ƒ Adjustable warning threshold (OH7)
– The warning threshold can be set under C0121
– The reaction to exceeding the threshold can be set under C0584
ƒ Fixed warning threshold (OH3)
– Threshold = 150 °C
The hysteresis is 15 K, i.e. the reset value for the fixed warning threshold is 135 °C.
The connections X7 ( 86) or X8 ( 87) are available as inputs for the temperature
sensor.
Stop!
The temperature sensor must only be connected to X7 or X8; the other input
for the temperature sensor must not be assigned!
The monitoring with the adjustable threshold (OH7) is designed as an early warning stage
before final disconnection of the controller by means of TRIP (OH3). Therefore, the process
can be influenced accordingly, so that the final disconnection of the controller at
unfavourable moments is avoided. Furthermore, for instance, additional fans can be
activated, generating an unacceptable noise load when switched to continuous operation.
{Appl.}
C0121 OH7 limit 120 Threshold for motor temperature 193
monitoring
45 {1 °C} 150 Motor temperature > C0121 ð
fault message OH7 (C0584)
C0583 MONIT OH3 0 Configuration of motor 193
temperature monitoring via
resolver input X7 or encoder
input X8
0 TRIP
2 Warning
3 Off

Motor temperature (OH3, OH7)

{Appl.}
input X8
Set threshold in C0121
0 TRIP
2 Warning
3 Off

Heatsink temperature (OH, OH4)
11.2.7 Heatsink temperature (OH, OH4)

050 OH Heatsink temperature MCTRL_bKuehlGreaterSetValue ·
(fixed, 90 °C) _b
054 OH4 Heatsink temperature MCTRL_bKuehlGreaterC0122_b ü · ü
(adjustable, C0122)
· Default setting
ü Setting possible
The heatsink temperature of the controller can be monitored with two temperature
thresholds:
ƒ Adjustable temperature threshold (OH4)
– Threshold can be set under C0122
ƒ Fixed temperature threshold (OH)
– Reaction to exceeding the threshold = TRIP
The hysteresis is 5 K, i.e. the reset value for the fixed threshold is 85 °C.
before final disconnection of the controller by means of TRIP (OH). Therefore, the process
activated, generating a noise load when switched to continuous operation.
{Appl.}
C0122 OH4 limit 80 Threshold for heatsink 196
temperature monitoring
45 {1 °C} 90 Heatsink temperature
> C0122 ð fault message OH4
(C0582)
C0582 MONIT OH4 2 Configuration of heatsink 196
0 TRIP
2 Warning
3 Off
The following causes can bring about an actuation of the monitoring process:
Cause Remedy
The ambient temperature is too high. Mount a fan in the control cabinet.
The drive controller is overloaded in the arithmetic l Mount a fan in the control cabinet.
mean, i. e. overload and recovery phase are above l Reduce overload phase.
100%. l Use more powerful drive controller.

Temperature inside the controller (OH1, OH5)
11.2.8 Temperature inside the controller (OH1, OH5)
The temperature inside the controller can be monitored with two temperature thresholds:
ƒ with an adjustable threshold (OH5) via C0124
– The warning threshold can be set under C0124
ƒ with a fixed threshold (OH1)
– Reaction to exceeding the threshold = TRIP
The hysteresis is 5 K, i.e. the reset value for the fixed warning threshold is 85 °C.
before final disconnection of the controller by means of TRIP (OH). Therefore, the process
activated, generating a noise load when switched to continuous operation.
{Appl.}
C0124 OH5 limit 75 Threshold for temperature 197
monitoring inside the device
10 {1 %} 90 C0062 > C0124 ð fault message
OH5 (C0605)
C0605 MONIT OH5 2 Configuration of early warning 197
of temperature inside the device
(threshold in C0124)
0 TRIP
2 Warning
3 Off

Thermal sensor function monitoring (H10, H11)
11.2.9 Thermal sensor function monitoring (H10, H11)
The function of the thermal sensors of the heatsink and the interior of the device is
monitored. If the thermal sensors report values outside the measuring range, fault H10
(heatsink) or H11 (interior) is reported. The response to these faults can be defined under
C0588.
{Appl.}
C0588 MONIT 0 Configuration of monitoring 198
H10/H11 Thermal sensors (H10, H11) in
the controller
"SensFaultTht/SensFaultTid"
(FWM H10/H11)
0 TRIP
2 Warning
3 Off
11.2.10 Current load of controller (I x t monitoring: OC5, OC7)

TRIP Messag Warnin Off
e g
015 OC5 I x t overload MCTRL_bIxtOverload_b ·
· Default setting
ü Setting possible
The I x t monitoring monitors the current load of the axis module. The monitoring is set
such that operation
ƒ is permanently possible with a device output current = Ir.
ƒ is possible for £ 30 s with a device output current £ 1.5 x Ir.
The overload protection of the axis module can be set with thresholds:
ƒ adjustable threshold (OC7) via C0123
ƒ fixed threshold (OC5) = 100 %
After an overcurrent phase, you can calculate with a recovery phase of 120 s. For a more
precise consideration, see the overcurrent characteristic and the value 3 x taxis module
( 199).
The response to exceeding the adjustable threshold can be defined under C0604.
{Appl.}
C0123 OC7 limit 90 Threshold for I x t warning (axis 193
module)
OC7 (C0604)

Current load of controller (I x t monitoring: OC5, OC7)

{Appl.}
C0604 MONIT OC7 2 Configuration of early warning 193
I x t threshold (C0123)
0 TRIP
2 Warning
3 Off
Overcurrent characteristic
tTRIP [s]
200
180
160
ECSxS/P/M/A064
140
ECSxS/P/M/A048
120 ECSxS/P/M/A004, -008, -016, -032
100
80
60
40
20
0
1 1.5 2.0 2.5 3.0 3.5 4.0 I / Ir
ECSXA025
Fig. 11−1 Overcurrent characteristic ECSxA..., see also Rated data 34
The overcurrent characteristic shows the maximum time tTRIP till the axis module
generates an I x t error. In order to reach this time tTRIP again, the time 3 x taxis module with
the load I/Ir = 0 A must be observed.
Device taxis module [s] Overcurrent characteristic
ECSxA004 54.6
ECSxA008 27.3
ǒ Ǔ
t
ECSxA016 27.3 I subprofile_x I subprofile_x *t
subprofile_x
ECSxA032 27.3 I@t+ * * I @ t subprofile_x*1 @ e axis_module

I rated I rated
ECSxA048 29.5
ECSxA064 35.1

Current load of controller (I x t monitoring: OC5, OC7)
Overcurrent diagram for OC5 fault message

IMotor [%]
200

150

100
75
44
t [s]
10 60 120 180
ECSXA293
Fig. 11−2 Maximum overcurrent as a function of time
The maximum admissible overcurrent is dependent on the Imaxlimit set in C0022.

Imax limit set in C0022 £ 150 % Ir:
ƒ For 180 s, the arithmetic mean value of the motor current must not exceed 100 % of
the rated device current.
ƒ Example: Arithmetic mean for characteristic :
60 s @ 150 % ) 120 s @ 75 %
+ 100 %
180 s
Imax limit set in C0022 > 150 % Ir:
ƒ For 60 s, the arithmetic mean value of the motor current must not exceed 70 % of
the rated device current.
ƒ Example: Arithmetic mean for characteristic :
10 s @ 200 % ) 50 s @ 44 %
+ 70 %
60 s
The current device utilisation is displayed in C0064:
{Appl.}
C0064 Utilization Device utilisation (I x t) over the 193
last 180 s
Only display
0 {1 %} 150 l C0064 > 100 % activates
OC5−TRIP.
l TRIP−RESET only is possible if
C0064 < 95 %.

Current load of motor (I2 x t monitoring: OC6, OC8)
11.2.11 Current load of motor (I2 x t monitoring: OC6, OC8)
The I2 x t load of the motor is continually calculated by the axis module and displayed in
C0066. Via C0120 and C0127 you can set two actuation thresholds. If threshold 1 is
exceeded, the response (OC8) set in C0606 is activated. If threshold 2 is exceeded,
OC6−TRIP is activated.
The I2 x t monitoring has been designed such that it will be activated after 179 s in the
event of a motor current of 1.5 x Ir and a set threshold of 100 % (thermal motor time
constant C0128 = 5 min).
{Appl.}
C0120 OC6 limit 105 Threshold for I2 x t monitoring 201
(motor)
0 {1 %} 120 0 = I2 x t monitoring is switched
off
I2 x t > C0120 ð OC6−TRIP
C0127 OC8 limit 100 Threshold for I2 x t warning 201
(motor)
0 {1 %} 120 I2 x t > C0127 ð fault message
OC8 (C0606)
motor
disconnection
C0606 MONIT OC8 2 Configuration of I2 x t early 201
warning
0 TRIP
2 Warning
3 Off

DC−bus voltage (OU, LU)
Calculation of the release time:
ȡ y)1 ȣ IM Current motor current
t + * (C0128) @ lnȧ1 * ȧ Ir Rated motor current

ǒ Ǔ
2
Ȣ Ȥ
IM
@ 100 Ir y C0120 or C0127
The release time for different motor currents and thresholds can be taken from the
diagram (C0128 = 5.0 min):
2
I t [%] Imot = 3 x Ir Imot = 2 x Ir Imot = 1.5 x Ir Imot = Ir
120
100
50
0 t [s]
0 100 200 300 400 500 600 700 800 900 1000
ECSXA040
Fig. 11−3 I2 x t monitoring: Release times with different motor currents

Imot Motor current
Ir Rated motor current
I2t I2t load
T Time
11.2.12 DC−bus voltage (OU, LU)

020 OU Overvoltage MCTRL_bOverVoltage_b ·
030 LU Undervoltage MCTRL_bUnderVoltage_b ·
· Default setting
ü Setting possible
This monitoring functions monitor the DC bus and protect the drive controller.
ƒ If the DC−bus voltage at terminals +UG and −UG exceeds the upper switch−off
threshold set in C0173, an OU message is actuated.
ƒ If the DC−bus voltage at terminals +UG and −UG falls below the lower switch−off
threshold set in C0174, an LU message is actuated.
The monitoring remains active until the corresponding threshold is fallen below/exceeded
again.
Note!
All drive components in DC−bus connections must have the same thresholds!

DC−bus voltage (OU, LU)
Switch−off and switch−on thresholds

ƒ The switch−off threshold defines the voltage level of the DC−bus voltage, at which
the pulse inhibit is activated.
ƒ The switch−off and switch−on thresholds dependent on C0173 can be gathered from
the following table:
Selection Mains voltage Brake unit LU message OU message
(Undervoltage) (Overvoltage)
C0173 Power supply module Setting Resetting Setting Resetting
[V AC] [V DC] [V DC] [V DC] [V DC]
0 230 yes/no 130 275 400 390
1 400 yes/no 285 430 800 790
2 400 ... 460 yes/no 328 473 800 790
3 480 no 342 487 800 785
4 480 yes 342 487 800 785
10 230 yes/no C0174 C0174 + 5 V 400 390
11 400 (Lenze setting) yes/no C0174 C0174 + 5 V 800 790
12 400 ... 460 yes/no C0174 C0174 + 5 V 800 790
13 480 no C0174 C0174 + 5 V 800 785
14 480 yes C0174 C0174 + 5 V 800 785
Tip!
If undervoltage is existent for more that 3 s, or if mains connection is carried
out, an entry into the fault memory is effected.
ƒ This operational mode can occur if the control module is fed via the
terminals X6/+24 and X6/GND by means of an external supply and the
mains are disconnected.
ƒ If there is no undervoltage anymore (mains are reconnected again), the
entry in the fault memory is not continued, but deleted. This case does not
describe an error, but a state of the drive controller.
Undervoltages of less than 3 s are interpreted as a fault (e. g. mains fault) and
are entered into the fault memory. In this case, the fault memory is updated.

Voltage supply of the control electronics (U15)

{Appl.}
C0173 UG limit 11 Adaptation of the DC−bus 96
voltage thresholds:
l Check during commissioning
and adapt, if necessary.
l All drive components in DC
bus connections must have
the same thresholds.
– LU = Undervoltage
threshold
– OU = Overvoltage threshold
0 Mains = 230 V ± B Operation on 230 V mains with
or without brake unit
LU = 130 V, OU = 400 V
LU = 285 V, OU = 800 V
LU = 328 V, OU = 800 V
3 Mains = 480V − B Operation on 480 V mains
without brake unit
LU = 342 V, OU = 800 V
4 Mains = 480V + B Operation on 480 V mains with
brake unit
LU = 342 V, OU = 800 V
LU = C0174, OU = 400 V
LU = C0174, OU = 800 V
LU = C0174, OU = 800 V
without brake unit
LU = C0174, OU = 800 V
brake unit
LU = C0174, OU = 800 V
bus (LU)
15 {1 V} 342
11.2.13 Voltage supply of the control electronics (U15)
If the voltage at X6/DI1 or X6/DI3 falls below 17 V, TRIP "U15" is actuated. The fault can
only be reset if U > 19 V.

Motor phases (LP1)
11.2.14 Motor phases (LP1)

032 LP1 Motor phase failure MCTRL_bMotorphaseFail_b ü ü ·
· Default setting
ü Setting possible
This monitoring function checks whether a motor phase has failed.
Note!
ƒ This monitoring function can only be used for asynchronous motors.
ƒ When this monitoring function is activated, the calculating time which is
available for the user, is reduced.
ƒ The response is set via C0597.
ƒ The monitoring limit is set via C0599.
Error acknowledgement
1. Check motor cables.
2. Execute TRIP−RESET.
{Appl.}
C0597 MONIT LP1 3 Configuration of motor phase 205
monitoring (LP1)
When this monitoring function is
activated, the calculating time
which is provided to the user is
reduced!
0 TRIP
2 Warning
3 Off
C0599 Limit LP1 5.0 Monitoring limit for motor phase 205
monitoring (LP1) referred to the
current limit.
0.01 {0.01 %} 10.00

Resolver cable (Sd2)
11.2.15 Resolver cable (Sd2)

082 Sd2 Resolver error MCTRL_bResolverFault_b · ü ü
· Default setting
ü Setting possible
This monitoring function monitors the resolver cable and the resolver with regard to open
circuit and protects the motor.
Stop!
If monitoring is disconnected, the machine can achieve very high speeds in
case of faults (e. g. system cable is disconnected or not correctly screwed),
which can result in the damage of the motor and of the driven machine! The
same applies if "warning" is set as a response.
ƒ For commissioning C0586, always use the Lenze setting (TRIP).
ƒ Only use the possibility of disconnection via C0586 if the monitoring is
activated without apparent reason (e. g. by very long cables or intense
interference injection of other drives).
ƒ Configure C0586 = 2 (warning) only on the above−mentioned condition,
because the pulses are enabled despite faulty feedback.
If a fault with regard to the survey of the actual speed value is available, it is
not definitely ensured that monitoring is activated with regard to overspeed
(NMAX, 211).
This monitoring ...
ƒ is automatically activated if a resolver is selected as an actual speed value encoder
via C0419.
ƒ is automatically activated if another actual speed value encoder is selected.
The response is set via C0586.
{Appl.}
C0586 MONIT SD2 0 Configuration of monitoring 206
Resolver "ResolverFault"
(MCTRL Sd2)
0 TRIP
2 Warning
3 Off

Motor temperature sensor (Sd6)
11.2.16 Motor temperature sensor (Sd6)

086 Sd6 Thermal sensor error on the MCTRL_bSensorFault_b ü ü ·
motor
· Default setting
ü Setting possible
This monitoring function checks whether the motor temperature sensor supplies values
within the measuring range of −50 ... +250 °C. If the values are outside this measuring
range, monitoring is activated.
The response is set via C0594.
{Appl.}
Motor temperature sensor "
SensorFault" (MCTRL Sd6)
0 TRIP
2 Warning
3 Off
11.2.17 Absolute value encoder monitoring (Sd7)

087 Sd7 Absolute value encoder error MCTRL_bEncoderFault_b ·
· Default setting
ü Setting possible
When the ECSxA... axis module is switched on, this monitoring function repeatedly
downloads the absolute value of the encoder to identify whether the same value is
transferred to the drive.
If a deviation > 5° on the motor shaft is detected, the monitoring (TRIP) is actuated.
The error can only be reset by mains switching!

Sin/cos encoder (Sd8)
11.2.18 Sin/cos encoder (Sd8)

088 sd8 Sin/cos encoder error MCTRL_bEncoderFault_b ü ·
· Default setting
ü Setting possible
This monitoring function identifies via a plausibility check whether the encoder is available
and the sin/cos tracks supply plausible values with regard to each other.
ƒ The following sin/cos encoder types are supported:
– Stegmann SCS 60/70 ST 512 single−turn absolute value encoder (512 inc/rev).
– Stegmann SCM 60/70 ST 512 multi−turn absolute value encoder (512 inc/rev).
ƒ The fault "Sd8" can only be reset by mains switching.
ƒ If required, the encoder has to move by several angular degrees for actuating a fault.
ƒ The filter time constant (C0559) serves to filter short−time trouble on the sin/cos
track of the encoder without an SD8 trip being released immediately.
{Appl.}
C0580 Monit SD8 3 Configuration of open−circuit 208
monitoring for sin/cos encoders
0 TRIP
3 Off
C0559 SD8 filter t 1 Filter time constant (SD8)
1 {1 ms} 200 Example:
If the setting is "10 ms", a
SD8−TRIP is actuated after 10 ms.
Note!
For the desired encoder monitoring, and in particular when using synchronous
machines, set error handling to "TRIP".
In order to achieve further encoder reliability, an additional monitoring of
following errors can be activated, e. g. with regard to position systems. In
doing this, also set the corresponding responses to "TRIP".

Sin/cos encoder (Sd8)
Visible faults Non−visible faults

l Unplugged plug, all encoder signals open. l Short circuits, in particular between sine and cosine
l Singe wire breakage, one of the following signals is signals.
missing: l Cable/encoder faults with intermediate values
– COS A l "Semi"−short circuits (> 0 Ohm)
– RefCOS A l "Semi"−interruptions (< infinite)
– SIN B
– RefSIN B
– GND
– VCC
l Double wire breakage with the following signal
pairs:
– COS A and RefCOS A
– SIN B and RefSIN B
– COS A and SIN B
– RefCOS A and RefSIN B
– and all four signals (COS A, RefCOS A, SIN B,
RefSIN B) open.

Speed not within tolerance margin (nErr)
11.2.19 Speed not within tolerance margin (nErr)

TRIP Message Warning FAIL− Off
QSP
190 nErr Speed beyond tolerance MCTRL_bSpeedLoopFault_b ü ü ü ü ·
margin (C0576)
· Default setting
ü Setting possible
This monitoring function compares the actual speed value supplied by the tacho generator
to the speed setpoint on the speed controller. If the difference of the two speed values
exceeds the tolerance window set in C0576, the monitoring function is actuated.
The subsequent speed behaviour of the drive controller can be evaluated by means of this
monitoring.
ƒ If the system deviation exceeds a certain value, this may indicate a drive problem. In
this case, the drive somehow is inhibited from following the set speed setpoint.
With regard to a generally functional drive controller, this may be caused by
mechanical blockades on the load side, or by a motor torque that is not sufficient.
Furthermore, a tacho generator in speed−controlled operation can be protected further on
by this monitoring. Thus, the monitoring presents a supplementation to the individual
encoder monitoring systems.
ƒ Faults on the encoder system bring about an incorrect actual speed value. This
normally results in a system deviation on the speed controller that is greater than
that in the normal operating status.
ƒ The tolerance margin is set via C0576.
Note!
ƒ Where required, adjust the setpoint ramps and/or the quick stop
deceleration time by longer times to the application, so that no fault
messages are output.
ƒ Set the tolerance window (C0576) to at least twice the value of the system
deviation occurring during operation. The value can be identified by
respective tests when commissioning is effected.

{Appl.}
C0576 nErr Window 100 Monitoring window of the speed 210
control error
referring to nmax .
100 % = lowest monitoring
sensitivity
0 {1 %} 100

Maximum speed exceeded (NMAX)

{Appl.}
C0579 Monit nErr 3 Configuration of speed control 210
error monitoring
0 TRIP
1 Message
2 Warning
3 Off
4 FAIL−QSP
11.2.20 Maximum speed exceeded (NMAX)

200 Nmax Maximum speed exceeded MCTRL_bNmaxFault_b ·
· Default setting
ü Setting possible
The monitoring process is activated when the current speed exceeds the upper speed limit
of the system or the double value of C0011 (nmax).
Stop!
ƒ With regard to active loads (e. g. hoists), pay attention to the fact that the
drive in this case operates without torque. Specific on−site measures are
required!
ƒ If the actual speed value encoder fails, it is not provided that this monitoring
will be activated.
The upper speed limit of the system (maximum speed) is set via C0596.
{Appl.}
C0596 NMAX limit 5500 Monitoring: Maximum speed of 211
the machine
0 {1 rpm} 16000

Rotor position adjustment (PL)
11.2.21 Rotor position adjustment (PL)

089 PL Error with regard to rotor MCTRL_bRotorPositionFault_b ·
position adjustment
· Default setting
ü Setting possible
This monitoring function observes the correct execution of the rotor position adjustment.
This monitoring function can occur during rotor position adjustment in connection with
feedback systems:
ƒ Resolver
ƒ TTL encoder
ƒ Sin/cos encoder
ƒ Absolute value encoder (single/multi−turn)
Cause for this is a cancellation of the adjustment routine as a result of
ƒ a supply voltage loss
ƒ an encoder cable interruption
ƒ a routine stop through the deactivation of C0095
Error acknowledgement
1. Remove the cause for the cancellation.
2. Inhibit controller
3. Deactivate rotor position adjustment with C0095 = 0.
4. Execute TRIP−RESET.
5. Activate rotor position adjustment with C0095 = 1.

Troubleshooting and fault elimination 12
Fault analysis
Fault analysis via the LED display
12 Troubleshooting and fault elimination
Failures can be quickly detected by means of display elements or status messages via the
system bus (CAN/CAN−AUX).
Display elements and status messages provide a rough classification of the trouble.
In the chapter "12.3.2 Causes and remedies" (
222) , you can find information on fault
elimination.
12.1 Fault analysis
12.1.1 Fault analysis via the LED display
LED Operating state Check

Red Green
Off On Controller enabled, no fault
Off Blinking Controller inhibit (CINH) active, switch−on inhibit C0183
Blinking Off Trouble/fault (TRIP) is active C0168/1
Blinking On Warning/FAIL−QSP is active C0168/1
12.1.2 Fault analysis with keypad XT EMZ9371BC
The status messages in the display indicate the controller status.

Display Controller status Check
RDY Controller ready for operation, controller can be inhibited. C0183, C0168/1
IMP Pulses at the power stage inhibited. C0183, C0168/1
Imax Maximum current reached.
Mmax Maximum torque reached.
FAIL Fault through TRIP, message, fail QSP or warning. C0183, C0168/1
12.1.3 Fault analysis with the history buffer
The history buffer (C0168) enables you to trace faults. The corresponding fault messages
are stored in eight memory locations in the sequence of their occurrence.

Fault analysis
Fault analysis with the history buffer
Structure of the history buffer

ƒ The fields under "fault history" show the memory locations 2 ... 7.
ƒ The fields under "current faults" indicate memory location 1. It gives information on
the active fault.
ƒ If the fault is no longer active or has been reset,
– all information in the fault memory will be automatically shifted upwards by one
subcode.
– memory location 1 will be deleted (no active fault). The information on the
formerly active fault is now in subcode 2.
– the contents of subcode 8 will be eliminated from the history buffer and cannot be
read any longer.
ƒ The history buffer contains three information units for every fault occurred:
– Fault number and response
– Time of the last occurrence
– Frequency of successive occurrence
Note!
ƒ If several faults with different responses occur at the same time, only the
fault the response of which has the highest priority is entered in the history
buffer.
– Power supply module ECSxE:
TRIP/KSB−TRIP (highest) → message → warning (lowest)
– Axis module ECSxS/P/M/A:
TRIP (highest) → message → FAIL−QSP → warning (lowest)
ƒ If several faults with the same response occur at the same time, (e.g. two
messages) only the fault that occurred first is entered in the history buffer.
ƒ If a fault occurs several times in quick succession, only the time of the last
occurrence is entered in the history buffer.
Assignment of information to the codes

Code and retrievable information contains information
on ...
C0168 C0169 C0170 Subcode
1 active fault
2 last fault
3 second−to−last fault
Number and response
Time of the last Frequency of the 4 third−to−last fault
occurrence of the fault occurrence of the fault
of the fault message
message message 5 fourth−to−last fault
6 fifth−to−last fault
7 six−to−last fault
8 seventh−to−last fault
Reset fault message

The current fault message can be reset via a TRIP−RESET (e.g. via C0043):

Fault analysis
Fault analysis via LECOM status words (C0150/C0155)

{Appl.}
C0043 Trip reset Reset active fault message (TRIP
RESET)
0 Reset fault message (TRIP RESET)
1 Active fault message
Delete entries in the history buffer

The entries in the history buffer can be deleted via C0167.
ƒ This function only works when no trouble is active.
{Appl.}
C0167 Reset failmem 0 Delete history buffer (C0168) 213
0 No reaction
1 Delete history buffer
12.1.4 Fault analysis via LECOM status words (C0150/C0155)
The LECOM status words (C0150/C0155) are coded as follows:

{Appl.}
C0150 Status word 0 Status word for networking via
automation interface (AIF)
Read only
0 {1} 65535 Controller evaluates information
as 16 bits (binary coded)
Bit 0 Not assigned
Bit 1 Pulse inhibit (IMP) is active
Bit 2 Not assigned
Bit 3 Not assigned
Bit 4 Not assigned
Bit 5 Not assigned
Bit 6 n=0
Bit 7 Controller inhibit (CINH) is active
Bit 8 Controller status
Bit 12 Warning is active
Bit 13 Message is active
Bit 14 Not assigned
Bit 15 Not assigned

Fault analysis
Fault analysis via LECOM status words (C0150/C0155)

{Appl.}
C0155 Status word 2 0 Status word 2 (advanced status
word)
Display only
0 {1} 65535 Controller interprets information
as 16 bit (binary coded)
Bit 0 Active fault
Bit 1 Mmax reached
Bit 2 Imax reached
Bit 3 Pulse inhibit(IMP)
Bit 4 Ready for operation (RDY)
Bit 5 Controller inhibit (CINH)
Bit 6 TRIP active
Bit 7 Initialisation
Bit 8 Motor direction of rotation (Cw/CCw)
Bit 9 Not assigned
Bit 10 Not assigned
Bit 11 Not assigned
Bit 12 Not assigned
Bit 13 Not assigned
Bit 14 Not assigned
Bit 15 Not assigned

Malfunction of the drive
12.2 Malfunction of the drive
Maloperation/fault Cause Remedy

Feedback system
l Motor rotates CCW when viewed Feedback system is not connected in Connect feedback system in correct
to the motor shaft. correct phase relation. phase relation.
l C0060 counts down after The rotor position indicated under
controller enable. C0060 is derived from the position
encoder (MCTRL_dnPos_p).
Therefore observe the mounting
position when using separate
feedback systems for position
(C0490) and speed (C0495).
Asynchronous motor
l Motor rotates with Imax and half Motor is not connected in correct Connect motor in correct phase
slip frequency. phase relation. relation at the terminals U, V, W.
l Motor does not react to setpoint
change.
Synchronous motor
l Motor does not follow the Motor is not connected in correct Connect motor in correct phase
setpoint change. phase relation. relation at the terminals U, V, W.
l Imax follows the setpoint
selection in idle state.
l Motor rotates CCW when viewed Rotor angle (offset of electrical and Carry out rotor position adjustment
to the motor shaft. mechanical rotor angle) is not (C0095 = 1) or set rotor
l Synchronous motor accelerates correct. displacement angle manually.
with a speed setpoint = 0 to Operate motor without load for this
rated speed. purpose!
l Torque of synchronous motor is
too low.
l Motor blocks in certain positions. The number of pole pairs of the Number of pole pairs (C0080) must
resolver or motor is not set be set correctly.
correctly.

System error messages
12.3 System error messages
12.3.1 Overview of system error messages, error sources and reactions
System error message Possible settings/response Available in

· Lenze setting ü Setting possible
No. Display Source Meaning Code TRIP Messa Warni FAIL−Q Off Drive Servo ECSxA
ge ng SP PLC PLC
x011 OC1 MCTRL Short circuit in motor cable · ü ü
x012 OC2 MCTRL Earth fault in motor cable · ü ü
x015 OC5 MCTRL I x t overload · ü ü
x016 OC6 MCTRL I2 x t overload (C0120) · ü
x017 OC7 MCTRL I x t warning (C0123) C0604 ü · ü ü
x018 OC8 MCTRL I2 x t warning (C0127) C0605 ü · ü ü
x020 OU MCTRL Overvoltage in the DC bus · ü ü
x030 LU MCTRL Undervoltage in DC bus · ü ü
x032 LP1 MCTRL Motor phase failure C0597 ü ü · ü ü
x050 OH MCTRL Heatsink temperature higher · ü ü
than fixed limit temperature
x051 OH1 MCTRL Interior temperature > 90° C · ü
x053 OH3 MCTRL Motor temperature higher C0583 · ü ü ü
than fixed limit temperature
x054 OH4 MCTRL Heatsink temperature higher C0582 · ü ü ü
than variable limit
temperature (C0122)
x055 OH5 MCTRL Interior temperature > C0124 C0605 ü · ü ü
x057 OH7 MCTRL Motor temperature higher C0584 · ü ü ü
than variable limit
temperature (C0121)
x058 OH8 MCTRL Motor temperature via inputs C0585 ü ü · ü ü
T1/T2 is too high
x061 CE0 AIF Communication error − AIF C0126 ü ü · ü ü ü
moduleóPLC
FIF−CAN / CAN−AUX
communication error:
x062 CE1 CAN1 CAN1_IN (monitoring time can C0591 ü ü · ü ü ü
be set with C0357/1)
x063 CE2 CAN2 CAN2_IN (monitoring time can C0592
x064 CE3 CAN3 CAN3_IN (monitoring time can C0593
x065 CE4 CAN CAN BUS−OFF status C0595 ü ü · ü ü ü
(too many faulty telegrams
received)
x066 CE5 CAN CAN time−out (gateway C0603 ü ü · ü ü ü
function C0370)
x: 0 = TRIP, 1 = Message, 2 = Warning, 3 = FAIL−QSP


ge ng SP PLC PLC
x070 U15 interna Undervoltage of internal 15 V · ü ü ü
l voltage supply
x071 CCr interna Internal fault 1) · ü ü ü
l
x072 PR1 interna Checksum error in parameter · ü ü ü
l set 1
x074 PEr interna Program error 1) · ü ü ü
l
x075 PR0 interna General parameter set fault 1) · ü ü ü
l
x076 PR5 interna Error saving parameters · ü ü
l
x079 PI interna Fault during parameter · ü ü ü
l initialisation 1)
x080 PR6 interna Too many user codes · ü ü ü
l
x082 Sd2 MCTRL Resolver error C0586 · ü ü ü ü
x083 Sd3 MCTRL Encoder error at X9 pin 8 C0587 ü ü · ü
x085 Sd5 MCTRL Encoder error at analog input C0598 ü ü · ü ü
(X6) (C0034 = 1)
x086 Sd6 MCTRL Motor temperature sensor C0594 · ü ü ü ü
error (X7 or X8)
x087 Sd7 MCTRL Absolute value encoder error C0025 · ü ü
at X8 1)
x088 sd8 MCTRL Absolute value encoder error C0580 ü · ü ü
at X8 1)
x089 PL MCTRL Error with regard to rotor · ü ü
position adjustment
x091 EEr FWM External monitoring actuated C0581 · ü ü ü ü ü ü
via DCTRL
x105 H05 interna Internal fault (memory) · ü ü ü
l
x107 H07 interna Internal fault (power stage) · ü ü
l
x108 H08 interna Extension board not · ü ü
l connected correctly or not
supported by program
x110 H10 FWM Heatsink temperature sensor C0588 · ü ü ü
error
x111 H11 FWM Thermal sensor error in the · ü ü ü
interior of the device

1) Completely deenergise device after error correction!


ge ng SP PLC PLC
FIF−CAN / CAN−AUX
communication error:
x122 CE11 FIF−CA FIF−CAN1_IN (monitoring time C0591 ü ü · ü
N1 can be set with C2457/1)
CANau CANaux1_IN (monitoring time C2481 ü ü · ü
x1 can be set with C2457/1)
x125 CE14 FIF−CA BUS−OFF status of FIF−CAN C0595 ü ü · ü
N (too many faulty telegrams
received)
CANau BUS−OFF state CAN AUX C2484 ü ü · ü
x (too many faulty telegrams
received)
x126 CE15 CANau Communication error of C2485 ü ü · ü
x gateway function (C0370,
C0371) via CAN−AUX
x190 nErr MCTRL Speed beyond tolerance C0579 ü ü ü ü · ü ü

margin (C0576)
x200 Nmax MCTRL Maximum speed exceeded · ü ü
(C0596)
Time−out (see task

configuration):
x201 overrun Task1 interna Task with ID 2 2) · ü ü ü ü ü
x202 overrun Task2 l Task with ID 3
x203 overrun Task3 Task with ID 4
x219 overrun Cycl.−T interna Time−out in cyclic task 2) · ü ü ü ü ü
l (PLC_PRG, ID 1)

2) Can be set in DDS under Project Exception handling


ge ng SP PLC PLC
Floating−point error (REAL) in:

x209 float Sys−T interna System task 2) · ü ü ü ü ü
x210 float Cycl.−T l Cyclic task (PLC_PRG, ID 1)
x211 float T Id2 Task with ID 2
x220 NoT−FktCredit interna Not enough technology units · ü ü ü
l available in the PLC
x230 No Program interna No PLC program loaded · ü ü ü
l
x231 Unallowed Lib interna In the PLC program a library · ü ü ü
l function was called which is
not supported
x232 NoCamData interna Motion profiles (cam data) are · ü ü ü
l not available
Free CAN objects:

x240 ovrTransQueue free Overflow of transmit request C0608 · ü ü ü 3) ü ü ü ü
CAN memory
x241 ovr Receive obj. Too many receive telegrams C0609 · ü ü ü
Application memory (FLASH):

x250 2.Flash Err interna Access not possible 1) · ü
l (FLASH memory damaged or
not available)
x251 AddData CsErr interna Checksum error when loading
l data into the FLASH memory
x252 AddData DlErr interna Error when downloading data
l into the FLASH memory
(e.g. time−out)
x260 Err NodeGuard Node "Life guarding event": The PLC C0384 · ü ü ü 3) ü ü ü ü
guardin as a CAN slave has not
g received any "node guarding"
telegram within the node
lifetime of the CAN master.

1) Completely deenergise device after error correction!
2) Can be set in DDS under Project Exception handling
3) Only for 9300 Servo PLC!

Causes and remedies
12.3.2 Causes and remedies
Tip!
When the fault messages are retrieved via the system bus (CAN) they are
displayed as a number (see column fault number ˘number" in the following
table).
Fault message Description Cause Remedy

No. Display
−−− −−− No fault − −
0011 OC1 Short circuit of motor cable Short circuit l Search for cause of short
circuit.
l Check motor cable.
Excessive capacitive charging Use motor cable which is shorter
current in the motor cable. or of lower capacitance.
0012 OC2 Motor cable earth fault One of the motor phases has l Search for cause of short
earth contact. circuit.
l Check motor cable.
0015 OC5 I x t overload l Frequent and too long Check drive dimensioning.
acceleration with overcurrent
l Continuous overload with
Imotor > 1.05 x Irx.
0016 OC6 I2 x t overload TRIP (motor, C0120) Current overload of the motor, l Check drive dimensioning.
e.g. due to: l Check setting of C0120.
l frequent or too long
acceleration processes
l impermissible continuous
current
x017 OC7 I x t overload warning (axis Current overload of the axis l Check drive dimensioning.
module, C0123) module > C0123 (e.g. due to l Check setting of C0123.
frequent or too long acceleration
phases)
x018 OC8 I2 x t overload warning Current overload of the motor l Check drive dimensioning.
(motor, C0127) > C0127 (e.g. due to frequent or l Check setting of C0127.
too long acceleration phases)
1020 OU Overvoltage in DC bus Braking energy is too high. l Use braking unit or
(DC−bus voltage is higher than set regenerative module.
in C0173.) l Check dimensioning of the
brake resistance.
1030 LU Undervoltage in DC bus DC−bus voltage is lower than l Check mains voltage.
specified under C0174. l Check power supply module.
x032 LP1 Motor phase failure A current−carrying motor phase l Check motor.
has failed. l Check motor cable.
l Switch off monitoring
(C0597 = 3).
The current limit value is set too l Set higher current limit value
low. via C0599.
x041 AP1 Internal fault Contact Lenze.
0050 OH Heatsink temperature > +90 °C Ambient temperature l Allow module to cool and
Tu > +40 °C or > +50 °C ensure better ventilation.
l Check ambient temperature in
the control cabinet.
Heatsink is very dirty. Clean heatsink.
Wrong mounting position Change mounting position.

Causes and remedies

No. Display
0051 OH1 Interior temperature > +90 °C Ambient temperature l Allow module to cool and
Tu > +40 °C or > +50 °C ensure better ventilation.
x053 OH3 Motor temperature Motor is thermally overloaded l Check drive dimensioning.
> +150 °C threshold due to: l Switch off monitoring
(temperature detection via l Impermissible continuous (C0583 = 3).
resolver or incremental value current
encoder) l Frequent or too long
No PTC/temperature contact Correct wiring.
connected.
x054 OH4 Heatsink temperature > C0122 Ambient temperature Tu > +40 °C l Allow module to cool and
or > +50 °C ensure better ventilation.
(C0582 = 3).
Heatsink is very dirty. Clean heatsink
The value specified under C0122 Enter a higher value under C0122.
is set too low.
x055 OH5 Interior temperature > C0124 l Allow module to cool and
ensure better ventilation.
(C0605 = 3).
The value under C0124 is set too Enter a higher value under C0124.
low.
x057 OH7 Motor temperature > C0121 Motor is thermally overloaded l Check drive dimensioning.
(temperature detection via due to: l Switch off monitoring
resolver or incremental value l Impermissible continuous (C0584 = 3).
encoder) current
l Frequent or too long
No PTC/temperature contact Correct wiring.
connected.
The value specified under C0121 Enter a higher value in C0121.
is set too low.
x058 OH8 Motor temperature via inputs T1 Motor is thermally overloaded l Check drive dimensioning.
and T2 is too high. due to: l Switch off monitoring
l Impermissible continuous (C0585 = 3).
current
l Frequent or too long
Terminals T1 and T2 are not Connect PTC/temperature
connected contact.
x061 CE0 Automation interface (AIF) Faulty transfer of control l Plug in the communication
communication error commands via AIF. module/keypad XT firmly,
screw down, if necessary.
(C0126 = 3).

Causes and remedies

No. Display
x062 CE1 Communication error on the CAN1_IN object receives faulty l Check wiring at X4.
process data input object data or communication is l Check sender.
CAN1_IN interrupted. l Increase monitoring time
under C0357/1, if necessary.
(C0591 = 3).
(C0592 = 3).
(C0593 = 3).
x065 CE4 BUS−OFF state of system The module has received too l Check wiring at X4: bus
bus (CAN), interface X4 many incorrect telegrams via the termination available?
system bus (CAN) and has l Check screen contact of the
disconnected from the bus cables.
l Check PE connection.
l Check bus load, reduce baud
rate, if necessary (Observe
cable length!)
(C0595 = 3).
x066 CE5 System bus (CAN) time−out For remote parameterisation l Check wiring at X4.
(communication error of gateway (C0370, C0371) via system bus l Check CAN bus configuration.
function), interface X4 (CAN): l Switch off monitoring
l Slave does not respond. (C0603 = 3).
l Communication monitoring
time has been exceeded.
0070 U15 Undervoltage of internal 15 V Check voltage supply.
voltage supply
0071 CCr System failure Strong interference injection on Screen control cables
the control cables
Ground or earth loops in the l Check wiring
wiring l Check PE connection
After troubleshooting: Deenergise
the device completely (disconnect
24 V supply, discharge DC bus)!
0072 PR1 Checksum error in parameter l Fault when loading a l Set the required parameters
set 1 parameter set. and store them under C0003 =
CAUTION: The Lenze setting is l Interruption while 1.
loaded automatically! transmitting the parameter set l As to PLC devices, check the
via keypad. use of pointers.
The stored parameters are Store the parameter set under
incompatible with the loaded C0003 = 1 first to allow for a
software version. faults reset.

Causes and remedies

No. Display
0074 PEr Program error Error in the program flow l Check use of pointers.
l Send module with PLC
program and parameter set to
Lenze (on floppy
disk/CD−ROM).
0075 PR0 Error in parameter set. The operating system software Storage of the Lenze setting
has been updated. C0003 = 1.
After troubleshooting: Deenergise
the device completely (disconnect
0076 PR5 Memory error Error saving parameters in the Contact Lenze
fail−safe memory area.
0079 PI Fault during parameter l An error has been detected l Correct parameter set.
initialisation during parameter set transfer l Check code initialisation
between two controllers. values.
l Parameter set does not match After fault correction: completely
the controller, e.g. when data deenergise the device (switch off
were transmitted from a 24 V supply, discharge DC bus)!
controller with more
performance to a controller
with less performance.
0080 PR6 With ECSxS/P/M: internal error Contact Lenze.
With ECSxA: too many user codes Reduce number of user codes.
x082 Sd2 Resolver error at X7 Resolver cable is interrupted. l Check cable for wire breakage.
l Check resolver.
(C0586 = 3).
Excitation amplitude is too low. Increase excitation amplitude of
resolver (C0416).
Check control factor of resolver
under C0414 (as of operating
system V8.0).
x085 Sd5 Master current value encoder Master current value at l Check cable for wire breakage.
error at analog input X6/AI+, AI− X6/AI+, AI− < 2mA l Check master current value
(C0034 = 1) encoder.
(C0598 = 3).
l Check control factor of resolver
under C0414 (as of operating
system V8.0).
x086 Sd6 Motor temperature sensor error Encoder for detecting the motor l Check cable for firm
(X7 or X8) temperature at X7 or X8 indicates connection.
undefined values. l Switch off the monitoring
(C0594 = 3).

Causes and remedies

No. Display
x087 sd7 Initialisation error of absolute l Defect of the encoder l Check cable at X8 with regard
value encoder at X8 electronics to tight fit and open circuit.
l Absolute value encoder at X8 l Check absolute value encoder
does not send any data. with regard to correct function.
l Set voltage supply to 8.1 V via
Tip: The encoder may not rotate C0421.
during mains switching. l No Stegmann encoder
connected.
l Replace defective encoder.
Communication error of absolute A rotor position adjustment via Repeat rotor position adjustment.
value encoder at X8 during rotor C0095 = 1 could not be completed
position adjustment successfully. Note: After an Sd7 fault it is
absolutely required to carry out a
further rotor position adjustment.
Otherwise the drive may carry out
uncontrolled movements after
controller enable. The drive may
not be commissioned without
having carried out a rotor position
adjustment successfully!
After fault correction: completely
deenergise the device (switch off
x088 SD8 SinCos encoder at X8 sends The tracks in the SinCos encoder Replace SinCos encoder.
inconsistent data. are damaged.
Interference level on the encoder l Check correct shield
cable is too high. connection of encoder cable.
l Where required, decelerate the
actuation of the fault message
via the filter time constant.
Setting:
– for ECSxS/P/M/A in C0559.
– for 9300 servo cam in C0575.
SinCos encoder at X8 does not Open circuit. Check cable with regard to open
send any data. circuit.
Incorrect encoder connected. Connect SinCos encoder of the
company Stegmann.
SinCos encoder defective. Replace SinCos encoder.
Supply voltage set incorrectly. Set voltage supply in C0421.
After fault correction: completely
deenergise the device (switch off
x089 PL Error during rotor position l Sd7 fault during rotor position 1. Activate rotor position
adjustment adjustment with absolute adjustment with C0095 = 1.
value encoder after mains 2. Carry out TRIP reset.
switching 3. Repeat rotor position
l Cancellation of rotor position adjustment.
adjustment (e.g. by C0095 = 0
or switching off)
x091 EEr External monitoring has been A digital signal assigned to the l Check external encoder.
triggered via DCTRL. TRIP−SET function has been l Switch off the monitoring
activated. (C0581 = 3).
x095 FAN1 Fan monitoring Heatsink fan is locked, dirty or Clean or exchange heatsink fan.
(for built−in units) defect.
0105 H05 Internal fault (memory) Contact Lenze.
0107 H07 Internal fault (power stage) During initialisation of the Contact Lenze.
controller, an incorrect power
stage was detected.

Causes and remedies

No. Display
x108 H08 "Extension board" error "Extension board" not connected l Connect "extension board"
correctly. correctly.
l Check connector.
"Extension board" is not l Adapt PLC program to
supported by PLC program. "extension board".
l Use "extension board" which is
supported by PLC program.
x110 H10 Heatsink temperature sensor Sensor for detecting the heatsink l Contact Lenze.
error temperature indicates undefined l Switch off the monitoring
values. (C0588 = 3).
x111 H11 Temperature sensor error: Sensor for detecting the internal l Contact Lenze.
Temperature inside the controller temperature indicates undefined l Switch off the monitoring
values. (C0588 = 3).
x122 CE11 Communication error at the CANaux1_IN object receives l Check wiring at X14.
process data input object faulty data or communication is l Check transmitter.
CANaux1_IN interrupted. l Increase monitoring time
(C2481 = 3).
x123 CE12 Communication error at the CANaux2_IN object receives l Check wiring at X14.
(C2482 = 3).
x124 ce13 Communication error at the CANaux3_IN object receives l Check wiring on X14.
(C2483 = 3).
x125 CE14 BUS−OFF state of system The module has received too l Check wiring at X14: bus
bus (CAN), interface X14 many incorrect telegrams via the termination available?
system bus (CAN) and has l Check screen contact of the
disconnected from the bus cables.
l Check PE connection.
l Check bus load, reduce baud
rate, if necessary (Observe
cable length!)
(C2484 = 3).
x126 CE15 System bus (CAN) time−out For remote parameterisation l Check wiring at X14.
(communication error of gateway (C0370, C0371) via system bus l Check CAN bus configuration.
function), interface X14 (CAN): l Switch off monitoring
l Slave does not respond. (C2485 = 3).
l Communication monitoring
time has been exceeded.
1131 PRM Parameter error motor data The motor parameters set are not Check the motor parameters set
plausible. (especially C0084, C0085, C0088,
C0090).
x190 nErr Speed control error l Active load (e.g. for hoists) is Check drive dimensioning.
(Speed out of tolerance margin too high.
(C0576)) l Mechanical blockades on the
load side
x191 HSF Internal error Contact Lenze.
x200 Nmax Maximum speed (C0596) has l Active load (e.g. for hoists) is l Check drive dimensioning.
been exceeded. too high l Possibly increase torque limit.
l Drive is not speed−controlled, l Switch off monitoring
torque is excessively limited. (C0607 = 3).

Causes and remedies

No. Display
0201 overrun Time−out in task 1 (ID 2) Task processing takes longer than l Adjust the length of the task
Task1 the monitoring time set. runtime.
l Adjust monitoring time.
... ... ... l Determine the cause of
time−out by checking the task
0208 overrun Time−out in task 8 (ID 9) runtime at the task monitor.
Task8 l Swap out time−critical program
parts in a slower task.
0209 float Float error in system task (ID 0) Error in real calculation Check calculations (program
Sys−T (e. g. division by 0) code).
0210 float Float error in cyclic task (PLC_PRG
Cycl.−T ID 1)
... ... ...
0219 overrun Time−out in cyclic task (PLC_PRG Task processing takes longer than l Adjust the length of the task
Cyc.−T ID 1) the monitoring time set. runtime.
l Adjust monitoring time.
l Determine the cause of
time−out by checking the task
runtime at the task monitor.
l Swap out time−critical program
parts in a slower task.
0220 noT−Fkt Not enough technology units A program with technology l Use technology variant of the
Credit available. functions has been tried to be controller.
loaded to a controller not l Contact Lenze, if necessary.
providing the corresponding
units.
0230 No Missing PLC program No PLC program loaded. Load PLC program.
Program
0231 Unallowed PLC program calls invalid library In the PLC program a library l Remove library function or
Lib function. function has been called which is ensure that the corresponding
not supported by the controller hardware is available.
(e.g. because the corresponding l Contact Lenze, if necessary.
hardware is missing).
0232 NoCam Motion profiles (cam data) are not When calling functions of the l Ensure that the valid cam data
Data available. function library has been attached to the
LenzeCamControl.lib it was project via the DDS CAM
detected that there are no motion support.
profiles (CAM data) loaded in the l Reload the PLC program into
memory of the controller. the controller. (Possibly the
command OnlineReset
(origin) has been executed in
DDS.)
x240 ovrTrans "Free CAN objects" error Overflow of the transmit request l Reduce the number of
Queue memory transmit requests.
l Prolong the cycle time.
x241 ovr Receive Too many receive telegrams Reduce the number of telegrams
on the system bus (CAN).
x260 Err Node "Life guarding event" The controller configured as CAN l Check wiring at X4.
Guard slave does not receive a "Node l Check CAN configuration.
Guarding" telegram within the l Make sure that "Node
"Node Life Time" from the CAN Guarding" has been activated
master. in the CAN master.
l Adapt "Node Life Time"
(C0382) to the setting in the
CAN master.

Resetting system error messages
12.3.3 Resetting system error messages
Reaction Measures to reset the fault message

TRIP/ FAIL−QSP Note!
If a TRIP/FAIL QSP source is still active, the pending TRIP/FAIL QSP cannot be reset.
The TRIP/FAIL QSP can be reset by:
l pressing ð . on keypad XT EMZ9371 BC. Then, press - to re−enable the controller.
l Set code C0043 = 0.
l Control word C0135, bit 11
l Control word AIF
l Control word system bus (CAN) / MotionBus (CAN) at ECSxS/P/M
After the reset of the TRIP/FAIL QSP, the drive remains at standstill.
Message Danger!
The fault message is reset automatically after the fault has been eliminated, and the drive
restarts automatically.
Warning After the fault has been eliminated, the fault message is reset automatically.

13 System modules
13 System blocks
The following sections inform about the system blocks of the basic unit.

System modules 13
AIF_IO_Management (node number 161)
Inputs_AIF_Management
13.1 AIF_IO_Management (node number 161)
13.1.1 Inputs_AIF_Management
This SB serves to monitor the communication of a fieldbus module connected to the

automation interface (AIF).
ƒ In the event of an error, AIF_bCe0CommErr_b is set to TRUE and the communication
error "CE0" (LECOM no. 61) is set. The response to this can be configured via C0126
(default setting: off).
ƒ New AIF fielbus modules (e. g. 2133 and 2175) also use
AIF_bFieldBusStateBit0_b ... AIF_bFieldBusStateBit15_b to transfer an error number
from the fieldbus module.
ƒ C2121 serves to display the status.
Please read the documentation for the connected fieldbus module.
AIF
AIF_bCe0CommErr_b
Communication
Error
AIF_bFieldBusStateBit0_b
X1
AIF AIF_bFieldBusStateBit7_b
Fieldbus State
ECSXA200
Fig. 13−1 System block "Inputs_AIF_Management"

13 System modules
System variables
Variable Data Signal Address Display Display Comments
Communication error
AIF_bCe0CommErr_b %IX161.0.0 ˘ ˘
"CE0"
AIF_bFieldBusStateBit0_
%IX161.1.0 ˘ ˘ Error number ˘ bit 0
b
b
b
b
b
b
b
Bool binary %IX161.1.7 ˘ ˘ Error number ˘ bit 7
b
b
b
AIF_bFieldBusStateBit10
_b
_b
_b
_b
_b
_b
Codes
{Appl.}
C0126 MONIT CE0 3 Monitoring of the 231
communication via AIF interface
X1.
l Under C2382, you can select
whether controller inhibit
(CINH) or quick stop (QSP) is
activated when a CE0 fault
occurs.
0 TRIP A communication error activates
2 Warning the set CE0 response.
3 Off Monitoring is switched off.

System modules 13

{Appl.}
description of the
module.
Read only
states.
Bit 3 XCAN bus off
Bit 6 XCAN warning
Bit 7 Assigned internally

13 System modules
Outputs_AIF_Management
13.1.2 Outputs_AIF_Management
This SB serves to transfer commands and messages to a fieldbus module connected to the
automation interface (AIF).
For this purpose, a control word is available via C2120. The commands are preselected as
numbers. Some of the command numbers present a universally valid character for all
fieldbus modules, others can be specifically applied to the different components.
Altogether up to 16 commands can be available.
Outputs_AIF_Management
AIF control word
Bit 8 … 15
AIF_wControl
Bit 7
Toggle-Bit (MSB)
C2120
Bit 0 … 6
ECSXA243
Fig. 13−2 System block "Outputs_AIF_Management"
System variables
AIF_wControl Word ˘ %QX161.0 C2120 ˘
Codes
{Appl.}
C2120 AIF: Control 0 AIF−CAN: control word 234
states
0 No command Note: The MSB (bit 7) of the
1 Read XCAN codes + reinitialisation control word automatically
changes its state with every
2 Read XCAN code access to the code. Observe this
10 Read XCAN C2356/1 ... 4 when interpreting the data!
11 Read XCAN C2357
12 Read XCAN C2375
13 Read XCAN C2376 ... C2378
14 Read XCAN C2382
255 Not assigned

System modules 13
AIF1_IO_AutomationInterface (node number 41)
Inputs_AIF1
13.2 AIF1_IO_AutomationInterface (node number 41)
13.2.1 Inputs_AIF1
This SB is used as an interface for input signals (e.g. setpoints/actual values) to the
attached fieldbus module (e.g. INTERBUS, PROFIBUS−DP).
The process image is
ƒ created in the cyclic task by means of a fixed set time interval of 10 ms.
ƒ created in an interval task within the time set for this task.
ƒ read at the beginning of the task and written at its end.

13 System modules
Inputs_AIF1
Inputs_AIF1 AIF1_wDctrlCtrl
16 Bit
AIF1_bCtrlB0_b
AIF1_bCtrlB1_b
AIF1_bCtrlB2_b
AIF1_bCtrlQuickstop_b
AIF1_bCtrlB4_b
AIF1_bCtrlB5_b
AIF1_bCtrlB6_b
C0136/3 AIF1_bCtrlB7_b
AIF1_bCtrlDisable_b
16 binary
signals AIF1_bCtrlCInhibit_b
AIF1_bCtrlTripSet_b
AIF1_bCtrlTripReset_b
AIF1_bCtrlB12_b
AIF1_bCtrlB13_b
AIF1_bCtrlB14_b
AIF1_bCtrlB15_b
Byte
Controlword
1 16 Bit
AIF1_nInW1_a
Byte
2
C0856/1
Byte
3
Byte
X1 4
AIF1_nInW2_a
16 Bit
Byte
5 C0856/2
AIF1_bInB0_b
C0855/1
…
Byte 16 binary
AIF1_bInB15_b
6 signals
AIF1_nInW3_a
16 Bit
Byte
7 C0856/3
AIF1_bIn16_b
C0855/2
…
Byte 16 binary
AIF1_bIn31_b
8 signals
16 Bit
LowWord
AIF1_dnInD1_p
16 Bit
HighWord C0857
ECSXA201
Fig. 13−3 System block "Inputs_AIF1"

System modules 13
Inputs_AIF1
System variables
AIF1_wDctrlCtrl Word ˘ %IW41.0 C0136/3 hex
AIF1_bCtrlB0_b %IX41.0.0
AIF1_bCtrlQuickstop_b %IX41.0.3
BOOL binary C0136/3 bin
AIF1_bCtrlDisable_b %IX41.0.8
AIF1_bCtrlCInhibit_b %IX41.0.9
AIF1_bCtrlTripSet_b %IX41.0.10
AIF1_bCtrlTripReset_b %IX41.0.11
AIF1_nInW1_a %IW41.1 C0856/1
AIF1_nInW2_a integer analog %IW41.2 C0856/2 dec [%]
AIF1_nInW3_a %IW41.3 C0856/3
AIF1_bInB0_b %IX41.2.0
... ... C0855/1
BOOL binary hex
... ... C0855/2
double
AIF1_dnInD1_p position %ID41.1 C0857 dec [inc]
integer

13 System modules
Inputs_AIF1
User data
The 8 bytes of received user data are assigned to several variables of different data types.
According to requirements, they can thus be evaluated by the PLC program as:
ƒ binary information (1 bit)
ƒ control word/quasi−analog value (16 bit)
ƒ angle information (32 bit)
Byte Variable (1 bit) Variable (16 bit) Variable (32 bit)
1, 2 AIF1_bCtrlB0_b
AIF1_bCtrlB1_b
AIF1_bCtrlB2_b
AIF1_bCtrlQuickstop_b
AIF1_bCtrlB4_b
...
AIF1_bCtrlB7_b
AIF1_wDctrlCtrl
AIF1_bCtrlDisable_b
AIF1_bCtrlCInhibit_b
AIF1_bCtrlTripSet_b
AIF1_bCtrlTripReset_b
AIF1_bCtrlB12_b
...
AIF1_bCtrlB15_b
The quick stop (QSP), DISABLE, CINH, TRIP−SET and TRIP−RESET functions can be controlled via the
following variables (control signals):
l AIF1_bCtrlQuickstop_b
l AIF1_bCtrlDisable_b
l AIF1_bCtrlCInhibit_b
l AIF1_bCtrlTripSet_b
l AIF1_bCtrlTripReset_b
The remaining 11 bits (AIF1_bCtrlB..._b) can be used to control other functions/function blocks.
3, 4
AIF1_nInW1_a
5, 6 AIF1_bInB0_b
... AIF1_nInW2_a
AIF1_bInB15_b
AIF1_dnInD1_p
7, 8 AIF1_bInB16_b
... AIF1_nInW3_a
AIF1_bInB31_b

System modules 13
Inputs_AIF1
Codes
{Appl.}
C0136 Control words
Hexadecimal value is bit−coded.
Read only
1 CTRLWORD 0 {hex} FFFF Control word C0135
2 CTRLWORD CAN control word
3 CTRLWORD AIF control word
C0855 Digital process data input words 235
are indicated on the AIF interface
(AIF1_IN)
Read only
1 AIF1 IN bits 0000 {hex} FFFF Input word 2 (bit 0 ... 15)
2 AIF1 IN bits Input word 3 (bit 0 ... 15)
C0856 Analog process data input words 235
are indicated decimally on the
AIF interface (AIF1_IN)
100.00% = 16384
Read only
1 AIF1 IN words −199.99 {0.01 %} 199.99 Input word 1
2 AIF1 IN words Input word 2
C0857 AIF1 IN phi 32 bits of phase information on 235
the AIF interface (AIF1_IN)
Read only
−2147483648 {1} 2147483647

13 System modules
Outputs_AIF1
13.2.2 Outputs_AIF1
This SB is used as an interface for output signals (e.g. setpoints/actual values) to attached
fieldbus modules (e.g. INTERBUS, PROFIBUS−DP).
Outputs_AIF1
Byte
1
AIF1_wDctrlStat
16 Bit
Byte
2
Byte
3
AIF1_nOutW1_a
16 Bit
C0858/1 Byte
4 X1
AIF1_nOutW2__a
16 Bit
Byte
C0858/2 5
AIF1_bFDO0_b
…
AIF1_bFDO15_b 16 binary Byte

signals 6
AIF1_nOutW3_a
16 Bit
Byte
AIF1_bFDO16_b C0858/3 7
…
AIF1_bFDO31_b 16 binary Byte

signals 8
16 Bit
LowWord
AIF1_dnOutD1_p
16 Bit
C0859 HighWord
ECSXA202
Fig. 13−4 System block "Outputs_AIF1"

System modules 13
Outputs_AIF1
System variables
AIF1_wDctrlStat Word ˘ %QW41.0 ˘ ˘
AIF1_nOutW1_a %QW41.1 C0858/1
AIF1_nOutW2_a Integer analog %QW41.2 C0858/2 dec [%]
AIF1_nOutW3_a %QW41.3 C0858/3
AIF1_bFDO0_b %QX41.2.0
... ...
BOOL binary ˘ hex
... ...
Double
AIF1_dnOutD1_p position %QD41.1 C0859 dec [inc]
integer
User data
The 8 bytes of user data to be sent can be written via several variables of different data
types. According to requirements, data can therefore be transferred from the PLC program
as
ƒ status word/quasi−analog value (16 bit)
Note!
Avoid simultaneous overwriting via different variable types to ensure data
consistency.
Thus, bytes 5 and 6 should only be overwritten by
ƒ variable AIF1_dnOutD1_p,
ƒ variable AIF1_nOutW2_a or
ƒ variables AIF1_bFDO0_b ... AIF1_bFDO15_b.

1, 2
AIF1_wDctrlStat
Byte 1/2 can be used for transferring the status word from the SB DCTRL_DriveControl to the field bus
module.
l For this purpose, connect variable DCTRL_wStat of the SB DCTRL_DriveControl to variable
AIF1_wDctrlStat.
l In addition to signals such as IMP and CINH the SB status word DCTRL_DriveControl contains some
freely assignable signals which can be overwritten via the variables DCTRL_bStateB..._b of the
SB DCTRL_DriveControl.
3, 4
AIF1_nOutW1_a
5, 6 AIF1_bFDO0_b
... AIF1_nOutW2_a
AIF1_bFDO15_b
AIF1_dnOutD1_p
7, 8 AIF1_bFDO16_b
... AIF1_nOutW3_a
AIF1_bFDO31_b

13 System modules
Outputs_AIF1
Codes
{Appl.}
C0858 Analog process data output 240
words are indicated decimally on
the AIF interface (AIF1_OUT)
100.00% = 16384
Read only
1 AIF1 OUT −199.99 {0.01 %} 199.99 Output word 1
words
2 AIF1 OUT Output word 2
words
words
C0859 AIF1 OUT phi 32−bit phase information at the 240
AIF interface (AIF1_OUT)
Only display
−2147483648 {1} 2147483647

System modules 13
Inputs_AIF2
13.3.1 Inputs_AIF2
Inputs_AIF2
AIF2_nInW1_a
16 Bit
Byte
1
AIF2_bInB0_b
16 binary
...
signals
Byte AIF2_bInB15_b
2
AIF2_nInW2_a
16 Bit
Byte
3
AIF2_bInB16_b
16 binary
...
signals
Byte AIF2_bInB31_b
X1 4
16 Bit
Byte LowWord
5 AIF2_dnInD1_p
16 Bit
HighWord
Byte
6
AIF2_nInW3_a
16 Bit
Byte
7
AIF2_nInW4_a
16 Bit
Byte
8
ECSXA203

13 System modules
Inputs_AIF2
System variables
AIF2_nInW1_a %IW42.0
Integer analog ˘ ˘
... ...
Bool binary ˘ ˘
... ...
Double
AIF2_dnInD1_p position %ID42.0 ˘ ˘
Integer
User data
The first 4 bytes from the 8 bytes of received user data are assigned to several variables of
different data types. According to requirements, they thus can be evaluated by the PLC
program as:
ƒ quasi−analog value (16 bit)
1, 2 AIF2_bInB0_b
... AIF2_nInW1_a
AIF2_bInB15_b
AIF2_dnInD1_p
3, 4 AIF2_bInB16_b
... AIF2_nInW2_a
AIF2_bInB31_b
5, 6
AIF2_nInW3_a
7, 8
AIF2_nInW4_a

System modules 13
Outputs_AIF2
13.3.2 Outputs_AIF2
Outputs_AIF2
AIF2_nOutW1_a
16 bits
Byte
1
AIF2_bFDO0_b
16 binary
...
signals
AIF2_bFDO15_b Byte
2
AIF2_nOutW2_a
16 bits
Byte
3
AIF2_bFDO16_b
16 binary
...
signals
AIF2_bFDO31_b Byte
4 X1
16 bits
Low Word Byte
AIF2_dnOutD1_p 5
16 bits
High Word
Byte
6
AIF2_nOutW3_a
16 bits
Byte
7
AIF2_nOutW4_a
16 bits
Byte
8
ECSXA204
System variables
AIF2_nOutW1_a %QW42.0
... ...
Bool binary ˘ ˘
... ...
Double
AIF2_dnOutD1_p position %QD42.0 ˘ ˘
Integer

13 System modules
Outputs_AIF2
User data
The first 4 bytes of the 8 bytes user data to be sent can be written via several variables of
different data types. According to requirements, data can therefore be transferred from
the PLC program as
Note!
consistency.

1, 2 AIF2_bFDO0_b
... AIF2_nOutW1_a
AIF2_bFDO15_b
AIF2_dnOutD1_p
3, 4 AIF2_bFDO16_b
... AIF2_nOutW2_a
AIF2_bFDO31_b
5, 6
AIF2_nOutW3_a
7, 8
AIF2_nOutW4_a

System modules 13
Inputs_AIF3
13.4.1 Inputs_AIF3
Inputs_AIF3
AIF3_nInW1_a
16 Bit
Byte
1
AIF3_bInB0_b
16 binary
...
signals
Byte AIF3_bInB15_b
2
AIF3_nInW2_a
16 Bit
Byte
3
AIF3_bInB16_b
16 binary
...
signals
Byte AIF3_bInB31_b
X1 4
16 Bit
Byte LowWord
5 AIF3_dnInD1_p
16 Bit
HighWord
Byte
6
AIF3_nInW3_a
16 Bit
Byte
7
AIF3_nInW4_a
16 Bit
Byte
8
ECSXA205

13 System modules
Inputs_AIF3
System variables
... ...
Bool binary ˘ ˘
... ...
Double
AIF3_dnInD1_p position %ID43.0 ˘ ˘
Integer
User data
program as:
1, 2 AIF3_bInB0_b
... AIF3_nInW1_a
AIF3_bInB15_b
AIF3_dnInD1_p
3, 4 AIF3_bInB16_b
... AIF3_nInW2_a
AIF3_bInB31_b
5, 6
AIF3_nInW3_a
7, 8
AIF3_nInW4_a

System modules 13
Outputs_AIF3
13.4.2 Outputs_AIF3
Outputs_AIF3
AIF3_nOutW1_a
16 Bit
Byte
1
AIF3_bFDO0_b
16 binary
...
signals
AIF3_bFDO15_b Byte
2
AIF3_nOutW2_a
16 Bit
Byte
3
AIF3_bFDO16_b
16 binary
...
signals
AIF3_bFDO31_b Byte
4 X1
16 Bit
LowWord Byte
AIF3_dnOutD1_p 5
16 Bit
HighWord
Byte
6
AIF3_nOutW3_a
16 Bit
Byte
7
AIF3_nOutW4_a
16 Bit
Byte
8
ECSXA206
System variables
... ...
BOOL binary ˘ ˘
... ...
Double
AIF3_dnOutD1_p position %QD43.0 ˘ ˘
integer

13 System modules
Outputs_AIF3
User data
the PLC program as
Note!
consistency.

1, 2 AIF3_bFDO0_b
... AIF3_nOutW1_a
AIF3_bFDO15_b
AIF3_dnOutD1_p
3, 4 AIF3_bFDO16_b
... AIF3_nOutW2_a
AIF3_bFDO31_b
5, 6
AIF3_nOutW3_a
7, 8
AIF3_nOutW4_a

System modules 13
ANALOG1_IO (node number 11)
Inputs_ANALOG1 (analog input)
13.5 ANALOG1_IO (node number 11)
13.5.1 Inputs_ANALOG1 (analog input)
This SB represents the interface for analog differential signals via terminal X6/AI+, AI− as
a setpoint input or an actual value input.
Inputs_ANALOG1
X6 C0034 C0026/1
AI- AIN1_nIn_a
AI+
AG C0400
C0027/1 AIN1_bError_b
ECSXA221
Fig. 13−9 System block "Inputs_ANALOG1"
Analog input configuration

ƒ Set via C0034 whether the input is to be used for a master voltage or a master
current.
ƒ Set jumper bar X3 according to setting in C0034:
Stop!
Do not plug the jumper on 3−4! The axis module cannot be initialised like this.
Jumper bar X3 Setting Measuring range

C0034 = 0
5 6 l Level: −10 ... +10 V
5−6 open
3 4 Jumper on 1−2: Parking position l Resolution: 5 mV (11 Bit + sign)
1 2 l Scaling: ±10 V º±16384 º±100%
C0034 = 1
l Level: +4 ... +20 mA
l Resolution: 20 mA (10 bits without sign)
l Scaling:
5 6
+4 mA º 0 º 0 %
3 4 5−6 closed +20 mA º 16384 º 100 %
1 2
C0034 = 2
l Level: −20 ... +20 mA
l Resolution: 20 mA (10 bits + sign)
l Scaling: ±20 mA º±16384 º±100%
Use as master current input

ƒ Master current < 2 mA:
– Variable AIN1_bError_b = TRUE
– An error handling can be set via C0598.
ƒ Master current >= 2 mA:
– Variable AIN1_bError_b = FALSE

13 System modules
ANALOG1_IO (node number 11)
Inputs_ANALOG1 (analog input)
System variables
AIN1_nIn_a integer analog %IW11.0 C0400 dec [%] Analog input 1
Only when C0034 = 1:
AIN1_bError_b BOOL binary %IX11.1.0 ˘ ˘
TRUE, if ½I½ < 2 mA
Codes
{Appl.}
C0026 Used for relative analog signals 251
1 FCODE (offset) 0.0 −199.99 {0.01 %} 199.99 325
2 FCODE (offset) 0.0
C0027 Used for relative analog signals 251
1 FCODE (gain) 100.0 −199.99 {0.01 %} 199.99 325
2 FCODE (gain) 100.0
C0034 Mst current 0 Selection: master 251
voltage/master current on
analog input (AIN1_nIn_a)
0 −10 ... + 10 V Master voltage
1 +4 ... +20 mA
Master current
2 −20 ... +20 mA
C0400 DIS: AnalogIn Signal at the analog input
Read only
−199.99 {0.01 %} 199.99
C0598 MONIT SD5 3 Configuration of master current 251
monitoring at X6 < 2 mA
"MastISourceDef"
0 TRIP
2 Warning
3 Off

System modules 13
CAN_Management (node number 101)
13.6 CAN_Management (node number 101)
This SB serves to
ƒ activate a reset node to e.g. accept changes in the baud rate and addressing.
ƒ process Communication Error, Bus Off State and other states in the PLC program.
ƒ influence the instant of transmission of CAN2_Out and CAN3_Out.
In addition, the system bus communication can be monitored.
Note!
ƒ The process image for this SB is created in the course of a fixed system task
(interval: 1 ms).
ƒ Even if this SB has not been assigned to the control configuration, a reset
node can be carried out via C0358.
CAN_Management
CAN_bCe1CommErrCanIn1_b
CAN1_IN communication error
CAN_bCe4BusOffState_b
CAN bus off state
CAN_bFreePdoTxBufferOverflow_b
Free Pdo Tx buffer overflow
CAN_bFreePdoRxOverflow_b
Free Pdo Rx overflow
CAN_bOverrunLifeTime_b
Overrun life time
CAN_byNodeAddress
CAN node address (C0350)
CAN_byState
CAN state (C0359)
C0358
1 CAN_ResetNode
CAN_bResetNode_b
CAN_bTxCan2Synchronized_b
CAN2_OUT CAN_SYNC
CAN_bTxCan3Synchronized_b
CAN3_OUT CAN_SYNC
Fig. 13−10 System block "CAN_Management"

13 System modules
Inputs_CAN_Management
13.6.1 Inputs_CAN_Management
System variables
CAN_bCe1CommErrCanI %IX101.0.0 CAN1_IN
n1_b communication error
CAN_bCe4BusOffState_ %IX101.0.3 CAN bus "Off State"
b BOOL binary ˘ ˘ detected (CAN bus
interface X4)
CAN_bFreePdoTxBuffer %IX101.0.4 Overflow of transmit
Overflow_b request memory
CAN_bFreePdoRxOverflo %IX101.0.5 Overflow of receipt
w_b memory
CAN_bOverrunLifeTime_ %IX101.0.6 "Node Life Time"
b exceeded
CAN_byNodeAddress %IB101.2 Node address
C0350 ˘
Byte ˘
CAN_byState %IB101.3 CAN bus status
C0359 ˘
13.6.2 Outputs_CAN_Management
System variables
CAN_bResetNode_b %QX101.0.0 Carry out reset node
CAN_bTxCan2Synchroni %QX101.0.1 Transmit CAN2_OUT
zed_b BOOL binary ˘ ˘ with Sync telegram.
CAN_bTxCan3Synchroni %QX101.0.2 Transmit CAN3_OUT
zed_b with sync telegram.

System modules 13
Executing a reset node
13.6.3 Executing a reset node


ƒ C0358 = 1 using the XTkeypad
ƒ CAN_bResetNode_b = TRUE
Note!
bus once again.
13.6.4 Define instant of transmission for CAN2_OUT/CAN3_OUT
Via CAN_bTxCan2Synchonized_b and CAN_bTxCan3Synchonized_b the instant of

transmission for the CAN objects CAN2_OUT and CAN3_OUT is determined:
ƒ FALSE: data from CAN2_OUT/CAN3_OUT is sent at the end of the process image.
ƒ TRUE: data from CAN2_OUT/CAN3_OUT is sent after the CAN bus synchronisation.
– The identifiers for sync transmission and reception telegrams can be set via
C0367/C0368.
– The sync Tx time can be set via C0369.
Note!
Detailed information concerning the CAN bus synchronisation: 257

13 System modules
Status messages
13.6.5 Status messages
The SB CAN_Management provides different status messages which can be processed in

the PLC program:
Identifiers Information
CAN_bCe1CommErrCanIn1_b TRUE CAN1_IN communication error
CAN_bCe4BusOffState_b TRUE CAN bus "Off State" detected (CAN bus interface X4)
CAN_bFreePdoTxBufferOverflow Free CAN objects
_b TRUE Overflow of the transmit request memory
CAN_bFreePdoRxOverflow_b Free CAN objects
TRUE Overflow of the receipt memory
CAN_bOverrunLifeTime_b CAN monitoring mechanism "Node Guarding"
TRUE "Life Guarding Event":
The controller configured as CAN slave does not receive a "Node
Guarding" telegram with the "Node Life Time" from the CAN
master.
CAN_byNodeAddress 1 ... 63 Node address (CAN bus interface X4)
CAN_byState CAN bus operating status (CAN bus interface X4)
1 Operational
2 Pre−Operational
3 Warning
4 Bus off

System modules 13
CAN_Synchronization (node number 102)
13.7 CAN_Synchronization (node number 102)
This SB serves to synchronise the internal time base of the controller with the instant of
reception of the sync telegram or a terminal signal. Thereby the start of cyclic and
time−controlled internal processes of all controllers involved in the synchronisation (e.g.
data transfer from tasks to the DCTRL function block) is effected synchronously.
CAN_Synchronization C0367
C0368
CAN_bResetSyncForInterpolartor_b CAN_bSyncInsideWindow_b
Off 0 Sync CAN_bSyncForInterpolator_b
Control CAN_nSyncDeviation
Sync telegram 1
Sync signal 2
X6/DI1
C1120
C1121 C0363
C1122 C0366
C1123 C0369
Fig. 13−11 System block "CAN_Synchronization"
System variables
CAN_bSyncInsideWindo BOOL binary %IX102.0.0 ˘ ˘ TRUE:
w_b Sync telegram/signal
within the time slot
(C1123)
FALSE:
l Quit synchronicity
l no sync
telegram/signal
l Time slot (C1123) too
small
CAN_bSyncForInterpolat BOOL binary %IX102.0.1 ˘ ˘ TRUE:
or_b Sync telegram/signal
detected
CAN_nSyncDeviation integer %IX102.1 ˘ ˘ current sync deviation
CAN_bResetSyncForInter BOOL binary %QX102.0.0 ˘ ˘ TRUE:
polator_b Reset
CAN_bSyncForInterpolat
or_b
Operating mode
The operating mode (sync signal source) is set via C1120.
Note!
When synchronising via terminal, ensure that in addition to the
SB CAN_Synchronization the SB DIGITAL_IO must also be integrated in the
control configuration of the "Drive PLC Developer Studio" (DDS).

13 System modules

{Appl.}
C1120 Sync mode 0 Sync signal source 257
0 Off Off
1 CAN sync Sync connection via CAN bus 261
2 Terminal sync Sync connection via terminal 262
X6/DI1
Synchronisation time
The synchronisation process requires an additional period of time after the mains
connection and the initialisation phase.
The synchronisation time depends on
ƒ the baud rate of the CAN bus,
ƒ the starting time (arrival of the first sync signal),
ƒ the time interval between the sync signals,
ƒ the sync correction factor (C0363),
ƒ the operating mode (C1120).
The synchronisation time can be set via the code C0369.
{Appl.}
the cycle time set.
C4062!
Synchronisation cycle
For the purpose of synchronisation the master sends a periodic sync signal.
The controllers receive the sync signal and compare the time between two LOW−HIGH
edges of the signal with the preselected cycle time (C1121).
{Appl.}
C1121 Sync cycle 2 Synchronisation cycle 258
1 {1 ms} 13

System modules 13
CAN sync identifier

{Appl.}
interface X4
1 {1} 256
Phase shift
The synchronisation phase (C1122) defines the period of time of the offset by which the
start of the controller−internal cycle lags behind the sync signal received.
Note!
Always set the synchronisation phase greater than the maximum possible
temporal jitter* of the sync signals received!
* Jitters are phase shiftings and hence periodic changes of signal frequencies.
They are shiftings of fixed instants of a digital signal (e.g. the transition instant
from one signal amplitude to another). Jitters especially occur at high
frequencies and may cause data losses.

{Appl.}
C1122 Sync phase 0.460 Synchronisation phase 259
0.000 {0.001 ms} 6.500
Correction value of phase controller

The CAN sync correction increment (C0363) indicates the increment used to extend or
shorten the control cycle (e.g. to shift the start time).
{Appl.}
C0363 Sync correct. 1 CAN sync correction increment 259
1 0.2 ms/ms
2 0.4 ms/ms
3 0.6 ms/ms
4 0.8 ms/ms
5 1.0 ms/ms

13 System modules
Monitoring of the synchronisation (time slot)

The variable CAN_bSyncInsideWindow_b can be used to monitor the synchronisation.
Sync-window
Sync-signal
Sync cycle Sync cycle

ECSXA474
Fig. 13−12 "Time slot" for the LOW−HIGH edges of the sync signal
Note!
A jitter (
259) up to ±200 ms on the LOW−HIGH edges of the sync signal is
permissible. The amount of the jitter has an impact on the parameterisation of
the "time slot".

{Appl.}
C1123 Sync window 0.010 Synchronisation window 260
0.000 {0.001 ms} 6.500
CAN sync response

{Appl.}
interface X4
0 No response
1 Response

System modules 13
Axis synchronisation via CAN bus interface
13.7.1 Axis synchronisation via CAN bus interface
The CAN bus transmits the sync signal and the process signals.
Application examples:
ƒ Selection of cyclic, synchronised position setpoint information for multi−axis
applications via the CAN bus
Observe the following sequence in the commissioning phase:
Device Step Description
All devices 1. Commission the controller and the CAN bus.
2. Inhibit the controller. 120
l Press key <F9> in the GDC.
Slaves 3. Connect "CANSync−InsideWindow" with
digital output.
4. C1120 = 1 Active synchronisation by sync telegram via
CAN bus.
5. C0366 = 1 (Lenze setting) CAN sync reaction:
l Slaves respond to sync telegram.
Master 6. Define the telegram (identifier) sequence:
A . Send new setpoint to all slaves.
B Send sync telegram.
C Receive response of all slaves.
7. Start communication/send sync telegrams.
Slaves 8. Read C0362 of the master. Retrieve cycle time of the sync telegram from
the master.
9. Set C1121 according to C0362 of the master. Adjust the time distance of the sync
telegrams to be received to the cycle time of
the master.
10. Set C1123. Set optimum size for the "time slot".
l If the sync signal "jitters" heavily ( 259),
increase "time slot".
Slaves 11. Enable the controller via the signal Monitoring of the synchronisation:
"CANSync−InsideWindow" applied to the l If "CANSync−InsideWindow" = TRUE,
digital output. enable the controller.

13 System modules
Axis synchronisation via terminal X6/DI1
13.7.2 Axis synchronisation via terminal X6/DI1
The transmission paths for the sync signal and the process signals are separated.
ƒ The process signals are connected via a freely selectable input channel (e.g. AIF
interface, digital frequency input).
ƒ The sync signal is injected via the digital input X6/DI1.
Application examples:
ƒ Entry of cyclic, synchronised position setpoint information for multi−axis
applications via other bus systems (e.g. INTERBUS).
ƒ Synchronisation of the internal processing cycles to superimposed process controls.
Note!
When synchronising via terminal, ensure that in addition to the
SB CAN_Synchronization the SB DIGITAL_IO must also be integrated in the
control configuration of the "Drive PLC Developer Studio" (DDS).
Please observe the following sequence for commissioning:
Site Step Description
All devices 1. Commission the controller and the CAN bus.
2. Inhibit the controller. 120
l Press the <F9> key in GDC.
Slaves 3. Connect "CANSync−InsideWindow" with
digital output.
4. Connect the sync signal of the master to
terminal X6/DI1.
Slaves 5. C1120 = 2 Synchronisation through sync signal via
terminal X6/DI1 (DigIn_bIn1_b) is active.
Slaves 6. C0366 = 1 (Lenze setting) CAN sync reaction:
l Slaves respond to sync telegram.
Master 7. Start communication/send sync signals.
Slaves 8. Read C0362 of the master. Retrieve cycle time of the sync signal from
the master.
9. Set C1121 according to C0362 of the master. Adjust the time distance of the sync signal to
be received to the cycle time of the master.
10. Set C1123. Set optimum size for the "time slot".
l If the sync signal "jitters" heavily ( 259),
increase "time slot".
11. Enable the controller via the signal Synchronisation monitoring:
"CANSync−InsideWindow" applied to the l If "CANSync−InsideWindow" = TRUE,
digital output. enable the controller.

System modules 13
CAN1_IO (node number 31)
13.8 CAN1_IO (node number 31)
This SB serves to transmit cyclic process data via the CAN bus interface X4.
A sync telegram which must be generated from another node is required for transmission.
ƒ The transmission mode (event or time−controlled) is set via C0356.
ƒ The monitoring time is set via C0357 (Lenze setting: 3000 ms).
CAN1_IO
CAN1_wDctrlStat WORD CAN1_wDctrlCtrl
WORD
State C0136/2
data
output CAN1_bCtrlQuickstop_b
Bit: 3
CAN1_bCtrlDisable_b
8
3
CAN1_bCtrlCInhibit_b
3
9
CAN1_bCtrlTripSet_b
10
CAN1_bCtrlTripReset_b
11
CAN1_bCtrlB0_b
0
CAN1_bCtrlB1_b
1
CAN1_bCtrlB2_b
16 x 2
CAN1_bCtrlB4_b
Byte Byte BOOL 4
CAN1_bCtrlB5_b
5
1 1 6
CAN1_bCtrlB6_b
CAN1_bCtrlB7_b
7
2 2 12
CAN1_bCtrlB12_b
CAN1_bCtrlB13_b
13
CAN1_bCtrlB14_b
3 3 14
CAN1_bCtrlB15_b
15
CAN1_nOutW1_a WORD 4 4 WORD CAN1_nInW1_a

C0868/1 C0866/1
CAN1_nOutW2_a WORD WORD CAN1_nInW2_a
C0868/2 5 5 C0866/2
C0868/3 6 6 C0866/3
CAN1_bFDO0...15_b 16 x BOOL CAN1_bInB0...15_b
16 x BOOL
C0863/1
CAN1_bFDO16...31_b 7 7 16 x BOOL CAN1_bInB16...31_b
16 x BOOL
C0863/2
CAN1_dnOutD1_p DINT L 8 8 L DINT CAN1_dnInD1_p
C0869/1 H H C0867/1
Output user data Input user data
(8 bytes) (8 bytes)
X4 X4
Fig. 13−13 System block "CAN1_IO"
Process data telegram

The process data telegram consists of an identifier and eight bytes of user data.
Identifier 8 bytes of user data
11 bits Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

13 System modules
Codes
{Appl.}
C0136 Control words
Read only
C0356 CAN time settings for CAN bus 168
interface X4
1 CAN times 3000 0 {1 ms} 65000 CAN boot−up time:
connection for initialisation by
the master.
2 CAN times 0 CAN2_OUT/CAN3_OUT cycle
times: Factor for the task time to
send process data telegram.
3 CAN times 0 0 = Event−controlled
transmission
4 CAN times 20 CAN2_OUT/CAN3_OUT delay
time
When the NMT state
"Operational" has been reached
(after "Pre−operational"), the
delay time ˜CANdelay˜ is started.
After the delay time has expired,
the PDOs CAN2_OUT and
CAN3_OUT are sent for the first
time.
0000 {hex} FFFF Hexadecimal value is bit−coded.
Read only
1 CAN IN bits Bit 0 ... Bit15 CAN1_IN: Process data input
word 1
2 CAN IN bits Bit 16 ... Bit 31 CAN1_IN: Process data input
word 2
word 1
word 2
word 1
word 2

System modules 13

{Appl.}
(decimal) for CAN bus interface
X4
100.00% = 16384
Read only
1 CAN IN words −199.99 {0.01 %} 199.99 CAN1_IN word 1
2 CAN IN words CAN1_IN word 2
C0867 32−bit phase information for
Read only
1 CAN IN phi −2147483648 {1} 2147483647 CAN1_IN
2 CAN IN phi CAN2_IN
C0868 DIS:OUTx.Wx Analog process data output
words (decimal) for CAN bus
interface X4
100.00% = 16384
Read only
1 CAN OUT −32768 {1 %} 32768 CAN1_OUT word 1
words
2 CAN OUT CAN1_OUT word 2
words
words
words
words
words
words
words
words
words
words

13 System modules

{Appl.}
Read only
1 CAN OUT phi −2147483648 {1} 2147483647 CAN1_OUT
2 CAN OUT phi CAN2_OUT

System modules 13
Inputs_CAN1
13.8.1 Inputs_CAN1
System variables
CAN1_wDctrlCtrl Integer analog %IW31.0 C0136/2 dec [%]
CAN1_bInB0_b %IX31.2.0 Display code for binary
... Bool binary ... C0863/1 hex signals of
CAN1_nInW1_a
CAN1_bInB15_b %IX31.2.15
CAN1_nInW1_a Integer analog %IW31.1 C0866/1 dec [%]
CAN1_bInB16_b %IX31.3.0 Display code for binary
... Bool binary ... C0863/2 hex signals of
CAN1_nInW2_a
CAN1_dnInD1_p Double position %ID31.1 C0867/1 dec [inc]
integer
User data
1, 2 CAN1_bCtrlB0_b
CAN1_bCtrlB1_b
CAN1_bCtrlB2_b
CAN1_bCtrlQuickstop_b
CAN1_bCtrlB4_b
CAN1_bCtrlB5_b
CAN1_bCtrlB6_b
CAN1_bCtrlB7_b
CAN1_wDctrlCtrl
CAN1_bCtrlDisable_b
CAN1_bCtrlCInhibit_b
CAN1_bCtrlTripSet_b
CAN1_bCtrlTripReset_b
CAN1_bCtrlB12_b
CAN1_bCtrlB13_b
CAN1_bCtrlB14_b
CAN1_bCtrlB15_b
3, 4 CAN1_nInW1_a
5, 6 CAN1_bInB0_b
... CAN1_nInW2_a CAN1_dnInD1_p
CAN1_bInB15_b
7, 8 CAN1_bInB16_b
... CAN1_nInW3_a
CAN1_bInB31_b

13 System modules
Outputs_CAN1
13.8.2 Outputs_CAN1
System variables
CAN1_wDctrlStat Integer analog %QW31.0 ˘ ˘
CAN1_bFDO0_b %QX31.2.0
... Bool binary ... ˘ hex
CAN1_nOutW1_a Integer analog %QW31.1 C0868/1 dec [%]
... Bool binary ... ˘ hex
CAN1_dnOutD1_p Double position %QD31.1 C0869/1 dec [inc]
integer
User data
as
1, 2 CAN1_wDctrlStat
3, 4 CAN1_nOutW1_a
5, 6 CAN1_bFDO0_b
... CAN1_nOutW2_a
CAN1_bFDO15_b
CAN1_dnOutD1_p
7, 8 CAN1_bFDO16_b
... CAN1_nOutW3_a
CAN1_bFDO31_b
Note!
consistency.
E.g., for overwriting bytes 5 and 6, either only use the variable
CAN1_dnOutD1_p, only the variable CAN1_nOutW2_a or only the variables
CAN1_bFDO0_b ... CAN1_bFDO15_b!

System modules 13
This SB serves to transmit event or time−controlled process data via the CAN bus interface
X14.
A sync telegram is not required.
CAN2_IO
Byte Byte
1 1
C0868/4 C0866/4
2 2
C0868/5 C0866/5

16 x BOOL
C0863/3

16 x BOOL
C0863/4
CAN2_dnOutD1_p DINT L L DINT CAN2_dnInD1_p

C0869/2 H
5 5 H C0867/2

C0868/6
6 6 C0866/6

C0868/7 7 7 C0866/7
8 8

(8 bytes) (8 bytes)
X4 X4


13 System modules
Codes
{Appl.}
interface X4
the master.
transmission
time
When the NMT state
time.
Read only
word 1
word 2
word 1
word 2
word 1
word 2

System modules 13

{Appl.}
X4
100.00% = 16384
Read only
Read only
1 CAN IN phi −2147483648 {1} 2147483647 CAN1_IN
interface X4
100.00% = 16384
Read only
words
words
words
words
words
words
words
words
words
words
words

13 System modules
Inputs_CAN2

{Appl.}
Read only
13.9.1 Inputs_CAN2
System variables
CAN2_nInW1_a %IW32.0 C0866/4
integer analog dec [%]
CAN2_nInW2_a %IW32.1 C0866/5
... ... C0863/3
BOOL binary hex
... ... C0863/4
CAN2_dnInD1_p double position %ID32.0 C0867/2 dec [inc]
integer
CAN2_nInW3_a %IW32.2 C0866/6
CAN2_nInW4_a %IW32.3 C0866/7
User data
program as:
1, 2 CAN2_bInB0_b
... CAN2_nInW1_a
CAN2_bInB15_b
CAN2_dnInD1_p
3, 4 CAN2_bInB16_b
... CAN2_nInW2_a
CAN2_bInB31_b
5, 6
CAN2_nInW3_a
7, 8
CAN2_nInW4_a

System modules 13
Outputs_CAN2
13.9.2 Outputs_CAN2
System variables
CAN2_nOutW1_a %QW32.0 C0868/4
... ...
CAN2_bFDO15_b %QX32.0.15 Display code in hex
BOOL binary C0151/2 hex
CAN2_bFDO16_b %QX32.1.0 as double word
... ...
CAN2_dnOutD1_p double position %QD32.0 C0869/2 dec [inc]
integer
User data
the PLC program as
1, 2 CAN2_bFDO0_b
... CAN2_nOutW1_a
CAN2_bFDO15_b
CAN2_dnOutD1_p
3, 4 CAN2_bFDO16_b
... CAN2_nOutW2_a
CAN2_bFDO31_b
5, 6
CAN2_nOutW3_a
7, 8
CAN2_nOutW4_a
Note!
consistency.
If you want to describe e.g. the bytes 1 and 2, either use only the variable

13 System modules
X14.
CAN3_IO
Byte Byte
1 1
C0868/8 C0866/8
2 2
C0868/9 C0866/9

16 x BOOL
C0863/3

16 x BOOL
C0863/4
CAN3_dnOutD1_p DINT L L DINT CAN3_dnInD1_p

C0869/3 H
5 5 H C0867/3

C0868/10
6 6 C0866/10

C0868/11 7 7 C0866/11
8 8

(8 bytes) (8 bytes)
X4 X4


System modules 13
Codes
{Appl.}
interface X4
the master.
transmission
time
When the NMT state
time.
Read only
word 1
word 2
word 1
word 2
word 1
word 2

13 System modules

{Appl.}
X4
100.00% = 16384
Read only
Read only
1 CAN IN phi −2147483648 {1} 2147483647 CAN1_IN
interface X4
100.00% = 16384
Read only
words
words
words
words
words
words
words
words
words
words
words

System modules 13
Inputs_CAN3

{Appl.}
Read only
13.10.1 Inputs_CAN3
System variables
CAN3_nInW1_a %IW33.0 C0866/8
CAN3_nInW2_a %IW33.1 C0866/9
... ... C0863/5
BOOL binary hex
... ... C0863/6
CAN3_dnInD1_p double position %ID33.0 C0867/3 dec [inc]
integer
CAN3_nInW3_a %IW33.2 C0866/10
CAN3_nInW4_a %IW33.3 C0866/11
User data
program as:
1, 2 CAN3_bInB0_b
... CAN3_nInW1_a
CAN3_bInB15_b
CAN3_dnInD1_p
3, 4 CAN3_bInB16_b
... CAN3_nInW2_a
CAN3_bInB31_b
5, 6
CAN3_nInW3_a
7, 8
CAN3_nInW4_a

13 System modules
Outputs_CAN3
13.10.2 Outputs_CAN3
System variables
... ...
CAN3_bFDO15_b %QX33.0.15 Display code in hex
BOOL binary C0151/3 hex
CAN3_bFDO16_b %QX33.1.0 as double word
... ...
CAN3_dnOutD1_p double position %QD33.0 C0869/3 dec [inc]
integer
User data
the PLC program as
1, 2 CAN3_bFDO0_b
... CAN3_nOutW1_a
CAN3_bFDO15_b
CAN3_dnOutD1_p
3, 4 CAN3_bFDO16_b
... CAN3_nOutW2_a
CAN3_bFDO31_b
5, 6
CAN3_nOutW3_a
7, 8
CAN3_nOutW4_a
Note!
Avoid simultaneous overwriting via different varianle types to ensure data
consistency.

System modules 13
CANaux_Management (node number 111)
Inputs_CANaux_Management
13.11 CANaux_Management (node number 111)
This SB serves to
ƒ activate a reset node to e.g. accept changes in the baud rate and addressing.
ƒ process Communication Error, Bus Off State and other states in the PLC program.
ƒ influence the instant of transmission of CAN2aux_OUT and CAN3aux_OUT.
In addition, the system bus communication can be monitored.
Note!
ƒ The process image for this SB is created in the course of a fixed system task
(interval: 1 ms).
ƒ Even if this SB has not been assigned to the control configuration, a reset
node can be carried out via C2458.
CANaux_Management
CANaux1_IN CANaux_bCe11CommErrCanIn1_b
Communication Error
Communication Error
Communication Error
CANaux CANaux_bCe14BusOffState_b
Bus Off State
C2458
1 CANaux_ResetNode
CANaux_bResetNode_b
CANaux_bTxCan2Synchronized_b
CANaux2_OUT CAN_SYNC
CANaux_bTxCan3Synchronized_b
CANaux3_OUT CAN_SYNC
Fig. 13−16 System block "CANaux_Management"
13.11.1 Inputs_CANaux_Management
System variables
CANaux_bCe11Comm−E %IX111.0.0 CANaux1_IN
rrCanIn1_b communication error
CANaux_bCe12Comm−E %IX111.0.1 CANaux2_IN
CANaux_bCe13Comm−E BOOL binary %IX111.0.2 ˘ ˘ CANaux3_IN
CANaux_bCe14BusOffSt %IX111.0.3 CAN bus "Off State"
ate_b detected (CAN bus
interface X14)
CANaux_byNode−Addres %IB111.2 Node address
C2450 ˘
s (CAN bus interface X14)
Byte ˘
CANaux_byState %IB111.3 CAN bus status
C2459 ˘

13 System modules
Outputs_CANaux_Management
13.11.2 Outputs_CANaux_Management
System variables
CANaux_bResetNode_b %QX111.0.0 Carry out reset node
CANaux_bTxCan2Synchr %QX111.0.1 Transmit CANaux2_OUT
onized_b BOOL binary ˘ ˘ with sync telegram.
CANaux_bTxCan3Synchr %QX111.0.2 Transmit CANaux3_OUT
onized_b with sync telegram.
13.11.3 Executing a reset node


ƒ C2458 = 1 using the XTkeypad
ƒ CANaux_bResetNode_b = TRUE
Note!
bus once again.
13.11.4 Define instant of transmission for CANaux2_OUT/CANaux3_OUT
Via CANaux_bTxCan2Synchonized_b and CANaux_bTxCan3Synchonized_b the instant of

transmission for the CAN objects CANaux2_OUT and CANaux3_OUT is determined:
ƒ FALSE: Data from CANaux2_OUT/CANaux3_OUT is sent at the end of the process
image.
ƒ TRUE: Data from CANaux2_OUT/CANaux3_OUT is sent after the CAN bus
synchronisation.
– The identifiers for sync transmission and reception telegrams can be set via
C2467/C2468.
– The sync Tx time can be set via C2469.

System modules 13
Status messages
13.11.5 Status messages
The SB CANaux_Management provides different status messages which can be processed

in the PLC program:
Identifiers Information
CANaux_bCe11CommErrCanIn1 TRUE CANaux1_IN communication error
_b
_b
_b
CANaux_bCe14BusOffState_b TRUE CAN bus "Off State" detected (CAN bus interface X14)
CANaux_byNodeAddress 1 ... 63 Node address (CAN bus interface X14)
CANaux_byState CAN bus operating status (CAN bus interface X14)
1 Operational
2 Pre−Operational
3 Warning
4 Bus off

13 System modules
CANaux1_IO (node number 34)
13.12 CANaux1_IO (node number 34)
This SB serves to transmit cyclic process data via the CAN bus interface X14.
A sync telegram which must be generated from another node is required for transmission.
CANaux1_IO
Byte Byte
CANaux1_nOutW0_a CANaux1_nInW0_a
WORD 1 1 WORD
CANaux1_bFDO0...15_b 16 x BOOL CANaux1_bInB0...15_b

16 x BOOL 2 2 C2491/1
CANaux1_nOutW1_a WORD WORD CANaux1_nInW1_a

C2493/1 3 3 C2492/1
CANaux1_bFDO16...31_b 16 x BOOL CANaux1_bInB16...31_b

16 x BOOL
4 4 C2491/2

C2493/2 C2492/2
5 5 CANaux1_bInB32...47_b
CANaux1_bFDO32...47_b
16 x BOOL 16 x BOOL
6 6
C2493/3 C2492/3
CANaux1_bFDO48...63_b 7 7 CANaux1_bInB48...63_b
16 x BOOL 16 x BOOL
CANaux1_dnOutD1_p L 8 8 L CANaux1_dnInD1_p
DINT H H
DINT

(8 bytes) (8 bytes)
X14 X14
Fig. 13−17 System block "CANaux1_IO"


System modules 13
Codes
{Appl.}
interface X14 (CAN−AUX)
1 CANa times 3000 0 {1 ms} 65000 CAN−AUX boot−up time
2 CANa times 0 CANaux2_OUT/CANaux3_OUT
cycle times: Factor for the task
time to send process data
3 CANa times 0 telegram.
0 = Event−controlled
transmission
4 CANa times 20 CAN−AUX delay time:
When the NMT state
the PDOs CANaux2_OUT and
CANaux3_OUT are sent for the
first time.
interface X14)
C2491 Process data input words
(hexadecimal) for CAN bus
interface X14
Read only
1 CANa IN bits 0 {1 hex} FFFF CANaux1_IN (bit 0 ... 15)
2 CANa IN bits CANaux1_IN (bit 16 ... 31)

13 System modules

{Appl.}
X14
100.00% = 16384
Read only
1 CANa IN −199.99 {0.01 %} 199.99 CANaux1_IN word 1
words
2 CANa IN CANaux1_IN word 2
words
words
words
words
words
words
words
words
words
words
C2493 Process data output words
X14
100.00% = 16384
Read only
1 CANa OUT −199.99 {0.01 %} 199.99 CANaux1_OUT word 1
words
2 CANa OUT CANaux1_OUT word 2
words
words
words
words
words
words
words
words
words
words

System modules 13
Inputs_CANaux1
13.12.1 Inputs_CANaux1
System variables
CANaux1_nInW0_a integer analog %IW34.0 ˘ ˘
CANaux1_bInB0_b %IX34.0.0
... BOOL binary ... C2491/1 hex
CANaux1_nInW1_a integer analog %IW34.1 C2492/1 dec [%]
... BOOL binary ... C2491/2 hex
... BOOL binary ... ˘ ˘
CANaux1_dnInD1_p double position %ID34.1 ˘ ˘
integer
User data
1, 2 CANaux1_bInB0_b
... CANaux1_nInW0_a
CANaux1_bInB15_b
... CANaux1_nInW1_a
CANaux1_bInB31_b
... CANaux1_nInW2_a
CANaux1_bInB47_b
CANaux1_dnInD1_p
... CANaux1_nInW3_a
CANaux1_bInB63_b

13 System modules
Outputs_CANaux1
13.12.2 Outputs_CANaux1
System variables
CANaux1_nOutW0_a integer analog %QW34.0 ˘ ˘
CANaux1_bFDO0_b %QX34.0.0
CANaux1_nOutW1_a integer analog %QW34.1 C2493/1 dec [%]
CANaux1_dnOutD1_p double position %QD34.1 ˘ ˘
integer

System modules 13
Outputs_CANaux1
User data
as
1, 2 CANaux1_bFDO0_b
... CANaux1_nOutW0_a
CANaux1_bFDO15_b
CANaux1_bFDO31_b
CANaux1_bFDO47_b
CANaux1_dnOutD1_p
CANaux1_bFDO63_b
Note!
consistency.
CANaux1_dnOutD1_p, only the variable CANaux1_nOutW2_a or only the
variables CANaux1_bFDO32_b ... CANaux1_bFDO47_b!

13 System modules
X14.
CANaux2_IO
Byte Byte
1 1
C2493/4 C2492/4
2 2
C2493/5 C2492/5
CANaux2_bFDO0...15_b 3 3 16 x BOOL CANaux2_bInB0...15_b

16 x BOOL
C2491/3

16 x BOOL
C2491/4
CANaux2_dnOutD1_p L L CANaux2_dnInD1_p
DINT H 5 5 H
DINT

C2493/6
6 6 C2492/6

C2493/7 7 7 C2492/7
8 8

(8 bytes) (8 bytes)
X14 X14


System modules 13
Codes
{Appl.}
transmission
When the NMT state
first time.
interface X14)
interface X14
Read only

13 System modules

{Appl.}
X14
100.00% = 16384
Read only
words
words
words
words
words
words
words
words
words
words
words
X14
100.00% = 16384
Read only
words
words
words
words
words
words
words
words
words
words
words

System modules 13
Inputs_CANaux2
System variables
CANaux2_nInW1_a %IW35.0 C2492/4
... ... C2491/3
BOOL binary hex
... ... C2491/4
CANaux2_dnInD1_p double position %ID35.0 ˘ ˘
integer
User data
program as:
... CANaux2_nInW1_a
CANaux2_bInB15_b
CANaux2_dnInD1_p
... CANaux2_nInW2_a
CANaux2_bInB31_b
5, 6
CANaux2_nInW3_a
7, 8
CANaux2_nInW4_a

13 System modules
Outputs_CANaux2
System variables
CANaux2_nOutW1_a %QW35.0 C2493/4
... ...
BOOL Binary ˘ ˘
... ...
CANaux2_dnOutD1_p Double Position %QD35.0 ˘ ˘
integer
User data
the PLC program as
CANaux2_bFDO15_b
CANaux2_dnOutD1_p
CANaux2_bFDO31_b
5, 6
CANaux2_nOutW3_a
7, 8
CANaux2_nOutW4_a
Note!
consistency.
CANaux2_dnOutD1_p, or the variable CANaux2_nOutW1_a or only the

System modules 13
X14.
CANaux3_IO
Byte Byte
1 1
C2493/8 C2492/8
2 2
C2493/9 C2492/9

16 x BOOL
C2492/5

16 x BOOL
C2491/6
CANaux3_dnOutD1_p L L CANaux3_dnInD1_p
DINT H 5 5 H
DINT

C2493/10
6 6 C2492/10

C2493/11 7 7 C2492/11
8 8

(8 bytes) (8 bytes)
X14 X14


13 System modules
Codes
{Appl.}
transmission
When the NMT state
first time.
interface X14)
interface X14
Read only

System modules 13

{Appl.}
X14
100.00% = 16384
Read only
words
words
words
words
words
words
words
words
words
words
words
X14
100.00% = 16384
Read only
words
words
words
words
words
words
words
words
words
words
words

13 System modules
Inputs_CANaux3
System variables
... ... C2491/5
BOOL Binary hex
... ... C2491/6
CANaux3_dnInD1_p Double Position %ID36.0 ˘ ˘
integer
User data
program as:
... CANaux3_nInW1_a
CANaux3_bInB15_b
CANaux3_dnInD1_p
... CANaux3_nInW2_a
CANaux3_bInB31_b
5, 6
CANaux3_nInW3_a
7, 8
CANaux3_nInW4_a

System modules 13
Outputs_CANaux3
System variables
... ...
BOOL binary ˘ ˘
... ...
CANaux3_dnOutD1_p double position %QD36.0 ˘ ˘
integer
User data
the PLC program as
CANaux3_bFDO15_b
CANaux3_dnOutD1_p
CANaux3_bFDO31_b
5, 6
CANaux3_nOutW3_a
7, 8
CANaux3_nOutW4_a
Note!
consistency.
CANaux3_dnOutD1_p, or only the variable CANaux3_nOutW1_a or only the

13 System modules
DCTRL_DriveControl (node number 121)
13.15 DCTRL_DriveControl (node number 121)
Node number 121

This SB controls the axis module to different states:
ƒ Quick stop (QSP, 303)
ƒ Operation inhibit (DISABLE, 303)
ƒ Controller inhibit (CINH, 304)
ƒ Setting a TRIP (TRIP−SET, 304)
ƒ Resetting a TRIP (TRIP−RESET, 305)
Via C0150, the status of the axis module is displayed ( 215).
The process image is established in the course of a fixed system task (interval: 2 ms).
Note!
The SB DCTRL_DriveControl only affects the motor control or the drive control.
Motor control/drive control and application program of the PLC are decoupled
from one another, provided that no query of the signals is effected in the
application program.
ƒ If, for instance, a TRIP is activated by the motor control, the application
program thereby is not stopped!
ƒ If, in contrast, a TRIP is activated as a result of a task overflow, the
application program of the PLC is stopped as well!

System modules 13
C0135 DCTRL_DriveControl
DCTRL_wCAN1Ctrl 16
16 Bit Bit3
Bit3 >1 QSP
DCTRL_wAIF1Ctrl C135.B3 DCTRL_bFail_b
16 Bit >1
Bit8 DCTRL_bImp_b
Bit8 >1 DISABLE
C135.B8 DCTRL_bTrip_b
Bit9 DCTRL_bQspIn_b
Bit9
C135.B9 DCTRL_bRdy_b
DCTRL_bCInh1_b X6/SI1 DCTRL_bCwCCw_b
>1 CINH
DCTRL_bNActEq0_b
C0878/1
DCTRL_bCInh2_b DCTRL_bCInh_b
Bit10 DCTRL_bStat1_b
C0878/2 Bit10
>1 TRIP-SET DCTRL_bStat2_b
DCTRL_bTripSet_b C135.B10
DCTRL_bStat4_b
C0878/3 DCTRL_bStat8_b
Bit11
Bit11 TRIP- DCTRL_bWarn_b
DCTRL_bTripReset_b C135.B11 >1
RESET DCTRL_bMess_b
C0878/4 C0136/1 DCTRL_bInit_b

DCTRL_bExternalFault_b
DCTRL_wFaultNumber
STAT
DCTRL_bStateB0_b
0
DCTRL_bImp_b
1
DCTRL_bStateB2_b
2
DCTRL_bStateB3_b
3
DCTRL_bStateB4_b
4
DCTRL_bStateB5_b
5
DCTRL_bNActEq0_b
6
DCTRL_bCInh_b DCTRL_wStat
7
DCTRL_bStat1_b
8 C0150
DCTRL_bStat2_b
9
DCTRL_bStat4_b
10
DCTRL_bStat8_b
11
DCTRL_bWarn_b
12
DCTRL_bMess_b
13
DCTRL_bStateB14_b
14
DCTRL_bStateB15_b
15
ECSXA260
Fig. 13−20 System block "DCTRL_DriveControl"

13 System modules
Inputs_DCTRL
13.15.1 Inputs_DCTRL
System variables
DCTRL_bFail_b %IX121.0.0 TRUE = active error
TRUE = high−resistance
DCTRL_bImp_b %IX121.0.1
power output stages
DCTRL_bTrip_b %IX121.0.2 TRUE = active error
TRUE = quick stop (QSP)
DCTRL_bQspIn_b %IX121.0.3
( 303)
Bool Binary ˘ ˘ TRUE = ready for
DCTRL_bRdy_b %IX121.0.4
operation
FALSE = CW rotation
DCTRL_bCwCcw_b %IX121.0.5
TRUE = CCW rotation
TRUE = motor
DCTRL_bNActEq0_b %IX121.0.6
speed < C0019
TRUE = controller inhibit
DCTRL_bCInh_b %IX121.0.7
( 304)
DCTRL_bStat1_b %IX121.0.8
Bool Binary ˘ ˘ Status signals ( 305)
DCTRL_bWarn_b %IX121.0.12 TRUE = active warning
DCTRL_bMess_b %IX121.0.13 TRUE = active message
Bool Binary ˘ ˘ TRUE = initialisation

DCTRL_bInit_b %IX121.0.14
phase
TRUE = external error
DCTRL_bExternalFault_b %IX121.0.15
( 306)
DCTRL_wStat %IW121.1 C0150 Status word ( 305)
Word ˘ hex Current error number
DCTRL_wFaultNumber %IW121.2 C0168
( 344)
Codes
{Appl.}
C0136 Control words
Read only

System modules 13
Inputs_DCTRL

{Appl.}
C0150 Status word 0 DCTRL status word 1 305
Only display
as 16 bits (binary−coded)
Bit 0 Not assigned DCTRL_bStateB0_b
Bit 1 Pulse inhibit (IMP) DCTRL_bImp_b
Bit 6 n=0 DCTRL_bNActEq0_b
Bit 7 Controller inhibit (CINH) DCTRL_bCInh_b
Bit 8 Status code DCTRL_bStat1_b
Bit 12 Warning DCTRL_bWarn_b
Bit 13 Message DCTRL_bMess_b
C0878 Digital input signals to DCTRL 300
Only display
1 DigInOfDCTRL 0 1 Controller inhibit (CINH) 1
2 DigInOfDCTRL Controller inhibit (CINH) 2
3 DigInOfDCTRL TRIP−set
4 DigInOfDCTRL TRIP−RESET

13 System modules
Outputs_DCTRL
13.15.2 Outputs_DCTRL
System variables
DCTRL_wCAN1Ctrl %QW121.3 CAN control word
Word ˘ ˘ ˘
DCTRL_wAIF1Ctrl %QW121.2 Control word AIF
DCTRL_bCInh1_b %QX121.0.1 C0878/1 Controller inhibit
DCTRL_bCInh2_b %QX121.0.2 C0878/2 ( 304)
BOOL binary bin
DCTRL_bTripSet_b %QX121.0.3 C0878/3 TRIP SET ( 304)
DCTRL_bTripReset_b %QX121.0.4 C0878/4 TRIP RESET ( 305)
DCTRL_bStatB0_b %QX121.1.0
DCTRL_bStatB4_b BOOL binary %QX121.1.4 ˘ ˘ Status signals ( 305)
Codes
{Appl.}
C0135 Control word 0 System control word DCTRL
Bit 0 Not assigned
Bit 1 Not assigned
Bit 2 Not assigned
Bit 3 Quick stop (QSP)
Bit 4 Not assigned
Bit 5 Not assigned
Bit 6 Not assigned
Bit 7 Not assigned
Bit 8 Operation inhibit (DISABLE)
Bit 10 TRIP−SET
Bit 11 TRIP−RESET
Bit 12 Not assigned
Bit 13 Not assigned
Bit 14 Not assigned
Bit 15 Not assigned

System modules 13
Quick stop (QSP)
13.15.3 Quick stop (QSP)
The QSP function serves to stop the drive ˘ irrespective of the setpoint selection ˘ within
the time adjusted in C0105.
ƒ The function can be controlled via the following inputs (OR’d):
– Control word DCTRL_wAIF1Ctrl (
235)
– Control word DCTRL_wCAN1Ctrl (
263)
– Control word C0135, bit 3
ƒ C0136/1 indicates the control word C0135.
Note!
Quick stop (QSP) only is set if DCTRL_bQspIn_b is connected to
MCTRL_bQspOut_b of the SB MCTRL_MotorControl (
329)!
DCTRL_bQspIn_b MCTRL_bQspOut_b
OR
Any Variable C0907/3
MCTRL_nHiMLim_a
C0906/4
MCTRL_nLoMLim_a
C0906/3
MCTRL_bNMSwt_b
C0907/2
ECSXA267
Fig. 13−21 Programming: actuation of a quick stop (QSP) via SB "Inputs_DCTRL"

{Appl.}
C0105 QSP Tif 0.0 Deceleration time for quick stop 303
(QSP) 337
0.000 {0.001 s} 999.999 Relating to speed variation nmax 303
(C0011) ...0 rev./min.
13.15.4 Operation inhibit (DISABLE)
This function actuates an "operation inhibit" (DISABLE) in the drive. The power output
stages are inhibited, and all speed controllers/current controllers/position controllers are
reset. In the "operation inhibit" state, the drive cannot be started by the command
"controller enable".
235)
263)

13 System modules
Controller inhibit (CINH)
13.15.5 Controller inhibit (CINH)
This function activates "controller inhibit (CINH)" in the drive. The power output stages are
inhibited, and all speed controllers/current controllers/position controllers are reset.
– Terminal X6/SI1 (FALSE = controller inhibit)
235)
263)
– Variable DCTRL_bCInh1_b (TRUE = inhibit controller)
– Variable DCTRL_bCInh2_b (TRUE = inhibit controller)
13.15.6 Setting TRIP (TRIP−SET)
This function sets "TRIP" in the drive and reports "external error" (error message "EEr").
235)
263)
– Variable DCTRL_bTripSet_b (TRUE = set TRIP)
ƒ The reaction to TRIP can be set via C0581:
{Appl.}
C0581 MONIT EEr 0 Configuration of external fault 304
monitoring "ExternalFault"
(FWM EEr)
0 TRIP
1 Message
2 Warning
3 Off
4 FAIL−QSP

System modules 13
Resetting TRIP (TRIP−RESET)
13.15.7 Resetting TRIP (TRIP−RESET)
This function resets an upcoming TRIP if the cause of malfunction is eliminated. If the cause
of malfunction is still active, no response will be effected.
235)
263)
– Variable DCTRL_bTripReset_b
– Code C0043
Note!
The function is only carried out by a FALSE−TRUE edge of the signal resulting
from the OR operation.
If one input is assigned to TRUE, a FALSE−TRUE edge cannot occur.
13.15.8 Display of digital status signals
Via DCTRL_wStat, a status word is output, consisting of signals generated by the

SB DCTRL_DriveControl as well as of signals of freely configurable SB inputs.
The status word can be displayed via C0150.
DCTRL_DriveControl
STAT
DCTRL_bStateB0_b
0
DCTRL_bImp_b
1
DCTRL_bStateB2_b
2
DCTRL_bStateB3_b
3
DCTRL_bStateB4_b
4
DCTRL_bStateB5_b
5
DCTRL_bNActEq0_b
6
DCTRL_bCInh_b DCTRL_wStat
7
DCTRL_bStat1_b
8 C0150
DCTRL_bStat2_b
9
DCTRL_bStat4_b
10
DCTRL_bStat5_b
11
DCTRL_bWarn_b
12
DCTRL_bMess_b
13
DCTRL_bStateB14_b
14
DCTRL_bStateB15_b
15
ECSXA266
Fig. 13−22 Output of the status word "DCTRL_wStat"

13 System modules
TRIP status (DCTRL_bExternalFault_b)

{Appl.}
Only display
System variables
The variables DCTRL_bStat1_b ... DCTRL_bStat5_b display the status of the drive in a binary
coded manner:
DCTRL_bStat5_b DCTRL_bStat4_b DCTRL_bStat2_b DCTRL_bStat1_b Status
Initialisation after connection of the
0 0 0 0
supply voltage
Protection against unexpected
0 0 0 1
start−up active (C0142 = 0)
0 0 1 1 Controller is inhibited
0 1 1 0 Controller enabled
A "message" was sent as a
0 1 1 1
monitoring response
TRIP was set as a monitoring
1 0 0 0
response
0 = FALSE 1 = TRUE
13.15.9 TRIP status (DCTRL_bExternalFault_b)
If "TRIP" is activated in the drive (e.g. via the variable DCTRL_bTripSet_b, C0135/bit 10 or
keypad), the variable DCTRL_bExternalFault_b is set to TRUE.
DCTRL_bExternalFault_b is reset to FALSE, as soon as the error source is reset.

System modules 13
Transfer of the status/control word via AIF
13.15.10 Transfer of the status/control word via AIF
If the control and/or status word of the SB DCTRL_DriveControl is to be assigned to the

SB Inputs_AIF1/Outputs_AIF1, this can be realised in the IEC 1131−3 programming
language AWL, e. g. as follows:
LD DCTRL_wStat
ST AIF1_wDctrlStat /* Writing the status word*/
LD AIF1_wDctrlCtrl
ST DCTRL_wAIF1Ctrl /* Writing the control word*/
Note!
The assignment of the control/status word bits marked as "not assigned"
depend on the AIF module used and the transfer profile set (e.g. DRIVECOM).

{Appl.}
Bit 0 Not assigned
Bit 1 Not assigned
Bit 2 Not assigned
Bit 4 Not assigned
Bit 5 Not assigned
Bit 6 Not assigned
Bit 7 Not assigned
Bit 10 TRIP−SET
Bit 11 TRIP−RESET
Bit 12 Not assigned
Bit 13 Not assigned
Bit 14 Not assigned
Bit 15 Not assigned

13 System modules
Transfer of the status/control word via AIF

{Appl.}
Only display

System modules 13
DFIN_IO_DigitalFrequency (node number 21)
Inputs_DFIN
13.16 DFIN_IO_DigitalFrequency (node number 21)
13.16.1 Inputs_DFIN
This SB can convert a power pulse current at the master frequency input X8 into a speed
value and scale it. A master frequency can be transferred with high precision without any
offset and gain errors.
ƒ The master frequency input X8 is designed for signals with TTL level.
ƒ The input of a zero track is optional.
ƒ A configuration of the master frequency input X8 as output (
316) is possible via
C0491.
ƒ An encoder can be selected and configured via the codes:
– C0419 (encoder selection)
– C0420 (encoder increments)
– C0421 (encoder bias)
– C0427 (type of master frequency input signal)
Stop!
The connection X8 cannot be used as a master frequency input if incremental
encoders/SinCos encoders are used and X8 is configured as a master frequency
output.
DFIN_IO_DigitalFrequency
C0491
X8
0 DFIN_nIn_v
CTRL
1
C0426
C0421 C0427 C0420
C0419
DFIN_bTPReceived_b
X6 0
0 TP/MP
DFIN_dnIncLastScan_p
DI1 -Ctrl
1
C0428 C0429
C0431
ECSXA231
Fig. 13−23 System block "DFIN_IO_DigitalFrequency"
Note!
The process image is newly created for every task the SB is used in.
ƒ If therefore DFIN_nIn_v is used in several tasks, an individual process image
of the SB is created for each of these tasks.
ƒ This process is different from the previous process image principle!

13 System modules
Inputs_DFIN
System variables
dec
DFIN_nIn_v Integer Velocity %IW21.0 C0426 Value in inc/ms
[rpm]
Touch probe (TP)
DFIN_bTPReceived_b BOOL Binary %IX21.1.2 ˘ ˘
received
Double Dinc during TP and task
DFIN_dnIncLastScan_p Position %ID21.1 ˘ ˘
integer start
Codes
{Appl.}
the Lenze motor.
C0421, C0427) is set
with the selection.
0 Common
112 IT2048−5V
113 IT4096−5V
211 IS1024−5V
212 IS2048−5V
213 IS4096−5V
(single−turn)
7.0 or higher.
311 AS1024−8V
(multi−turn)
7.0 or higher.
411 AM1024−8V
encoder 104
110
value is altered.

System modules 13
Inputs_DFIN

{Appl.}
1 5.6 V
2 6.3 V
3 6.9 V
4 7.5 V
5 8.1 V
C0426 DIS: In Signal at DFIN input 309
Only display
−32767 {1 rpm} 32767
0 2−phase 110
1 A: speed
B: direction
C0428 DFIN TP sel. 0 DFIN touch probe signal source 313
309
0 Zero pulse of position encoder (C0490) X7/X8
1 Touch probe input TP1 X6/DI1
2 Zero pulse of digital frequency input X8
C0429 TP1 delay 0 DFIN dead time compensation 313
TP1 (DI1) 309
−32767 {1 inc} 32767
C0431 DFIN TP Edge 0 DFIN touch probe TP1 edge 313
(for touch probe via digital input
X6/DI1 (C0428 = 1))
0 Rising edge TP1

1 Falling edge TP1
2 Rising and falling edge TP1
3 Switched off
0 X8 is input 104
110
1 X8 is output

13 System modules
Inputs_DFIN
13.16.1.1 Configuration master frequency input signal

You configure the type of the master frequency input signal via C0427:
C0427 = 0 (2 phases)
Track CW rotation CCW rotation
A Track A leads by 90° Track A lags by 90°
A (DFIN_nIn_v = positive (DFIN_nIn_v = negative
A value) value)
B
Z B ˘ ˘
Z
Signal sequence with phase shift (CW

rotation)
C0427 = 1 (A = speed / B = direction)
A Transmits the speed. Transmits the speed
A
B
B = FALSE = TRUE
(DFIN_nIn_v = positive (DFIN_nIn_v = negative
Z
value) value)
Z
Control of the direction of rotation via

track B
C0427 = 2 (A or B = speed or direction)
A Transmits speed and = FALSE
A direction of rotation
A (DFIN_nIn_v = positive
B
value)
B B = FALSE Transmits speed and
Z direction of rotation
Z (DFIN_nIn_v = negative
value)
Control of speed and direction of
rotation via track A or track B
Transfer function
60 14
DFIN_nIn_v + f[Hz] @ @ 2
Numberofincr. fromC0420 15000
Example:
ƒ Input frequency = 200 kHz
ƒ C0420 = 2048
DFIN_nIn_v[rpm] + 200000Hz @ 60 + 5859rpm

2048

System modules 13
Inputs_DFIN
Signal setting
Finer resolutions can be realised by a downstream function block (e.g. L_CONV from the
LenzeDrive.lib) function library:
DFIN_IO_DigitalFrequency L_CONV
C0491
X8
0 DFIN_nIn_v nIn_v nNumerator nOut_v
CTRL
1 nDenominator
C0426
C0421 C0427 C0420
C0419
DFIN_bTPReceived_b
X6 0
0 TP/MP
DI1 -Ctrl
1
C0428 C0429
C0431
ECSXA231
Fig. 13−24 SB "DFIN_IO_DigitalFrequency" with downstream FB "L_CONV" for the scaling
60 17
nOut_v + f[Hz] @ @ nNumerator @ 2
Number_of_incr._fromC0420 nDenominator 15000
13.16.1.2 Configurating touch probe
Process
If an edge change on the input actuating a TP (e. g. X6/DI1) occurs, the instantaneous
phase value (master frequency input value) is stored in the operating system by means of
a very fast interrupt.
TP
j
Fig. 13−25 Function diagram of a Touch Probe (TP)
Time−equidistant start of an interval task

J Phase−angle signal

13 System modules
Inputs_DFIN
Codes
{Appl.}
309
TP1 (DI1) 309
−32767 {1 inc} 32767
X6/DI1 (C0428 = 1))
0 Rising edge TP1

1 Falling edge TP1
3 Switched off
Function sequence
1. The TP is activated in an edge−controlled manner via the digital input X6/DI1 or via a
zero pulse (only if encoder is connected).
2. If a TP has occurred, DFIN_bTPReceived_b is set = TRUE.
3. After the start of the task, DFIN_dnIncLastScan_p indicates the number of
increments [inc] counted since the TP.
4. Following, DFIN_bTPReceived_b = FALSE is set.
Note!
ƒ It is necessary that all three outputs (DFIN_nIn_v, DFIN_bTPReceived_b and
DFIN_dnIncLastScan_p) are processed in the task even if just one signal is
required.
ƒ The polarity of the digital input X6/DI1 configured via C0114/1 does not
have an influence on the edge evaluation.

System modules 13
Inputs_DFIN
DFIN_nIn_v
ƒ The value DFIN_nIn_v is scaled to increments per millisecond [inc/ms].
– (INT) 16384 corresponds to 15000 rpm. See chapter "Signal types and scaling"
(
24).
ƒ For every task in which DFIN_nIn_v is used, the operating system creates an
individual integrator that is reset after every start of the task (task−internal process
image).
ƒ For reliable TP generation, DFIN_nIn_v must not be used in the PLC_PRG.
Example: DFIN_nIn_v in a 10 ms task:
ƒ When the 10 ms task starts, the value of the integrator is stored in a local area of the
task and the integrator is reset. The value in the local area gives an average value in
increments per 1 ms.
ƒ If a position value is to be calculated from the average value, the average value has
to be multiplied by (SYSTEM_nTaskInterval / 4) in order to obtain increments per
10 ms.
– At a task of 10 ms, the value of SYSTEM_nTaskInterval is ’40’
(40 × 0.25 ms = 10 ms).
– See also chapter "SYSTEM_FLAGS (system flags)" (
348).
ƒ The Lenze function blocks already implement this procedure.

13 System modules
DFOUT_IO_DigitalFrequency (node number 22)
Inputs_DFOUT / Outputs_DFOUT
13.17 DFOUT_IO_DigitalFrequency (node number 22)
13.17.1 Inputs_DFOUT / Outputs_DFOUT
This SB converts internal speed signals into frequency signals and outputs them to X8
(configuration via C0491).
ƒ Transmission is effected with high precision (without offset and amplification
faults) including remainder considered.
ƒ The type of output signals can be set via C0540.
ƒ A configuration of the master frequency output X8 as input (
309) is possible via
C0491.
DFOUT_IO_DigitalFrequency
C0545 C0491
n max C0540 C0540 C0030
0
0 0 DFOUT_nIn_v
DFOUT_nOut_v 1 1 1
2 2
C0547 C0549
X8
X7 0
15000 rpm
1
CTRL
ECSXA232
Fig. 13−26 System block "DFOUT_IO_DigitalFrequency"
Note!
The process image is recreated for every task the SB is used in.
ƒ If therefore DFOUT_nIn_v and DFOUT_nOut_v are used in several tasks, an
individual process image of the SB is created for each of these tasks.
ƒ This process is different from the previous process image principle!
System variables
dec
C0547
[%]
DFOUT_nOut_v Integer Velocity %QW22.0
dec
C0549
[rpm]
DFOUT_nIn_v Integer Velocity %IW22.0 ˘ ˘

System modules 13
Codes
{Appl.}
C0030 DFOUT const 3 Constant for digital frequency 318
output DFOUT_nOut_v on X8 in 104
increments per revolution. 110
0 256 inc/rev
1 512 inc/rev
2 1024 inc/rev
3 2048 inc/rev
4 4096 inc/rev
5 8192 inc/rev
6 16384 inc/rev
0 X8 is input 104
110
1 X8 is output
[C0540] X8 Signal out 2 Function of the digital frequency 101
output signals on X8 (DFOUT)
0 DFOUT in [%]
1 DFOUT in [rpm]
2 Encoder simulation + zero pulse ®
DFOUT
C0545 PH offset 0 Phase offset 318
0 {1 inc} 65535 1 revolution = 65535 increments
C0547 DIS: AN−IN Analog signal on the input of the 318
DFOUT block
Read only
−199.99 {0.00 %} 199.99
C0549 DIS: DF−IN Speed on the input of the DFOUT 318
block
Only display
−32767 {1 rpm} 32767

13 System modules
13.17.1.1 Configure encoder constant

Via C0030 you configure the encoder constant:
{Appl.}
0 256 inc/rev
1 512 inc/rev
2 1024 inc/rev
3 2048 inc/rev
4 4096 inc/rev
5 8192 inc/rev
6 16384 inc/rev

System modules 13
13.17.1.2 Configuration master frequency output signal

You configure the type of the master frequency output signal via C0540:
C0540 = 0 Output of an analog signal
Function The input signal DFOUT_nOut_vis interpreted as an analog signal [%] and is output as a
frequency signal on the master frequency output X8.
Scaling 100 % º (INT)16384 º C0011 (nmax)
Transmission C0011(n max)
function f[Hz] + DFOUT_nOut_v[%] @ C0030 @
100 60
DFOUT_nln_v + f[Hz] @ 60 @ 2 14
C0030 15000
Example l DFOUT_nOut_v = 50 %
l C0030 = 3, this corresponds to a number of increments of 2048 increments/revolution
l C0011 = 3000 rpm
f[Hz] + 50% @ 2048 @ 3000 + 51200Hz

100 60
C0540 = 1 Output of a speed signal
Function The input signal DFOUT_nOut_vis interpreted as a speed signal [rpm] and is output as a
frequency signal on the master frequency output X8.
Scaling 15000 rpm º (INT)16384
Transmission
function f[Hz] + DFOUT_nOut_v[rpm] @ C0030
60
Example l DFOUT_nOut_v = 3000 rpm

l C0030 = 3, this corresponds to a number of increments of 2048 increments/revolution
f[Hz] + 3000rpm @ 2048 + 102400Hz

60
C0540 = 2 Encoder simulation of the resolver with zero track in resolver position
Function l The function is used if a resolver is connected to X7.
l The encoder constant for output X8 is set in C0030.
l The output of the zero pulse with reference to the rotor depends on how the resolver is
mounted to the motor.
l The zero pulse can be shifted by +360 ° via C0545 (65536 inc = 360 °).
Note!
The zero pulse can only be output with C0540 = 2 (encoder simulation of
resolver).

13 System modules
Phase−displaced signal sequence Track CW rotation CCW rotation

A If the input values are If the input values are
A positive, track A leads by 90º. negative, track A lags by 90º.
A
Z B ˘ ˘
Z
CW rotation
ƒ The output signal corresponds to the message of an incremental encoder:

– Track A, B and, if selected, zero track as well as the corresponding inverted tracks
are output with tracks shifted by 90 degrees.
– The levels are TTL compatible.
ƒ The zero track is output in accordance with the function set in C0540.
Note!
The digital frequency output X8 has a system−dependent delay time:
ƒ Td = task cycle time (process image cycle) − 1 ms
Example:
If DFOUT_nOut_v is described in a "10 ms task", the signal on X8 has a delay
time Td of 9 ms (10 ms − 1 ms)

System modules 13
DIGITAL_IO (node number 1)
Inputs_DIGITAL (digital inputs)
13.18 DIGITAL_IO (node number 1)
13.18.1 Inputs_DIGITAL (digital inputs)
This SB reads and conditions the signals on X6/DI1 ... DI4.

ƒ The configuration of the terminal polarity for the inputs X6/DI1 ... DI4 is effected via
C0114.
ƒ The safety function "safe torque off" (former "safe standstill") is activated via X6/SI1
and X6/SI2.
Inputs_DIGITAL
X6
DIGIN_bIn1_b
DI1
0 DIGIN_bIn2_b
DI2
1 DIGIN_bIn3_b
DI3 1
DIGIN_bIn4_b
DI4
C0114/1...4
C0443
mP
X6
DIGIN_bCInh_b
SI1
safe torque off DIGIN_b_safe_standstill_b
SI2
C0443 mP + Imp
ECSXA241
Fig. 13−27 System block "Inputs_DIGITAL"
System variables
C0443 bin
DIGIN_b_safe_standstill "Safe torque off"
%IX1.0.5
_b (former "safe standstill")
Codes
{Appl.}
0 HIGH level active
1 LOW level active

13 System modules
Inputs_DIGITAL (digital inputs)

{Appl.}
C0443 DIS: DIGIN Signal status of the digital inputs 321
on X6 after consideration of the
polarity set under C0114.
Only display
0 {1} 255
Bit 0 DIGIN1 X6/DI1
Bit 1 DIGIN2 X6/DI2
Bit 2 DIGIN3 X6/DI3
Bit 3 DIGIN4 X6/DI4
Bit 4 DIGIN_safe_standstill X6/SI2 69
0: Pulse inhibit is active
1: Pulse inhibit is inactive
Bit 5 Free
Bit 6 DIGIN_CInh X6/SI1 69
0: Controller is inhibited (CINH)
1: Controller is enabled
Bit 7 Free
Terminal assignment
Terminal Function
X6 Digital inputs
Digital input 1
X6/DI1
(DigIn_bIn1_b)
Digital input 2
X6/DI2
(DigIn_bIn2_b)
freely assignable
Digital input 3
X6/DI3
(DigIn_bIn3_b)
Digital input 4
X6/DI4
(DigIn_bIn4_b)
X6 Connection of "Safe torque off"( 69)
X6/SI1 Input 1 LOW DIGIN_bCInh_b = TRUE
HIGH DIGIN_bCInh_b = FALSE
X6/SI2 Input 2 LOW DIGIN_b_safe_standstill_b = FALSE
HIGH DIGIN_b_safe_standstill_b = TRUE
X6/S24 Low−voltage supply

System modules 13
Outputs_DIGITAL (digital outputs)
13.18.2 Outputs_DIGITAL (digital outputs)
This SB conditions the digital signal DIGOUT_bOut1_b and outputs it via X6/DO1.
ƒ A motor holding brake supplied with low voltage via X6/B+ and X6/B− can be
connected to X25/B1 and X25/B2:
– The motor holding brake can be switched by the signal DIGOUT_bRelais_b.
– The terminal polarity for the outputs X6/DO1, X25/B1 and X25/B2 can be
configured via C0118.
ƒ X6/SO serves to the feedback of the safety function "safe torque off" (former "safe
standstill").
Outputs_DIGITAL
0 X6
DIGOUT_bOut1_b
1 DO1
C0444/1 1
C0118/1
X6
safe torque off SO
0
DIGOUT_bRelais_b
1
C0444/2 1
X6 C0118/2 X25
B+ B1
B- B2
MONIT-Rel1
C0602
ECSXA242
Fig. 13−28 System block "Outputs_DIGITAL"
System variables
DIGOUT_bOut1_b %QX1.0.0 C0444/1
BOOL Binary bin Feedback "safe torque

DIGOUT_bRelais_b %QX1.0.1 C0444/2 off" (former "safe
standstill")
Codes
{Appl.}
connection)
0 HIGH level active
1 LOW level active
C0444 Status of the digital outputs 323
Only display
1 DIS: DIGOUT 0 1 Status of the digital output
X6/DO1
2 DIS: DIGOUT Relay control status
C0602 MONIT REL1 3 Configuration of the open circuit
monitoring of relay output X25
0 TRIP
3 Off

13 System modules
Outputs_DIGITAL (digital outputs)
Terminal assignment
Digital Function Electrical data
inputs
X6 Digital output 24 V DC
X6/DO1 Digital output 1 0.7 A (max. 1.4 A)
short−circuit−proof
X6 Output "safe torque off" (former "safe standstill")
X6/SO Output feedback LOW During operation
HIGH "Safe torque off" (former

"safe standstill") active
X25 Connection motor holding brake 23 ... 30 V DC;
X25/B1 Brake connection + max. 1.5 A
Set the brake voltage so that the
X25/B2 Brake connection − permissible voltage at the brake
X6 Low−voltage supply motor holding brake will not be exceeded or the values
do not fall below the threshold!
X6/B+ Brake supply +
X6/B− Brake supply −

System modules 13
FCODE_FreeCode (node number 141)
13.19 FCODE_FreeCode (node number 141)
At Lenze, drive parameters are called codes. By changing the code values, the controller can
be adapted to the corresponding application without any additional programming effort.
This SB provides different variables. The variables can be directly read out by means of the
assigned "free" codes of the ECSxA... axis module and can be processed in the PLC program.
FCODE_FreeCode
FCODE_nC17_a
C0017 rpm TO INT
FCODE_nC26_a
C0026/1
FCODE_nC26_a
C0026/2
% TO INT FCODE_nC27_a
C0027/1
FCODE_nC27_a
C0027/2
FCODE_nC32_a
C0032 INT
FCODE_nC37_a
C0037 rpm TO INT
FCODE_nC108_1_a
C0108/1
FCODE_nC108_2_a
C0108/2
FCODE_nC109_1_a
C0109/1 % TO INT
FCODE_nC109_2_a
C0109/2
FCODE_nC141_a
C0141
FCODE_bC250_b
C0250 BOOL
FCODE_bC471Bit0_b
C0470 DWORD
...
TO
BIT/BOOL FCODE_bC471Bit31_b
C0471
FCODE_nC472_1_a
C0472/1
...
...
% TO INT
FCODE_nC472_20_a
C0472/20
FCODE_nC473_1_a
C0473/1
...
INT
FCODE_nC473_10_a
C0473/10
FCODE_dnC474_1_p
C0474/1
...
DINT
...
FCODE_dnC474_5_p
C0474/5
FCODE_nC475_1_v
C0475/1
INT FCODE_nC475_2_v
C0475/2
FCODE_bC135Bit0_b
...
C0135 16 Bit
FCODE_bC135Bit15_b
ECSXA261
Fig. 13−29 System block "FCODE_FreeCode"
Note!
ƒ The code C0032 only is available as of software version 7.0.
ƒ The free code C0470 is placed on the same memory address as the code
C0471. C0470 can be read out via the variables assigned to the C0471
FCODE_bC0471Bit0_b ... FCODE_bC0471Bit31_b.
In contrast to code C0471, which can accept a 32−bit value, code C0470 is
divided into four subcodes with 8 bits each.
ƒ The values in the codes ( ) of the SB are assigned to the respective variables.
ƒ The code value is converted into a variable value via a fixed scaling routine.
Example:
It is possible to enter a percentage [%] (e. g. by means of the keypad) to code C0472/1
of the ECSxA... axis module. The value is directly assigned to the variable
FCODE_nC0472_1_a (data type "integer") and can be further processed in the PLC
program.

13 System modules
System variables
FCODE_nC17_a %IW141.0 default = 50 rpm
FCODE_nC26_1_a %IW141.2 default = 0.00 %
FCODE_nC32_a %IW141.6 default = 1
FCODE_nC37_a %IW141.7 default = 0 rpm
FCODE_nC141_a %IW141.12 default = 0.00 %
FCODE_bC250_b BOOL binary %IX141.13.0 ˘ ˘ default = 0
FCODE_bC471Bit0_b %IX141.14.0
... ...
BOOL binary ˘ ˘ default = 0
... ...
FCODE_nC472_1_a %IW141.16
default = 0.00 %
... Integer analog ... ˘ ˘
C0472/3 = 100.00 %
FCODE_nC472_20_a %IW141.35
FCODE_nC473_1_a %IW141.36
default = 0
... Integer analog ... ˘ ˘
C0473/1,2 = 1
FCODE_nC473_10_a %IW141.45
FCODE_dnC474_1_p %ID141.23
Double
... Position ... ˘ ˘ default = 0
integer
FCODE_dnC474_5_p %ID141.27
FCODE_nC475_1_v %IW141.56
Integer velocity ˘ ˘ default = 0
FCODE_nC475_2_v %IW141.57
... BOOL binary ... ˘ ˘ default = 0
Codes
{Appl.}
C0017 FCODE (QMIN) 50 Used for speed signals 325
−16000 {1 rpm} 16000
C0026 Offset for relative analog signals 251
(AIN) 325
1 FCODE(offset) 0.0 −199.99 {0.01 %} 199.99 FCODE_nC26_1_a
2 FCODE(offset) 0.0 FCODE_nC26_2_a
C0027 Gain for relative analog signals 251
(AIN) 325
1 FCODE(gain) 100.0 −199.99 {0.01 %} 199.99 FCODE_nC27_1_a
2 FCODE(gain) 100.0 FCODE_nC27_2_a

System modules 13

{Appl.}
C0032 FCODE 1 Freely configurable code for 325
gearbox absolute analog signals
l FCODE_nC32_a (gearbox
factor numerator)
−32767 {1} 32767
C0037 Set−value rpm 0 FCODE_nC37_a setpoint 325
selection in rpm
−16000 {1 rpm} 16000
(AOUT)
(AOUT)
Bit 0 Not assigned
Bit 1 Not assigned
Bit 2 Not assigned
Bit 4 Not assigned
Bit 5 Not assigned
Bit 6 Not assigned
Bit 7 Not assigned
Bit 10 TRIP−SET
Bit 11 TRIP−RESET
Bit 12 Not assigned
Bit 13 Not assigned
Bit 14 Not assigned
Bit 15 Not assigned
C0141 FCODE(setval) 0.0 Main setpoint (FCODE_C141_a) 325
−199.99 {0.01 %} 199.99
C0250 FCODE 1 Bit 0 Freely selectable digital signal 325
(1 bit)
0 1
C0470 Freely configurable code for 325
digital signals
1 FCODE 8bit 0 00 {hex} FF C0470/1 = C0471, bit 0 ... 7
2 FCODE 8bit 0 C0470/2 = C0471, bit 8 ... 15
3 FCODE 8bit 0 C0470/3 = C0471, bit 16 ... 23
4 FCODE 8bit 0 C0470/4 = C0471, bit 24 ... 31

13 System modules

{Appl.}
C0471 FCODE 32bit 0 Hexadecimal 32−bit 325
interpretation of C0470
0 {1} 4294967295
C0472 FCODE analog Freely configurable code for 325
relative analog signals
1 0.0 −199.99 {0.01 %} 199.99 FCODE_bC472_1_a
2 0.0 FCODE_bC472_2_a
3 100.0 FCODE_bC472_3_a
4 0.0 FCODE_bC472_4_a
... ... ...
20 0.0 FCODE_bC472_20_a
absolute analog signals
1 FCODE abs 1 −32767 {1} 32767
2 FCODE abs 1
3 FCODE abs 0
... ... ...
10 FCODE abs 0
phase signals
1 FCODE PH 0 −2147483647 {1} 2147483647
... ... ...
5 FCODE PH 0
phase difference signals
1 FCODE DF 0 −16000 {1 rpm} 16000
2 FCODE DF 0

System modules 13
MCTRL_MotorControl (node number 131)
13.20 MCTRL_MotorControl (node number 131)
This SB contains the control of the driving machine. It consists of the phase controller,
speed controller, and the motor control.
MCTRL_MotorControl
MCTRL_bQspOut_b MCTRL_bQspIn_b
C0907/3 C0042
MCTRL_nHiMLim_a
C0906/4
MCTRL_nLoMLim_a
MCTRL_nNSetIn_a
C0906/3
MCTRL_bNMSwt_b
C0050
C0907/2
MCTRL_nNAdapt_a
C0070
C0056
MCTRL_bILoad_b MCTRL_bMMax_b
C0907/4 MCTRL_nMSetIn_a
MCTRL_nISet_a
MCTRL_bIMax_b
C0906/8 MCTRL_nIAct_a
C0105 MCTRL_nDCVolt_a
C0909
-+100% 1
MCTRL_nMAct_a
MCTRL_nNSet_a 0 1 MCTRL_wMmaxC57
C0906/1 0
C0254 0
MCTRL_nPAdapt_a 1 VECT_CTRL PWM
1 1 C0072
C0906/9 0
0
C0070
MCTRL_dnPosSet_p 0 C0071
C0908 C0006 C0018 MONIT-LU MCTRL_bUnderVoltage_b
MCTRL_nPosLim_a C0022
C0075
C0906/5 C0076 C0173
MCTRL_bPosOn_b C0077
C0078 UG-VOLTAGE MONIT-OU MCTRL_bOverVoltage_b
C0907/1 C0081
C0053
MCTRL_nNStartmLim_a C0084
C0085 const
C0906/6 C0087 MCTRL_bShortCircuit_b
C0088 Imotor MONIT-OC1
MCTRL_nMAdd_a
C0089 C0022
C0906/2 C0090 const
MCTRL_nFldWeak_a C0091
C0111 MONIT-OC2 MCTRL_bEarthFault_b
C0906/7
C0576
C0579 MONIT-OC5 MCTRL_bIxtOverload_b
>1,50INX
MONIT nErr
const
MCTRL_nPos_a
MCTRL_nNAct_v
Resolver
X7 MCTRL_nNAct_a
C0051 MCTRL_dnPos_p
C0607
C0420
C0490 C0419 C0011 C0497 MCTRL_bNmaxFault_b
MONIT-NMAX
C0495
C0098 MCTRL_nNmaxC11
0
Encoder 1
MCTRL_bActTPReceived_b
X8 2 0
3 TP/MP
1 MCTRL_dnActIncLastScan_p
4 0 -Ctrl
DI2
1
X6 const
C0490 C0912 C0911 C0910
MONIT-Sd2 MCTRL_bResolverFault_b
const
MONIT-Sd6 MCTRL_bSensorFault_b
OR
const
MONIT-Sd7/SD8 MCTRL_bEncoderFault_b
150°C
Mot temp (X7 or X8) MONIT-OH3 MCTRL_bMotorTempGreaterSetValue_b
C0063
C0121
MONIT-OH7 MCTRL_bMotorTempGreaterC0121_b
85°C
Heatsink temp MONIT-OH MCTRL_bKuehlGreaterSetValue_b
C0061
C0122
MONIT-OH4 MCTRL_bKuehlGreaterC0122_b
MONIT-PL MCTRL_bRotorPositionFault_b
MONIT-LP1 MCTRL_bMotorphaseFail_b
ECSXA290
Fig. 13−30 System block "MCTRL_MotorControl"
Note!
The process image is established in the course of a fixed system task (interval:
1 ms).
Exception: MCTRL_bActTPReceived_b, MCTRL_dnActIncLastScan_p and
MCTRL_nNAct_v respectively are read in the process input image of the task in
which they are used.

13 System modules
Inputs_MCTRL
13.20.1 Inputs_MCTRL
System variables
TRUE = drive carries out
MCTRL_bQspIn_b BOOL binary %IX131.0.0.0 C0042 bin
quick stop (QSP)
Speed setpoint
MCTRL_nNSetIn_a integer analog %IW131.1 C0050 dec [%] l 16384 º 100 % nmax
(C0011)
TRUE = speed controller
MCTRL_bMMax_b BOOL binary %IX131.0.2 ˘ ˘
operates in limitation
Torque setpoint
MCTRL_nMSetIn_a integer analog %IW131.3 C0056 dec [%] l 16384 º 100 % Mmax
(C0057)
TRUE = drive operates at
MCTRL_bIMax_b BOOL binary %IX131.0.1 ˘ ˘
limit C0022
Actual motor current
MCTRL_nIAct_a %IW131.5 l 16384 º 100 % Imax
(C0022)
DC voltage
MCTRL_nDCVolt_a integer analog %IW131.6 ˘ ˘
l 16384 º 1000 V
Current torque
MCTRL_nMAct_a %IW131.4 l 16384 º 100 % Mmax
(C0057)
Display of maximum
MCTRL_wMmaxC57 Word ˘ %IW131.16 ˘ ˘
torque (C0057) x 10
MCTRL_bUnderVoltage_
%IX131.0.3 Monit: undervoltage
b
MCTRL_bOverVoltage_b %IX131.0.4 Monit: overvoltage
MCTRL_bShortCircuit_b BOOL binary %IX131.0.5 ˘ ˘ Monit: short circuit
MCTRL_bEarthFault_b %IX131.0.6 Monit: earth fault
MCTRL_bIxtOverload_b %IX131.9.2 Monit: I x t − overload
Actual phase value as
MCTRL_nPos_a integer analog %IW131.7 ˘ ˘ analog signal
l 90° º 100%
Actual speed value
MCTRL_nNAct_v integer Velocity %IW131.8 ˘ ˘
[inc/ms]
Actual speed value
MCTRL_nNAct_a integer analog %IW131.2 ˘ ˘ l 16384 º 100 % nmax
(C0011)
double Rotor position of the
MCTRL_dnPos_p position %ID131.5 ˘ ˘
integer motor
Monit: max. system
MCTRL_bNmaxFault_b BOOL binary %IX131.0.7 ˘ ˘
speed exceeded
Display of max. speed
MCTRL_nNmaxC11 integer ˘ %IW131.15 ˘ ˘
(C0011)
MCTRL_bActTPReceived_
BOOL binary %IX131.0.10 ˘ ˘ Receive touch probe (TP)
b
MCTRL_dnActIncLastScan double Dinc during TP and task
position %ID131.6 ˘ ˘
_p integer start

System modules 13
Inputs_MCTRL

MCTRL_bResolverFault_b %IX131.0.8 Monit: resolver error
MCTRL_bEncoderFault_b %IX131.9.1 Monit: Encoder error
MCTRL_bSensorFault_b Monit: Thermal sensor
%IX131.9.0
error
MCTRL_bMotorTempGre Monit: Motor
%IX131.0.11
aterSetValue_b temperature > 150 °C
MCTRL_bMotorTempGre Monit: Motor
%IX131.0.12
aterC0121_b temperature > C0121
BOOL binary ˘ ˘
MCTRL_bKuehlGreaterSe Monit: Heatsink
%IX131.0.14
tValue_b temperature > 85 °C
MCTRL_bKuehlGreaterC0 Monit: Heatsink
%IX131.0.15
122_b temperature > C0122
MCTRL_bRotorPositionFa Monit: Error during rotor
%IX131.9.3
ult_b position adjustment
MCTRL_bMotorphaseFail Monit: Failure of a motor
%IX131.9.4
_b phase

13 System modules
Outputs_MCTRL
13.20.2 Outputs_MCTRL
System variables
TRUE = drive carries out
MCTRL_bQspOut_b BOOL binary %QX131.0.0 C0907/3 bin
quick stop (QSP)
Upper torque limitation
MCTRL_nHiMLim_a %QW131.4 C0906/4
l in % of C0057
Lower torque limitation
MCTRL_nLoMLim_a %QW131.3 C0906/3
l in % of C0057
FALSE = speed control
MCTRL_bNMSwt_b BOOL binary %QX131.0.1 C0907/2 bin
TRUE = torque control
Adaptive proportional
MCTRL_nNAdapt_a integer analog %QW131.12 ˘ ˘ gain of the speed
controller
TRUE = integral action
component of the speed
MCTRL_bILoad_b BOOL binary %QX131.0.3 C0907/4 bin
controller is accepted by
MCTRL_nISet_a
Integral action
MCTRL_nISet_a %QW131.7 C0906/8 component of the speed
controller
MCTRL_nNSet_a %QW131.1 C0906/1 Speed setpoint
Impact of C0254 on the
proportional gain (in %),
MCTRL_nPAdapt_a %QW131.8 C0906/9
l The sum (without
sign) is processed.
Setpoint phase differs
double
MCTRL_dnPosSet_p position %QD131.5 C0908 dec [inc] from actual phase for
integer phase controller
Influence of the phase
MCTRL_nPosLim_a integer analog %QW131.9 C0906/5 dec [%] controller
l In % of nmax (C0011)
TRUE = activate phase
MCTRL_bPosOn_b BOOL binary %QX131.0.2 C0907/1 ˘
controller
Lower speed limit at
MCTRL_nNStartMLim_a %QW131.5 C0906/6
speed limitation
Additional torque
MCTRL_nMAdd_a integer analog %QW131.2 C0906/2 dec [%] setpoint or torque
setpoint
MCTRL_nFldWeak_a %QW131.6 C0906/7 Motor control

System modules 13
Torque setpoint / additional torque setpoint
13.20.3 Torque setpoint / additional torque setpoint
According to setting of MCTRL_bNMSwt_b, MCTRL_nMAdd_a serves as a torque setpoint

or as an additional torque setpoint.
Torque setpoint
At MCTRL_bNMSwt_b = TRUE, the speed control is active.
ƒ MCTRL_nMAdd_a acts as a torque setpoint.
ƒ The speed controllers carry out a monitoring function.
ƒ The torque setpoint is defined in [%] of the maximum possible torque.
– Negative values cause a torque in CCW rotation of the motor.
– Positive values cause a torque in CW rotation of the motor.
ƒ Set the maximum possible torque via C0057:
{Appl.}
C0057 MAX TORQUE Maximum possible torque of the 333
drive configuration
Dependent on C0022, C0081,
C0087, C0088
Read only
0.0 {0.1 Nm} 500.0
Additional torque setpoint

At MCTRL_bNMSwt_b = FALSE, the speed control is active.
ƒ MCTRL_nMAdd_a additionally acts on the output of the n controller.
ƒ The limits specified by the torque limitation MCTRL_nLoMLim_a and
MCTRL_nHiMLim_a thereby cannot be exceeded.
ƒ The additional torque setpoint can, for instance, be used for friction compensation
or acceleration feed forward (dv/dt).

13 System modules
Torque limitation
13.20.4 Torque limitation
You can set an external torque limitation via MCTRL_nLoMLim_a and MCTRL_nHiMLim_a.
Thereby you can define different torques for the quadrants "drive" and "brake".
ƒ MCTRL_nHiMLim_a is the upper torque limit in [%] of the maximum torque possible.
ƒ MCTRL_nLoMLim_a is the lower torque limit in [%] of the maximum torque possible.
ƒ Set the maximum possible torque via C0057.
Stop!
Set positive values in MCTRL_nHiMLim_a only, and negative values in
MCTRL_nLoMLim_a only, because otherwise the speed controller can lose
control. The drive may then run out of control.
Note!
ƒ If MCTRL_nHiMLim_a is not connected (free), the upper torque limit
automatically is 100 % of the maximum torque possible.
ƒ If MCTRL_nLoMLim_a is not connected (free), the lower torque limit
automatically is −100 % of the maximum torque possible.
ƒ With quick stop (QSP), the torque limitation is switched to an inactive state,
i. e. the operation works with ±100 %.

System modules 13
Setting maximum speed
13.20.5 Setting maximum speed
The maximum speed (nmax) which is used as a reference variable for the absolute and
relative setpoint selection with regard to the acceleration and deceleration times as well
as to the upper and lower speed limit, is set via C0011.
ƒ nmax = 100 % º (INT) 16384
Note!
MCTRL_nNmaxC11 displays the maximum speed set via C0011.
ƒ By means of this system variable, you are able to program your own speed
scalings.
ƒ Example: C0011 = 3000 rpm ð MCTRL_nNmaxC11 = 3000

{Appl.}
C0011 Nmax 3000 Maximum speed 335
500 {1 rpm} 16000 Reference value for the absolute
and relative setpoint selection
for the acceleration and
deceleration times.
For parameter setting via
interface: greater changes in one
step should only be made when
the controller is inhibited (CINH)!
13.20.6 Speed setpoint limitation
A speed setpoint limitation can be set via C0909.

ƒ You define the speed setpoint via MCTRL_nNSet_a in [%] of nmax.
ƒ Nmax is selected via C0011. (
335)
{Appl.}
C0909 speed limit 1 Limitation of direction of 335
rotation for speed setpoint
1 −175 ... +175 %
2 0 ... +175 %
3 −175 ... 0 %

13 System modules
Torque control with speed limitation
13.20.7 Torque control with speed limitation
Set MCTRL_bNMSwt_b = TRUE, in order to activate this function.

ƒ For the speed limitation a second speed controller (auxiliary speed controller) is
connected.
ƒ MCTRL_nMAdd_a acts as a bipolar torque setpoint.
ƒ The speed controller 1 is used to make up the upper speed limit.
– The upper speed limit is specified by MCTRL_nNSet_a in [%] of nmax (positive sign
for clockwise sense of rotation).
ƒ The speed controller 2 (auxiliary speed controller) is used to make up the lower
speed limit.
– The lower speed limit is specified by MCTRL_nNStartLim_a in [%] of nmax (negative
sign for anticlockwise sense of rotation).
ƒ Nmax is selected via C0011. (
335)
Stop!
Use ...
ƒ the upper speed limit for the clockwise sense of rotation (positive values)
only.
ƒ the lower speed limit for the anticlockwise sense of rotation (negative
values) only.
Otherwise, the drive can run out of control!
13.20.8 Parameterising phase controllers
Among other things, the phase controller is required for the implementation of a
phase−synchronous operation or of a drift−free standstill.
Parameter setting
1. Assign MCTRL_nPosSet_a to a signal source which provides the phase difference
between setpoint phase and actual phase.
2. Define a value > 0 for MCTRL_nPosLim_a.
3. Set MCTRL_bPosOn_b = TRUE.
4. Set a preferably high proportional gain (Vpn) of the speed controller via C0070.
5. Set the gain of the phase controller > 0 via C0254.
– Increase C0254 during operation until the drive has the required control mode.
{Appl.}
controller (Vpn)
0.00 { 0.01} 127.99
C0254 Vp angle CTRL 0.4000 Phase controller gain (Vp) 336
0.0000 { 0.0001} 3.9999

System modules 13
Quick stop (QSP)
Influence of the phase controller

The output of the phase controller additionally acts upon the speed setpoint.
ƒ If the actual phase is lagging, the drive is accelerated.
ƒ If the actual phase advances, the drive is decelerated until the desired phase
synchronism is achieved.
The influence of the phase controller consists of:
ƒ phase difference multiplied by the gain Vp (C0254).
ƒ an additional influence via an analog signal at MCTRL_nPAdapt_a.
– Vp = C0254 × MCTRL_nPAdapt_a / 16384
ƒ limitation of the phase controller output to ±MCTRL_nPosLim_a.
Limitation of the phase controller output

This serves to limit the maximum speed−up of the drive when it comes to great phase
differences.
13.20.9 Quick stop (QSP)
The QSP function serves to stop the drive ˘ irrespective of the setpoint selection ˘ within
the time set in C0105.
ƒ The QSP function is active if MCTRL_bQsp_b is set = TRUE.
ƒ If the SB DCTRL_DriveControl is to actuate QSP (see also 337), program the QSP
function as follows:
DCTRL_bQspIn_b MCTRL_bQspOut_b
OR
Any Variable C0907/3
MCTRL_nHiMLim_a
C0906/4
MCTRL_nLoMLim_a
C0906/3
MCTRL_bNMSwt_b
C0907/2
ECSXA267
Fig. 13−31 Programming: actuation of a quick stop (QSP) via SB "Inputs_DCTRL"
Function:
ƒ The torque limitation MCTRL_nLoMLim_a and MCTRL_nHiMLim_a is switched
inactively, i. e. the process is run at ±100 % capacity (
334). The drive is operated by
the speed controller.
ƒ The phase controller is switched actively. If the rotor position is moved actively, the
drive creates a torque to counter the swing if
– C0254 is set unequal to ’0’.
– MCTRL_nPosLim_ais controlled by means of a value > 0 %.
ƒ The speed is reduced to ’0’ within the deceleration time set via C0105:

13 System modules
Manual field weakening

{Appl.}
(QSP) 337
(C0011) ...0 rev./min.
13.20.10 Manual field weakening
A manual field weakening can be achieved via MCTRL_nFldWeak_a.

ƒ For a maximum excitation MCTRL_nFldWeak_a has to be activated by +100 %
(= 16384).
ƒ If MCTRL_nFldWeak_a is not connected (free), the field weakening automatically is
+100 %.
Stop!
If the field is weakened manually (MCTRL_nFldWeak_a < 100 %), the drive
cannot produce the maximum torque.
13.20.11 Switching frequency changeover
For the inverter the following switching frequencies can be set via C0018:
ƒ 4 kHz for power−optimised operation ð maximum power output of the drive
controller, however, with audible pulse operation.
ƒ Automatic switch−over between power−optimised and noise optimised operation
(8 kHz).
{Appl.}
C0018 fchop 2 Switching frequency 338
1 4 kHz sinus Power−optimised operation
permanent 4 kHz frequency
2 4 8 kHz sinus Noise optimised operation
automatic change−over to 8 kHz
at higher load
Automatic switching frequency changeover

You can use the automatic switching frequency changeover if you intend to operate the
drive in the noise optimised range, and if the available torque for acceleration processes
is not sufficient for this purpose.
Condition M = f(I) Function
M < MN (IN) Drive controller operates at 8 kHz (noise optimised)
MN (IN(8)) < M < MN (IN(4)) Drive controller switches to 4 kHz (power−optimised)
M > Mmax (Imax) Drive controller operates at 4 kHz in current limitation

System modules 13
Touch probe (TP)
13.20.12 Touch probe (TP)
Procedure: In case of an edge change on the input activating a TP (e. g. X6/DI2), the current
angle value (master frequency input value) is saved in the operating system by a very quick
interrupt.
TP
MCTRL_dnActIncLastScan_p
j

ECSXA291
Fig. 13−32 Function diagram of a touch probe (TP)
Time−equidistant start of an interval task

J Phase−angle signal
Configuring touch probe (TP)

The digital inputs X6/DI1 ... DI4 can be assigned with the following TP signals:
Dig. input System variable Signal assignment
X6/DI1 DigIn_bIn1_b DfIn_bActTpReceived_b (C0431, 309)
X6/DI2 DigIn_bIn2_b MCTRL_bActTpReceived_b (C0912)
X6/DI3 DigIn_bIn3_b
Freely configurable TP (LenzeTpDrvXXX.lib function library)
X6/DI4 DigIn_bIn4_b
The following codes are available for touch probe configuration:

{Appl.}
C0910 MCTRL TP2 0 MCTRL dead time compensation 339
delay TP2 (X6/DI2)
−32767 {1 inc} 32767 1 inc º approx. 60 ms

C0911 MCTRL TP2 0 MCTRL touch probe signal source 339
sel. 0 Zero pulse of position encoder (C0490) X7/X8
C0912 MCTRL TP2 0 MCTRL touch probe TP2 edge 339
Edge (for touch probe via digital input
X6/DI2 (C0911 = 1))
0 Rising edge TP2
1 Falling edge TP2
3 Switched off

13 System modules
Touch probe (TP)
Function sequence
1. The TP is activated in an edge−controlled manner via the digital input X6/DI2 or via a
zero pulse from the master frequency input X8 or the resolver input X7.
2. If a TP has been effected, MCTRL_bActTPReceived_b is set = TRUE.
3. After the start of the task, MCTRL_dnActIncLastScan_p indicates the number of
increments [inc/ms] counted since the TP.
4. Following, MCTRL_bActTPReceived_b is set = FALSE.
Note!
It is necessary that all three outputs (MCTRL_nNAct_v,
MCTRL_bActTPReceived_b and MCTRL_dnActIncLastScan_p) are processed in
the task, even if just one signal is required.
MCTRL_nNAct_v (actual speed value)

ƒ The polarity of the digital input X6/DI2 configured under C0114/2 has no influence
on the edge evaluation.
ƒ The value MCTRL_nNAct_v is scaled to increments per millisecond [inc/ms].
– (INT) 16384 corresponds to 15000 rpm. See chapter "Signal types and scaling"
(
24).
ƒ For every task in which MCTRL_nNAct_v is used, the operating system creates an
individual integrator that is reset after every start of the task (task−internal process
image).
ƒ For reliable TP generation, MCTRL_nNAct_v must not be used in the PLC_PRG.
Example: MCTRL_nNAct_v in a 10 ms task:
ƒ When the 10 ms task starts, the value of the integrator is stored in a local area of the
task and the integrator is reset. The value in the local area gives an average value in
increments per 1 ms.
ƒ If a position value is to be calculated from the average value, the average value has
to be multiplied by (SYSTEM_nTaskInterval / 4) in order to obtain increments per
10 ms.
– At a 10 ms task, the value of SYSTEM_nTaskInterval is ’40’ (40 × 0.25 ms = 10 ms).
– See also chapter "SYSTEM_FLAGS (system flags)" (
348).
ƒ The Lenze function blocks already implement this procedure.

System modules 13
Adjusting the motor data
13.20.13 Adjusting the motor data
Tip!
The GDC "input assistant for motor data" makes motor parameterisation easy.
For more information, please see the "Global Drive Control (GDC) − Getting
started" Manual.
In "GDC Easy", the "Input assistant for motor data" is not available. In this
case, please contact your Lenze representative for the stator resistance and
leakage inductance data.
For the manual adjustment of the motor data, the following codes are provided to you:
{Appl.}
control
motors
motors
C0077 Vp fieldCTRL 5.0 Field controller gain (VpF) 133
0.00 {0.01} 63.99
C0078 Tn fieldCTRL 20.0 Field controller reset time (TnF) 133
1.0 {0.5 ms} 6000.0
C0079 DIS:Lh Mutual inductance of the
asynchronous motor
Read only
0.0 {0.1 mH} 3276.7
1 {1} 10
nameplate
0.01 {0.01 kW} 500.00
[C0082] DIS:Rr Rotor resistance of the
asynchronous motor
Read only
0.000 {0.001 W} 32.767
C0083 DIS:Tr Rotor time constant of the
asynchronous motor
Read only
0.00 {0.01 ms} 327.67

13 System modules

{Appl.}
The upper limit is
device−dependent.
0.00 {0.01 W} 95.44 ECSxS/P/M/A004
7.95 ECSxS/P/M/A048
5.96 ECSxS/P/M/A064
0.00 {0.01 mH} 200.00
300 {1 rpm} 16000
0.5 {0.1 A} 500.0
50 {1 V} 500
0.50 {0.01} 1.00
C0092 DIS:Isdeff Magnetising current of the
asynchronous motor
Only display
0.00 {0.01 A} 327.67
C0093 Drive ident Device identification of the ECS
axis module
Read only
0 Defective power section
1 No power section recognised
4 ECSxS/P/M/A004C4
8 ECSxS/P/M/A008C4
16 ECSxS/P/M/A016C4
32 ECSxS/P/M/A032C4
48 ECSxS/P/M/A048C4
64 ECSxS/P/M/A064C4
65 ECSxS/P/M/A064C2
motor
displacement angle.
0 Inactive
1 Active
C0097 DIS:Lt−Ident 0 Power stage identification
0 {1} 255
inductance
50 {1 %} 200

System modules 13

{Appl.}
resistance
50,00 {1 %} 199,99
constant
50 {1 %} 200
current (Isd)
50 {1 %} 200

13 System modules
Monitoring
13.20.14 Monitoring
Interfaces
System bus (CAN) CAN
Fieldbuses
Digital frequency
Analog/digital I/O
3
Memory
(FLASH, EEPROM, RAM)
Rectifier
PLC program
(acc. to IEC 61131-3, alterable)
Technology functions
mController
Operating system
Drive control Inverter
Communication
3
Motor control DSP
Digital Signal Processor
Standard motor
Synchronous motor
3~ Asynchronous motor
with resolver/encoder
ECSXA292
Fig. 13−33 Signal flow: motor control ˘ PLC
The motor control is provided with different monitoring functions, protecting the drive
against impermissible operating conditions.
If a monitoring function is activated,
ƒ the corresponding response for device protection is initiated.
ƒ the fault indication is entered on the first position in the history buffer (
213).
ƒ a corresponding variable is set to TRUE as long as the trigger condition is fulfilled.
The variables of the monitoring function can be processed in the application program
of the PLC.
The current error number is also displayed in the variable DCTRL_wFaultNumber after the
PLC has been started.
The fault history buffer (C0168/x) saves fault messages with an offset that indicates the
type of response.

System modules 13
Monitoring
No. of the fault message Type of response

0xxx TRIP
1xxx Message
2xxx Warning
3xxx FAIL−QSP (only for ECSxS/P/M/A axis modules)
Example: C0168/1 = 2061

ƒ x061:
The current fault (subcode 1 of C0168) is a communication error (fault message
"CE0"/no. "x061") between the AIF module and the ECS axis module.
ƒ 2xxx:
The response is a warning.
Note!
For an overview of the monitoring functions, please see the chapter
"Monitoring" (
184).
The monitoring responses are described in the same chapter (
189).
Tip!
Occurring faults generally do not affect the operating ability of the PLC!

13 System modules
OSC_Oscilloscope (node number 60)
13.21 OSC_Oscilloscope (node number 60)
Note!
When the oscilloscope is integrated into the IEC 61131 program (DDS), it
requires a permanent calculating time of 100 ms. Check in the task monitor, if
enough calculating capacity is available.
The following steps must be carried out to activate the oscilloscope in the DDS:
1. Enter the system block OSC_Oscilloscope into the control configuration.
2. Read the system block input OSC_bUsed into the program organisation unit of the
program type.
Thus the oscilloscope is called in the input process of the tasks which also contains the
program wit the entry mentioned. The minimum sampling rate is determined by the task
which includes the oscilloscope.
Examples
ƒ AWL:
LD OSC_bUsed
ST A
ƒ ST:
A := OSC_bUsed

concerning the handling and functional range of GDO can be obtained from
the Manual "Global Drive Oscilloscope (GDO), Getting started".

System modules 13
SYSTEM_FLAGS (system flags, node number 151)
Inputs SYSTEM_FLAGS
13.22 SYSTEM_FLAGS (system flags, node number 151)
System flags are global variables that are integrated in the run−time system as an inherent
part. They feature functionalities for making programming easier.
13.22.1 Inputs SYSTEM_FLAGS
The following system flags are part of the ECSxA... axis module:
Variable Data type Address Comments
SYSTEM_bClock01Hz %IX151.0.0 0.1 Hz system clock
SYSTEM_bClock1Hz %IX151.0.8 1.0 Hz system clock
SYSTEM_bClock10Hz %IX151.1.0 10 Hz system clock
SYSTEM_bClock0100Hz %IX151.1.8 100 Hz system clock
SYSTEM_bTogCycleTask %IX151.2.0 Toggle marker − cyclic task
SYSTEM_b1LoopCyclicTask %IX151.2.8 First loop − cyclic task
SYSTEM_b1LoopTask2 %IX151.3.0 First loop − task ID2
BOOL
SYSTEM_nTaskInterval %IW151.7 Interval of current task
integer
SYSTEM_nTaskID %IW151.8 Identification of current task
Tip!
The system flags are not generated in simulation mode.
SYSTEM_bClockxHz
These system flags output a fixed clock pulse with an equal pulse/pause ratio.
ƒ State alterations of the flag are effected in real time.
ƒ When you use this system flag, observe the sampling frequency used for polling the
flag (aliasing effect). It should at least be twice the change frequency.
Example: You want to use the system flag SYSTEM_bClock100Hz as a clock for a
counter.
ƒ The pulse/pause ratio is 5 ms/5 ms.
ƒ To avoid an aliasing effect, the counter must always be polled with an INTERVAL
TASK < 5 ms.
Note!
The SYSTEM_bClockxHz system variables must not be used to trigger
event−controlled tasks. Use time−controlled tasks for this.

13 System modules
SYSTEM_FLAGS (system flags, node number 151)
Outputs SYSTEM_FLAGS
SYSTEM_bTogCycleTask
This system flag alters the state with the cyclic task:
1. cycle: FALSE
2. cycle: TRUE
3. cycle: FALSE
4. cycle: TRUE
etc.
SYSTEM_nTaskInterval
This system flag indicates the interval of the running task with a resolution of 0.25 ms.
ƒ If, for instance, a tasks of 10 ms is processed, the system flag indicates ’40’
(40 × 0.25 ms = 10 ms).
ƒ If a task different from an interval task is processed, the system flag indicates 0".
SYSTEM_nTaskID
This system flag indicates the task ID of the running task.
SYSTEM_b1LoopCyclicTask/SYSTEM_b1Loop Task X
These system flags are TRUE only once during the first cycle of a task.
ƒ After the first cycle, the flags will be set to FALSE.
ƒ The only way to reset the status to TRUE is to reset the program in the drive
controller.
13.22.2 Outputs SYSTEM_FLAGS
Variable Data type Address Comments

SYSTEM_bPLCResetAndRun BOOL %QX151.0.0 This system flag executes a reset with an
immediate restart of the axis module
ECSxA:
l After the reset the flag is deleted and
the restart is executed.

Appendix 14
PLC functionality
14 Appendix
14.1 PLC functionality
Field Quanti Description

ty
Inputs Digital 1 Input for controller enable 24 V DC
8 mA per input
4 Free inputs
(2 interrupt−capable1) 1 response time 0.25 ms
Analog 1 Free input −10 ... +10 V

(11 bits + sign) −20 ... +20 mA/+4 ... +20 mA
"Safe torque off" 2 X6/SI1 for controller inhibit 24 V DC / 8 mA per input
(former "safe X6/SI2 for pulse inhibit
standstill")
Digital frequency 1 Input 0 ... 500 kHz
Outputs Digital 1 Free output 24 V DC / 0.7 A
max. 1.4 A
(short−circuit−proof)
Digital frequency 1 Output 0 ... 500 kHz
"Safe torque off" 1 S6/SO for feedback 24 V DC / 0.7 A
(former "safe max. 1.4 A
standstill") (short−circuit−proof)
Feedback system Resolver, incremental or sin/cos encoder
Operation set According to IEC61131−3
Counter/times According to IEC61131−3, depending on the data memory
available
Fast counter 1 0 ... 500 kHz
Flags 512 Flag words
Memory See chapter 14.3 ( 351)
Processing time (1−bit operation) 0.7 ms
Task types 8 Time or event−controlled tasks (1 ms ... 16 s)
1 Cyclic task
Functions l PID control functions
l Electrical shaft
l Positioning function
l Mains failure control
l Brake control
l Yield point arithmetic
Programming software Drive PLC Developer Studio
l Programming languages according to IEC61131−3 (IL, LD,
FBD, ST, SFC) as well as CFC editor
l Monitoring, visualisation, simulation and debugging
Technology functions Software packages (cam, positioner, winder)

14 Appendix
Extendability / networking
14.2 Extendability / networking
x1 Automation interface (AIF)

GLOBAL DRIVE
dc bBA
SH PRG
PaR2
p
PaRa 0051 00
1250 rpm
for EMZ9371BB operating unit or the following AIF modules:
l 2102 LECOM−A/B/LI
MCTRL-N-ACT
S T
U V
z
X1 Y Z l
y LECOM A/B
l 2103 FP interface (RS−232C)

59 39 71 72 88 89
l 2111 INTERBUS
X4 l 2112 INTERBUS loop
X14
l 2133 PROFIBUS−DP
l 2174 CAN addressing module
l 2175 DeviceNet/CANopen
Others in preparation
X4 System bus interface CAN
X14 System bus interface CAN−AUX
ECSXA294 Terminal extension − IO system IP20
System bus (CAN)

Interface CAN objects available
Integrated system bus interfaces PDOs CAN1_IN/CAN1_OUT
l X4 (CAN) CAN2_IN/CAN2_OUT
l X14 (CAN−AUX) CAN3_IN/CAN3_OUT
CANaux1_IN/CANaux1_OUT
SDOs SDO1 (parameter data channel 1)
SDO2 (parameter data channel 2)
L_ParRead/L_ParWrite functionality only available for CAN
(X4)
Sync telegram
CanDSx driver for mapping indices to codes and for bus monitoring
functions "Heartbeat" and "Node Guarding" (see Manual for function
library LenzeCanDSxDrv.lib).
Note:
No bus monitoring functions "Heartbeat" and "Node Guarding" for
CAN−AUX.
Automation interface (AIF) PDOs XCAN1_IN/XCAN1_OUT
l X1 with corresponding fieldbus XCAN2_IN/XCAN2_OUT
module (e. g. 2175) XCAN3_IN/XCAN3_OUT
XCANaux1_IN/XCANaux1_OUT
SDOs XSDO1 (parameter data channel 1)
XSDO2 (parameter data channel 2)
Sync telegram
AifParMap driver for mapping code accesses via AIF to other codes
(see Manual for function library LenzeAifParMapDrv.lib).

Appendix 14
Memories
Retain memory
14.3 Memories
The table below gives you an overview of the memories available:

Memory Size Information
ROM
Program memory 512 kbytes Re−written whenever the program is downloaded
RAM
PLC data memory 10 kbytes Can be symbolically used for FB instances and PLC variables.
Application memory 2 blocks Data get lost after mains disconnection.
à 64 kbytes
E2PROM−buffered memory
Retain memory 160 bytes See chapter 14.3.1
Persistent memory 32 bytes See chapter 14.3.2
Tip!
Function library LenzeMemDrv.lib includes functions for read/write access to
the additional backup memory (application data memory) of the ECSxA... axis
module.
Further information ...

can be found in the Manual for the function library LenzeMemDrv.lib.
14.3.1 Retain memory
The values of the retain variables are stored fail−safe in the retain memory, and therefore
are still available to the program after mains switching. Saving with C0003 = 1 is not
necessary.
ƒ Retain variables are declared by using the variable class VAR RETAIN.
ƒ Retain variables are created as a symbolically addressable memory.
ƒ At every program download, the retain variables are reset to their initialisation
value; if no initialisation value is specified, the respective retain variable is initialised
with the value ’0’.
ƒ The retain variables in the ECSxA... axis module can be reset to their initialisation
value in the online mode of the DDS by using the commands OnlineReset (cold) or
OnlineReset (original).
14.3.2 Persistent memory
32 bytes of data can be stored fail−safe in the persistent memory, so that they are also still
available to the program after mains switching. In contrast to the retain memory, the data
even remains in the persistent memory after a new program download. Saving with C0003
= 1 is not necessary.
ƒ The persistent memory can only be deleted in the online mode of the DDS by using
the command OnlineReset (original).

14 Appendix
Memories
Persistent memory
Access to the persistent memory

Access to the persistent memory is effected via the system variables of the control
configuration, assigning the available 32 bytes to several variables of different data types
at the same time, which enables them to be used in the PLC program according to specific
applications:
Identifier Address Identifier Address Identifier Address
0 VAR_Persistent_by %QB171.0
Byte0 VAR_Persistent_w
%QW171.0
1 VAR_Persistent_by %QB171.1 Word0
Byte1 VAR_Persistent_dw
%QD171.0
2 VAR_Persistent_by %QB171.2 DWord0
%QW171.1
Byte3
%QW171.2
%QD171.1
%QW171.3
Byte7
%QW171.4
%QD171.2
%QW171.5
Byte11
%QW171.6
%QD171.3
%QW171.7
Byte15
%QW171.8
%QD171.4
%QW171.9
Byte19
VAR_Persistent_by
20 %QB171.20
%QW171.10
VAR_Persistent_by Word10
21 %QB171.21
%QD171.5
VAR_Persistent_by DWord5
22 %QB171.22
%QW171.11
VAR_Persistent_by Word11
23 %QB171.23
Byte23

Appendix 14
Memories
Persistent memory

Identifier Address Identifier Address Identifier Address
VAR_Persistent_by %QB171.24
24
%QW171.12
%QD171.6
%QW171.13
Byte27
%QW171.14
%QD171.7
%QW171.15
Byte31
Note!
Some projects, program examples, as well as Lenze templates use areas of the
persistent memory. They also are labelled by "LenzeInternalUse" and must not
be altered by the user.
Example: Saving current position fail−safe

By means of an AT declaration, for instance, the variable can be directly connected to the
address of a persistent variable in its current position, and like this can save the position
fail−safe:
g_dnActualPosition_p AT%QD171.6:DINT;

14 Appendix
Memories
Download of various data items
14.3.3 Download of various data items
In DDS (as of version 2.0) it is possible to attach a file to your project whose data are
automatically transferred in the drive controller when the program is downloaded.
ƒ This mechanism is, for instance, used in the software package "Cam" to download
motion profiles.
Note!
With regard to the ECSxA... axis module, the additional data is immediately
attached to the PLC program, because the module is not provided with an
application memory (FLASH).
Data will be downloaded if the following conditions are met:
1. The PLC program in the ECSxA... axis module has to be stopped.
2. The header of the file attached to the project must have the following structure:
Name Data type Data length in bytes Content
wSizeHeader WORD 2 Header length in bytes
wDataType WORD 2 Data specification identifier
l This information can be found under C2131 after
data has been downloaded.
0 ... 10000 Lenze−specific data
> 10000 User data
dwVersion DWORD 4 Data version
dwRealSize DWORD 4 User data length in bytes (without header)
dwTimeStamp DWORD 4 Time stamp of the last data change
wLicenseInfo WORD 2 Reserved for future extensions
wSizeSymbolicName WORD 2 Length of the symbolic file name
achSymbolicName ACH wSizeSymbolicName Character array including the symbolic file name
wCopyToRam WORD 2 Specifying whether the data is automatically copied
into the application RAM of the ECSxA... axis module
after download.
l Maximum data length = 128 kbytes (RAM block 1
& 2)
0 Data is not copied into the application
RAM.
1 Data is copied into the application RAM.
2 ... 65535 Reserved
dwReserved DWORD 4
Reserved for future extensions
awSizeAddInfo DWORD 190
Interpretation of the header information: least significant byte first.

Appendix 14
Memories
Temporary codes
wSizeHeader = 00 E4 hex = 228 Byte

wDataType = 00 0A hex = 10 (Cam data)
dwVersion = 00 00 00 01 hex
E4 00 0A 00 01 00 00 00 1C FF 00 00
dwRealSize = 00 00 FF 1C hex = 65308 Byte

ECSXA295
Fig. 14−1 Header interpretation
14.3.4 Temporary codes
The codes C2500 and C2501 are temporary codes, i. e. the data of these codes
ƒ does not assign storage space in the EPROM of the drive.
ƒ cannot be stored with C0003 = 1 in the parameter set of the drive.
ƒ is lost after switch−off of the drive or after mains failure.
ƒ is fixedly interlinked with the flag area of the PLC.
Tip!
ƒ Temporary codes are suited for the reception of parameters which are to be
accessed during a switch−on cycle of the ECSxA... axis module only.
ƒ Furthermore, the codes present the possibility to directly (e.g. via HMI)
access the flag area of the ECSxA... axis module without having to apply a
variable.

{Appl.}
C2500 PLC flag 1 ... 255 355
0 {1} 65535
C2501 PLC flag 256 ... 512 355
0 {1} 65535

14 Appendix
Memories
RAM memory access via codes
14.3.5 RAM memory access via codes
Note!
ƒ In the system task, the memory access is processed at the same time as the
PLC program. This is why the processing time depends on the workload of
the system.
ƒ If you want to access the RAM memory from the IEC 61131 program, you
can use the functions of the LenzeMemDrv.lib function library for this
purpose.
If you want to access the RAM memory of the ECSxA... axis module by external controls or
PC tools, e. g. in order to manipulate the data of motion profiles online, you can implement
a RAM memory access by means of the following codes:
65535
RAM
block 1
Write protection
C0504/1
4 bytes
RAM block selection

Offset
C0506
C0505
read C0507 4 bytes 1
0
65535
write C0508 4 bytes 2 RAM
block 2
Write protection
C0504/2
4 bytes
Offset
C0505
ECSXA296
Fig. 14−2 Codes for RAM memory access
Codes
{Appl.}
C0504 Activate/deactivate write 356
protection for RAM memory
l In case of activated write
protection, writing on the
RAM memory via codes or
functions from the function
library LenzeMemDrv.lib not
possible.
1 0 0 Write protection RAM block 1 inactive
1 Write protection RAM block 1 active

Appendix 14
Memories
RAM memory access via codes

{Appl.}
C0505 0 Offset address within the RAM 356
block selected via C0506
0 {1} 65532
C0506 1 Selection of the RAM block for 356
access via C0509
1 RAM block 1
2 RAM block 2
C0507 0 Value read from the RAM block 356
l After reading, the pointer to
the memory address is
automatically incremented by
4 bytes.
0 {1} 65532
C0508 0 Value to be written into the RAM 356
block
l After writing, the pointer to
4 bytes.
0 {1} 65532
C0509 CmpChecksRa 0 Check sum verification 356
m 0 Inactive Stop the PLC during the check
sum verification to avoid a
1 Active time−out when reading back the
code.
Auto increment access

Reading/writing of the corresponding 4 data bytes is effected by means of the "auto
increment access", i. e. the pointer to the corresponding address in the selected RAM block
is automatically incremented by 4 bytes after every reading of the code C0507, or after
writing of the code C0508.
Example: reading of successive "double integer" values from the RAM block by means of
auto increment access
1. 2. 3.
RAM 4 bytes
65532
4 bytes
65532
4 bytes
65532
block
4 bytes 4 bytes 4 bytes auto-increment

(+4 bytes)
4 bytes 4 bytes auto-increment 4 bytes
(+4 bytes)
4 bytes auto-increment 4 bytes 4 bytes
(+4 bytes)
Offset Offset Offset

C0505 C0505 C0505
0 0 0
C0507 C0507 C0507

4 bytes 4 bytes 4 bytes
ECSXA297
Fig. 14−3 Example: auto increment access

14 Appendix
System program organisation units
14.4 System program organisation units
System POUs are program organisation units of the "program" type, which by means of a
specific designation adopt the feature of being started subject to an event occurring in the
ECSxA... axis module.
ƒ The program includes max. 1000 instructions for system POUs.
ƒ Unlike tasks or PLC_PRG, system POUs are not run−time monitored by a "watchdog".
ƒ See the following table for special POU names and the related events for starting
the POU:
POU name Event for starting POU The POU starts if
PLC_TaskOverrun Task overflow ...the task monitoring time is exceeded.
PLC_RealError Floating−point error ...a floating−point error occurs.
PLC_FailTripping TRIP ...a trip is set.
PLC_WarningTripping Warning ...a warning is activated.
PLC_MessageTripping Message ...a message is indicated.
PLC_FailQspTripping FAIL−QSP ...a FAIL−QSP is activated. 1)
PLC_CANError CAN bus error ... a CAN bus error occurs (e.g. BUS−OFF). 3)
PLC_AIFError AIF bus error ... an AIF bus error occurs. 3)
PLC_Restart Start ... the START command is activated after a STOP.
PLC_ColdStart Cold start ... a RESET, RESET (cold), RESET (original) or a program
download has been activated. 2)
Note: System variables must not be used in
PLC_ColdStart since this can lead to an unexpected
maloperation of the control system (e.g. restart of the
motor).
PLC_Stop PLC stop ... the STOP command is activated. 4)
PLC_Undervoltage LU threshold ... the set LU threshold is fallen below.

1) Is only called if pulse inhibit is not active.
2) The CAN/AIF bus is ready after this POU has been
executed.
3) Only called if all monitoring functions of the
corresponding communication are deactivated.
4) This POU is not activated by Reset (cold, original)!
Tip!
If you need a system POU for an event−controlled start, create a "program"
POU and use the name of this POU as POU name related to the corresponding
event listed in the table.

Appendix 14
Code list
14.5 Code list

{Appl.}
C0002 Par load 0 Load parameter set
0 Load Lenze setting Load Lenze setting into the RAM
and activate it:
Only possible with C2108 = 2.
1 Load parameter set 1 Load parameter set 1 into the
RAM and activate it:
Parameter set 1 is loaded
automatically after every mains
connection.
C0003 Par save 0 Non−volatile saving of parameter
set
0 Saving executed
1 Save parameter set
C0004 Op display 56 Keypad status display
1 {Code no.} 9999 The keypad displays the selected
code in the operating level, if no
status messages from C0183 are
active (e. g.: 56 = torque setpoint
(C0056))
control
motors
motors
C0009 LECOM 1 Device address for operation via
address AIF interfaceX1
1 {1} 99 Communication modules on AIF
interface X1:
l LECOM−A/B/LI 2102
10, 20, ..., 90 are reserved for
broadcast to groups of nodes.
l PROFIBUS−DP 213x
C0011 Nmax 3000 Maximum speed 335
500 {1 rpm} 16000 Reference value for the absolute
and relative setpoint selection
for the acceleration and
deceleration times.
For parameter setting via
interface: greater changes in one
step should only be made when
the controller is inhibited (CINH)!
C0017 FCODE (QMIN) 50 Used for speed signals 325
−16000 {1 rpm} 16000
C0018 fchop 2 Switching frequency
1 4 kHz sin 4 kHz permanent PWM
frequency
2 8/4 kHz sin 8 kHz PWM frequency with
automatic derating to 4 kHz at
high load

14 Appendix
Code list

{Appl.}
C0019 Thresh nact = 0 Threshold, when nact = 0 rpm is
0 detected. (DCTRL_bNActEq0_b)
0 {1 rpm} 16000
C0023 Imax fld.weak 0 Maximum field weakening
current for synchronous
machines
0 {1 %} 100
(AIN) 325
(AIN) 325
0 256 inc/rev
1 512 inc/rev
2 1024 inc/rev
3 2048 inc/rev
4 4096 inc/rev
5 8192 inc/rev
6 16384 inc/rev
C0032 FCODE 1 Freely configurable code for 325
gearbox absolute analog signals
l FCODE_nC32_a (gearbox
factor numerator)
−32767 {1} 32767
C0034 Mst current 0 Selection: master 251
voltage/master current on
analog input (AIN1_nIn_a)
0 −10 ... + 10 V Master voltage
1 +4 ... +20 mA
Master current
2 −20 ... +20 mA
C0037 Set−value rpm 0 FCODE_nC37_a setpoint 325
selection in rpm
−16000 {1 rpm} 16000
C0040 Ctrl enable 1 Controller inhibit (CINH)
l Writing: Controls the
controller inhibit
l Reading: Reads the status of
the controller inhibit
0 Controller inhibited
1 Controller enabled

Appendix 14
Code list

{Appl.}
C0042 DIS: QSP Quick stop status (QSP) 303
Only display 303
0 QSP not active
1 QSP active
C0043 Trip reset Reset active fault message (TRIP
RESET)
0 Reset fault message (TRIP RESET)
1 Active fault message
C0050 MCTRL−NSET2 Speed setpoint on speed
controller input
(MCTRL_nNSetIn_a)
Only display
−100.00 {0.01 %} 100.00
C0051 MCTRL−NACT Actual speed (MCTRL_nNAct_a)
Only display
−30000 {1 rpm} 30000
C0052 MCTRL Umot Actual motor voltage
Only display
0 {1 V} 800
C0053 UG−VOLTAGE DC−bus voltage
Only display
0 {1 V} 900
C0054 Imot Actual motor current
Read only
0.0 {0.1 A} 500.0
C0055 Phase current Instantaneous phase current
Read only
1 iu 0.0 {0.1 A} 500.0 Instantaneous current in U phase
2 iv Instantaneous current in V phase
3 iw Instantaneous current in W
phase
4 Io Instantaneous theoretical
star−point current
C0056 MCTRL−MSET2 Torque setpoint on speed
controller output
(MCTRL_nMSetIn_a)
Only display
−100 {1 %} 100
C0057 MAX TORQUE Maximum possible torque of the 333
drive configuration
Dependent on C0022, C0081,
C0087, C0088
Read only
0.0 {0.1 Nm} 500.0
−180.0 {0.1 _} 179.9
C0059 Mot pole no. Pole pair number of the motor
Only display
1 {1} 200

14 Appendix
Code list

{Appl.}
shaft under C0495.
Only display
0 {1 inc} 2047 1 rev = 2048 inc
C0061 Heatsink Heatsink temperature 196
temp Only display
−200 {1 °C} 200
C0062 Interior temp Temperature inside the device 197
Only display
−200 {1 °C} 200
C0063 Mot temp Motor temperature 193
Only display
0 {1 °C} 200
C0064 Utilization Device utilisation (I x t) over the
last 180 s
Only display
0 {1 %} 150 l C0064 > 100 % activates
OC5−TRIP.
l TRIP−RESET only is possible if
C0064 < 95 %.
C0065 U24 ext External supply voltage
Read only
0.0 {0.1V} 100.0
C0066 Motor load Thermal motor load I2xt 201
Only display
0 {1 %} 250
C0067 Act trip Current fault (TRIP) 218
(in case of FAIL−QSP, warning and
message, "0" is displayed.)
Only display
controller (Vpn)
0.00 { 0.01} 127.99
C0071 Tn speedCTRL 24.0 Reset time − speed controller 130
(Tnn)
1.0 {0.5 ms} 6000.0
C0072 Td speedCTRL 0.0 Derivative gain of speed 130
controller (Tdn)
0.0 {0.1 ms} 32.0
C0074 Dynamics 0 Pilot control of the current 125
controller for higher dynamics
0 Normal
1 Enhanced

Appendix 14
Code list

{Appl.}
C0075 Vp currCTRL 20.0 Proportional gain of current 125
controller (Vpi)
The upper limit is
device−dependent.
0.00 {0.01 W} 381.80 ECSxS/P/M/A004
190.90 ECSxS/P/M/A008
C0076 Tn currCTRL 5.0 Reset time of current controller 125
(Tni)
0.01 {0.01 ms} 200.00
C0077 Vp fieldCTRL 5.0 Field controller gain (VpF) 133
0.00 {0.01} 63.99
C0078 Tn fieldCTRL 20.0 Field controller reset time (TnF) 133
1.0 {0.5 ms} 6000.0
C0079 DIS:Lh Mutual inductance of the
asynchronous motor
Read only
0.0 {0.1 mH} 3276.7
1 {1} 10
nameplate
0.01 {0.01 kW} 500.00
[C0082] DIS:Rr Rotor resistance of the
asynchronous motor
Read only
0.000 {0.001 W} 32.767
C0083 DIS:Tr Rotor time constant of the
asynchronous motor
Read only
0.00 {0.01 ms} 327.67
The upper limit is
device−dependent.
0.00 {0.01 W} 95.44 ECSxS/P/M/A004
7.95 ECSxS/P/M/A048
5.96 ECSxS/P/M/A064
0.00 {0.01 mH} 200.00
300 {1 rpm} 16000
0.5 {0.1 A} 500.0

14 Appendix
Code list

{Appl.}
50 {1 V} 500
0.50 {0.01} 1.00
C0092 DIS:Isdeff Magnetising current of the
asynchronous motor
Only display
0.00 {0.01 A} 327.67
C0093 Drive ident Device identification of the ECS
axis module
Read only
0 Defective power section
1 No power section recognised
4 ECSxS/P/M/A004C4
8 ECSxS/P/M/A008C4
16 ECSxS/P/M/A016C4
32 ECSxS/P/M/A032C4
48 ECSxS/P/M/A048C4
64 ECSxS/P/M/A064C4
65 ECSxS/P/M/A064C2
C0094 Password 0 Keypad password
Parameter access protection for
the keypad
0 {1} 9999 When the password is activated,
only the codes of the user menu
0 = no password (C0517) can be accessed. Further
possible selections: see C0096
motor
displacement angle.
0 Inactive
1 Active
C0096 Extended password protection
for bus systems with activated
password (C0094)
All codes in the user menu can be
accessed.
1 AIF/CAN prot. 0 No access protection AIF access protection
2 AIF/CAN prot. 0 No access protection CAN access protection
0 No access protection Full access
1 Write protection Reading not possible
2 Write protection Writing not possible
3 Read/write protection Reading and writing not possible
C0097 DIS:Lt−Ident 0 Power stage identification
0 {1} 255
C0098 Set position 0 Home position of encoder
−2147483647 {1 inc} 2147483647

Appendix 14
Code list

{Appl.}
C0099 S/W version Firmware version
Only display
0.0 {0.1} 25.5
(QSP) 337
(C0011) ...0 rev./min.
(AOUT)
(AOUT)
inductance
50 {1 %} 200
resistance
50,00 {1 %} 199,99
constant
50 {1 %} 200
current (Isd)
50 {1 %} 200
0 HIGH level active
1 LOW level active
connection)
0 HIGH level active
1 LOW level active
C0120 OC6 limit 105 Threshold for I2 x t monitoring 201
(motor)
0 {1 %} 120 0 = I2 x t monitoring is switched
off
I2 x t > C0120 ð OC6−TRIP
C0121 OH7 limit 120 Threshold for motor temperature 193
monitoring
45 {1 °C} 150 Motor temperature > C0121 ð
fault message OH7 (C0584)

14 Appendix
Code list

{Appl.}
C0122 OH4 limit 80 Threshold for heatsink 196
45 {1 °C} 90 Heatsink temperature
> C0122 ð fault message OH4
(C0582)
C0123 OC7 limit 90 Threshold for I x t warning (axis 193
module)
OC7 (C0604)
C0124 OH5 limit 75 Threshold for temperature 197
monitoring inside the device
OH5 (C0605)
C0125 Baud rate 0 Baud rate for operation via AIF
interface X1
0 9600 bit/s Communication modules on AIF
1 4800 bit/s interface X1:
l LECOM−A/B/LI 2102
2 2400 bit/s l PROFIBUS−DP 213x
3 1200 bit/s
4 19200 bit/s
C0126 MONIT CE0 3 Monitoring of the 231
communication via AIF interface
X1.
l Under C2382, you can select
whether controller inhibit
(CINH) or quick stop (QSP) is
activated when a CE0 fault
occurs.
0 TRIP A communication error activates
2 Warning the set CE0 response.
3 Off Monitoring is switched off.

C0127 OC8 limit 100 Threshold for I2 x t warning 201
(motor)
0 {1 %} 120 I2 x t > C0127 ð fault message
OC8 (C0606)
motor
disconnection

Appendix 14
Code list

{Appl.}
Bit 0 Not assigned
Bit 1 Not assigned
Bit 2 Not assigned
Bit 4 Not assigned
Bit 5 Not assigned
Bit 6 Not assigned
Bit 7 Not assigned
Bit 10 TRIP−SET
Bit 11 TRIP−RESET
Bit 12 Not assigned
Bit 13 Not assigned
Bit 14 Not assigned
Bit 15 Not assigned
C0136 Control words
Read only
C0141 FCODE(setval) 0.0 Main setpoint (FCODE_C141_a) 325
−199.99 {0.01 %} 199.99
C0142 Start options 1 Starting condition for start after
l mains connection
l message (t > 0.5 s)
l TRIP
0 Protection against unexpected start−up
1 Automatic start

14 Appendix
Code list

{Appl.}
Only display
C0155 Status word 2 0 Status word 2 (advanced status
word)
Display only
0 {1} 65535 Controller interprets information
as 16 bit (binary coded)
Bit 0 Active fault
Bit 1 Mmax reached
Bit 2 Imax reached
Bit 3 Pulse inhibit(IMP)
Bit 4 Ready for operation (RDY)
Bit 6 TRIP active
Bit 7 Initialisation
Bit 8 Motor direction of rotation (Cw/CCw)
Bit 9 Not assigned
Bit 10 Not assigned
Bit 11 Not assigned
Bit 12 Not assigned
Bit 13 Not assigned
Bit 14 Not assigned
Bit 15 Not assigned

Appendix 14
Code list

{Appl.}
C0157 Status of free bits of DCTRL
status word 1 (C0150)
Only display
1 Stat. FreeBit 0 {1 bit} 1 Bit 0 (DCTRL_bStat_B0_b)
2 Stat. FreeBit Bit 2 (DCTRL_bStat_B2_b)
C0161 Act trip Current TRIP 218
l as in C0168/1
l In case of FAIL−QSP, warning,
and message, "0" is displayed.
Only display
C0167 Reset failmem 0 Delete history buffer (C0168) 213
0 No reaction
1 Delete history buffer
C0168 Fault history buffer (list of faults 213
occurred)
Read only
1 Fail number Currently active fault
2 Fail number Last fault
3 Fail number Last fault but one
4 Fail number Last fault but two
5 Fail number Last fault but three
6 Fail number Last fault but four
7 Fail number Last fault but five
8 Fail number Last fault but six
All fault indications
(TRIP, FAIL−QSP, warning, message)
C0169 Time at which the faults entered 213
into the history buffer (C0168)
occurred
Only display
1 Failtime Respective power−on time (C0179) Currently active
2 Failtime Last
3 Failtime Last but one
4 Failtime Last but two
5 Failtime Last but three
6 Failtime Last but four
7 Failtime Last but five
8 Failtime Last but six
0 {1 h} 65535

14 Appendix
Code list

{Appl.}
C0170 Frequency of successive 213
occurrence of the faults entered
in the history buffer (C0168)
Read only
0 {1} 65535
1 Counter Currently active
2 Counter Last
3 Counter Last but one
4 Counter Last but two
5 Counter Last but three
6 Counter Last but four
7 Counter Last but five
8 Counter Last but six
C0173 UG limit 11 Adaptation of the DC−bus 96
voltage thresholds:
l Check during commissioning
and adapt, if necessary.
l All drive components in DC
bus connections must have
the same thresholds.
– LU = Undervoltage
threshold
– OU = Overvoltage threshold
LU = 130 V, OU = 400 V
LU = 285 V, OU = 800 V
LU = 328 V, OU = 800 V
without brake unit
LU = 342 V, OU = 800 V
brake unit
LU = 342 V, OU = 800 V
LU = C0174, OU = 400 V
LU = C0174, OU = 800 V
LU = C0174, OU = 800 V
without brake unit
LU = C0174, OU = 800 V
brake unit
LU = C0174, OU = 800 V

Appendix 14
Code list

{Appl.}
bus (LU)
15 {1 V} 342
C0175 UG−Relais Fkt 1 Charge relay behaviour with 96
undervoltage (LU) in the DC bus.
1 Standard Relay switches as a function of
LU.
2 One Time Relay switches when LU is
exceeded for the first time and
remains on.
3 Fixed On Charging current limitation is
inactive.
l Relay is always switched on
and the charging resistors of
the axis module are thus
permanently jumpered.
l Setting for operation with
ECSxE power supply module.
C0178 Op timer Running time meter
Read only
0 {1 sec} 4294967295 Time when the controller was
enabled
C0179 Mains timer Power−on time meter
Only display
0 {1 sec} 4294967295 Time when the mains was
switched on

14 Appendix
Code list

{Appl.}
C0183 Diagnostics Drive diagnostics
Read only
l Indicates fault or status
information
l If several fault or status
information are to be shown
at the same time, the
information with the smallest
number is displayed
0 OK No fault
101 Initialisation phase
102 TRIP/trouble
103 Emergency stop activated
104 IMP message
105 Power off
111 Operation inhibit C0135
112 Operation inhibit AIF
113 Operation inhibit CAN
121 Controller inhibit via X6/SI1
122 Internal controller inhibit 1
123 Internal controller inhibit 2
124 Controller inhibit via STOP key of the
keypad
125 Controller inhibit via AIF
126 Controller inhibit via CAN
131 Fail QSP
141 Restart protection
142 Pulse inhibit High resistance power outputs
151 Quick stop (QSP) via terminal
152 Quick stop (QSP) via STOP key of the
keypad
153 Quick stop (QSP) via AIF
154 Quick stop (QSP) via CAN
160 PLC Stop PLC must be started.
250 Warning
C0199 BuildNumber Software identification
Only display
C0200 S/W Id Software identification
Only display
C0201 S/W date Software release date
Only display
C0202 Service code
Only display
1 Product code 1
... ...
4 Product code 4
C0203 Komm.−No. x / xxxx / xxxxx Commission number
Only display
C0204 Serial No. Serial number
Only display

Appendix 14
Code list

{Appl.}
C0205 PLC Target ID Identification key
Only display
C0206 Product. date Production date
Only display
C0207 DL info 1 Download info 1
Only display
Only display
Only display
C0250 FCODE 1 Bit 0 Freely selectable digital signal 325
(1 bit)
0 1
C0254 Vp angle CTRL 0.4000 Phase controller gain (Vp) 336
0.0000 { 0.0001} 3.9999
C0300 Service Codes Only the Lenze service is allowed
... to make changes!
C0302
C0304 Service Codes Only the Lenze service is allowed
... to make changes!
C0310
C0349 Status of the DIP switch for CAN
bus interface X4
Read only
1 CAN DIP−SW 0 {1} 63 Node address set on the DIP
switch
2 CAN DIP−SW 0 4 For setting the DIP switches > 4,
the display is set to 0.
C0350 CAN address 32 Node address for CAN bus 161
interface X4 426
of the switches 2 ... 7 of the
DIP switch is set to "ON".
( 161)
is required.
1 {1} 63
C0351 CAN baud rate 0 Baud rate for CAN bus interface 161
X4
0 500 kbit/s l The baud rate must be set
1 250 kbit/s identically for all CAN nodes.
2 125 kbit/s of the switches 2 ... 7 of the
3 50 kbit/s DIP switch is set to "ON".
4 1000 kbit/s is required.

14 Appendix
Code list

{Appl.}
C0353 Source for node address of
interface X4)
C0350.
1 C0354 (man.) Determined by C0354.
interface X4)
1 CAN addr. 129 1 {1} 512 Address 2 CAN1_IN
C0355 Identifier for CAN_IN/CAN_OUT 426
Read only
1 CAN Id 1 {1} 2047 Identifier CAN1_IN
interface X4
the master.
transmission
time
When the NMT state
time.

Appendix 14
Code list

{Appl.}
C0358 Reset node 0 Execute reset node 255
0 No function
1 CAN reset
C0359 CAN state CAN bus status (interface X4)
Only display
0 Operational
1 Pre−operational
2 Warning
3 Bus off
4 Stopped
C0360 Telegram counter
interface X4), number of
telegrams
Read only
1 CAN 0 {1} 65535 All sent telegrams
Messages
2 CAN With a count value > 65535 the counter restarts All received telegrams
Messages with 0
3 CAN Sent to CAN1_OUT
Messages
Messages
Messages
6 CAN Sent on parameter data
Messages channel 1
7 CAN Sent on parameter data
Messages channel 2
8 CAN Received from CAN1_IN
Messages
Messages
Messages
11 CAN Received from parameter data
Messages channel 1
12 CAN Received from parameter data
Messages channel 2

14 Appendix
Code list

{Appl.}
C0361 Detected load
interface X4)
Read only
A faultless operation is only
guaranteed if the total bus load
of all connected nodes amounts
to a value £ 80 %.
1 Load IN/OUT 0 {1 %} 100 All sent telegrams
2 Load IN/OUT All received telegrams
3 Load IN/OUT Sent to CAN1_OUT
6 Load IN/OUT Sent on parameter data
channel 1
7 Load IN/OUT Sent on parameter data
channel 2
8 Load IN/OUT Received from CAN1_IN
11 Load IN/OUT Received from parameter data
channel 1
channel 2
C0362 Sync cycle Time interval between two Sync 257
telegrams via CAN bus interface
X4
Read only
1 {1 ms} 30
C0363 Sync correct. 1 CAN sync correction increment 259
1 0.2 ms/ms
2 0.4 ms/ms
3 0.6 ms/ms
4 0.8 ms/ms
5 1.0 ms/ms
C0365 DIS:CAN Input signal CAN active
active Only display
0 CAN not active
1 CAN active
interface X4
0 No response
1 Response
interface X4
1 {1} 256
C0368 Sync Tx ID 128 Sync transmission ID for CAN bus 412
interface X4 171
1 {1} 256

Appendix 14
Code list

{Appl.}
the cycle time set.
C4062!
[C0370] SDO Gateway 0 Gateway address
Activating remote parameter
setting
l When selecting a setting ¹0,
all code read/write accesses
will be redirected to the
system bus device with the
corresponding CAN node
address.
l The respective code is
accessed via parameter data
channel 1 of the target device.
0 {1} 63 0 = remote parameterisation
deactivated
C0371 Gateway Ch. 1 Selection of the gateway channel
0 CAN Use CAN bus interface X4
1 CAN−AUX Use CAN bus interface X14
C0381 HeartProdTim 0 Heartbeat (slave):
e HeartbeatProducerTime
l Time interval for sending the
heartbeat message
C0352 = 3.
0 {1 ms} 65535
C0382 GuardTime 0 Node Guarding (slave):
NodeGuardTime
l Time interval of the status
inquiry of the master.
0 {1 ms} 65535
C0383 LifeTimeFact 0 Node Guarding (slave):
NodeLifeTime factor
l Factor for the monitoring
time of NodeLifeTime
l NodeLifeTime = C0383 x
C0382 (NodeGuardTime)
0 {1} 255
C0384 Err 3 Node Guarding (slave)
NodeGuard l Response for the occurrence
of a NodeGuard−Event
C0352 = 4.
0 TRIP
1 Message
2 Warning
3 Off
4 FAIL−QSP

14 Appendix
Code list

{Appl.}
C0400 DIS: AnalogIn Signal at the analog input
Read only
−199.99 {0.01 %} 199.99
ideal 1.0)
0.00 {0,01} 1.60
0 100 %
1 80 %
2 68 %
3 58 %
4 50 %
5 45 %
6 40 %
7 37 %
0 Ready
1 Start adjustment
[C0418] Test Cur.Ctrl 0 Controller adjustment: 125
0 Deactivated Deactivate test mode
1 Activated Activate test mode

Appendix 14
Code list

{Appl.}
the Lenze motor.
C0421, C0427) is set
with the selection.
0 Common
112 IT2048−5V
113 IT4096−5V
211 IS1024−5V
212 IS2048−5V
213 IS4096−5V
(single−turn)
7.0 or higher.
311 AS1024−8V
(multi−turn)
7.0 or higher.
411 AM1024−8V
encoder 104
110
value is altered.
1 5.6 V
2 6.3 V
3 6.9 V
4 7.5 V
5 8.1 V
C0426 DIS: In Signal at DFIN input 309
Only display
−32767 {1 rpm} 32767
0 2−phase 110
1 A: speed
B: direction

14 Appendix
Code list

{Appl.}
309
TP1 (DI1) 309
−32767 {1 inc} 32767
X6/DI1 (C0428 = 1))
0 Rising edge TP1

1 Falling edge TP1
3 Switched off
C0443 DIS: DIGIN Signal status of the digital inputs 321
on X6 after consideration of the
polarity set under C0114.
Only display
0 {1} 255
Bit 0 DIGIN1 X6/DI1
Bit 1 DIGIN2 X6/DI2
Bit 2 DIGIN3 X6/DI3
Bit 3 DIGIN4 X6/DI4
Bit 4 DIGIN_safe_standstill X6/SI2 69
0: Pulse inhibit is active
1: Pulse inhibit is inactive
Bit 5 Free
Bit 6 DIGIN_CInh X6/SI1 69
0: Controller is inhibited (CINH)
1: Controller is enabled
Bit 7 Free
C0444 Status of the digital outputs 323
Only display
1 DIS: DIGOUT 0 1 Status of the digital output
X6/DO1
2 DIS: DIGOUT Relay control status
[C0469] Fct STP key 2 Function of the STOP key of the
keypad
Must not be changed if the
"STOP" key is pressed!
0 Inactive Without function
2 Quick stop (QSP)

Appendix 14
Code list

{Appl.}
digital signals
1 FCODE 8bit 0 00 {hex} FF C0470/1 = C0471, bit 0 ... 7
2 FCODE 8bit 0 C0470/2 = C0471, bit 8 ... 15
3 FCODE 8bit 0 C0470/3 = C0471, bit 16 ... 23
4 FCODE 8bit 0 C0470/4 = C0471, bit 24 ... 31
C0471 FCODE 32bit 0 Hexadecimal 32−bit 325
interpretation of C0470
0 {1} 4294967295
C0472 FCODE analog Freely configurable code for 325
relative analog signals
1 0.0 −199.99 {0.01 %} 199.99 FCODE_bC472_1_a
2 0.0 FCODE_bC472_2_a
3 100.0 FCODE_bC472_3_a
4 0.0 FCODE_bC472_4_a
... ... ...
20 0.0 FCODE_bC472_20_a
absolute analog signals
1 FCODE abs 1 −32767 {1} 32767
2 FCODE abs 1
3 FCODE abs 0
... ... ...
10 FCODE abs 0
phase signals
1 FCODE PH 0 −2147483647 {1} 2147483647
... ... ...
5 FCODE PH 0
phase difference signals
1 FCODE DF 0 −16000 {1 rpm} 16000
2 FCODE DF 0
positioning control
0 X8 is input 104
110
1 X8 is output

14 Appendix
Code list

{Appl.}
speed control
C0497 Nact filter 2.0 Time constant of actual speed
value
0.0 {0.1 ms} 50.0 0.0 ms = switched off
C0504 Activate/deactivate write 356
protection for RAM memory
l In case of activated write
protection, writing on the
RAM memory via codes or
functions from the function
library LenzeMemDrv.lib not
possible.
C0505 0 Offset address within the RAM 356
block selected via C0506
0 {1} 65532
C0506 1 Selection of the RAM block for 356
access via C0509
1 RAM block 1
2 RAM block 2
C0507 0 Value read from the RAM block 356
l After reading, the pointer to
4 bytes.
0 {1} 65532
C0508 0 Value to be written into the RAM 356
block
l After writing, the pointer to
4 bytes.
0 {1} 65532
C0509 CmpChecksRa 0 Check sum verification 356
m 0 Inactive Stop the PLC during the check
sum verification to avoid a
1 Active time−out when reading back the
code.
C0510 ProtAppFlash 0 Write−protection application
FLASH
0 No write protection
1 Write protection is active
C0517 User menu with up to 32 entries

Appendix 14
Code list

{Appl.}
0.00 {0.01} 7999.00 l Enter the numbers of the
required codes into the
subcodes.
Format: xxxx.yy
– xxxx = code number
– yy = subcode of the code
l It is not checked whether the
entered code exists.
1 User menu 51.00 C0051 MCTRL−NACT Display of actual speed
2 User menu 54.00 C0054 Imot Display of motor current
3 User menu 56.00 C0056 MCTRL−MSET2 Display of torque setpoint
4 User menu 0.00 Not assigned
6 User menu 183.00 C0183 Diagnostics Display for diagnostics
7 User menu 168.01 C0183 Fail number Display of current fault message
9 User menu 22.00 C0022 Imax current Input of maximum output
current
11 User menu 11.00 C0011 Nmax Input of the maximum speed
14 User menu 105.00 C0105 QSP Tif Input of quick stop deceleration
time
16 User menu 70.00 C0070 Vp speed CTRL Input of speed controller gain
(Vp)
17 User menu 71.00 C0071 Tn speed CTRL Input of speed controller reset
time (Tn)
19 User menu 2100.00 C2100 Time slice Input of time dial for cycl. task
20 User menu 2102.00 C2102 Task switch Selection of the switching
function for cycl. task
21 User menu 2104.00 C2104 PLC autorun Autom. start of the PLC program
after mains power−up
22 User menu 2106.00 C2106 Download protect Write protection of the PLC
program
23 User menu 2108.00 C2108 PLC run/stop Control of the PLC program
24 User menu 2111.00 C2111 GDC ID Creation date of the PLC program
25 User menu 2113.00 C2113 PLC prog name Name of the PLC program
26 User menu 2115.00 C2115 T−fct Credit Number of technology units
31 User menu 94.00 C0094 Password Parameter access protection for
the keypad
32 User menu 3.00 C0003 Par save Save parameter set
[C0540] X8 Signal out 2 Function of the digital frequency 101
output signals on X8 (DFOUT)

14 Appendix
Code list

{Appl.}
0 DFOUT in [%]
1 DFOUT in [rpm]
2 Encoder simulation + zero pulse ®
DFOUT
C0545 PH offset 0 Phase offset 318
0 {1 inc} 65535 1 revolution = 65535 increments
C0547 DIS: AN−IN Analog signal on the input of the 318
DFOUT block
Read only
−199.99 {0.00 %} 199.99
C0549 DIS: DF−IN Speed on the input of the DFOUT 318
block
Only display
−32767 {1 rpm} 32767
C0559 SD8 filter t 1 Filter time constant (SD8)
1 {1 ms} 200 Example:
If the setting is "10 ms", a
SD8−TRIP is actuated after 10 ms.
C0576 nErr Window 100 Monitoring window of the speed 210
control error
referring to nmax .
100 % = lowest monitoring
sensitivity
0 {1 %} 100
C0577 Vp fld weak 0.100 Gain of the field weakening 133
controller (Vp)
0.000 {0.001} 63.999
C0578 Tn fld weak 3.0 Integral−action time of the field
weakening controller (Vn)
0.1 {0.1 ms} 6000.0
C0579 Monit nErr 3 Configuration of speed control 210
error monitoring
0 TRIP
1 Message
2 Warning
3 Off
4 FAIL−QSP
C0580 Monit SD8 3 Configuration of open−circuit 208
monitoring for sin/cos encoders
0 TRIP
3 Off
C0581 MONIT EEr 0 Configuration of external fault 304
monitoring "ExternalFault"
(FWM EEr)
0 TRIP
1 Message
2 Warning
3 Off
4 FAIL−QSP

Appendix 14
Code list

{Appl.}
C0582 MONIT OH4 2 Configuration of heatsink 196
0 TRIP
2 Warning
3 Off
input X8
0 TRIP
2 Warning
3 Off
input X8
0 TRIP
2 Warning
3 Off
Resolver "ResolverFault"
(MCTRL Sd2)
0 TRIP
2 Warning
3 Off
C0588 MONIT 0 Configuration of monitoring 198
H10/H11 Thermal sensors (H10, H11) in
the controller
"SensFaultTht/SensFaultTid"
(FWM H10/H11)
0 TRIP
2 Warning
3 Off
C0591 MONIT CE1 3 Configuration of monitoring 191
CAN1_IN error
"CommErrCANIN1" (CE1)
0 TRIP
2 Warning
3 Off
CAN2_IN error
0 TRIP
2 Warning
3 Off

14 Appendix
Code list

{Appl.}
CAN3_IN error
0 TRIP
2 Warning
3 Off
Motor temperature sensor "
SensorFault" (MCTRL Sd6)
0 TRIP
2 Warning
3 Off
C0595 MONIT CE4 3 Configuration of "system bus 191
(CAN) off" monitoring at the CAN
bus interface X4
"BusOffState" (CE4)
0 TRIP
2 Warning
3 Off
C0596 NMAX limit 5500 Monitoring: Maximum speed of 211
the machine
0 {1 rpm} 16000
C0597 MONIT LP1 3 Configuration of motor phase 205
monitoring (LP1)
When this monitoring function is
activated, the calculating time
which is provided to the user is
reduced!
0 TRIP
2 Warning
3 Off
C0598 MONIT SD5 3 Configuration of master current 251
monitoring at X6 < 2 mA
"MastISourceDef"
0 TRIP
2 Warning
3 Off
C0599 Limit LP1 5.0 Monitoring limit for motor phase 205
monitoring (LP1) referred to the
current limit.
0.01 {0.01 %} 10.00
C0602 MONIT REL1 3 Configuration of the open circuit
monitoring of relay output X25
0 TRIP
3 Off

Appendix 14
Code list

{Appl.}
C0603 MONIT CE5 3 Configuration of gateway 191
function monitoring (CE5)
"Time−out" when remote
parameter setting is activated
(C0370)
0 TRIP
2 Warning
3 Off
C0604 MONIT OC7 2 Configuration of early warning 193
I x t threshold (C0123)
0 TRIP
2 Warning
3 Off
C0605 MONIT OH5 2 Configuration of early warning 197
of temperature inside the device
0 TRIP
2 Warning
3 Off
C0606 MONIT OC8 2 Configuration of I2 x t early 201
warning
0 TRIP
2 Warning
3 Off
C0607 MONIT NMAX 0 Configuration of maximum
speed monitoring
0 TRIP
2 Warning
3 Off
C0608 ovr. Tx−Queue 2 Fault configuration
Transmission memory overflow
of free CAN objects
0 TRIP
1 Message
2 Warning
3 Off
4 Fail−QSP
C0609 ovr. Rx−Isr 0 Fault configuration
Receipt memory overflow of free
CAN objects
0 TRIP
4 Fail−QSP
are indicated on the AIF interface
(AIF1_IN)
Read only
1 AIF1 IN bits 0000 {hex} FFFF Input word 2 (bit 0 ... 15)
2 AIF1 IN bits Input word 3 (bit 0 ... 15)

14 Appendix
Code list

{Appl.}
are indicated decimally on the
AIF interface (AIF1_IN)
100.00% = 16384
Read only
1 AIF1 IN words −199.99 {0.01 %} 199.99 Input word 1
C0857 AIF1 IN phi 32 bits of phase information on 235
the AIF interface (AIF1_IN)
Read only
−2147483648 {1} 2147483647
C0858 Analog process data output 240
words are indicated decimally on
the AIF interface (AIF1_OUT)
100.00% = 16384
Read only
1 AIF1 OUT −199.99 {0.01 %} 199.99 Output word 1
words
words
words
C0859 AIF1 OUT phi 32−bit phase information at the 240
AIF interface (AIF1_OUT)
Only display
−2147483648 {1} 2147483647
Read only
word 1
word 2
word 1
word 2
word 1
word 2

Appendix 14
Code list

{Appl.}
X4
100.00% = 16384
Read only
Read only
1 CAN IN phi −2147483648 {1} 2147483647 CAN1_IN
interface X4
100.00% = 16384
Read only
words
words
words
words
words
words
words
words
words
words
words

14 Appendix
Code list

{Appl.}
Read only
C0878 Digital input signals to DCTRL 300
Only display
1 DigInOfDCTRL 0 1 Controller inhibit (CINH) 1
2 DigInOfDCTRL Controller inhibit (CINH) 2
3 DigInOfDCTRL TRIP−set
4 DigInOfDCTRL TRIP−RESET
C0879
1 Reset C0135 0 No reset Reset DCTRL control word of
Controlword C0135
2 Reset AIF 0 No reset Reset DCTRL control word of AIF
Controlword
3 Reset CAN 0 No reset Reset DCTRL control word of CAN
Controlword
0 No reset
1 Reset Performs one "reset"
C0906 Analog input signals to MCTRL
Read only
1 MCTRL analog −199.99 {0.01 %} 199.99 Speed controller input
2 MCTRL analog Torque setpoint
3 MCTRL analog Lower torque limit
4 MCTRL analog Upper torque limit
5 MCTRL analog Limit of the position controller
6 MCTRL analog Speed for activating the torque
limitation
7 MCTRL analog Field weakening
8 MCTRL analog Integrator of the speed controller
9 MCTRL analog P adaptation of the position
controller
C0907 Digital input signals to MCTRL
Only display
1 MCTRL digital 0 1 Activating position controller
2 MCTRL digital Speed control or torque control
3 MCTRL digital Set quick stop (QSP)
4 MCTRL digital Loading integral−action
component of the speed
controller
C0908 MCTRL PosSet Set phase signal
1 revolution = 65536 increments
Only display
−2147483648 {1 inc} 2147483647

Appendix 14
Code list

{Appl.}
C0909 speed limit 1 Limitation of direction of 335
rotation for speed setpoint
1 −175 ... +175 %
2 0 ... +175 %
3 −175 ... 0 %
C0910 MCTRL TP2 0 MCTRL dead time compensation 339
delay TP2 (X6/DI2)
−32767 {1 inc} 32767 1 inc º approx. 60 ms

C0911 MCTRL TP2 0 MCTRL touch probe signal source 339
sel. 0 Zero pulse of position encoder (C0490) X7/X8
C0912 MCTRL TP2 0 MCTRL touch probe TP2 edge 339
Edge (for touch probe via digital input
X6/DI2 (C0911 = 1))
0 Rising edge TP2
1 Falling edge TP2
3 Switched off
C1120 Sync mode 0 Sync signal source 257
0 Off Off
1 CAN sync Sync connection via CAN bus 261
2 Terminal sync Sync connection via terminal 262
X6/DI1
C1121 Sync cycle 2 Synchronisation cycle 258
1 {1 ms} 13
C1122 Sync phase 0.460 Synchronisation phase 259
0.000 {0.001 ms} 6.500
C1123 Sync window 0.010 Synchronisation window 260
0.000 {0.001 ms} 6.500
C1190 MPTC mode 0 Selection of PTC motor
temperature sensor
characteristic
0 Characteristic for PTC 83−110 (Lenze
standard)
1 Can be specifically set by the user
under C1191 and C1192
2 Characteristic for PTC 83−110 and 2 x This selection is only available as
PTC150 (e.g. in MCS motors) of operating system V 8.0. For
the corresponding motors, the
parameter is not automatically
transferred into GDC by the
motor data assistant. The
parameter has to be set later!
C1191 Selection of temperature
characteristic for PTC
1 Char.: temp 25 0 {1 °C} 255 PTC characteristic:
lower temperature T1
2 Char.: temp 150 PTC characteristic:
upper temperature T2

14 Appendix
Code list

{Appl.}
C1192 Selection of resistance
characteristic for PTC
1 Char.: OHM 1000 0 {1 W} 30000 PTC characteristic:
{0} resistance R1 at T1
2 Char.: OHM 2225 PTC characteristic:
resistance R2 at T2
C1810 SW ID LECOM Software identification LECOM
Only display
C1811 SW date Software creation date LECOM
LECOM Only display
C2100 Time slice 13 Time slice for cyclic task
6 {1 ms} 26
C2102 Task switch 0 Change−over:
System task àcycl. task (PLC)
0 Time slice No change−over
1 Time slice + end of PLC_PRG
2 Time slice + end of PLC_PRG + end of
system task
C2104 PLC Autorun 0 Automatic start of the PLC
program after mains connection
0 Off
1 On
C2106 Downl.protect 0 Write protection of PLC program
0 Inactive
1 Active
2 Reserved
C2108 PLC run/stop 0 Control PLC program
0 No function
1 Run
2 Stop
3 Reset
C2111 GDC Id 27012006132510 = Creation date of PLC program
l Date (day.month.year): 27.01.2006 Read only
l Time (h:min:sec): 13:25:10
C2113 PLC Prog Name of PLC program
Name Read only
C2115 T−Fkt Credit 0 Number of technology units
C2116 CreditPinCode 0 Code for technology units if
service is required (please
consult Lenze)
0 {1} 4294967295
C2117 Full Credit 0 Service code
C2118 ParWriteChan 0 CAN object for L_ParRead and
. L_ParWrite
0 Process data channel
(CAN1...3_IN/CAN1...3_OUT)
1 Parameter data channel 2

Appendix 14
Code list

{Appl.}
C2120 AIF: Control 0 AIF−CAN: control word 234
states
0 No command Note: The MSB (bit 7) of the
1 Read XCAN codes + reinitialisation control word automatically
changes its state with every
2 Read XCAN code access to the code. Observe this
10 Read XCAN C2356/1 ... 4 when interpreting the data!
11 Read XCAN C2357
12 Read XCAN C2375
13 Read XCAN C2376 ... C2378
14 Read XCAN C2382
255 Not assigned
description of the
module.
Read only
states.
Bit 3 XCAN bus off
Bit 6 XCAN warning
Bit 7 Assigned internally
C2130 FileNameAdd Symbolic data name Information on the additional
Da data that have been transmitted
C2131 Type AddData Specification identification of the data together with the application
program.
C2132 VersionAddDa Data version Only display
ta
C2133 TimeStamp Time stamp of the data
C2350 XCAN address 1 Node address XCAN
XCAN = system bus (CAN) on AIF
1 {1} 63
C2351 XCAN baud 0 Baud rate XCAN
rate l Modifications are only valid
after reset node!
0 500 kbit/s
1 250 kbit/s
2 125 kbit/s
3 50 kbit/s
4 1000 kbit/s
C2352 XCAN mst 0 Establish XCAN master
operation.
0 Slave
1 Master

14 Appendix
Code list

{Appl.}
addresses of
XCAN_IN/XCAN_OUT
1 XCAN addr sel 0 CAN node address (C2350) XCAN1_IN/OUT address
C2350
XCAN_IN/XCAN_OUT
1 XCAN addr. 129 1 {1} 512 XCAN1_IN address 2
C2355 Identifier for
XCAN_IN/XCAN_OUT
Only display
1 XCAN Id 1 {1} 2047 Identifier XCAN1_IN
Delay time for initialisation
through the master after mains
connection.
4 XCAN times 0
transmission

Appendix 14
Code list

{Appl.}
C2357 Monitoring time for XCAN
process data input objects
1 CE monit time 3000 1 {1 ms} 65000 XCAN1_IN monitoring time
4 CE monit time 3000 Bus−off
5 CE monit time 3000 AIF monitoring time (can only be
set if C2357/6 = 0)
6 CE monit time 0 Sync monitoring time (can only
be set if C2357/5 = 0)
C2359 AIF HW Set. 0
0 {1} 65535
C2364 0 Event−controlled PDO
transmission
0 Send PDOs when changing to
Operational mode
1 Do not send PDOs
C2365 Enabling the second parameter
channel and the PDO channels
1 0 0 {1} 3 Enabling the second parameter
channel
2 1 Enabling the first process data
channel
3 1 Enabling the second process data
channel
4 1 Enabling the third process data
channel
0 Deactivated
1 Activated
2 Reception activated
3 Transmission activated
C2367 Sync Rx ID 128 XCAN receipt identifier of the
sync telegram
1 {1} 2047
C2368 Sync Tx ID 128 XCAN transmission identifier of
the sync telegram
1 {1} 2047
C2369 0 Consumer heartbeat COB−ID
0 {1} 255
C2370
1 0 0 {1 ms} 65535 Consumer heartbeat time
2 0 0 {1 ms} 65535 Producer heartbeat time
C2371 128 Emergency object COB−ID
0 {1} 2047
C2372 0 Emergency object COB−ID
0 {1} 65535 Inhibit time emergency

14 Appendix
Code list

{Appl.}
C2373 Sync counter
1 Sync Rate IN 1 1 {1} 240 XCAN1_IN
2 Sync Rate IN 1 XCAN2_IN
3 Sync Rate IN 1 XCAN3_IN
C2374 Sync counter
1 Sync Rate OUT 1 1 {1} 240 XCAN1_OUT
2 Sync Rate OUT 1 XCAN2_OUT
3 Sync Rate OUT 1 XCAN3_OUT
C2375 TX mode for XCANx_OUT
1 XCAN 0 Response to sync XCAN1_OUT
Tx−Mode
Tx−Mode
Tx−Mode
0 Response to sync
1 No response to sync
2 Event
3 Event, cycle C2356 superimposed
C2376 XCAN1_OUT mask
1 XCAN1 Mask FFFF 0000 {hex} FFFF Mask for process data output
word 1
2 XCAN1 Mask FFFF Mask for process data output
word 2
word 3
word 4
word 1
word 2
word 3
word 4
word 1
word 2
word 3
word 4

Appendix 14
Code list

{Appl.}
XCAN
4 XCAN Conf. CE 0 Off Bus−off
0 Off
2 Quick stop (QSP)
C2450 CANa address 1 Node address for CAN bus 161
interface X14 (CAN−AUX) 426
1 {1} 63 This code is inactive if one of DIP
switches 2 ... 7 and switch 1 are
set to "ON".
C2451 CANa baud 0 Baud rate for CAN bus interface 161
rate X14 (CAN−AUX)
0 500 kBit/s
1 250 kBit/s
2 125 kBit/s
3 50 kBit/s
4 1000 kBit/s
C2452 CANa mst 0 Configuration of master/slave 167
(CAN−AUX)
0 Slave
1 Master
addresses of
bus interface X14)
C2450
bus interface X14)
1 CANa addr. 129 1 {1} 512 CANaux1_IN address 2

14 Appendix
Code list

{Appl.}
C2455 Identifier for 426
bus interface X14)
Read only
1 CANa Id 1 {1} 2047 Identifier CANaux1_IN
transmission
When the NMT state
first time.
interface X14)
C2458 Reset node 0 Resetting a node 255
0 No function
1 CAN−AUX reset
C2459 CANa state CAN bus status (CAN bus
interface X14)
Read only
0 Operational
1 Pre−operational
2 Warning
3 Bus off

Appendix 14
Code list

{Appl.}
C2460 Telegram counter
bus interface X14), number of
telegrams
Read only
1 CANa 0 {1} 65535 All sent telegrams
Messages
2 CANa With a count value > 65535 the counter restarts All received telegrams
Messages with 0
3 CANa Sent to CANaux1_OUT
Messages
Messages
Messages
6 CANa Sent to parameter data
Messages channel 1
7 CANa Sent to parameter data
Messages channel 2
8 CANa Received from CANaux1_IN
Messages
Messages
Messages
11 CANa Received from parameter data
Messages channel 1
12 CANa Received from parameter data
Messages channel 2
C2461 Detected load
bus interface X14)
Read only
A faultless operation is only
guaranteed if the total bus load
of all connected nodes amounts
to a value £ 80 %.
1 Load IN/OUT 0 {1 %} 100 All sent telegrams
2 Load IN/OUT All received telegrams
3 Load IN/OUT Sent to CANaux1_OUT
6 Load IN/OUT Sent to parameter data
channel 1
7 Load IN/OUT Sent to parameter data
channel 2
8 Load IN/OUT Received from CANaux1_IN
channel 1
channel 2

14 Appendix
Code list

{Appl.}
C2466 Sync Response 1 CAN−AUX sync response for CAN
bus interface X14
0 No response
1 Response
C2467 Sync Rx ID 128 CAN−AUX sync receipt ID for CAN 259
bus interface X14
1 {1} 256
C2468 Sync Tx ID 128 CAN−AUX Sync−transmission ID 412
for CAN bus interface X14 260
1 {1} 256
C2469 Sync Tx time 0 CAN−AUX sync transmission cycle 257
the set cycle time.
CANaux1_IN error
"CommErrCANauxIN1" (CE11)
0 TRIP
2 Warning
3 Off
CANaux2_IN error
0 TRIP
2 Warning
3 Off
CANaux3_IN error
0 TRIP
2 Warning
3 Off
C2484 MONIT CE14 3 Configuration of "system bus 191
(CAN−AUX) off" monitoring at
"BusOffState" (CE14)
0 TRIP
2 Warning
3 Off
C2485 MONIT CE15 3 Configuration of the gateway 191
function
0 TRIP
2 Warning
3 Off

Appendix 14
Code list

{Appl.}
interface X14
Read only
X14
100.00% = 16384
Read only
words
words
words
words
words
words
words
words
words
words
words

14 Appendix
Code list

{Appl.}
X14
100.00% = 16384
Read only
words
words
words
words
words
words
words
words
words
words
words
C2500 PLC flag 1 ... 255 355
0 {1} 65535
C2501 PLC flag 256 ... 512 355
0 {1} 65535

Appendix 14
Table of attributes
14.6 Table of attributes
If you want to establish separate programs, you need the information from the table of
attributes. It contains all information for the communication to the ECSxA... axis module
via parameters.
How to read the table of attributes:

Column Meaning Entry
CoDe Name of the Lenze code Cxxxx
Index dec Index used to address a 24575 − Lenze codes Only needed for control via INTERBUS−S,
parameter PROFIBUS−DP, or system bus (CAN).
A subindex of an array variable is
hex the same as a Lenze subcode 5FFFh − Lenze code
number
Data DS Data structure E Single variable (one parameter element only)
O Array variable (several parameter elements)
DA Number of the array elements
(subcodes)
DT Data type B8 1 byte bit coded
B16 2 bytes bit coded
B32 4 bytes bit coded
FIX32 32 bit value with sign; decimal with four
decimal positions
I32 4 byte with sign
U16 2 byte without sign
U32 4 byte without sign
VS ASCII string
Format LECOM format VD ASCII decimal format
(see also the Operating VH ASCII hexadecimal format
Instructions for the 2102 fieldbus
module) VS String format
VO Octett string format for data blocks
DL Data length in bytes
Decimal Number of decimal positions
position
Access LCM−R/W Access authorisation for LECOM Ra Reading is always permitted
Wa Writing is always permitted
W Writing is bound to a condition
Condition Writing condition CINH Writing is only permitted when the controller
is inhibited (CINH)
PLC run Writing is only permitted when the program
is running.
Code Index Data Access

dec hex DS DA DT Format DL Decimal LCM−R/W Condition
position
C0002 24573 5FFDh E 1 FIX32 VD 4 0 Ra/W CINH
C0003 24572 5FFCh E 1 FIX32 VD 4 0 Ra/Wa
C0004 24571 5FFBh E 1 FIX32 VD 4 0 Ra/Wa
C0005 24570 5FFAh E 1 FIX32 VD 4 0 Ra/Wa
C0006 24569 5FF9h E 1 FIX32 VD 4 0 Ra/W CINH
C0009 24566 5FF6h E 1 FIX32 VD 4 0 Ra/Wa
C0011 24564 5FF4h E 1 FIX32 VD 4 0 Ra/Wa
C0017 24558 5FEEh E 1 FIX32 VD 4 0 Ra/Wa

14 Appendix
Table of attributes

position
C0018 24557 5FEDh E 1 FIX32 VD 4 0 Ra/Wa
C0019 24556 5FECh E 1 FIX32 VD 4 0 Ra/Wa
C0022 24553 5FE9h E 1 FIX32 VD 4 2 Ra/Wa
C0023 24552 5FE8h E 1 FIX32 VD 4 0 Ra/Wa
C0026 24549 5FE5h A 2 FIX32 VD 4 2 Ra/Wa
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
C0027 24548 5FE4h A 2 FIX32 VD 4 2 Ra/Wa
C0030 24545 5FE1h E 1 FIX32 VD 4 0 Ra/Wa
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
C0032
C0034
C0037
24543
24541
24538
5FDFh
5FDDh
5FDAh
E
E
E
1
1
1
FIX32
FIX32
FIX32
VD
VD
VD
4
4
4
0
0
0
Ra/Wa
Ra/Wa
Ra/Wa
C0040 24535 5FD7h E 1 FIX32 VD 4 0 Ra/Wa
C0042 24533 5FD5h E 1 FIX32 VD 4 0 Ra
C0043 24532 5FD4h E 1 FIX32 VD 4 0 Ra/Wa
C0050 24525 5FCDh E 1 FIX32 VD 4 2 Ra
C0051 24524 5FCCh E 1 FIX32 VD 4 0 Ra
C0052 24523 5FCBh E 1 FIX32 VD 4 0 Ra
C0053 24522 5FCAh E 1 FIX32 VD 4 0 Ra
C0054 24521 5FC9h E 1 FIX32 VD 4 1 Ra
C0055 24520 5FC8h A 4 FIX32 VD 4 2 Ra
C0056 24519 5FC7h E 1 FIX32 VD 4 0 Ra
C0057 24518 5FC6h E 1 FIX32 VD 4 1 Ra
C0058 24517 5FC5h E 1 FIX32 VD 4 1 Ra/Wa
C0059 24516 5FC4h E 1 FIX32 VD 4 0 Ra
C0060 24515 5FC3h E 1 FIX32 VD 4 0 Ra
C0061 24514 5FC2h E 1 FIX32 VD 4 0 Ra
C0062 24513 5FC1h E 1 FIX32 VD 4 0 Ra
C0063 24512 5FC0h E 1 FIX32 VD 4 0 Ra
C0064 24511 5FBFh E 1 FIX32 VD 4 0 Ra
C0065 24510 5FBEh E 1 FIX32 VD 4 1 Ra
C0066 24509 5FBDh E 1 FIX32 VD 4 0 Ra
C0067 24508 5FBCh E 1 FIX32 VD 4 0 Ra
C0070 24505 5FB9h E 1 FIX32 VD 4 2 Ra/Wa
C0071 24504 5FB8h E 1 FIX32 VD 4 1 Ra/Wa
C0072 24503 5FB7h E 1 FIX32 VD 4 2 Ra/Wa
C0074 24501 5FB5h E 1 FIX32 VD 4 0 Ra/Wa
C0075 24500 5FB4h E 1 FIX32 VD 4 2 Ra/Wa
C0076 24499 5FB3h E 1 FIX32 VD 4 2 Ra/Wa
C0077 24498 5FB2h E 1 FIX32 VD 4 2 Ra/Wa
C0078 24497 5FB1h E 1 FIX32 VD 4 1 Ra/Wa
C0079 24496 5FB0h E 1 FIX32 VD 4 1 Ra
C0080 24495 5FAFh E 1 FIX32 VD 4 0 Ra/W CINH
C0081 24494 5FAEh E 1 FIX32 VD 4 2 Ra/W CINH
C0082 24493 5FADh E 1 FIX32 VD 4 3 Ra
C0083 24492 5FACh E 1 FIX32 VD 4 2 Ra
C0084 24491 5FABh E 1 FIX32 VD 4 2 Ra/W CINH
C0085 24490 5FAAh E 1 FIX32 VD 4 2 Ra/W CINH
C0087 24488 5FA8h E 1 FIX32 VD 4 0 Ra/W CINH

Appendix 14
Table of attributes

position
C0092 24483 5FA3h E 1 FIX32 VD 4 2 Ra
C0093 24482 5FA2h E 1 FIX32 VD 4 0 Ra
C0094 24481 5FA1h E 1 FIX32 VD 4 0 Ra/Wa
C0096 24479 5F9Fh A 2 FIX32 VD 4 0 Ra/Wa
C0097 24478 5F9Eh E 1 FIX32 VD 4 0 Ra
C0098 24477 5F9Dh E 1 I32 VH 4 0 Ra/W CINH
C0099 24476 5F9Ch E 1 FIX32 VD 4 1 Ra
C0105 24470 5F96h E 1 FIX32 VD 4 3 Ra/Wa
C0108 24467 5F93h A 2 FIX32 VD 4 2 Ra/Wa
C0109 24466 5F92h A 2 FIX32 VD 4 2 Ra/Wa
C0110 24465 5F91h E 1 FIX32 VD 4 0 Ra/W CINH
C0112 24463 5F8Fh E 1 FIX32 VD 4 0 Ra/W CINH
C0113 24462 5F8Eh E 1 FIX32 VD 4 0 Ra/W CINH
C0114 24461 5F8Dh A 4 FIX32 VD 4 0 Ra/Wa
C0118 24457 5F89h A 2 FIX32 VD 4 0 Ra/Wa
C0120 24455 5F87h E 1 FIX32 VD 4 0 Ra/Wa
C0121 24454 5F86h E 1 FIX32 VD 4 0 Ra/Wa
C0122 24453 5F85h E 1 FIX32 VD 4 0 Ra/Wa
C0123 24452 5F84h E 1 FIX32 VD 4 0 Ra/Wa
C0124 24451 5F83h E 1 FIX32 VD 4 0 Ra/Wa
C0125 24450 5F82h E 1 FIX32 VD 4 0 Ra/Wa
C0126 24449 5F81h E 1 FIX32 VD 4 0 Ra/Wa
C0127 24448 5F80h E 1 FIX32 VD 4 0 Ra/Wa
C0128 24447 5F7Fh E 1 FIX32 VD 4 1 Ra/Wa
C0135 24440 5F78h E 1 B16 VH 2 0 Ra/Wa
C0136 24439 5F77h A 3 B16 VH 2 0 Ra
C0141 24434 5F72h E 1 FIX32 VD 4 2 Ra/Wa
C0142 24433 5F71h E 1 FIX32 VD 4 0 Ra/Wa
C0150 24425 5F69h E 1 B16 VH 2 0 Ra
C0155 24420 5F64h E 1 B16 VH 2 0 Ra
C0157 24418 5F62h A 7 FIX32 VD 4 0 Ra
C0161 24414 5F5Eh E 1 FIX32 VD 4 0 Ra
C0167 24408 5F58h E 1 FIX32 VD 4 0 Ra/Wa
C0168 24407 5F57h A 8 FIX32 VD 4 0 Ra
C0169 24406 5F56h A 8 U32 VH 4 0 Ra
C0170 24405 5F55h A 8 FIX32 VD 4 0 Ra
C0175 24400 5F50h E 1 FIX32 VD 4 0 Ra/Wa
C0178 24397 5F4Dh E 1 U32 VH 4 0 Ra
C0179 24396 5F4Ch E 1 U32 VH 4 0 Ra
C0183 24392 5F48h E 1 FIX32 VD 4 0 Ra
C0199 24376 5F38h E 1 FIX32 VD 4 0 Ra

14 Appendix
Table of attributes

position
C0200 24375 5F37h E 1 VS VS 14 0 Ra
C0201 24374 5F36h E 1 VS VS 20 0 Ra
C0202 24373 5F35h A 4 U32 VH 4 0 Ra
C0203 24372 5F34h E 1 VS VS 12 0 Ra
C0204 24371 5F33h E 1 FIX32 VD 4 0 Ra
C0205 24370 5F32h E 1 FIX32 VD 4 0 Ra
C0206 24369 5F31h E 1 VS VS 13 0 Ra
C0207 24368 5F30h E 1 VS VS 14 0 Ra
C0208 24367 5F2Fh E 1 VS VS 14 0 Ra
C0209 24366 5F2Eh E 1 VS VS 14 0 Ra
C0250 24325 5F05h E 1 FIX32 VD 4 0 Ra/Wa
C0254 24321 5F01h E 1 FIX32 VD 4 4 Ra/Wa
C0300 24275 5ED3h E 1 FIX32 VD 4 0 Ra
C0301 24274 5ED2h E 1 FIX32 VD 4 0 Ra
C0302 24273 5ED1h E 1 B32 VH 4 0 Ra
C0304 24271 5ECFh E 1 FIX32 VD 4 0 Ra/Wa
C0305 24270 5ECEh E 1 FIX32 VD 4 0 Ra/Wa
C0306 24269 5ECDh E 1 B32 VH 4 0 Ra/Wa
C0307 24268 5ECCh E 1 B16 VH 2 0 Ra/Wa
C0308 24267 5ECBh E 1 FIX32 VD 4 0 Ra/Wa
C0309 24266 5ECAh E 1 FIX32 VD 4 0 Ra/Wa
C0310 24265 5EC9h E 1 FIX32 VD 4 0 Ra/Wa
C0349 24226 5EA2h A 2 FIX32 VD 4 0 Ra
C0350 24225 5EA1h E 1 FIX32 VD 4 0 Ra/Wa
C0351 24224 5EA0h E 1 FIX32 VD 4 0 Ra/Wa
C0352 24223 5E9Fh E 1 FIX32 VD 4 0 Ra/Wa
C0353 24222 5E9Eh A 3 FIX32 VD 4 0 Ra/Wa
C0354 24221 5E9Dh A 6 FIX32 VD 4 0 Ra/Wa
C0355 24220 5E9Ch A 6 FIX32 VD 4 0 Ra
C0356 24219 5E9Bh A 4 FIX32 VD 4 0 Ra/Wa
C0357 24218 5E9Ah A 3 FIX32 VD 4 0 Ra/Wa
C0358 24217 5E99h E 1 FIX32 VD 4 0 Ra/Wa
C0359 24216 5E98h E 1 FIX32 VD 4 0 Ra
C0360 24215 5E97h A 12 FIX32 VD 4 0 Ra
C0361 24214 5E96h A 12 FIX32 VD 4 0 Ra
C0362 24213 5E95h E 1 FIX32 VD 4 0 Ra
C0363 24212 5E94h E 1 FIX32 VD 4 0 Ra/Wa
C0365 24210 5E92h E 1 FIX32 VD 4 0 Ra
C0366 24209 5E91h E 1 FIX32 VD 4 0 Ra/Wa
C0367 24208 5E90h E 1 FIX32 VD 4 0 Ra/Wa
C0368 24207 5E8Fh E 1 FIX32 VD 4 0 Ra/Wa
C0369 24206 5E8Eh E 1 FIX32 VD 4 0 Ra/Wa
C0370 24205 5E8Dh E 1 FIX32 VD 4 0 Ra/Wa
C0371 24204 5E8Ch E 1 FIX32 VD 4 0 Ra/Wa
C0381 24194 5E82h E 1 FIX32 VD 4 0 Ra/Wa
C0382 24193 5E81h E 1 FIX32 VD 4 0 Ra/Wa
C0383 24192 5E80h E 1 FIX32 VD 4 0 Ra/Wa
C0384 24191 5E7Fh E 1 FIX32 VD 4 0 Ra/Wa

Appendix 14
Table of attributes

position
C0400 24175 5E6Fh E 1 FIX32 VD 4 2 Ra
C0416 24159 5E5Fh E 1 FIX32 VD 4 0 Ra/Wa
C0417 24158 5E5Eh E 1 FIX32 VD 4 0 Ra/Wa
C0418 24157 5E5Dh E 1 FIX32 VD 4 0 Ra/W CINH
C0419 24156 5E5Ch E 1 FIX32 VD 4 0 Ra/W CINH
C0420 24155 5E5Bh E 1 FIX32 VD 4 0 Ra/W CINH
C0421 24154 5E5Ah E 1 FIX32 VD 4 0 Ra/W CINH
C0426 24149 5E55h E 1 FIX32 VD 4 0 Ra
C0427 24148 5E54h E 1 FIX32 VD 4 0 Ra/W CINH
C0428 24147 5E53h E 1 FIX32 VD 4 0 Ra/Wa
C0429 24146 5E52h E 1 FIX32 VD 4 0 Ra/Wa
C0431 24144 5E50h E 1 FIX32 VD 4 0 Ra/Wa
C0443 24132 5E44h E 1 B8 VH 1 0 Ra
C0444 24131 5E43h A 2 FIX32 VD 4 0 Ra
C0469 24106 5E2Ah E 1 FIX32 VD 4 0 Ra/W CINH
C0470 24105 5E29h A 4 B8 VH 1 0 Ra/Wa
C0471 24104 5E28h E 1 B32 VH 4 0 Ra/Wa
C0472 24103 5E27h A 20 FIX32 VD 4 2 Ra/Wa
C0473 24102 5E26h A 10 FIX32 VD 4 0 Ra/Wa
C0474 24101 5E25h A 5 I32 VH 4 0 Ra/Wa
C0475 24100 5E24h A 2 FIX32 VD 4 0 Ra/Wa
C0497 24078 5E0Eh E 1 FIX32 VD 4 1 Ra/Wa
C0504 24071 5E07h A 2 FIX32 VD 4 0 Ra/Wa
C0505 24070 5E06h E 1 FIX32 VD 4 0 Ra/Wa
C0506 24069 5E05h E 1 FIX32 VD 4 0 Ra/Wa
C0507 24068 5E04h E 1 FIX32 VD 4 0 Ra
C0508 24067 5E03h E 1 FIX32 VD 4 0 Ra/Wa
C0509 24066 5E02h E 1 FIX32 VD 4 0 Ra/Wa
C0510 24065 5E01h E 1 FIX32 VD 4 0 Ra/Wa
C0514 24061 5DFDh A 40 U32 VH 4 0 Ra/Wa
C0515 24060 5DFCh A 40 U32 VH 4 0 Ra
C0516 24059 5DFBh E 1 FIX32 VD 4 0 Ra/W CINH
C0517 24058 5DFAh A 32 FIX32 VD 4 2 Ra/Wa
C0518 24057 5DF9h A 250 B32 VH 4 0 Ra/Wa
C0519 24056 5DF8h A 250 B32 VH 4 0 Ra
C0540 24035 5DE3h E 1 FIX32 VD 4 0 Ra/W CINH
C0545 24030 5DDEh E 1 FIX32 VD 4 0 Ra/Wa
C0547 24028 5DDCh E 1 FIX32 VD 4 2 Ra
C0549 24026 5DDAh E 1 FIX32 VD 4 0 Ra
C0559 24016 5DD0h E 1 FIX32 VD 4 0 Ra/Wa
C0576 23999 5DBFh E 1 FIX32 VD 4 0 Ra/Wa
C0577 23998 5DBEh E 1 FIX32 VD 4 3 Ra/Wa
C0578 23997 5DBDh E 1 FIX32 VD 4 1 Ra/Wa
C0579 23996 5DBCh E 1 FIX32 VD 4 0 Ra/Wa
C0580 23995 5DBBh E 1 FIX32 VD 4 0 Ra/Wa

14 Appendix
Table of attributes

position
C0581 23994 5DBAh E 1 FIX32 VD 4 0 Ra/Wa
C0582 23993 5DB9h E 1 FIX32 VD 4 0 Ra/Wa
C0583 23992 5DB8h E 1 FIX32 VD 4 0 Ra/Wa
C0584 23991 5DB7h E 1 FIX32 VD 4 0 Ra/Wa
C0586 23989 5DB5h E 1 FIX32 VD 4 0 Ra/Wa
C0588 23987 5DB3h E 1 FIX32 VD 4 0 Ra/Wa
C0591 23984 5DB0h E 1 FIX32 VD 4 0 Ra/Wa
C0592 23983 5DAFh E 1 FIX32 VD 4 0 Ra/Wa
C0593 23982 5DAEh E 1 FIX32 VD 4 0 Ra/Wa
C0594 23981 5DADh E 1 FIX32 VD 4 0 Ra/Wa
C0595 23980 5DACh E 1 FIX32 VD 4 0 Ra/Wa
C0596 23979 5DABh E 1 FIX32 VD 4 0 Ra/Wa
C0597 23978 5DAAh E 1 FIX32 VD 4 0 Ra/Wa
C0598 23977 5DA9h E 1 FIX32 VD 4 0 Ra/Wa
C0599 23976 5DA8h E 1 FIX32 VD 4 1 Ra/Wa
C0602 23973 5DA5h E 1 FIX32 VD 4 0 Ra/Wa
C0603 23972 5DA4h E 1 FIX32 VD 4 0 Ra/Wa
C0604 23971 5DA3h E 1 FIX32 VD 4 0 Ra/Wa
C0605 23970 5DA2h E 1 FIX32 VD 4 0 Ra/Wa
C0606 23969 5DA1h E 1 FIX32 VD 4 0 Ra/Wa
C0607 23968 5DA0h E 1 FIX32 VD 4 0 Ra/Wa
C0608 23967 5D9Fh E 1 FIX32 VD 4 0 Ra/Wa
C0609 23966 5D9Eh E 1 FIX32 VD 4 0 Ra/Wa
C0745 23830 5D16h E 1 U32 VH 4 0 Ra/Wa
C0746 23829 5D15h A 200 U32 VH 4 0 Ra
C0747 23828 5D14h A 8 I16 VH 2 0 Ra
C0855 23720 5CA8h A 2 B16 VH 2 0 Ra
C0856 23719 5CA7h A 3 FIX32 VD 4 2 Ra
C0857 23718 5CA6h E 1 I32 VH 4 0 Ra
C0858 23717 5CA5h A 3 FIX32 VD 4 2 Ra
C0859 23716 5CA4h E 1 I32 VH 4 0 Ra
C0863 23712 5CA0h A 6 B16 VH 2 0 Ra
C0866 23709 5C9Dh A 11 FIX32 VD 4 2 Ra
C0867 23708 5C9Ch A 3 I32 VH 4 0 Ra
C0868 23707 5C9Bh A 11 FIX32 VD 4 2 Ra
C0869 23706 5C9Ah A 3 I32 VH 4 0 Ra
C0878 23697 5C91h A 4 FIX32 VD 4 0 Ra
C0879 23696 5C90h A 3 FIX32 VD 4 0 Ra/Wa
C0906 23669 5C75h A 9 FIX32 VD 4 2 Ra
C0907 23668 5C74h A 4 FIX32 VD 4 0 Ra
C0908 23667 5C73h E 1 I32 VH 4 0 Ra
C0909 23666 5C72h E 1 FIX32 VD 4 0 Ra/Wa
C0910 23665 5C71h E 1 FIX32 VD 4 0 Ra/Wa
C0911 23664 5C70h E 1 FIX32 VD 4 0 Ra/Wa
C0912 23663 5C6Fh E 1 FIX32 VD 4 0 Ra/Wa
C1120 23455 5B9Fh E 1 FIX32 VD 4 0 Ra/Wa
C1121 23454 5B9Eh E 1 FIX32 VD 4 0 Ra/Wa
C1122 23453 5B9Dh E 1 FIX32 VD 4 3 Ra/Wa

Appendix 14
Table of attributes

position
C1123 23452 5B9Ch E 1 FIX32 VD 4 3 Ra/Wa
C1190 23385 5B59h E 1 FIX32 VD 4 0 Ra/Wa
C1191 23384 5B58h A 2 FIX32 VD 4 0 Ra/Wa
C1192 23383 5B57h A 2 FIX32 VD 4 0 Ra/Wa
C1771 22804 5914 h E 1 FIX32 VD 4 0 Ra/Wa
C1772 22803 5913h E 1 FIX32 VD 4 0 Ra/Wa
C1773 22802 5912h E 1 FIX32 VD 4 0 Ra/Wa
C1792 22783 58FFh E 1 FIX32 VD 4 0 Ra/Wa
C1793 22782 58FEh E 1 FIX32 VD 4 1 Ra/Wa
C1794 22781 58FDh E 1 FIX32 VD 4 0 Ra/W CINH
C1798 22777 58F9h E 1 VS VS 13 0 Ra
C1810 22765 58EDh E 1 VS VS 14 0 Ra
C1811 22764 58ECh E 1 VS VS 20 0 Ra
C1921 22654 587Eh E 1 FIX32 VD 4 0 Ra/Wa
C1922 22653 587Dh E 1 FIX32 VD 4 0 Ra/Wa
C1923 22652 587Ch E 1 FIX32 VD 4 0 Ra/Wa
C2100 22475 57CBh E 1 FIX32 VD 4 0 Ra/Wa
C2102 22473 57C9h E 1 FIX32 VD 4 0 Ra/Wa
C2103 22472 57C8h A 8 I16 VH 2 0 Ra
C2104 22471 57C7h E 1 FIX32 VD 4 0 Ra/Wa
C2106 22469 57C5h E 1 FIX32 VD 4 0 Ra/Wa
C2108 22467 57C3h E 1 FIX32 VD 4 0 Ra/Wa
C2110 22465 57C1h A 3 FIX32 VD 4 0 Ra
C2111 22464 57C0h E 1 VS VS 14 0 Ra
C2112 22463 57BFh A 4 U32 VH 4 0 Ra
C2113 22462 57BEh E 1 VS VS 12 0 Ra
C2114 22461 57BDh A 13 U32 VH 4 0 Ra
C2115 22460 57BCh E 1 U16 VH 2 0 Ra/Wa
C2116 22459 57BBh E 1 U32 VH 4 0 Ra/Wa
C2117 22458 57BAh E 1 FIX32 VD 4 0 Ra
C2118 22457 57B9h E 1 FIX32 VD 4 0 Ra/Wa
C2120 22455 57B7h E 1 FIX32 VD 4 0 Ra/Wa
C2121 22454 57B6h E 1 B8 VH 1 0 Ra
C2130 22445 57ADh E 1 VS VS 12 0 Ra
C2131 22444 57ACh E 1 FIX32 VD 4 0 Ra
C2132 22443 57ABh E 1 U32 VH 4 0 Ra
C2133 22442 57AAh E 1 U32 VH 4 0 Ra
C2140 22435 57A3h E 1 B16 VH 2 0 Ra
C2141 22434 57A2h E 1 B16 VH 2 0 Ra
C2142 22433 57A1h E 1 B16 VH 2 0 Ra
C2143 22432 57A0h E 1 B16 VH 2 0 Ra/Wa
C2144 22431 579Fh E 1 VS VS 4 0 Ra
C2145 22430 579Eh E 1 VS VS 2 0 Ra
C2146 22429 579Dh E 1 VS VS 12 0 Ra
C2147 22428 579Ch E 1 VS VS 13 0 Ra
C2148 22427 579Bh A 8 B8 VH 1 0 Ra
C2149 22426 579Ah A 35 B8 VH 1 0 Ra
C2150 22425 5799h E 1 B16 VH 2 0 Ra/Wa

14 Appendix
Table of attributes

position
C2350 22225 56D1h E 1 FIX32 VD 4 0 Ra/Wa
C2351 22224 56D0h E 1 FIX32 VD 4 0 Ra/Wa
C2352 22223 56CFh E 1 FIX32 VD 4 0 Ra/Wa
C2353 22222 56CEh A 3 FIX32 VD 4 0 Ra/Wa
C2354 22221 56CDh A 6 FIX32 VD 4 0 Ra/Wa
C2355 22220 56CCh A 6 FIX32 VD 4 0 Ra/Wa
C2356 22219 56CBh A 5 FIX32 VD 4 0 Ra/Wa
C2357 22218 56CAh A 4 FIX32 VD 4 0 Ra/Wa
C2359 22216 56C8h E 1 FIX32 VD 4 0 Ra/Wa
C2367 22208 56C0h E 1 FIX32 VD 4 0 Ra/Wa
C2368 22207 56BFh E 1 FIX32 VD 4 0 Ra/Wa
C2373 22202 56BAh A 3 FIX32 VD 4 0 Ra/Wa
C2374 22201 56B9h A 3 FIX32 VD 4 0 Ra/Wa
C2375 22200 56B8h A 3 FIX32 VD 4 0 Ra/Wa
C2376 22199 56B7h A 4 FIX32 VD 4 0 Ra/Wa
C2377 22198 56B6h A 4 FIX32 VD 4 0 Ra/Wa
C2378 22197 56B5h A 4 FIX32 VD 4 0 Ra/Wa
C2382 22193 56B1h A 5 FIX32 VD 4 0 Ra/Wa
C2450 22125 566Dh E 1 FIX32 VD 4 0 Ra/Wa
C2451 22124 566Ch E 1 FIX32 VD 4 0 Ra/Wa
C2452 22123 566Bh E 1 FIX32 VD 4 0 Ra/Wa
C2453 22122 566Ah A 3 FIX32 VD 4 0 Ra/Wa
C2454 22121 5669h A 6 FIX32 VD 4 0 Ra/Wa
C2455 22120 5668h A 6 FIX32 VD 4 0 Ra
C2456 22119 5667h A 4 FIX32 VD 4 0 Ra/Wa
C2457 22118 5666h A 3 FIX32 VD 4 0 Ra/Wa
C2458 22117 5665h E 1 FIX32 VD 4 0 Ra/Wa
C2459 22116 5664h E 1 FIX32 VD 4 0 Ra
C2460 22115 5663h A 12 FIX32 VD 4 0 Ra
C2461 22114 5662h A 12 FIX32 VD 4 0 Ra
C2466 22109 565Dh E 1 FIX32 VD 4 0 Ra/Wa
C2467 22108 565Ch E 1 FIX32 VD 4 0 Ra/Wa
C2468 22107 565Bh E 1 FIX32 VD 4 0 Ra/Wa
C2469 22106 565Ah E 1 FIX32 VD 4 0 Ra/Wa
C2481 22094 564Eh E 1 FIX32 VD 4 0 Ra/Wa
C2482 22093 564Dh E 1 FIX32 VD 4 0 Ra/Wa
C2483 22092 564Ch E 1 FIX32 VD 4 0 Ra/Wa
C2484 22091 564Bh E 1 FIX32 VD 4 0 Ra/Wa
C2485 22090 564Ah E 1 FIX32 VD 4 0 Ra/Wa
C2491 22084 5644h A 6 B16 VH 2 0 Ra
C2492 22083 5643h A 11 FIX32 VD 4 2 Ra
C2493 22082 5642h A 11 FIX32 VD 4 2 Ra
C2500 22075 563Bh A 255 FIX32 VD 4 0 Ra/Wa
C2501 22074 563Ah A 255 FIX32 VD 4 0 Ra/Wa

Appendix 14
General information about the system bus (CAN)
Structure of the CAN data telegram
14.7 General information about the system bus (CAN)
Note!
The information on this chapter will be part of the "CAN Communication
Manual" at a later date.
All Lenze drive and automation systems are equipped with an integrated system bus
interface for the networking of control components on field level.
Via the system bus interface, for instance process data and parameter values can be
exchanged between the nodes. In addition, the interface enables the connection of further
modules such as distributed terminals, operator and input devices or external controls and
host systems.
The system bus interface transmits CAN objects following the CANopen communication
profile (CiA DS301, version 4.01) developed by the umbrella organisation of CiA (CAN in
Automation) in conformity with the CAL (CAN Application Layer).
Tip!
For further information visit the homepage of the CAN user organisation CiA
(CAN in Automation): www.can−cia.org.
14.7.1 Structure of the CAN data telegram
Control field CRC delimit. ACK delimit.

Start RTR bit CRC sequence ACK slot End
Identifier User data (0 ... 8 bytes)

l Network management
l Process data
1 bit 11 bits 1 bit 6 bits l Parameter data 15 bits 1 bit 1 bit 1 bit 7 bits
Fig. 14−4 Basic structure of the CAN telegram
Identifier
The identifier determines the priority of the message. Moreover, the following is coded:
ƒ The CAN node address (device address in the CAN network) of the node which is to
receive the CAN telegram.
See also chapter "Addressing of the parameter and process data objects" (
426).
ƒ The type of user data to be transferred

14 Appendix
Communication phases of the CAN network (NMT)
User data
The user data area of the CAN telegram either contains network management data,
process data or parameter data:
User data Description
Network management data The information serves to establish communication via the CAN network
(NMT data)
Process data l Process data are transmitted via the process data channel.
(PDO, Process Data Objects) l The process data serve to control the controller.
l Process data can be accessed directly by the higher−level host system.
The data are, for instance, stored directly in the I/O area of the PLC. It is
necessary that the data can be exchanged between the host system
and the controller within the shortest time possible. In this connection,
small amounts of data can be transferred cyclically.
l Process data are transmitted between the higher−level host system and
the controllers to ensure a permanent exchange of current input and
output data.
l Process data are not stored in the controller.
l Process data are, for instance, setpoints and actual values.
Parameter data l Parameter data are transferred via the parameter data channel and
(SDO, Service Data Objects) acknowledged by the receiver, i.e. the receiver gets a feedback whether
the transmission was successful.
l Parameter data of Lenze devices are called codes.
l The parameter data channel enables access to all Lenze codes and all
CANopen indexes.
l Parameters are set, for instance, for the initial commissioning of a
plant or when material of a production machine is exchanged.
l Usually the transfer of parameters is not time−critical.
l Parameter changes are stored in the controller.
l Parameter data are, for instance, operating parameters, diagnostic
information and motor data.
Tip!
The other signals refer to the transfer features of the CAN telegram that are
not described in these instructions.
For further information visit the homepage of the CAN user organisation CiA
(CAN in Automation): www.can−cia.org.
14.7.2 Communication phases of the CAN network (NMT)
With regard to communication the controller knows the following states:

Status Explanation
"Initialisation" After the controller is switched on, the initialisation process starts. During this
(Initialisation) phase the controller is not involved in the data exchange on the bus.
Furthermore, a part of the initialisation or the entire initialisation process can
be executed in each NMT status by transmitting different telegrams (see "state
transitions"). All parameters already set will then be written again with their
standard values.
After the initialisation is completed, the controller is in the "Pre−Operational"
status.
"Pre−operational" The controller can receive parameter data.
(before ready for operation) The process data is ignored.
"Operational" The controller can receive parameter data and process data.
(Ready for operation)
"Stopped" Only network management telegrams can be received.

Appendix 14
Communication phases of the CAN network (NMT)
State transitions
(1)
Initialisation
(2)
(14) (11)
Pre-Operational
(7)
(10)
(13) (4) (5)
Stopped
(3) (6)
(12) (8) (9)

Operational
E82ZAFU004
Fig. 14−5 State transitions in the CAN network (NMT)
State Command Network status after

Effect on process or parameter data after state change
transition (hex) change
When the mains is switched on, the initialisation is started automatically.
During the initialisation the controller is not involved in the data
(1) − Initialisation exchange.
After the initialisation is completed, the node changes automatically to
the "Pre−Operational" status.
In this phase the master decides how the controllers take part in the
(2) − Pre−operational
communication.
From here, the states are changed over by the master for the entire network. A target address included in the command specifies the receiver/s.
Network management telegrams, sync, emergency, process data (PDO)
and parameter data (SDO) are active (corresponds to "Start Remote
Node")
(3), (6) 01 xx Operational
Optional:
In case of change, event−controlled and time−controlled process data
(PDO) are sent once.
Network management telegrams, sync, emergency, and parameter data
(4), (7) 80 xx Pre−operational
(SDO) are active (corresponds to "Enter Pre−Operational State")
(5), (8) 02 xx Stopped Only network management telegrams can be received.
(9)
(10) Initialisation of all parameters in the communication module with the
81 xx
values stored (corresponds to "Reset Node")
(11) Initialisation
(12)
Initialisation of communication−relevant parameters (CiA DS 301) in the
(13) 82 xx communication module with the values stored (corresponds to "Reset
(14) Communication")
xx = 00hex With this assignment, all devices connected are addressed by the telegram. The
state can be changed for all devices at the same time.
xx = node ID If a node address is specified, only the state of the addressed device will be
changed.
Network management (NMT)

The telegram structure used for the network management contains the identifier and the
command included in the user data which consists of the command byte and the node
address.

14 Appendix
Process data transfer
Identifier User data
Value = 0 Only contains command

11 bits 2bytes
Fig. 14−6 Telegram for switching over the communcation phases
The communication phases are changed over by a node, the network master, for the entire
network. The change−over can also be done by a controller.
With a certain delay after mains connection, a telegram is sent once which changes the
status of the entire drive system to "Operational". The delay time can be set via the
following codes:
Interface Code
X1 Automation interface (AIF) C2356/4
X4 ECSxS/P/M: MotionBus (CAN) C0356/4

ECSxA/E: System bus (CAN)
X14 System bus (CAN) C2456/4
l Interface is not available for ECSxE.
Note!
Communication via process data only is possible with a state change to
operational"!
Example:
For changing the state of all nodes on the bus from "pre−operational" to
operational" via the CAN master, the following identifier and user data must
be set in the telegram:
ƒ Identifier: 00 (broadcast telegram)
ƒ User data: 0100 (hex)
14.7.3 Process data transfer
Definitions
ƒ Process data telegrams between host and drive are distinguished as follows:
– Process data telegrams to the drive
– Process data telegrams from the drive
ƒ The CANopen process data objects are designated as seen from the node’s view:
– RPDOx: process data object received by a node
– TPDOx: process data object sent by a node
14.7.3.1 Available process data objects

The following process data objects (PDOs) are available for the ECS modules via the
interfaces X1, X4 and X14:

Appendix 14
Interface PDOs in ECS module

RPDO: to ECS module
TPDO: from ECS module ECSxE ECSxS ECSxP ECSxM ECSxA
XCAN1_IN ˘ ü ˘ ˘ ü
RPDO XCAN2_IN ˘ ü ˘ ˘ ü
X1 XCAN3_IN ˘ ü ˘ ˘ ü
Automation interface (AIF) XCAN1_OUT ˘ ü ˘ ˘ ü
TPDO XCAN2_OUT ˘ ü ˘ ˘ ü
XCAN3_OUT ˘ ü ˘ ˘ ü
CAN1_IN ü ü ü ü ü
RPDO CAN2_IN ˘ ü ü ˘ ü
X4 CAN3_IN ü ü ü ˘ ü
ECSxA/E: System bus (CAN) CAN1_OUT ü ü ü ü ü
TPDO CAN2_OUT ˘ ü ü ˘ ü
CAN3_OUT ü ü ü ˘ ü
CANaux1_IN ˘ ˘ ü ˘ ü
RPDO CANaux2_IN ˘ ˘ ü ˘ ü
X14 CANaux3_IN ˘ ˘ ˘ ˘ ü
System bus (CAN)
Interface is not available for ECSxE. CANaux1_OUT ˘ ˘ ü ˘ ü
TPDO CANaux2_OUT ˘ ˘ ü ˘ ü
CANaux3_OUT ˘ ˘ ˘ ˘ ü
Note!
In case of the ECSxE power supply module, the PDOs CAN1_IN/OUT and
CAN3_IN/OUT cannot be used simultaneously. The PDOs to be used are
selected via C0360.
ƒ The process data objects are integrated into the ECSxA... axis modules in the form of
system blocks ( 230).
ƒ In the system blocks the user data is converted to corresponding signal types for
further use.
14.7.3.2 Structure of the process data

The process data telegrams have a maximum user data length of eight bytes each.
Process data input telegram (RPDO)

ƒ The process data input telegram transmits control information to the controller.
ƒ The eight bytes of user data can be freely assigned.
Identifier User data (8 bytes)
00hex 00hex 00hex 00hex 00hex 00hex 00hex 00hex

11 bits
Fig. 14−7 Structure of process data input telegram (RPDO)

14 Appendix
Process data output telegram (TPDO)

ƒ The process data output telegram reports status information from the controller.
Status information can be as follows:
– Current status of the controller
– Status of the digital inputs
– States about internal analog values
– Fault/error messages
This information enables the higher−level control to respond accordingly.
ƒ The eight bytes of user data can be freely assigned.
Identifier User data (8 bytes)
00hex 00hex 00hex 00hex 00hex 00hex 00hex 00hex

11 bits
Fig. 14−8 Structure of process data output telegram (TPDO)

Appendix 14
14.7.3.3 Transfer of the process data objects

Process data objects Data transmission
ECSxE ECSxS/P/M/A
XCAN1_IN ˘
CAN1_IN cyclic (sync−controlled) cyclic (sync−controlled)
CANaux1_IN ˘
XCAN2_IN ˘
RPDOs CAN2_IN ˘ event−controlled/cyclic without sync
(to ECS module)
CANaux2_IN ˘
XCAN3_IN ˘
CAN3_IN event−controlled/cyclic without sync event−controlled/cyclic without sync
CANaux3_IN ˘
XCAN1_OUT ˘
CAN1_OUT cyclic (sync−controlled) cyclic (sync−controlled)
CANaux1_OUT ˘
XCAN2_OUT ˘
TPDOs CAN2_OUT ˘ event−controlled/cyclic without sync
(from ECS module)
CANaux2_OUT ˘
XCAN3_OUT ˘
CAN3_OUT event−controlled/cyclic without sync event−controlled/cyclic without sync
CANaux3_OUT ˘
ƒ Cyclic data transmission with sync telegram ( 419)

(via XCAN1, CAN1, CANaux1)
The sync telegram enables the controller to accept the process data from the master
(RPDOs) or send it to the master (TPDOs).
ƒ Event−controlled data transmission ( 420)
(via XCAN2/3, CAN2/3, CANaux2/3)
The data will be transmitted if a value changes in the corresponding output object.
ƒ Cyclic data transmission without sync telegram
(via XCAN2/3, CAN2/3, CANaux2/3)
The data is transmitted in fixed times. The cycle time can be set via the following codes:
Interface Code
X1 Automation interface (AIF) C2356
X4 ECSxS/P/M: MotionBus (CAN) C0356
X14 System bus (CAN) C2456
– Setting of cycle time > 0: data transmission with fixed cycle time
– Setting of cycle time = 0: event−controlled data transmission

14 Appendix
14.7.3.4 Cyclic process data objects

Cyclic process data objects are determined for a higher−level host system.
PDO1, cyclic process data
(setpoints and actual values)
RPDO1: CAN1_IN
ECS module
TPDO1: CAN1_OUT
Host system
Fig. 14−9 Example: Process data transfer via CAN1_IN and CAN1_OUT
For a quick exchange of process data from or to the master, one process data object is
available for input signals (RPDO1) and one process data object for output signals (TPDO1)
with eight bytes of user data each.

Appendix 14
Synchronisation of PDOs with sync−controlled transmission

In order that the cyclic process data can be read by the controller or the controller accepts
the process data, a special telegram, the sync telegram, is used in addition.
The sync telegram is the trigger point for sending process data of the controller to the
master and transferring process data from the master to the controller.
A sync−controlled process data processing requires a corresponding generation of the sync
telegram.
Sync telegram Sync telegram
TPDOs RPDOs
1. 2. 3.
Cycle time
Fig. 14−10 Sync telegram
1. After the sync telegram has been received, the synchronous process data from the
controllers are sent to the master (TPDOs). They are read as process input data in the
master.
2. When the transmission process is completed, the process output data (of the
master) are received by the controllers (RPDOs).
All other telegrams (e.g. parameters or event−controlled process data) are accepted
acyclically by the controllers after transmission is completed. The acyclic data are not
displayed in the above graphics. They must be considered when the cycle time is
dimensioned.
3. The data in the controller is accepted with the next sync telegram.
Tip!
The response to a sync telegram is determined by the transmission type
selected.
Note!
Information on how to set the synchronisation can be found from 257.

14 Appendix
14.7.3.5 Event−controlled process data objects

The event−controlled process data objects are particularly suitable for the data exchange
between controllers and for distributed terminal extensions. They can, however, also be
used by a host system.
Systembus (CAN)
0 1 2 3
dcbBA
SHPRG p Menu
Code
Para
0050 00
50.00_Hz
M C T R L- N O U T
S T
U V
z
Y Z
y
MotionBus (CAN)
X1 TPDO2 TPDO2 TPDO2

RPDO2 RPDO2 RPDO2
X4 X4 X4 X4 X4
X14 X14 X14 X14
4 5
ECSXA219
Fig. 14−11 Example: event−controlled process data objects PDO2
The process data objects serve to transmit simple binary signals (e.g. states of digital input
terminals) or complete values in 16 and 32 bits (e.g. analog signals).

Appendix 14
Parameter data transfer
14.7.4 Parameter data transfer
SDO1 Systembus (CAN)

SDO2
0 1 2 3
dcbBA
SHPRG p Menu
Code
Para
0050 00
50.00_Hz
M C T R L- N O U T
S T
z U V
Y Z
y
MotionBus (CAN)
X1
X4 X4 X4 X4 X4
X14 X14 X14 X14
4 5
ECSXA220
Fig. 14−12 Parameter data channels for parameterising ECS
Parameters
ƒ are values which are stored under codes in the Lenze controllers.
ƒ are set e.g. during initial commissioning or while changing materials in a machine.
ƒ are transmitted with low priority.
Parameter data are transmitted as SDOs (Service Data Objects) via the system bus (CAN)
and acknowledged by the receiver. The SDOs enable the writing and reading access to the
object directory.
The CAN bus interfaces X4 and X14 have two separated parameter data channels each
which enable the simultaneous connection of different devices for parameter setting and
diagnostics.
The codes for parameter setting and diagnostics of the automation interface (AIF) X1 as
well as the CAN bus interfaces X4 and X14 are divided into separate ranges:
Interface Code range
X1 Automation interface (AIF) C23xx
X4 ECSxS/P/M: MotionBus (CAN) C03xx
X14 System bus (CAN) C24xx

14 Appendix
14.7.4.1 User data
Structure of the parameter data telegram

User data (up to 8 bytes)
1. byte 2. byte 3. byte 4. byte 5. byte 6. byte 7. byte 8. byte
Data 1 Data 2 Data 3 Data 4
Index Index Low word High word
Command Subindex
Low byte High byte Low byte High byte Low byte High byte
Display
Note!
The user data is shown in motorola format.
Examples for parameter data transfer can be found from 424.
Command
The command contains the services for writing and reading the parameters and
information on the length of the user data:
Bit 7 Bit6 Bit5 Bit4 Bit3 Bit 2 Bit 1 Bit 0
MSB LSB
Command Command specifier (cs) toggle (t) Length e E
Write request 0 0 1 0 1 1
00 = 4 bytes
Write response 0 1 1 0 01 = 3 bytes 0 0
Read request 0 1 0 0 10 = 2 bytes 0 0
11 = 1 byte
Read response 0 1 0 0 1 1
Error response 1 0 0 0 0 0 0 0
Tip!
Further commands are defined in the CANopen specification DS301,V4.02
(e.g. segmented transfer).

Appendix 14
The command must contain the following information:

4−byte data 2−byte data 1−byte data Block
(5. ... 8. byte) (5. and 6. byte) (5. byte)
Command hex dec hex dec hex dec hex dec
Write request 23 35 2B 43 2F 47 21 33
(Transmit parameter to the controller )
Write response 60 96 60 96 60 96 60 96
(Acknowledgement, controller
response to write request)
Read request 40 64 40 64 40 64 40 64
(Request to read a controller
parameter)
Read response 43 67 4B 75 4F 79 41 65
(Response to read request with
current value)
Error response 80 128 80 128 80 128 80 128
(The controller reports a
communication error)
"Error response" command: In case of a communication error an "Error response" is

generated by the addressed node. This telegram always contains the value "6" in Data 4
and an error code in Data 3.
The error codes are standardised acc. to DS301, V4.02.
Addressing by index and subindex

The parameter or Lenze code is addressed with these bytes according to the following
formula:
Index = 24575 − (Lenze code number)
Data1...Data4
Parameter value length depending on the data format
Parameter value
00 00 00
(Length: 1 byte)
Parameter value (length: 2 bytes)
00 00
Low byte High byte
Parameter value (length: 4 bytes)
Low word High word
Low byte High byte Low byte High byte
Note!
Lenze parameters are mainly represented as data type FIX32 (32bit value with
sign, decimally with four decimal positions). To obtain integer values, the
desired parameter value must be multiplied by 10,000dec.
The parameters C0135 and C0150 must be transmitted bit−coded and without
a factor.

14 Appendix
Error messages
User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Index Index
Command Subindex Display
Low byte High byte
ƒ Byte 1:
In the command byte the code 128dec or 80hex indicates that a fault has occurred.
ƒ Byte 2, 3 and 4:
In these bytes the index (byte 2 and 3) and subindex (byte 4) of the code in which an
error occurred are entered.
ƒ Byte 5 to 8:
In the data bytes 5 to 8 the error code is entered. The structure of the error code is
reversed to the read direction.
Example:
The representation of the error code 06 04 00 41hex in the bytes 5 to 8
Read direction of the error code
41 00 04 06
5. byte 6. byte 7. byte 8. byte
Low word High word
Low byte High byte Low byte High byte
Possible error codes:

Command 7th byte 8th byte Meaning
80hex 6 6 Wrong index
80hex 5 6 Wrong subindex
80hex 3 6 Access denied
14.7.4.2 Examples of the parameter data telegram
Reading parameters
The heatsink temperature C0061 (value of 43 °C) is to be read from the controller with
node address 5 via the parameter data channel 1.
ƒ Identifier calculation
Identifier from SDO1 to controller Calculation
1536 + node address 1536 + 5 = 1541
ƒ Command "Read Request" (request to read a parameter from the controller)

Command Value
Read request 40hex
ƒ Index calculation:
Index Calculation
24575 − code number 24575 − 61 = 24514 = 5FC2hex
ƒ Subindex: 0
ƒ Telegram to controller

Appendix 14
User data
Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
Identifier Low byte High byte
1541 40hex C2hex 5Fhex 00 00 00 00 00
ƒ Telegram from controller

User data
1413 43hex C2hex 5Fhex 00 B0hex 8Fhex 06hex 00
– Command:
"Read Response" (response to the read request) = 43hex
– Identifier:
SDO1 from controller (= 1408) + node address (= 5) = 1413
– Index of the read request:
5FC2hex
– Subindex:
0
– Data 1 to data 4:
00 06 8F B0 = 430.000 430.000 : 10.000 = 43 °C

14 Appendix
Addressing of the parameter and process data objects
Writing parameters
The acceleration time C0012 (parameter set 1) of the controller with the node address 1 is
to be changed to 20 seconds via the SDO 1 (parameter data channel 1).
ƒ Identifier calculation
Identifier from SDO1 to controller Calculation
1536 + node address 1536 + 1 = 1537
ƒ Command "Write Request" (transmit parameter to drive)

Command Value
Write request 23hex
ƒ Index calculation:
Index Calculation
24575 − code number 24575 − 12 = 24563 = 5FF3hex
ƒ Subindex: 0
ƒ Calculation of the acceleration time
Data 1 ... 4 Calculation
Value for acceleration time 20 s ú 10.000 = 200.000dec
= 00 03 0D 40hex
ƒ Telegram to controller
User data
1537 23hex F3hex 5Fhex 00 40hex 0Dhex 03hex 00
ƒ Telegram from controller if executed faultlessly

User data
1409 60hex F3hex 5Fhex 00 00 00 00 00
– Command:
"Write Response" (response of the controller (acknowledgement)) = 60hex
– Identifier:
SDO1 from controller (= 1408) + node address (= 1) = 1409
14.7.5 Addressing of the parameter and process data objects
The CAN bus system is based on a message−oriented data exchange between a transmitter
and many receivers. Thus, all nodes can transmit and receive messages at the same time.
The identifier in the CAN telegram ˘ also called COB−ID (Communication Object Identifier)
controls which node is to receive a transmitted message. With the exception of the
network management (NMT) and the sync telegram (Sync) the identifier contains the
node address of the drive besides the basic identifier:
Identifier (COB−ID) = basic identifier + adjustable node address (node ID)
The basic identifier is preset with the following values:

Appendix 14
Addressing of the parameter and process data objects
Direction Basic identifier

Object to the from the dec hex
ECS module ECS module
NMT 0 0
Sync 128 80
XCAN1_IN
PDO1 CANaux1_IN
CANaux1_OUT
XCAN2_IN
PDO2 CANaux2_IN
CANaux2_OUT
XCAN3_IN
PDO3 CANaux3_IN
CANaux3_OUT
SDO1 X 1536 600

(Parameter data channel 1) X 1408 580
SDO2 X 1600 640
(Parameter data channel 2) X 1472 5C0
Node guarding X 1792 700
Note!
The "9.2.1 Setting of CAN node address and baud rate" chapter contains
information on
ƒ Setting of the node address (
161).
ƒ Individual addressing (
164).

14 Appendix
Overview of accessories
14.8 Overview of accessories
The accessories are not included in the scope of supply. Lenze’s basic devices and
accessories are carefully matched to each other. With the basic device and the accessories,
all components for a complete drive system are available. The component selection must
be matched to the respective application.
14.8.1 Connector sets
To make purchasing easy, the connector sets are available as separate delivery units for the
ECS power supply, capacitor and axis modules:
ƒ ECSZE000X0B (connector set for ECS power supply modules)
ƒ ECSZK000X0B (connector set for ECS capacitor modules)
ƒ ECSZA000X0B (connector set for ECS axis modules)
14.8.2 Shield mounting kit
The shield mounting kit ECSZS000X0B001 contains components for reliable and quick
fixing of the cable shields. The scope of supply includes:
ƒ Shield sheet for motor cable
ƒ Wire clamp for shield connection of motor cable
ƒ Wire clamp for shield connection of control cables
ƒ Wire clamp for shield connection of motor monitoring cable
14.8.3 Power supply modules
For generating the DC−bus voltage for the axis modules:

ƒ ECSxE012
ƒ ECSxE020
ƒ ECSxE040
x Design/mounting technique: E = standard installation
C = cold−plate technique
D = push−through technique
14.8.4 Capacitor modules
For backing up the DC−bus voltage for the drive system:

ƒ ECSXK001
ƒ ECSxK002
x Design/mounting technology: E = standard installation
C = cold−plate technique
D = push−through technique

Appendix 14
14.8.5 Components for operation and communication
Operating and communication modules

Operating/communication module Type/order number Can be used together with
ECSxE ECSxS/P/M/A
Keypad XT EMZ9371BC ü ü
Diagnosis terminal (keypad XT with hand−held) E82ZBBXC ü ü
LECOM−A (RS232) EMF2102IB−V004 ü ü
LECOM−B (RS485) EMF2102IB−V002 ü ü
LECOM−A/B (RS232/485) EMF2102IB−V001 ü ü
LECOM−LI (optical fibre) EMF2102IB−V003 ü ü
LON EMF2141IB ˘ ü
INTERBUS EMF2113IB ˘ ü
PROFIBUS−DP EMF2133IB ˘ ü
CANopen/DeviceNet EMF2175IB ˘ ü
System bus components

PC system bus adapter Type/order number
Voltage supply via DIN connection EMF2173IB
Voltage supply via PS2 connection EMF2173IB−V002
Voltage supply via PS2 connection EMF2173IB−V003
(electrical isolation to CAN bus)
USB system bus adapter EMF2177IB
Components for digital frequency coupling

Digital frequency distributor/cables Type/order number
Digital frequency distributor EMF2132IB
Master digital frequency cable EYD0017AxxxxW01W01 1)
Slave digital frequency cable EYD0017AxxxxW01W01 1)
1) "xxxx" = Cable length in decimetre (example: "xxxx" = "0015" ® length = 15 dm)
14.8.6 Brake resistor
Assignment of external brake resistors

Power supply module
Pd
Brake resistor W ECSEE... ECSDE... ECSCE...
[kW]
012 020 040 012 020 040 012 020 040
ERBM082R100W 82 0.10 l
ERBM039R120W 39 0.12 l
ERBM020R150W 20 0.15 l
ERBD082R600W 82 0.60 l l l
ERBD047R01K2 47 1.20 l l l
ERBD022R03K0 22 3.00 l l l
ERBS082R780W 82 0.78 l l l
ERBS039R01K6 39 1.64 l l l
ERBS020R03K2 20 3.20 l l l
Pd Continuous power

14 Appendix
Brake resistors of type ERBM...

Brake resistors with specifically adapted pulse capability in IP50 design
Rated data Type Brake resistor
ERBM082R100W ERBM039R120W ERBM020R150W
Resistance RB [Ω] 82 39 20
Continuous power Pd [W] 100 120 150
Thermal capacity CB [kWs] 3 6 13
Max. on−time te [s] 5
Required recovery time ta [s] 90
Operating voltage Umax [VDC] 1000
ThermalcapacityC B
Max. braking power PBmax [kW] P Bmax +
On * time
Brake resistors of type ERBD...

Brake resistors with increased power loss in IP20 design (protection against accidental
contact acc. to NEMA 250 type 1)
ERBD082R600W ERBD047R01K2 ERBD022R03K0
ThermalcapacityC B
On * time
Brake resistors of type ERBS...

Brake resistors with increased power loss in IP65 design (NEMA 250 type 4x)
ERBS082R780W ERBS039R01K6 ERBS020R03K2
ThermalcapacityC B
On * time

Appendix 14
14.8.7 Mains fuses
Fuses are not offered by Lenze. Please use standard fuses.

Observe the national and regional regulations (VDE, UL, EVU, ...).
Only circuit−breakers or UL−approved fuses can be used for cable protection.
In UL−approved systems, only UL−approved cables, fuses and fuse holders are to be used.
14.8.8 Mains chokes
It is not mandatory to use a mains choke for operating the ECS modules. The respective
application determines whether a mains choke is required or not.
Advantages when using a mains choke:
ƒ Lower system perturbations
– The waveform of the mains current is approximated to the sinusoidal shape.
– Reduction of the effective mains current by up to 25%.
– Reduction of the mains, cable and fuse load.
ƒ The effective DC−bus current also decreases by up to 25%.
ƒ Increased service life of the connected axis modules
– A mains choke reduces the AC current load of the DC−bus capacitors and thus
increases their service life.
ƒ Low−frequency radio interference voltages are reduced.
Please note:
ƒ With mains choke operation the maximally possible output voltage does not fully
reach the value of the mains voltage.
ƒ For operation of drives for accelerating duty with high peak currents, it is
recommended to use mains chokes with linear L/I characteristic (Lenze types
ELN3...).
ƒ The choke rating is to be checked and adapted to the respective conditions.
Mains chokes for the power supply modules:

Power supply module Short−circuit
Mains choke type Ir [A] Lr [mH]
type voltage (Uk)
ECSxE012 ELN3−0150H024 3 x 24 3 x 1.5
ECSxE020 ELN3−0088H035 3 x 35 3 x 0.88 4%
ECSxE040 ELN3−0055H055 3 x 55 3 x 0.55

14 Appendix
14.8.9 RFI filters
According to the application, different measures for reducing the mains current and for
radio interference suppression are required on the supply side for servo systems. As a rule,
these measures are not mandatory, but protect the universal application of a servo system.
Lenze offers a built−on filter for each power supply module for the interference level A. The
RFI filters are designed for the ECS power supply module assigned and up to 10 axes with
a motor cable length of 25 m each (Lenze system cable). The interference level A is
observed as long as the motor cable length per axis module is 25 m at a maximum (Lenze
sytem cables) and the number of the ECS axis modules is maximally 10.
RFI filter type ECS power supply module type
ECSxE012
ECSZZ020X4B
ECSxE020
ECSZZ040X4B ECSxE040
Type of RFI filter U [V] I [A] Ploss [W] Weight [kg]

ECSZZ020X4B 3/PE AC 500 V 16 6.2
3.0
ECSZZ040X4B at 50 ... 60 Hz 32 9.3
U Rated mains voltage

I Rated mains current
Ploss Power loss
14.8.10 Motors
Matched motors can be obtained under the following type designations:

ƒ MCA series asynchronous motor (high speeds by means of wide field weakening
range)
ƒ MCS series synchronous motor (for high−dynamic applications)
ƒ MDxMA series asynchronous motor (cost−effective)

Index 15
15 Index
A AIF1_IO_AutomationInterface, 235
− Inputs_AIF1, 235
Absolute value encoder (Hiperface, single−turn/multi−turn),
101 − Outputs_AIF1, 240
− as position and speed encoder, 110 AIF2_IO_AutomationInterface, 243
Access − Inputs_AIF2, 243
− Outputs_AIF2, 245
− absolute addresses, 21
− Outputs_AIF3, 249
− via system variables, 20
AIF3_IO_AutomationInterface, 247
Accessories, 428
− brake resistors, 429 − Inputs_AIF3, 247
− capacitor modules, 428 Analog input, 68 , 251
− communication modules, 429 Analog inputs, Configuration, 68 , 251
− connector set, 428
ANALOG1_IO, Inputs_ANALOG1, 251
− digital frequency cables, 429
Analog1_IO, 251
− digital frequency distributor, 429
− mains chokes, 431 Application, as directed, 17
− mains fuses, 431 Application as directed, 17
− motors, 432
Approvals, 32
− operating modules, 429
− power supply modules, 428 Assignment, external brake resistor, 429
− RFI filters, 432 Assignment of the plug connectors
− shield mounting kit, 428 − control connections, 66
− system bus components, 429 − system bus (CAN), 81
Actual speed value, 340 Atmospheric pressure, 32
Additional torque setpoint, 333 Auto increment access (RAM memory), 357
Address setting, 162 Automation interface
− via DIP switch, 162 − AIF_IO_Management, 231
Inputs_AIF_Management, 231
Addresses, absolute , 21 Outputs_AIF_Management, 234
Addressing − AIF1_IO_AutomationInterface, 235
− Display of the resulting identifiers, 166 Inputs_AIF1, 235
Outputs_AIF1, 240
− individual, 164
− AIF2_IO_AutomationInterface, 243
− Parameter data objects, 160
Inputs_AIF2, 243
− parameter data objects, 426 Outputs_AIF2, 245
− Process data objects, 160 − AIF3_IO_AutomationInterface, 247
− process data objects, 426 Inputs_AIF3, 247
Outputs_AIF3, 249
Adjusting current controller, 125
− communication error CE0, 231
Adjusting the current controller, calculating the electrical − control word, 234
motor values, 125
− status, 231
Adjustment of field controller / field weakening controller, − transfer of the status/control word, 307
Adjustment, 133
Automation interface (AIF), 78
AIF interface configuration, 145
AIF_IO_Management, 231
− Inputs_AIF_Management, 231
− Outputs_AIF_Management, 234

15 Index
Axis module, 14 CAN bus

− ECSCx... − assignment of the plug connectors, 81
dimensions, 48 − cyclic process data objects, 418
mounting, 47 synchronisation, 419
− ECSDx... − data telegram, 411
dimensions, 44
mounting, 43 − Defining the master in the drive system, 167
− ECSEx... − Display of the resulting identifiers, 166
dimensions, 41 − event−controlled process data objects, 420
mounting, 42 − function blocks, CANSync, 171
Axis synchronisation − identifier, 160 , 411 , 426
− via CAN bus, 261 − Individual addressing, 164
− via terminal, 262 − making a reset node, 173 , 255 , 280
− network management data, 412
B − Node Guarding, 169
Basic identifier, 160 , 427 − parameter data, 412 , 421
− parameter data channels, 421
Baud rate
− parameter data objects, addressing, 160 , 426
− AIF interface, 145
− process data, 412
− setting, 162
via DIP switch, 162 − process data objects, 414
addressing, 160 , 426
− System bus (CAN). Siehe baud rate
data transmission, 417
− system bus (CAN). Siehe baud rate
− process data telegrams, 415
Boot up, AIF interface, 146 − setting boot−up time, 168
Brake, connection, 61 − setting delay time, 168
Brake configuration, 100 − Setting the baud rate, 159
− setting the cycle time, 168
Brake resistor, external, 429
− Setting the node address, 159
− assignment, 429
− user data, 412 , 422
− connection, 59
− type ERBD..., rated data, 430 CAN data telegram, 411
− type ERBM..., rated data, 430 CAN network
− type ERBS..., rated data, 430 − communication phases, 412
Brake resistor, internal, Connection, 58 − network management (NMT), 413
Bus cable length, 83 − state transitions, 413
− states, 412
Bus load, 180
CAN sync identifier, 259
Bus off, 192
− AIF interface, 155 CAN sync identifiers, 171
Bus status, 178 CAN sync response, 171 , 260
CAN sync Tx transmission cycle, 172
C CAN user organisation CiA, Homepage, 412
Cable cross−section, 83
CAN_bTxCan2Syncronized_b, 255
Cable cross−sections, control connections, 55 , 56 , 66
CAN_Management, 253
− connection "safe torque off", 72
− Inputs_CAN_Management, 254
Cable resistance, 81
− Outputs_CAN_Management, 254
Cable specification, 81
CAN_Synchronization, 257
Cable type, 81
CAN1_IO, 263
Cables, shielded, 55 − Inputs_CAN1, 267
Cables, specification, motor cables, 60 − Outputs_CAN1, 268

Index 15
CAN2_IO, 269 Commissioning, 92

− Inputs_CAN2, 272 − adjusting the current controller, calculating the electrical
− Outputs_CAN2, 273 motor values, 125
− Adjustment of field controller / field weakening
CAN3_IO, 274 controller, 133
− Inputs_CAN3, 277 − before you start, 92
− Outputs_CAN3, 278 − carrying out basic settings with GDC, 94
CANaux_bTxCan2Syncronized_b, 280 − commissioning steps, overview, 93
− configuration of digital inputs/outputs, setting the
CANaux_Management, 279 polarity, 118
− Inputs_CANaux_Management, 279 − controller enable, 120
− Outputs_CANaux_Management, 280 − current controller adjustment, metrological
determination of electrical motor values, 126
CANaux1_IO, 282
− entry of machine parameters, 119
− Inputs_CANaux1, 285
− Entry of motor data, 98
− Outputs_CANaux1, 286
− holding brake configuration, 100
CANaux2_IO, 288 − loading the Lenze settings, 121
− Inputs_CANaux2, 291 − Operation with servo motors from other manufacturers,
− Outputs_CANaux2, 292 Motor feedback system − checking the direction of
rotation, 124
CANaux3_IO, 293
− operation with servo motors from other manufacturers,
− Inputs_CANaux3, 296 122
− Outputs_CANaux3, 297 − operation with servo motors of other manufacturers
adjusting current controller, 125
CANSync, 171 effecting rotor position adjustment, 127
Capacitance per unit length, 81 entering motor data, 122
− Optimising the drive behaviour, 130
Capacitor module, 14
− Resolver adjustment, 136
Capacitor module ECSxK..., Connection, 63 − Selecting the function of the charging current limitation,
96
Carrying out basic settings with GDC, 94
− setting of mains data, 96
CE−typical drive system, 51 − setting of the feedback system, 101
− assembly, 51 − setting the feedback system
− earthing, 52 absolute value encoder (Hiperface,
− filters, 52 single−turn/multi−turn), 110
absolute value encoder (position encoder), resolver (speed
− installation , 51 encoder), 114
− shielding, 52 resolver as position and speed encoder, 101
cables, 55 sin/cos encoder without serial communication, 104
TTL incremental encoder, 104
Charging current limitation, function selection, 96 TTL/sin/cos encoder (position encoder), resolver (speed
encoder), 107
COB−ID, 160 , 426
− setting the polarity of digital inputs/outputs, 118
Code list, 359 − setting the voltage threshold, 97
Codes, temporary, 355 − Speed controller adjustment, 130

15 Index
Communication, cyclic node monitoring (Node Guarding), Configuring the AIF interface
169 − baud rate, 145
Communication error CE0, 231 − boot up, 146
Communication modules, 429 − cycle time, 150
− diagnostics, operating status, 157
Communication phases, 412
− identifiers of the process data objects, 148
Configuration − monitoring, 154
− codes, 359 bus off, 155
− monitoring, 189 time monitoring, 154
voltage supply of the control electronics, 204 − reset node, 153
− monitoring functions − synchronisation
bus off, 192 XCAN sync response, 152
current load of controller (I x t monitoring), 198 XCAN Sync Tx transmission cycle, 153
current load of motor (I2 x t monitoring), 201
Configuring the CAN interface
DC−bus voltage, 202
earth fault, 193 − diagnostics, 157
heatsink temperature, 196 − mapping of indices to codes, 175
maximum speed, 211 − monitoring, time−out during activated remote
monitoring times for process data input objects, 191 parameterisation, 192
motor phases, 205
motor temperature, 193 − remote parameterisation (gateway function), 177
motor temperature sensor, 207 − synchronisation, 171
overview, 184 sync identifier, 171
Resolver cable, 206 sync response, 171
rotor position adjustment, 212 Sync Tx transmission cycle, 172
short circuit, 193 XCAN sync identifier, 152
sin/cos encoder, 208 − system bus management, 174
speed, 210
temperature inside the controller, 197 Configuring touch probe (TP), 339
thermal sensors, 198 Conformity, 32
− MotionBus/system bus (CAN)
axis synchronisation, 261 , 262 Connection
Bus load, 180 − Capacitor module ECSxK..., 63
Bus status, 178 − DC bus, 54 , 56
diagnostics codes, 178
Telegram counter, 179 − external brake resistor, 59
− System bus (CAN) − Internal brake resistor, 58
Display of the resulting identifiers, 166 − motor, 54
Individual addressing, 164 − motor holding brake, 54 , 61
− system bus (CAN)
Connection "Safe torque off", terminals, 72
Making a reset node, 173 , 255 , 280
Node Guarding, 169 Connection "safe torque off", 69
setting boot−up time, 168
− functional description, 72
setting delay time, 168
setting the baud rate, 159 − Important notes, 70
setting the cycle time, 168 − minimum wiring, 73
setting the node address, 159 − with safety PLC, 75
− Table of attributes, 403
connection "safe torque off"
Configuration of AIF interface, node address (node ID), 147 − Important notes, 70
Configuration of CAN bus interfaces, 159 − with multiple−contact switches, 73
Configuration of CAN interface, node address (node ID),
161

Index 15
Connection of "safe torque off" DC−bus voltage

− function check, 76 − monitoring, 202
− implementation, 71 − overvoltage, 202
− technical data, 72 − undervoltage, 202
Control connections DCTRL (device control), transfer of status/control word,
− Analog inputs, configuration, 68 , 251 307
− assignment of the plug connectors, 66 DCTRL_DriveControl (device control), 298
− cable cross−sections, 55 , 56 , 66 − controller inhibit (CINH), 304
connection "safe torque off", 72
− Inputs_DCTRL, 300
− Digital inputs, 67
− operation inhibit (DISABLE), 303
− Digital outputs, 67
− Outputs_DCTRL, 302
− tightening torques, 55 , 56 , 66
connection "safe torque off", 72 − quick stop, 303
Control drive controller, 299 − resetting TRIP (TRIP RESET), 305
− setting TRIP (TRIP−SET), 304
Control factor, 36
− status word, 305
Control signals, 65 − TRIP status, 306
Control terminals, 64 Define instant of transmission for CAN2/CAN3_OUT, 255
Control word, transfer, 307
Define instant of transmission for
Control/signal cables, shield connection, 64 CANaux2/CANaux3_OUT, 280
Controller, 14 Definition
− application as directed, 17 − inputs, 21
− identification, 17 − outputs, 21
Controller enable, 120 Definition of notes used, 31
Controller inhibit (CINH), 304 Definitions of terms, 14
− DCTRL_DriveControl (device control), 304
Determining the boot−up master, 167
Conventions, 13
Determining the master for the drive system, 167
Correction value of phase controller, 259
Device address setting, 162
Device control, 299
− application example, 38
− device protection by current derating, 39 Device protection, 28
− rated output current, 36 Device protection by current derating, 39
Current controller adjustment, metrological determination
DFIN_IO_DigitalFrequency, 309
of electrical motor values, 126
− Inputs_DFIN, 309
Current derating, 39
− inputs_DFIN
Current load of controller, I x t monitoring, 198 configuring master frequenccy input signal, 312
configuring touch probe, 313
Current load of motor, I2 x t monitoring, 201
DFOUT_IO_DigitalFrequency, 316
Cycle time, AIF interface, 150
− Inputs_DFOUT, 316
Cyclic process data objects, 418 − Outputs_DFOUT, 316
− outputs_DFOUT
D configuring encoder constant, 318
configuring master frequency output signal, 319
Data telegram, 411
Diagnostics, 181
Data, download, 354
− AIF interface, operating status, 157
Data, general electrical, 33 − CAN interface, 157
DC bus − with Global Drive Control (GDC), 181
− connection, 54 , 56 − with Global Drive Oscilloscope (GDO), 182
− fuses, 56 − with XT EMZ9371BC keypad, 183

15 Index
Diagnostics codes, 178 Electrical installation, 50

− Bus load, 180 − connection "Safe torque off", terminals, 72
− Bus status, 178 − connection "safe torque off"
functional description, 72
− Telegram counter, 179 Important notes, 70
Digital frequency cables, 429 minimum wiring, 73
with multiple−contact switches, 73
Digital frequency distributor, 429 with safety PLC, 75
Digital frequency input, 90 − connection of "safe torque off"
function check, 76
− configuring the input signal, signal setting, 313 implementation, 71
− features, 90 technical data, 72
Digital frequency output, 90 − Connection of capacitor module ECSxK..., 63
− connection"safe torque off", 69
− features, 90
− control connections, 64
Digital inputs, 67 , 321 assignment of the plug connectors, 66
− setting the polarity, 118 Digital inputs, 67
Digital outputs, 67
Digital outputs, 67 , 323 − control terminals, 65
− setting the polarity, 118 − electrical isolation, 50
DIGITAL_IO, 321 − feedback system, 85
encoder, 87
− Inputs_DIGITAL, 321 resolver, 86
− Outputs_DIGITAL, 323 − installation of a CE−typical drive system, 51
Dimensions, 41 , 44 , 48 assembly, 51
filters, 52
− axis module ECSCx..., 48 shielding, 52
− axis module ECSDx..., 44 − installation of CE−typical drive system, earthing, 52
− axis module ECSEx..., 41 − power connections, 54
connection of external brake resistor, 59
DIP switch, 161
DC bus connection, 54
Discharge current to PE, 33 internal brake resistor connection, 58
motor connection, 54 , 60
Disposal, 27 motor holding brake connection, 54
Download of various data items, 354 plug connector assignment, 54
− power terminals
Drive control, 299 DC bus connection, 56
motor holding brake connection, 61
Drive system, 14
− specification of the cables, motor cables, 60
DRIVECOM, 307 Electrical isolation, 50
Electromagnetic compatibility, 33
E EMC, 33
E2PROM−buffered memory, 351 − earthing, 52
− filters, 52
Earth−fault monitoring, 193 − shielding, 52
Earthing, EMC, 52 cables, 55
EMF2131IB digital frequency distributor, wire, 91
Effecting rotor position adjustment, 127
EMF2131IB digital frequency distributor , wire, 91
Enclosure, 33

Index 15
Encoder, 87 External brake resistor, 429

− Absolute value encoder (Hiperface, − assignment, 429
single−turn/multi−turn), as position and speed encoder, − connection, 59
110
− type ERBD..., rated data, 430
− absolute value encoder (Hiperface,
− type ERBM..., rated data, 430
single−turn/multi−turn), 101
− type ERBS..., rated data, 430
− incremental encoder, 88
− sin/cos encoder, absolute value encoder (Hiperface,
single−turn/multi−turn), 101 F
− SinCos encoder, 89 FAIL−QSP, 190
− supply voltage, 87 Fault analysis, 213
Encoder constant master frequency output, 318 − Via history buffer, 213
Encoder simulation, 90 − via LECOM status word, 215
− via LEDs, 213
Entering motor data, 122
− with keypad XT EMZ9371BC, 213
Entry of machine parameters, 119 Fault elimination, fault analysis with history buffer, 213
Entry of master angle and synchronisation, synchronisation Fault messages
cycle, 258
− causes and remedies, 222
Entry of motor data, 98 − configuration, 185
Environmental conditions, 32 − reset (TRIP−RESET), 214
− atmospheric pressure, 32 FCODE_FreeCode, 325
− pollution, 32 Feedback system, wiring, 85
− site altitude, 32 − encoder, 87
− temperature, 32 − incremental encoder, 88
− vibration resistance, 32 − resolver, 86
Error analysis, 213 − SinCos encoder, 89
− Via history buffer, 213 Field controller / field weakening controller, 133
− via LECOM status word, 215 Field weakening (manual), 338
Error messages, 218 Filters, EMC, 52
− Causes and remedies, 222 Free codes, 325
− causes and remedies, 222
Free space, 32
− configuration, 185
− Overview, 218 Function blocks, CANSync, 171
− Resetting, 229 Function sequence, touch probe, 314
Error response, 423 Functional earth conductor, 46
Error sources, Overview, 218 Fuses, 56

− DC bus, 56
Event−controlled process data objects, 420
− replacing, 57
Examples
− reading parameters, 424 G
− Selection help for cable length / number of repeaters, 83
Gateway function, CAN interface, 177
− writing parameters, 426
Global Drive Control (GDC)
Executing a reset node, 255 , 280
− Diagnostics, 181
Explanations, codes, 359 − Parameter setting, 138
Extendability, 350 Global Drive Oscilloscope (GDO), 182

15 Index
Global variables (flags), 347 Inputs_DFIN, 309

Guiding angle default and synchronisation − configuring master frequency input signal, 312
transfer function, 312
− CAN sync identifier, 259
− configuring the digital frequency input signal, signal
− CAN sync response, 260 setting, 313
− monitoring, 260 − configuring touch probe, 313
− phase shift, 259 function sequence, 314
Guiding angle selection and synchronisation Inputs_DFOUT, 316
− axis synchronisation, via CAN bus, 261 Inputs_DIGITAL, 321
− synchronisation time, 258
Inputs_MCTRL, 330
Installation, 32
H − system bus (CAN), 79
Heatsink temperature, monitoring, 196
Installation of a CE−typical drive system, 51
History buffer, 213 − assembly, 51
− codes, 214 − filters, 52
− delete entries, 215 − shielding, 52
− for fault elimination, 214 cables, 55
Holding brake configuration, 100 Installation of CE−typical drive system, earthing, 52

Installation, electrical, 50
I − connection "Safe torque off", terminals, 72
Identification, controller, 17 functional description, 72
Identifier, 160 , 411 , 426 Important notes, 70
minimum wiring, 73
− AIF interface, 148 with multiple−contact switches, 73
− CAN sync identifier, 259 with safety PLC, 75
Increment access (RAM memory), 357 − connection of "safe torque off"
function check, 76
Incremental encoder, 88 implementation, 71
− as position and speed encoder, 104 technical data, 72
− Connection of capacitor module ECSxK..., 63
Individual addressing, 164
− control connections, 64
Inputs, definition, 21 assignment of the plug connectors, 66
Digital inputs, 67
Inputs SYSTEM_FLAGS, 347 Digital outputs, 67
Inputs_AIF_Management, 231 − control terminals, 65
− electrical isolation, 50
Inputs_AIF1, 235
− feedback system, 85
Inputs_AIF2, 243 encoder, 87
resolver, 86
Inputs_AIF3, 247
− installation of a CE−typical drive system, 51
Inputs_ANALOG1, 251 structure, 51
filters, 52
Inputs_CAN_Management, 254 shielding, 52
Inputs_CAN1, 267 − Installation of CE−typical drive system, earthing, 52
− power connections, 54
Inputs_CAN2, 272
connection of external brake resistor, 59
Inputs_CAN3, 277 DC bus connection, 54
internal brake resistor connection, 58
Inputs_CANaux_Management, 279 motor connection, 54 , 60
motor holding brake connection, 54
Inputs_CANaux1, 285
plug connector assignment, 54
Inputs_CANaux2, 291 − power terminals
DC bus connection, 56
Inputs_CANaux3, 296 motor holding brake connection, 61
Inputs_DCTRL, 300 − specification of the cables, motor cables, 60

Index 15
Installation, mechanical, 40 Maximum speed, monitoring, 211

− push−through technique (ECSDx...), 43 MCTRL_MotorControl (motor control), 329
Installation, mechanical − additional torque setpoint, 333
− cold−plate technique (ECSCx...), 47 − adjusting motor data, 341
− important notes, 40 − adjusting the speed controller, 131
− with fixing rails (ECSEx...), 42 − Inputs_MCTRL, 330
Insulation resistance, 33 − manual field weakening, 338
− monitoring, 344
Integrating system blocks, 23
− monitoring functions, Sd7 − absolute value encoder
Internal brake resistor, Connection, 58 monitoring, 207
− Outputs_MCTRL, 332
K − parameterising phase controller, 336
Keypad XT EMZ9371BC − quick stop, 337
− changing and saving parameters, 142 − setting maximum speed, 335
− connecting the keypad, 139 − speed setpoint limitation , 335
− display elements, 140 − switching frequency changeover, 338
− fault analysis, 213 − torque control with speed limitation, 336
− function keys, 141 − torque limitation, 334
− torque setpoint, 333
− touch probe (TP)
L configuration, 339
LECOM, status word (C0150/C0155), 215 function, 339
sequence, 340
LEDs, 213
MCTRL_nNmaxC11, 335
Legal regulations, 17
Mechanical installation, 40
Liability, 17
− cold−plate technique (ECSCx...), 47
Loading the Lenze setting, 121 − important notes, 40
Low−voltage supply, 14 − push−through technique (ECSDx...), 43
− with fixing rails (ECSEx...), 42
M Memory
Malfunction of drive, 217 − persistent memory, 351
− retain memory, 351
Manual field weakening, 338
Memory types, 351
Manufacturer, 17
Menu structure, XT EMZ9371BC keypad, 143
Mapping of indices to codes, CAN interface, 175
Message, 190
Master angle selection and synchronisation
− axis synchronisation, via terminal, 262 Monitoring, 344
− correction value of phase controller, 259 − AIF interface, 154
bus off, 155
Master frequency input, 309 time monitoring, 154
− configuring input signal, 312 − CAN interface, time−out during activated remote
− configuring touch probe, 313 parameterisation, 192
function sequence, 314 − FAIL−QSP, 190
− transfer function, 312 − message, 190
Master frequency output, 316 − Monitoring times for process data input objects, 191
− configuring encoder constant, 318 − voltage supply of the control electronics, 204
− configuring output signal, 319 − warning, 190

15 Index
Monitoring functions, 184 Motor cable length, 32

− bus off, 192 Motor cables, specification, 60
− communication, cyclic node monitoring (Node Guarding),
169 Motor data, adjusting, 341
− configuring, 189 Motor feedback system, Checking the direction of rotation,
− current load of controller, I x t monitoring, 198 124
− current load of motor, I2 x t monitoring, 201 Motor holding brake
− DC−bus voltage, 202 − connection, 54
− earth fault, 193 − terminals, 324
− heatsink temperature, 196
Motor phases, monitoring, 205
− maximum speed, 211
Motor protection, 29
− motor phases, 205
− motor temperature, 193 , 197 Motor temperature, monitoring, 193
− motor temperature sensor, 207 Motor temperature sensor, monitoring, 207
− Overview, 184
Motor, connection, , 60
− Resolver cable, 206
− rotor position adjustment, 212 Motors from other manufacturers, 122
− Sd7 − absolute value encoder monitoring, 207 Mounting
− short circuit, 193 − axis module ECSCx..., 47
− sin/cos encoder, 208 − axis module ECSDx..., 43
− speed, 210 − axis module ECSEx..., 42
− thermal sensors, 198 − cold−plate design, 47
Monitoring times for process data input objects, 191 − standard installation (with fixing rails), 41
− thermally separated (push−through technique), 43
Monitorings
− CAN bus synchronisation, 260 Mounting position, 32
− configuration, 185
− possible reactions, 185 N
MotionBus (CAN) Network management (NMT), 413
− CAN data telegram, 411 Network management data, 412
− CAN1_IO, 263
Networking, 350
− CAN2_IO, 269
− CAN3_IO, 274 Node address (node ID)
− cyclic process data objects, 418 − AIF interface, 147
synchronisation, 419 − CAN interface, 161
− Defining the master in the drive system, 167
Node address setting, 162
− event−controlled process data objects, 420
Node guarding, 169
− identifier, 160 , 411 , 426
− network management data, 412 Node ID, 160 , 426
− parameter data, 412 , 421 Node numbers, 19
− parameter data channels, 421
Noise emission, 33
− parameter data objects, addressing, 160 , 426
− process data, 412 Noise immunity, 33
− process data objects, 414 Notes, definition, 31
addressing, 160 , 426
data transmission, 417
− process data telegrams, 415 O
− user data, 412 , 422 Operating conditions, 32
Motor, connection, 54 , 60 Operating modules, 429

Index 15
Operation inhibit (DISABLE), 303 Parameter data objects

− DCTRL_DriveControl (device control), 303 − Addressing, 160
Operation with servo motors from other manufacturers, − addressing, 426
122 Parameter data telegram, 422
− Checking the direction of rotation of the motor feedback − examples, 424
system, 124
Parameter data transfer, 421
− current controller adjustment, metrological
determination of electrical motor values, 126 Parameter setting, 137
Operation with servo motors of other manufacturers − With Global Drive Control (GDC), 138
− adjusting current controller, 125 − with keypad XT EMZ9371BC
− adjusting the current controller, calculating the electrical changing and saving parameters, 142
motor values, 125 connecting the keypad, 139
keypad display elements, 140
− effecting rotor position adjustment, 127 keypad function keys, 141
− entering motor data, 122 − With XT EMZ9371BC keypad, 139
Optimising the drive behaviour, 130 − with XT EMZ9371BC keypad, menu structure, 143
OSC_Oscilloscope, 346 Parameterising phase controllers, 336
Outputs, definition, 21 Parameterising speed controller
Outputs SYSTEM_FLAGS, 348 − setting integral action component, 132
− signal edge, 131
Outputs_AIF_Management, 234
Parameters
Outputs_AIF1, 240
− changing and saving, with keypad XT EMZ9371BC, 142
Outputs_AIF2, 245 − machine parameters, 119
Outputs_AIF3, 249 PC system bus adapter, 429
Outputs_CAN_Management, 254 Persistent memory, 351
Outputs_CAN1, 268 Phase controller, correction value, 259
Outputs_CAN2, 273 Phase shift, 259
Outputs_CAN3, 278 PLC functionality, 349
Outputs_CANaux_Management, 280 Plug connector assignment, power connections, 54
Outputs_CANaux1, 286 Plug connectors
Outputs_CANaux2, 292 − control connections, 66
Outputs_CANaux3, 297 − power connections, 54
Polarity of digital inputs/outputs, 118
Outputs_DCTRL, 302
Outputs_DFOUT, 316 Pollution, 32
− configuring encoder constant, 318 Position control, feedback system, 101
− configuring master frequency output signal, 319 − absolute value encoder (Hiperface,
Outputs_DIGITAL, 323
− Absolute value encoder (position encoder), resolver
Outputs_MCTRL, 332 (speed encoder), 114
Overcurrent characteristic, 199 − resolver, 101
− sin/cos encoder, without serial communication, 104
Overcurrent diagram, 200
− TTL incremental encoder, 104
Overvoltage threshold, DC−bus voltage, 202 − TTL/sin/cos encoder (position encoder), resolver (speed
encoder), 107
P POUs, 358
Packaging, 32
Parameter data, 412 , 421

15 Index
Power connections, 54 Rated data, 34 , 35

− connection of external brake resistor, 59 − external brake resistor
− DC bus connection, 54 type ERBD..., 430
type ERBM..., 430
− Internal brake resistor connection, 58 type ERBS..., 430
− motor connection, 54 , 60
Rated output current, 36
− motor holding brake connection, 54
Reactions, Overview, 218
− plug connector assignment, 54
Remote parameterisation (gateway function), CAN
Power reduction, 32
interface, 177
Power supply module, 14 Reset node, 173
Power terminals, 53 − AIF interface, 153
− DC bus connection, 56 Reset TRIP (TRIP RESET), DCTRL_DriveControl (device
− motor holding brake connection, 61 control), 305
Process data, 412 Resetting TRIP (TRIP−RESET), 305
− structure, 415 Residual hazards, 28
Process data objects Resolver, 86 , 136
− Addressing, 160 − Adjustment, 136
− addressing, 426 − as position and speed encoder, 101
− available, 414 Resolver cable, monitoring, 206
− cyclic, 418
Responses, 189
− event−controlled, 420
− CAN sync response, 260
− transfer, 417
Retain memory, 351
Process data telegram, 263 , 269 , 274 , 282 , 288 , 293 ,
415 ROM, 351
Process data transfer, 414 Rotor position adjustment, monitoring, 212
Program organisation unit (POU), 21

S
Protection of persons, 28
Safe standstill, 69
Protective insulation, 33
Safe torque off, 69
Protective isolation, 33 − inputs, 322
Protective measure, 33 − outputs, 324
Safety instructions, 25
Q − Definition, 31
− Structure, 31
Quick stop, 303 , 337
Scaling, 24
− MCTRL_MotorControl (motor control), 337 Sd7 − absolute value encoder monitoring, 207
Quick stop (QSP), 303 , 337 Selection help for cable length / number of repeaters,
Example, 83
− MCTRL_MotorControl (motor control), 337 Servo motors from other manufacturers, 122
Setting maximum speed, 335
R Setting of mains data, 96
RAM, 351 Setting of the feedback system, 101
RAM memory access, 356 Setting the baud rate, 159

− auto increment access, 357 Setting the boot−up time, 168

Index 15
Setting the cycle time, 168 Speed control, feedback system, 101
Setting the feedback system − absolute value encoder (Hiperface,
− Absolute value encoder (Hiperface,
single−turn/multi−turn), as position and speed encoder, − Absolute value encoder (position encoder), resolver
110 (speed encoder), 114
− absolute value encoder (position encoder), resolver (speed − resolver, 101
encoder), 114 − sin/cos encoder, without serial communication, 104
− Resolver as position and speed encoder, 101 − TTL incremental encoder, 104
− sin/cos encoder, without serial communication, 104 − TTL/sin/cos encoder (position encoder), resolver (speed
− TTL incremental encoder, 104 encoder), 107
− TTL/sin/cos encoder (position encoder), resolver (speed Speed controller, 130
encoder), 107 − Adjustment, 130
Setting the node address, 159 Speed setpoint limitation, 335
− via DIP switch, 162
Standards, 32
Setting the polarity, digital inputs/outputs, 118
States, CAN network, 412
Setting the voltage thresholds, 97
Status messages, 256 , 281
Setting TRIP (TRIP−SET), 304
Status signals, display, 305
− DCTRL_DriveControl (drive control), 304
Status word
Shield connection, control/signal cables, 64
Shielded cables, 55 − LECOM (C0150/C0155), 215
Shielding − transfer, 307
− cables, 55 Structure of the process data, 415
− EMC, 52
Structure of the system block descriptions, 15
Short−circuit monitoring, 193
Supply voltage, encoder, 87
Signal setting − digital frequency input, 313
Switch−off thresholds, 203
Signal types, 24
Switch−on thresholds, 203
Sin/cos encoder
Switching frequency changeover, 338
− monitoring, 208
− without serial communication, as position and speed Sychronisation, CAN sync identifier, 259
encoder, 104 Sync signal, 257
SinCos encoder, 89 Sync telegram, 419
Site altitude, 32
Specification of the cables, motor cables, 60
Specification of the transmission cable, 81
Speed, monitoring, 210

15 Index
Synchronisation − CANaux3_IO, 293

− axis synchronisation Inputs_CANaux3, 296
via CAN bus, 261 Outputs_CANaux3, 297
via terminal, 262 − connecting, 22
− CAN interface, 171 − DCTRL_DriveControl (device control), 298
− CAN sync response, 260 Inputs_DCTRL, 300
− correction value of phase controller, 259 Outputs_DCTRL, 302
− cyclic process data objects, 419 quick stop, 303
− monitoring, 260 − DFIN_IO_DigitalFrequency, 309
− phase shift, 259 Inputs_DFIN, 309
− sync identifier, 171 − DFOUT_IO_DigitalFrequency, 316
− sync response, 171 Inputs_DFOUT, 316
− Sync Tx transmission cycle, 172 Outputs_DFOUT, 316
− synchronisation cycle, 258 − DIGITAL_IO, 321
− XCAN sync identifier, 152 Inputs_DIGITAL, 321
Outputs_DIGITAL, 323
− XCAN sync response, 152
− XCAN Sync Tx transmission cycle, 153 − FCODE_FreeCode, 325
Synchronisation time, 258 − inputs, 21
System blocks, 230 − integration in the DDS, 23
− absolute adresses, 21 − introduction, 18
− AIF_IO_Management, 231 − MCTRL_MotorControl, Inputs_MCTRL, 330
Inputs_AIF_Management, 231 − MCTRL_MotorControl (motor control), 329
Outputs_AIF_Management, 234 additional torque setpoint, 333
− AIF1_IO_AutomationInterface, 235 adjusting the speed controller, 131
Inputs_AIF1, 235 manual field weakening, 338
Outputs_AIF1, 240 monitoring, 344
− AIF2_IO_AutomationInterface, 243 Outputs_MCTRL, 332
Inputs_AIF2, 243 parameterising phase controller, 336
Outputs_AIF2, 245 quick stop, 337
Outputs_AIF3, 249 setting maximum speed, 335
− AIF3_IO_AutomationInterface, 247 speed setpoint limitation , 335
Inputs_AIF3, 247 switching frequency changeover, 338
− ANALOG1_IO, Inputs_ANALOG1, 251 torque control with speed limitation, 336
torque limitation, 334
− Analog1_IO, 251 torque setpoint, 333
− CAN_Management, 253 touch probe (TP), 339
Inputs_CAN_Management, 254
Outputs_CAN_Management, 254 − node numbers, 19
− CAN_Synchronization, 257 − OSC_Oscilloscope, 346
− CAN1_IO, 263 − outputs, 21
Inputs_CAN1, 267 − principle, 18
Outputs_CAN1, 268 − scaling, 24
− CAN2_IO, 269
Inputs_CAN2, 272 − signal types, 24
Outputs_CAN2, 273 − structure of the descriptions, 15
− CAN3_IO, 274 − system block variable, 20
Inputs_CAN3, 277 − SYSTEM_FLAGS, 347
Outputs_CAN3, 278 Inputs SYSTEM_FLAGS, 347
− CANaux_Management, 279 Outputs SYSTEM_FLAGS, 348
Inputs_CANaux_Management, 279 − SYSTEM_FLAGS (system flags), 347
Outputs_CANaux_Management, 280
− CANaux1_IO, 282
Inputs_CANaux1, 285
Outputs_CANaux1, 286
− CANaux2_IO, 288
Inputs_CANaux2, 291
Outputs_CANaux2, 292

Index 15
System bus (CAN), 350 , 411 system bus (CAN)

− Siehe auch manual "System bus (CAN) for Lenze PLC − CAN data telegram, 411
devices" − parameter data objects, addressing, 160 , 426
− assignment of the plug connectors, 81
System bus components, 429
− baud rate, 83
− CAN_Management, 253 System bus management, CAN interface, 174
− CAN_Synchronization, 257 System error messages, 218
− CANaux_Management, 279 − Causes and remedies, 222
− CANaux1_IO, 282 − Overview, 218
− CANaux2_IO, 288 − Resetting, 229
− CANaux3_IO, 293 System program organisation units, 358
− cycle time, AIF interface, 150
System variables, 20
− cyclic process data objects, 418
synchronisation, 419 SYSTEM_FLAGS, 347
− determining the instant of transmission for − Inputs SYSTEM_FLAGS, 347
CAN2/CAN3_OUT, 255
− Outputs SYSTEM_FLAGS, 348
− diagnostics, CAN interface, 157
− Display of the resulting identifiers, 166
− event−controlled process data objects, 420
T
− identifier, 160 , 411 , 426 Table of attributes, 403
AIF interface, 148
Technical data, 32
− Individual addressing, 164
− current characteristics
− Interfaces for system bus connection, Configuration of application example, 38
CAN bus interfaces, 159 device protection by current derating, 39
− interfaces for system bus connection, configuring the AIF rated output current, 36
interface, 145 − external brake resistor
− making a reset node, 173 , 255 , 280 type ERBD..., 430
− mapping of indices to codes, CAN interface, 175 type ERBM..., 430
type ERBS..., 430
− monitoring, AIF interface, 154
− general electrical data, 33
− network management data, 412
− rated data, 34 , 35
− Node Guarding, 169
− standards and operating conditions, 32
− operating status, AIF interface, 157
Telegram counter, 179
− parameter data, 412 , 421
− parameter data channels, 421 Temperature, 32
− process data, 412 Temperature inside the controller, monitoring, 197
− process data objects, 414
addressing, 160 , 426 Temporary codes, 355
data transmission, 417 Terminal extension 9374IB, 350
− process data telegrams, 415
Terminology used, 14
− remote parameterisation (gateway function), CAN
interface, 177 Thermal sensors, monitoring, 198
− reset node, AIF interface, 153 Thermal separation, 43
− setting boot−up time, 168
Tightening torques, control connections, 55 , 56 , 66
− setting delay time, 168
− setting the baud rate, 159
− setting the cycle time, 168 Time monitoring, AIF interface, 154
− setting the node address, 159 Time−out during activated remote parameterisation, CAN
− status messages, 256 , 281 interface, 192
− synchronisation, CAN interface, 171 Torque, safe torque off, 69
− system bus management, CAN interface, 174
Torque control, with speed limitation, 336
− user data, 412 , 422
− Wiring, 79 Torque limitation, 334
− wiring, 82 Torque setpoint , 333

15 Index
Touch probe, 313 TTL encoder, 88

− configuring, 313 TTL incremental encoder, as position and speed encoder,
Touch probe (TP), 339 104
− function, 339
− sequence, 340 U
Transfer function master frequency input, 312 Undervoltage threshold, DC−bus voltage, 202
Transfer of status/control word, DCTRL (device control), User data, 412 , 422 , 424
307
Transmission cable, specification, 81 V
TRIP, 190 Vibration resistance, 32
TRIP status, 306 Voltage supply of the control electronics, monitoring, 204
TRIP−RESET, 214 W
Troubleshooting Warning, 190
− fault analysis with history buffer, 213 Warranty, 17
− malfunction of drive, 217
Wiring, system bus (CAN), 82
Troubleshooting and fault elimination, 213
− monitoring, voltage supply of the control electronics, 204
− monitoring functions
X
bus off, 192 XCAN sync identifier, 152
current load of controller (I x t monitoring), 198
current load of motor (I2 x t monitoring), 201 XCAN sync response, 152
DC−bus voltage, 202 XCAN Sync Tx transmission cycle, 153
earth fault, 193
heatsink temperature, 196 XT EMZ9371BC keypad
maximum speed, 211 − Diagnostics, 183
monitoring times for process data input objects, 191
− menu structure, 143
motor phases, 205
motor temperature, 193 − Parameter setting, 139
motor temperature sensor, 207
Resolver cable, 206
rotor position adjustment, 212
short circuit, 193
sin/cos encoder, 208
speed, 210
temperature inside the controller, 197
thermal sensors, 198

/0
Lenze Drive Systems GmbH EDBCSXA064
Hans−Lenze−Straße 1 EN 2.0
D−31855 Aerzen © 04/2008
Germany TD17
( +49(0)515482−0
( Service 0080002446877 (24 h helpline)
Ê Service +49(0)515482−1112
E−Mail Lenze@Lenze.de
Internet www.Lenze.com
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DATASHEET

RGB ELEKTRONIKA AGACIAK CIACIEK

Jana Dlugosza 2-6 Street

Buy this product at RGB AUTOMATYKA BUY ∠

ECSEAxxx / ECSDAxxx / ECSCAxxx

Axis module ˘ "Application"

D = push−through technique (thermally separated) xxxxxxxx yyyyyyyy zzzz

C = cold−plate technique EKZ ECSEAxxxC4BXXXXXVA02

the Instruction Manual

{ WARNING 180s after removing

Version of operating software (B−SW)

© 2008 Lenze Drive Systems GmbH, Hans−Lenze−Straße 1, D−31855 Aerzen

Connections and interfaces

1 Preface and general information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

6.12 Operation with servo motors from other manufacturers . . . . . . . . . . . . . . . . . . . . 122

7 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

8 AIF interface (X1) configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

9 System bus (CAN / CAN−AUX) configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

9.2 Addressing of parameter and process data objects . . . . . . . . . . . . . . . . . . . . . . . . 160

11 Monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

11.2 Configuring monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

12 Troubleshooting and fault elimination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

13 System blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

13.3 AIF2_IO_AutomationInterface (node number 42) . . . . . . . . . . . . . . . . . . . . . . . . . . 243

13.15 DCTRL_DriveControl (node number 121) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

14.3 Memories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

1 Preface and general information

1.1 About use these Operating Instructions

1.1.1 Conventions used in this Manual

Further information ...

1.1.2 Terminology used

Term In the following text used for

1.1.3 Structure of the system block descriptions

 SB function and node number

  Graph including all corresponding system variables

 l Detailed functional description of the SB

1.2 Features of the ECSxA axis module

ƒ Safety function "safe torque off" (formerly "safe standstill")

1.3 Scope of supply

The scope of supply of the ECSxA... axis module includes:

1.4 Legal regulations

Identification Nameplate CE identification Manufacturer

1.5 System block introduction

1.5.1 System blocks ˘ principle

ƒ System blocks partially activate real hardware.

1.5.2 Node numbers

The system blocks feature the following node numbers:

The node number is part of the absolute SB address. (

1.5.3 Access via system variables

1.5.4 Access via absolute addresses

1.5.5 Definition of the inputs/outputs

1.5.6 Integrating system blocks into the DDS

1.5.7 Signal types and scaling

Digital _b (binary) 1 bit 0 º FALSE; 1 º TRUE

Angular  _v (velocity) 16 Bit1 15000 rpm º 16384

Variable value (..._v) + 15000 @ 65536 [inc] + 16384 inc

31 High Word Low Word 0

 Direction (0 º clockwise rotation; 1 º counter−clockwise rotation)

Due to their scaling, analog signals have an asymmetrical resolution range

SB function and node number

Graph including all corresponding system variables

l Detailed functional description of the SB

Angular _v (velocity) 16 Bit1 15000 rpm º 16384

Direction (0 º clockwise rotation; 1 º counter−clockwise rotation)

Note! Important note to ensure troublefree operation