E94AxPE ServoPLC (From Firmware 02-01) v4-0 en

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Servo Drives 9400 Servo PLC _ _ _ _ _ _ _ _ _ _ Reference manual EN

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Overview of technical documentation for Servo Drives 9400
________________________________________________________________
Project planning, selection & ordering Legend:

 Hardware manual 9400  Printed documentation
 Catalogue / electronic catalogue (DSC - Drive Solution Catalogue)  Online documentation
(PDF/Engineer online help)
Mounting & wiring Abbreviations used:
 MA - 9400 StateLine/HighLine BA Operating Instructions
 MA for the communication module KHB Communication manual
 MA for the extension module MA Mounting instructions
 MA for the safety module SW Software Manual
 MA for the accessories
 MA - remote maintenance components
Parameter setting
 BA keypad
 SW - Lenze software »Engineer«
 SW - controller (9400 StateLine/HighLine/PLC)  This documentation
 SW - regenerative power supply module
 KHB for the communication module
 SW - extension module
 SW - safety module
 SW - Lenze technology application
 SW - function library 9400
Configuring & programming

 SW - Lenze software »Engineer«
 SW - Lenze software »PLC Designer«
 SW - controller (9400 HighLine/PLC)  This documentation
 KHB for the communication module
 SW - extension module
 SW - safety module
 SW - Lenze technology application
 SW - function library 9400
Drive commissioning
 Commissioning guide
 SW - controller (9400 StateLine/HighLine/PLC)  This documentation
 Chapter "Commissioning" ( 26)
 Chapter "Oscilloscope" ( 611)
 Chapter "Diagnostics & fault analysis" ( 630)
 Remote maintenance manual
Networking
 KHB for the communication medium used
2 Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
Contents
________________________________________________________________
1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15

1.1 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16
1.2 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 17
1.3 Definition of the notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18
2 Introduction _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
2.1 Parameter setting, configuring, or programming? _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
2.1.1 Basic functionalities _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
2.1.2 Technology applications _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
2.2 Communicating with the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
2.2.1 Going online via diagnostic adapter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
2.2.2 Going online via system bus (CAN on board) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24
2.2.3 Use of other communication interfaces _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24
2.3 Signal types & scaling _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
3 Commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26
3.1 General information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
3.2 Notes on commissioning using the keypad _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
3.3 Initial commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
3.4 Standard set-up _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30
3.5 Controller replacement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31
3.6 Motor replacement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31
4 PLC functionality _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
4.1 Setting the controller in »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
4.1.1 First steps for setting the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
4.1.2 Export and import of PLC applications _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
4.2 Preparations for creating a PLC program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39
4.2.1 Starting »PLC Designer« from »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39
4.2.1.1 Standard project "PLC_Application.pro" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 40
4.2.2 Setting the communication parameters in »PLC Designer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 41
4.2.3 Selecting libraries _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 41
4.2.4 Configuring tasks _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
4.2.4.1 Inserting other user tasks _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
4.2.4.2 Program call _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 44
4.2.4.3 Configuring system events _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45
4.2.5 Inserting more user POUs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 46
4.3 Programming notes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 47
4.3.1 Update function and scaling function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 47
4.3.2 Creating user-defined codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 49
4.3.3 Generating application error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 51
4.4 Use of function blocks _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 52
4.5 Use of system blocks _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 54
4.5.1 Access via system variables _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55
4.5.2 Access via absolute addresses _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55
4.5.3 Definition of the inputs and outputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55
4.5.4 Implementing system blocks in »PLC Designer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 56
4.6 Network communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 59
4.6.1 Network communication with CAN on board _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 59
4.6.2 Network communication with fieldbus module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 61
Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06 3
Contents
________________________________________________________________
4.7 Completing the PLC project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64

4.7.1 Compiling a PLC project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64
4.7.2 Generating a boot project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64
4.7.3 Saving the PLC project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 65
4.7.4 Import in the »Engineer« project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 65
4.7.4.1 Saving the »Engineer« project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 66
4.7.5 Project download _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 67
4.8 Appendix _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 68
4.8.1 Technical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 68
4.8.2 Task and timing frame _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 69
4.8.3 User task _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 70
4.8.4 Runtime measurement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72
4.8.5 Data consistency _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 73
4.8.6 Storage capacities and memory modules _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 73
4.8.7 Known function restrictions of the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 74
4.8.8 Sample collection for code creation with Pragma instruction _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 76
5 Drive interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
5.1 Machine parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80
5.1.1 Mains voltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 81
5.1.2 Gearbox ratio _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82
5.1.3 Motor mounting direction _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83
5.1.4 Feedback configuration _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83
5.1.5 Unit/user-defined unit _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 84
5.1.6 Traversing range _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85
5.1.7 Feed constant _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 87
5.1.8 Resolution of an encoder revolution _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 88
5.1.8.1 Determining the optimum resolution _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 90
5.1.9 Max. position, speed, and acceleration that can be displayed internally _ _ _ _ _ _ _ _ _ _ 91
5.2 Device commands _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 92
5.2.1 Load Lenze setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 94
5.2.2 Load start parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 95
5.2.3 ENP:Load plant data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 96
5.2.4 Activate application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 97
5.2.5 Save selected application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 98
5.2.6 Save start parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 99
5.2.7 Delete logbook _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101
5.2.8 Archive logbook _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 102
5.2.9 Start application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
5.2.10 Stop application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 104
5.2.11 Reset program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 105
5.2.12 Delete program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 106
5.2.13 Restart program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 107
5.2.14 Reset runtime measurement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 108
5.2.15 Inhibit controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 110
5.2.16 Enable controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 111
5.2.17 Reset error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 112
5.2.18 Activate quick stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 113
5.2.19 Reset quick stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 114
5.2.20 Identify pole position (360°) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 115
5.2.21 Identify pole position (min. motion) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 116
5.2.22 Resolver error identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 117
5.2.23 Load Lenze INV characteristic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 118
5.2.24 Calculate inv. characteristic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 119
5.2.25 Determine motor parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 120
Contents
________________________________________________________________
5.2.26 Calculate current controller parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 121

5.2.27 Calculate speed controller parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 123
5.2.28 CAN on board: Reset Node _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 124
5.2.29 CAN module: Reset node _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 125
5.2.30 CAN on board: Pred.Connect.Set _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 126
5.2.31 CAN module: Pred.Connect.Set _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 127
5.2.32 CAN on board: Identify node _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 128
5.2.33 CAN module: Identify node _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 129
5.2.34 Unbind/bind Ethernet module MXI1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 130
5.2.35 Unbind/bind Ethernet module MXI2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 131
5.2.36 Activate parameter set 1 ... 4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 132
5.2.37 Activate parameter set 1 ... 4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 134
5.2.38 Load cam data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 136
5.2.39 Save cam data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 138
5.2.40 Calculate cam data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 140
5.2.41 Calculate cam data checksum _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 141
5.2.42 Format file system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 142
5.2.43 Restore file system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 143
5.2.44 Prepare firmware update _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 144
5.2.45 Restart controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 145
5.3 Device states _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 146
5.3.1 "Initialisation active" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 148
5.3.2 "Safe torque off active" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 149
5.3.3 "Device is ready to switch on" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 149
5.3.4 "Device is switched on" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 150
5.3.5 "Operation" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 150
5.3.6 "Warning active" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 151
5.3.7 "Warning locked active" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 151
5.3.8 "Quick stop by trouble active" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 151
5.3.9 "Trouble active" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 152
5.3.10 "Fault active" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 152
5.3.11 "System fault active" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 152
5.4 Automatic restart after mains connection/trouble... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 153
5.5 Device output power _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
5.5.1 Switching frequency _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
5.5.2 Monitoring of the device utilisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 156
5.5.3 Operation with increased continuous power _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 157
5.6 Internal interfaces | "LS_DriveInterface" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 158
5.6.1 Status signals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 161
5.6.2 Monitoring of external events _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 162
Contents
________________________________________________________________
6 Motor interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 163

6.1.1 Reading out motor data from the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 165
6.1.2 Selecting a motor from the motor catalogue in the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ 166
6.1.3 Displaying/editing motor data in »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 167
6.2 Select motor control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 169
6.3 Adjusting motor and controller to each other _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 171
6.3.1 Accepting/adapting plant parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 172
6.3.2 Parameterising motor encoder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 174
6.3.3 Pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 176
6.3.3.1 Adjustment of the pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 180
6.3.4 Optimising the switching performance of the inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 183
6.3.5 Determining the motor parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 186
6.4 Servo control (SC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 190
6.4.1 Optimising the control mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 191
6.4.1.1 Optimise current controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 192
6.4.1.2 Optimising the speed controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 195
6.4.1.3 Set current setpoint filter (band-stop filter) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 198
6.4.1.4 Optimising phase controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 201
6.4.1.5 Optimising response to setpoint changes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 202
6.4.1.6 Setting the field weakening for asynchronous machines _ _ _ _ _ _ _ _ _ _ _ _ 204
6.4.2 Signal flow (servo control for synchronous motor) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 207
6.4.3 Signal flow (servo control for asynchronous motor) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 209
6.5 Sensorless vector control (SLVC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 211
6.5.1 Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 212
6.5.1.1 Parameterising speed and torque controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 213
6.5.2 Optimising motor parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 214
6.5.2.1 Motor power factor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 215
6.5.2.2 Motor stator resistance _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 216
6.5.2.3 Mutual motor inductance _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 217
6.5.2.4 Motor rotor resistance _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 219
6.5.3.1 Optimising field feedforward control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 221
6.5.3.2 Optimising the speed controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 222
6.5.3.3 Optimising torque controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 224
6.5.4 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 228
6.6 V/f control (VFCplus) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 229
6.6.1 Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 229
6.6.1.1 Defining the V/f characteristic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 230
6.6.1.2 Setting the voltage boost _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 231
6.6.1.3 Parameterising load adjustment _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 233
6.6.1.4 Activating voltage vector control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 234
6.6.1.5 Defining the current limit (Imax controller) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 235
6.6.2.1 Defining a user-defined V/f characteristic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 237
6.6.2.2 Parameterising slip compensation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 238
6.6.2.3 Parameterising oscillation damping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 239
6.6.2.5 Optimising pull-out slip limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 243
6.6.3 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 244
Contents
________________________________________________________________
6.7 V/f control (VFCplus) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 245

6.7.1 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 246
6.8 Parameterisable additional functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 248
6.8.1 Correction of the stator leakage inductance... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 249
6.8.2 Field weakening for synchronous machines _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 254
6.8.3 Flying restart function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 257
6.8.4 DC-injection braking _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 260
6.9 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 262
6.9.1 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 262
6.9.2 Motor monitoring (I2xt) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 263
6.9.2.1 Example for entry of the characteristic for asynchronous servo motor _ _ _ _ 266
6.9.2.2 Example for entry of the characteristic for synchronous servo motor _ _ _ _ _ 267
6.9.2.3 UL 508-compliant I²xt motor temperature monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ 268
6.9.3 Motor temperature monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 270
6.9.3.1 Specific characteristic for the motor temperature sensor _ _ _ _ _ _ _ _ _ _ _ _ 271
6.9.3.2 Motor temperature monitoring (PTC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 272
6.9.3.3 Temperature monitoring of a second motor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 273
6.9.4 Motor phase failure monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 274
6.9.4.1 Monitoring of the individual motor phases during operation _ _ _ _ _ _ _ _ _ 274
6.9.4.2 Checking the individual motor phases before operation is started _ _ _ _ _ _ _ 275
6.9.5 Maximum current monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 276
6.10 Internal interfaces | "LS_MotorInterface" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 277
7 Encoder evaluation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 281

7.1 Internal interfaces | "LS_Feedback" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 282
7.1.1 Use of an external position encoder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 283
7.2 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 284
7.3 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 285
7.3.1 Controller configuration _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 287
7.3.2 System with motor encoder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 288
7.3.3 System with motor encoder and position encoder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 289
7.3.4 Position feedback with a linear distance measuring device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 291
7.3.4.1 Conversion from linear to rotative encoder variables _ _ _ _ _ _ _ _ _ _ _ _ _ _ 291
7.3.5 Adaptation of the resolver evaluation dynamics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 293
7.3.6 Parameterisation of an unknown Hiperface encoder _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 293
7.3.7 Parameterisation of a Hiperface® encoder with increased initialisation time _ _ _ _ _ _ _ 294
7.3.8 Use of an SSI encoder at X8 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 295
7.3.8.1 "LS_SsiEncoderX8" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 296
7.3.8.2 Division of the SSI data word into partwords _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 297
7.3.8.3 Linear distance measuring devices with SSI protocol _ _ _ _ _ _ _ _ _ _ _ _ _ _ 298
7.3.9 Rotative encoder with SSI protocol _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 301
7.3.10 Provision of the encoder signal of input X8 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 303
7.3.10.1 System block "LS_EncoderX8" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 303
7.3.10.2 Activate evaluation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 304
7.3.11 Resolver error compensation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 306
7.3.12 Encoder angular drift monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 307
7.3.12.1 Angular drift monitoring for encoders without absolute information _ _ _ _ _ 307
7.3.12.2 Angular drift monitoring for encoders with absolute information _ _ _ _ _ _ _ 308
Contents
________________________________________________________________
8 Braking operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 309

8.1 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 310
8.1.1 Setting the voltage threshold for braking operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 310
8.2 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 311
8.2.1 Overcurrent protection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 311
8.2.2 Ixt utilisation - brake transistor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 312
8.2.3 I2t utilisation - brake resistor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 313
8.2.4 Overvoltage in the DC bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 314
9 I/O terminals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 315

9.1 Overview _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 315
9.2 Analog inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 316
9.2.1 Terminal assignment/electrical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 316
9.2.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 317
9.2.3 Reconfiguring analog input 1 into current input _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 317
9.2.4 "LS_AnalogInput" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 318
9.3 Analog outputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 319
9.3.3 "LS_AnalogOutput" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 320
9.4 Digital inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 321
9.4.3 "LS_DigitalInput" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 322
9.5 Digital outputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 323
9.5.3 "LS_DigitalOutput" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 324
9.6 "State bus" monitoring function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 325
9.6.1 Detecting the current state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 326
9.6.2 Setting the state bus to the "Error" state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 326
9.7 Touch probe detection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 327
9.7.1 Actual value interpolation (principle) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 328
9.7.2 Dead time compensation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 329
9.7.3 "LS_TouchProbe1...8" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 330
9.7.4 "LS_TouchProbeMotor" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 331
9.7.5 "LS_TouchProbeLoad" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 331
Contents
________________________________________________________________
10 "CAN on board" system bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 332

10.1.1 General data and application conditions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 334
10.1.2 Supported protocols _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 334
10.1.3 Communication time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 335
10.2 Possible settings by DIP switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 336
10.2.1 Setting the node address _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 336
10.2.2 Setting the baud rate _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 337
10.3 LED status displays for the system bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 338
10.4 Structure of the CAN data telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 339
10.4.1 Identifier _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 339
10.4.2 User data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 341
10.5 Communication phases/network management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 342
10.5.1 Status transitions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 343
10.5.2 Network management telegram (NMT) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 344
10.5.3 Parameterising the controller as CAN master _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 345
10.6 Process data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 346
10.6.1 Identifiers of the process data objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 347
10.6.2 Transmission type _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 348
10.6.3 Masking of the TPDOs for event control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 349
10.6.4 Monitoring of the RPDOs for data reception _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 349
10.6.5 Synchronisation of PDOs via sync telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 350
10.6.5.1 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 351
10.6.5.2 Effect of C01130 on the sync phase position _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 353
10.7 Parameter data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 355
10.7.1 Identifiers of the parameter data objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 356
10.7.2 User data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 356
10.7.2.1 Command _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 357
10.7.2.2 Addressing by means of index and subindex _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 358
10.7.2.3 Data 1 ... Data 4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 359
10.7.2.4 Error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 359
10.7.3 Parameter data telegram examples _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 362
10.7.3.1 Read parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 362
10.7.3.2 Write parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 363
10.7.3.3 Read block parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 364
10.8 Diagnostics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 367
10.9 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 368
10.9.1 Node guarding protocol _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 368
10.9.1.1 Telegram structure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 369
10.9.1.3 Commissioning example _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 372
10.9.2 Heartbeat protocol _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 374
10.9.2.1 Telegram structure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 375
10.9.2.3 Commissioning example _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 377
10.9.3 Emergency telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 378
10.10 Implemented CANopen objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 379
10.11 System block "LS_SyncInput" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 404
10.11.1 Behaviour of the status signal bSyncInsideWindow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 405
Contents
________________________________________________________________
11 Safety engineering _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 406

11.1 Integration into the application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 407
11.2 Selecting the required safety module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 408
11.3 System block "LS_SafetyModuleInterface" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 408
11.3.1 Status information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 409
11.3.2 I/O status information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 410
11.3.3 Control information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 410
12 Basic drive functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 412

12.1.1 Internal state machine _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 413
12.1.2 Function states _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 415
12.1.3 Interrupting/replacing states _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 417
12.1.4 Priorities _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 418
12.1.5 Requesting control via a basic function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 419
12.1.6 Start acceleration/acceleration reduction when the basic function changes _ _ _ _ _ _ _ 420
12.1.7 Setting the S-ramp time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 422
12.2 Stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 424
12.2.1 Internal interfaces | "LS_Stop" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 425
12.2.3 Behaviour of the function (example) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 427
12.3 Quick stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 428
12.3.1 Internal interfaces | "LS_Quickstop" system block" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 428
12.3.3 Activate/deactivate quick stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 431
12.3.4 DC-injection braking _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 432
12.3.4.1 DC-injection braking and flying restart process _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 432
12.3.4.2 DC-injection braking when quick stop is activated _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 434
12.4 Manual jog _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 435
12.4.1 Internal interfaces | "LS_ManualJog" system block" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 436
12.4.2.1 Smooth start and quick stop of the drive _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 439
12.4.2.2 Second speed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 440
12.4.3 Executing manual jogging _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 440
12.4.3.1 Manual jog in positive/negative direction _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 441
12.4.3.2 Manual jog with step limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 442
12.4.3.3 Manual jog with intermediate stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 443
12.4.3.4 Manual jog to limit position _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 444
12.4.3.5 Retracting of an activated limit switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 445
12.5 Manual job, encoderless _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 446
12.5.2 Carrying out encoderless manual jogging _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 448
12.5.2.1 Preconditions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 449
12.5.2.2 Activation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 449
12.5.2.3 Deactivation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 450
12.5.2.4 Selection and contents of the profile parameter set _ _ _ _ _ _ _ _ _ _ _ _ _ _ 451
12.5.2.5 Encoderless manual jogging in a positive/negative direction _ _ _ _ _ _ _ _ _ 452
12.5.3 Internal interfaces | "LS_ManualJogOpenLoop" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 453
Contents
________________________________________________________________
12.6 Homing _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 455

12.6.1 Internal interfaces | "LS_Homing" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 457
12.6.2.1 Behaviour of the home position after mains switching _ _ _ _ _ _ _ _ _ _ _ _ _ 460
12.6.2.2 Homing mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 461
12.6.2.3 Home position & target position _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 462
12.6.2.4 Drive behaviour after setting the home position _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 462
12.6.2.5 Profile data set change-over _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 463
12.6.2.6 Homing to end stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 465
12.6.2.7 Connection of reference switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 465
12.6.2.8 Touch probe interface configuration _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 465
12.6.3 Overview of the Lenze homing modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 466
12.6.4 Overview of DS402 homing modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 478
12.6.5 Execute homing _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 507
12.6.5.1 Starting reference search/setting the reference directly _ _ _ _ _ _ _ _ _ _ _ _ 508
12.6.5.2 Loading home position via input _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 508
12.6.5.3 Resetting home position _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 508
12.7 Positioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 509
12.7.1 Internal interfaces | "LS_Positioner" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 510
12.7.1.1 Possibilities for the selection of the profile _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 514
12.7.2.1 Actual value-based evaluation "Target position reached" _ _ _ _ _ _ _ _ _ _ _ 515
12.7.2.2 Actual value- and setpoint-based evaluation "Drive in the target" _ _ _ _ _ _ _ 516
12.7.3 Carrying out positioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 517
12.7.3.1 Starting positioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 517
12.7.3.2 Aborting/interrupting positioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 517
12.7.3.3 Continue interrupted positioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 518
12.7.3.4 Activating override _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 519
12.8 Position follower _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 520
12.8.1 Internal interfaces | "LS_PositionFollower" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 521
12.8.2 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 522
12.8.3.1 Setpoint interpolation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 524
12.8.3.2 Inversion of the direction of rotation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 524
12.8.4 Activating setpoint interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 525
12.9 Speed follower _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 526
12.9.1 Internal interfaces | "LS_SpeedFollower" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 526
12.9.2 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 528
12.10 Torque follower _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 531
12.10.1 Internal interfaces | "LS_TorqueFollower" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 532
12.10.2 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 533
Contents
________________________________________________________________
12.11 Limiter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 536

12.11.1 Internal interfaces | "LS_Limiter" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 536
12.11.1.1 Interface to the safety module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 540
12.11.2.1 Software limit positions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 542
12.11.2.2 Triggering behaviour of software limit position monitoring _ _ _ _ _ _ _ _ _ _ 544
12.11.2.3 Hardware limit positions (limit switch) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 545
12.11.2.4 Limitations _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 547
12.11.2.5 Permissible direction of rotation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 548
12.11.2.6 Limited speed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 549
12.11.2.7 Limited increment for manual jog _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 550
12.12 Brake control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 551
12.12.1 Internal interfaces | "LS_Brake" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 552
12.12.2.1 Modes of operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 555
12.12.2.2 Signal configuration _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 555
12.12.2.3 Standstill monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 558
12.12.2.4 Brake activation in automatic operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 559
12.12.2.5 Brake time response _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 561
12.12.2.6 Torque feedforward control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 564
12.12.2.7 Torque feedforward control via ramp function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 567
12.12.2.8 Speed feedforward control via ramp function for V/f control _ _ _ _ _ _ _ _ _ 568
12.12.3 Mode 0: Brake control is switched off _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 569
12.12.4 Mode 1/11: Direct control of the brake _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 570
12.12.5 Mode 2/12: Automatic control of the brake _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 571
12.12.5.1 Behaviour in case of pulse inhibit _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 572
12.12.5.2 Process when brake is released _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 574
12.12.5.3 Process when brake is closed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 575
12.12.6 Mode 22: Automatic DC-injection braking _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 576
12.12.7 Grinding the brake _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 579
12.12.8 Carrying out brake test _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 581
12.12.9 Control of two motor holding brakes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 583
12.13 Cam data management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 584
12.13.1 "Online" tab for cam data management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 585
12.13.1.1 Memory distribution _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 586
12.13.1.2 Access protection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 587
12.13.1.3 Regenerating the cam data file and transferring it to the controller _ _ _ _ _ _ 589
12.13.2 Internal interfaces | "LS_CamInterface" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 590
12.13.3.1 Password entry _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 593
12.13.3.2 Online change mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 594
12.13.3.3 Changing cam data via parameterisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 596
12.13.4 Product/track change-over _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 599
12.13.5 Invalid cam data due to changed machine parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 600
12.13.6 Behaviour after mains switching _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 601
12.14 Pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 602
12.14.1 Internal interfaces | System block "LS_PolePositionIdentification" _ _ _ _ _ _ _ _ _ _ _ _ _ 603
12.14.3 Execute pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 605
12.14.4 Signal characteristics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 607
12.14.5 Impacts of parameter changes on the signal PPI_bPolePositionAvailable _ _ _ _ _ _ _ _ _ 609
Contents
________________________________________________________________
13 Oscilloscope _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 611
13.1 Technical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 611
13.2 Functional description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 611
13.3 User interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 613
13.4 Operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 614
13.4.1 Selecting the variables to be recorded _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 614
13.4.2 Selecting the recording time/sample rate _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 616
13.4.3 Defining the trigger condition _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 617
13.4.4 Starting recording _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 618
13.4.5 Adjusting the representation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 619
13.4.6 Cursor function: Reading individual measured values _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 621
13.5 Managing oscillograms (measured data sets) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 622
13.5.1 Commenting the oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 622
13.5.2 Saving the oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 623
13.5.3 Loading the oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 624
13.5.4 Closing the oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 625
13.5.5 Overlay function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 625
13.5.6 Deleting a data set saved in the project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 626
13.6 Variables of the motor control (oscilloscope signals) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 627
14 Diagnostics & fault analysis _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 630

14.1 LED status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 630
14.1.1 LED status displays for the device state _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 631
14.2 Drive diagnostics with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 632
14.3 Drive diagnostics via keypad/bus system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 633
14.4 Logbook _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 635
14.4.1 Functional description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 636
14.4.2 Filtering logbook entries _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 636
14.4.3 Reading out logbook entries _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 637
14.4.4 Exporting logbook entries to a file _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 638
14.5 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 639
14.5.1 Setting the error response _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 640
14.6 Maloperation of the drive _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 641
14.7 Error messages of the operating system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 642
14.7.1 Structure of the error number (bit coding) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 642
14.7.1.1 Response _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 643
14.7.1.2 Instance ID _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 643
14.7.1.3 Module ID _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 644
14.7.1.4 Error ID _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 645
14.7.1.5 Example for bit coding of the error number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 645
14.7.2 Reset error message _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 646
14.7.3 Short overview (A-Z) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 647
14.7.4 Cause & possible remedies _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 655
Contents
________________________________________________________________
15 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 738

15.1 Structure of the parameter descriptions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 739
15.1.1 Data type _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 739
15.1.2 Parameters with read-only access _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 740
15.1.3 Parameters with write access _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 740
15.1.3.1 Parameters with setting range _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 741
15.1.3.2 Parameters with selection list _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 741
15.1.3.3 Parameters with bit-coded setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 742
15.1.3.4 Parameters with subcodes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 743
15.1.4 Parameter attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 744
15.1.5 Abbreviations used in parameter & selection texts _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 744
15.2 Parameter list _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 745
15.3 Table of attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 936
Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 950
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 975
1 About this documentation
________________________________________________________________
 Danger!
The controller is a source of danger which may lead to death or severe injury of persons.
To protect yourself and others against these dangers, observe the safety instructions
before switching on the controller.
Please read the safety instructions in the mounting instructions and in the hardware
manual for the 9400 Servo PLC. Both instructions are included in the scope of supply of
the drive controller.
Target group
This documentation describes the procedure for creating a project using the »L-force Engineer«
integrated development environment and the »L-force PLC Designer« software for an L-force »9400
ServoPLC«.
In the following, we only describe ways of usage with a binding character. Details of alternative
possibilities for the implementation of functions are provided for information purposes only.
Validity
The information in this documentation applies to the following standard devices / components:
Software
Product Type designation Version

»Engineer« from 2.12
»PLC Designer« from 2.2.3
Hardware
Product Type designation Hardware version Software version

»9400 ServoPLC« E94AxPExxxx from 2A from 02.01
Memory modules MM340, MM440
Screenshots/application examples
All screenshots in this documentation are application examples. Depending on the firmware
version of the 9400 Servo PLC and the software version of the engineering tools installed (»PLC
Designer« or »EASY Starter«), the screenshots in this documentation may deviate from the screen
representation.
1.1 Conventions used
________________________________________________________________
Document history
Version Description
4.0 11/2013 TD05 Error corrections; parameter reference V6.00.xx
3.0 12/2012 TD06 Extended by new functions for 9400 ServoPLC V5
2.1 10/2010 TD06 Error corrections and supplements
2.0 06/2010 TD06 Extension of the description in chapter "PLC functionality"
1.0 04/2010 TD06 First edition for the »9400 ServoPLC«
1.1 Conventions used
This documentation uses the following conventions to distinguish between different types of
information:
Type of information Writing Examples/notes

Spelling of numbers
Decimal separator Point The decimal point is always used.
For example: 1234.56
Text
Version info Blue text colour All information that only applies to a certain controller
software version or higher is identified accordingly in this
documentation.
Example: This function extension is available from software
version V3.0!
Program name »« The Lenze »PLC Designer« PC software...
Window italics The Message window ... / The Options dialog box...
Variable identifier By setting bEnable to TRUE...
Control element bold The OK button... / The Copy command... / The Properties
tab... / The Name input field...
Sequence of menu If the execution of a function requires several commands,
commands the individual commands are separated by an arrow: Select
FileOpen to...
Shortcut <bold> Press <F1> to open the online help.
If a command requires a combination of keys, a "+" is placed
between the key symbols:
Use <Shift>+<ESC> to...
Program code Courier IF var1 < var2 THEN
a = a + 1
Keyword Courier bold
END IF
Hyperlink Underlined Optically highlighted reference to another topic. In this
documentation it is activated by mouse-click.
Icons
Page reference ( 16) Optically highlighted reference to another page. In this
documentation it is activated by mouse-click.
Step-by-step instructions Step-by-step instructions are indicated by a pictograph.

1.2 Terminology used
________________________________________________________________
1.2 Terminology used
Term Meaning
Engineering tools Software solutions for easy engineering in all project stages
»EASY Navigator« – provides a good guide to the user
• All convenient Lenze engineering tools at a glance
• Tools can be selected quickly
• The clear structure simplifies the engineering process from the start
»EASY Starter« – easy-to-use tool for service technicians
• Specially designed for the commissioning and maintenance of Lenze
devices
• Graphical user interface with just a few buttons
• Easy online diagnostics, parameterisation, and commissioning
• No risk of an unintended change in applications
• Loading of ready-to-use applications to the device
»Engineer« – multi-device engineering
• For all products in our L-force portfolio
• Practical user interface
• Graphic interfaces make it easy to navigate
• Can be applied in every phase of a project (project planning,
commissioning, production)
• Parameter setting and configuration
»PLC Designer« –For programming processes
• Creating your own programs
• Programming Logic & Motion according to IEC 61131-3 (AWL, KOP, FUP,
ST, AS and CFC-Editor), based on CoDeSys V3
• Certified function blocks according to PLCopen part 1 + 2
• Graphic DIN 66025 Editor (G code) with DXF import
• Integrated visualisation for easy process visualisation
• All important information at a glance during the commissioning process
L-force Controller The L-force controller is the central component of the automation system which (by
means of the runtime software) controls the Logic and Motion functionalities.
The L-force Controller uses the fieldbus to communicate with the field devices.
Engineering PC The Engineering PC and the engineering tools installed on it serve to configure and
parameterise the system.
The Engineering PC uses Ethernet to communicate with the L-force Controller.
Code "Container" for one or several parameters by means of which you can parameterise or
monitor the controller.
Subcode If a code contains several parameters, these are stored in "subcodes".
This Manual uses a slash "/" as a separator between code and subcode (e.g. "C00118/3").
Function block editor Graphical interconnection tool which is provided for controllers in the MotionControl
HighLevel and TopLevel license level in the »Engineer« on the FB editor tab and by means
of which the technology applications supplied can also be reconfigured and extended by
individual functions.
Function block A function block (FB) can be compared with an integrated circuit that contains a specific
control logic and delivers one or several values when being executed.
• An instance (reproduction, copy) of the function block is always inserted in the circuit.
• It is also possible to insert several instances of a function block in a circuit.
• Each instance has an unequivocal identifier (the instance name) and a processing
number which defines the position at which the function block is calculated during
the task cycle.
1.3 Definition of the notes used
________________________________________________________________
1.3 Definition of the notes used
The following signal words and symbols are used in this documentation to indicate dangers and
important information:
Safety instructions
Layout of the safety instructions:
 Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage
 Reference to an imminent danger that may result in death or serious personal
injury if the corresponding measures are not taken.
Danger! Danger of personal injury through a general source of danger
 Reference to an imminent danger that may result in death or serious personal
injury if the corresponding measures are not taken.
Stop! Danger of property damage
 Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Application notes
Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation

Tip! Useful tip for easy handling

Reference to another document

2 Introduction
2.1 Parameter setting, configuring, or programming?
________________________________________________________________
2 Introduction
The basis of every L-force application is an easy and quick parameter setting of prepared technology
applications and solutions*.
This chapter contains basic information on the runtime software model of L-force and on how you
can establish an online connection between the PC and controller for parameter setting with
»Engineer« very easily.
At the end of this chapter you will find an overview of the different signal types & scaling which
serve to process physical values (e.g. a speed or position) within the application.
* In preparation!
The graded runtime software model of L-force provides a simple and consistent solution for motion
and process tasks as well as for complex machine functions:
Runtime software
PLC level Programming
Freely programmable open and closed
loop control functions
Technology level Configuring

Motion Control TopLevel The HighLevel and TopLevel licenses enable you to
extend the provided technology applications by
Additional motion and process control individual functions using the graphic function block
modes for complex drive tasks. editor of »Engineer«. Here you can access the
comprehensive function libraries of Lenze which
among other things contain process controllers,
Motion Control HighLevel arithmetic functions, logic blocks, and ramp
generators and integrators.
Individual extensibility of the basic
functions & technology applications by
means of the function block editor and Parameter setting
the comprehensive function library. The StateLevel license includes a range of technology
applications which can be put into operation easily
with a keypad or via dialogs in »Engineer«.
Motion Control StateLevel
Parameterisable basic functions &
technology applications.
2 Introduction
________________________________________________________________
2.1.1 Basic functionalities
Important basic drive functions and further basic functions are implemented in the firmware of the
controller and thus are always provided, irrespective of the runtime software licence available.
Firmware
Motion Control basic drive functions Further basic functionalities
• Stop • Drive interface
• Quick stop • Motor interface
• Manual jog • Encoder evaluation
• Homing • I/O terminals
• Positioning • Safety engineering
• Position follower • Logbook
• Speed follower • Oscilloscope
• Torque follower
• Limiter
• Brake control
2.1.2 Technology applications
Technology applications (TAs) are applications prepared by Lenze which can serve as a basis for
solving typical applications.
• The technology applications available for the Servo Drives 9400 can be selected in »Engineer«
from the application catalogue.
Runtime software
Technology level Each higher license contains additional technology
applications for further application fields.
Motion Control TopLevel
• TA "Positioning sequence control"
• TA "Electronic cam" *
• TA "Register control" *
• TA "Winding technology" *
Motion Control HighLevel

• TA "Electronic gearbox"
• TA "Synchronism with mark
synchronisation"
Motion Control StateLevel

• TA "Actuator – speed"
• TA "Actuator – torque"
• TA "Table positioning"
* In preparation!
 Tip!
Detailed information about the individual technology applications can be found in the
corresponding software manuals.
2 Introduction
2.2 Communicating with the controller
________________________________________________________________
The following interfaces/communication modules can be used to establish communication

between the PC and controller:
• Diagnostic interface X6/Going online via diagnostic adapter
• CAN on board interface/Going online via system bus (CAN on board) ( 24)
• Optional interfaces which are provided by corresponding communication modules in the
module slots MXI1/MXI2 of the controller.
 Note!
For communication with the controller, at least the control electronics of the controller
must be supplied with 24 V low voltage via plug X2. For detailed information, please see
the Mounting Instructions for the controller.
 Stop!
If you change parameters in the »Engineer« while the controller is connected online, the
changes will be directly accepted by the controller!
 Tip!
Detailed information about the individual interfaces can be found in the corresponding
Communication Manuals (KHB).
2.2.1 Going online via diagnostic adapter
For initial commissioning of the controller you can for instance use the diagnostic adapter offered
by Lenze:
 Note!
Please observe the documentation for the diagnostic adapter!
2 Introduction
________________________________________________________________
Preconditions:
• The diagnostic adapter is connected to the controller at the diagnostic interface X6 and to the
PC at a free USB port.
• The driver required for the diagnostic adapter is installed.
• The control electronics of the controller is supplied with 24 V low voltage via plug X2.
 How to build up an online connection via the diagnostic adapter:

1. Select the controller to which you want to build up an online connection in the Project view
of the »Engineer«:
2. Click the icon.

If the changes you have made on the project have not been accepted yet, first a query on
whether an update is to be carried out is effected.
If an update is to be carried out:
• Click on Yes to open the Update project dialog box.
• Press the Create button in the Update project dialog box to update the changed project
elements.
• After the update a note is shown, saying whether the update was carried out
successfully.
2 Introduction
________________________________________________________________
If no communication path was configured yet for the controller selected, the
Communication path dialog box is shown after the update has been carried out:
• The "Diagnostic adapter" bus connection is already preset.

3. Click on Connect.
• The dialog box is closed and the online connection with the controller is built up.
• In the Project view a yellow icon indicates the online connection with the controller:
Now you can use the icons and to easily build up and end a connection with the controller.
The communication settings are only required when communication with a controller is built up for
the first time.
• If you want to change the configured communication path, select the command Online  Set
communication path and go online to open the Communication path dialog box and change the
settings.
• When an online connection has been established, the »Engineer« displays the current
parameter settings of the controller with a yellow background colour.
2 Introduction
________________________________________________________________
2.2.2 Going online via system bus (CAN on board)
As an alternative to the diagnostic adapter, you can use the integrated system bus interface (CAN on
board, terminal X1) of the controller for communication.
• Lenze offers the following communication accessories for connection to the PC:
Communication accessories PC interface

PC system bus adapter 2173 Parallel interface
incl. connection cable and voltage supply adapter (LPT port)
• for DIN keyboard connection (EMF2173IB)
• for PS/2 keyboard connection (EMF2173IBV002)
• for PS/2 keyboard connection with electrical isolation (EMF2173IBV003)
PC system bus adapter 2177 USB
incl. connection cable (EMF2177IB) (Universal Serial Bus)
 Note!
• For detailed information about the PC system bus adapter, please see the "CAN
Communication Manual".
• Please observe the documentation for the PC system bus adapter!
• The online connection is established as described in the previous chapter "Going
online via diagnostic adapter", only that this time the entry "CAN system bus" is to be
selected in the Bus connection list field of the Communication path dialog box. ( 22)
2.2.3 Use of other communication interfaces
The controller can be extended by further communication interfaces, if required, e.g. Ethernet,
ETHERNET Powerlink, or PROFIBUS.
• For this the controller is provided with the module slots MXI1 and MXI2 for accepting
communication modules.
• Detailed information on this subject can be found in the Hardware Manual and Communication
Manual for the corresponding communication system.
2 Introduction
2.3 Signal types & scaling
________________________________________________________________
2.3 Signal types & scaling
It is very helpful for the parameterisation & configuration of the controller to know the signal types
and their scaling listed below, which serve to process physical quantities (e.g. a speed or position)
within the function block interconnection.
Signal type (data type) Connection Resolution Value range (external) Decimal positions/
symbol signal type suffix
in the identifier
Scaled (INT)  16 bits ± 199.99 % 2 _a

Scaled (DINT)  32 bits ± 200.00 % 2 _n
Speed (INT) / 16 bits ± 30000.0 rpm 1 _v
Speed (DINT)  32 bits ± 480000.0 rpm 1 _s
31 31
Position/angle (DINT) / 32 bits -2 ... 2 -1 increments 3 _p
Digital (BOOL)  1 bit 0 ≡ FALSE; 1 ≡ TRUE 0
Acceleration (DINT)  32 bits ± 7.69 * 109 rpm/s 3 _x
Time  28 bits 0 ... 268435.456 s 3
Other (BYTE)  8 bits 0 ... 255 0
Other (WORD)  16 bits 0 ... 65535 0
Other (DWORD)  32 bits 0 ... 4294967295 0
Other (INT)  16 bits -32768 ... 32767 0
Other (DINT)  32 bits -2147483648 ... 2147483647 0
Scaling of physical units
Signal type Connection Resolution Scaling

symbol
External value ≡ internal value
Scaled (INT)  16 bits 100 % ≡ 214 ≡ 16384
Scaled (DINT)  32 bits 100 % ≡ 230 ≡ 1073741824
Speed (INT) / 16 bits 15000 rpm ≡ 214 ≡ 16384
Speed (DINT)  32 bits 15000 rpm ≡ 226 ≡ 67108864
Position/angle (DINT) / 32 bits 1 encoder revolution ≡ 216 increments
Acceleration (DINT)  32 bits 15000000 rpm/s ≡ 222 ≡ 4194304
3 Commissioning
________________________________________________________________
3 Commissioning
This documentation contains detailed information on parameter setting and configuration of the
controller. Sequential reading is not required.
In order to obtain the information relevant for initial commissioning, this chapter describes
different commissioning scenarios which can also be used as a guide through this manual:
A. Initial commissioning ( 29)
• Target: Adapting the controller to the electromechanics and the control system.
B. Standard set-up ( 30)
• Target: Taking over the application and parameter set of an already preconfigured "Engineer"
project into several controllers.
C. Controller replacement ( 31)
• Target: Replacing a controller which has failed in a running system by a replacement device
using the "old" memory module.
D. Motor replacement ( 31)
• Target: Replacing a motor which has failed in a running system.
3 Commissioning
3.1 General information
________________________________________________________________
 Note!
Some parameters of the controller have a setting range depending on the device type.
If parameterisation is carried out offline or if the memory module is exchanged between
different 9400 ServoPLC device types, always check the settings of the parameters listed
in the following table and adapt them, if required, to prevent a parameter error after the
parameter set download or module change!
Parameter Info Lenze setting

C00018 Switching frequency 8 kHz variable
C00022 Maximum current 0.00 A
Accepting/adapting plant parameters ( 172)
C00173 Mains voltage and undervoltage threshold (LU) 400/415 V, LU = 285 V
C00174 Machine parameters ( 80)
 Tip!
The rated data of the different device types can be found in the Hardware Manual in the
"Rated data" chapter.
Term definition of "Plant parameters"

The term "plant parameters" which is frequently used in the following chapters summarises all
parameters which result from the combination of motor and load. They characterise the transfer
behaviour of the entire controlled system including the desired monitoring functions. The plant
parameters depend on the application in which the controller and motor are used.
3 Commissioning
3.2 Notes on commissioning using the keypad
________________________________________________________________
3.2 Notes on commissioning using the keypad
For a motor with an electronic nameplate (ENP)

• A display of the plant parameters offered by ENP via keypad is not provided. The plant
parameters must be edited and optimised individually.
• To avoid that the motor starts unintentionally without adjusting the plant parameters, the
maximum current in the Lenze setting is set to "0 A" in C00022.
• After setting the plant parameters, they have to be saved on the memory module of the
controller with mains failure protection, just as the motor data that have been read out from
the ENP (C00002 = "11: Save start parameters").
For a motor without an electronic nameplate (ENP)

• The motor data and plant parameters must be edited and set individually.
• To avoid that the motor starts unintentionally without adjusting the plant parameters, the
maximum current is set to "0 A" in C00022 by the factory.
• After setting the motor data and plant parameters, they have to be saved on the memory
module of the controller with mains failure protection (C00002 = "11: Save start parameters").
Commissioning of the application

• The application must already be stored on the memory module of the controller. Otherwise
commissioning by only using the keypad is not possible.
• All application parameters which deviate from the factory adjustment have to be edited
individually. For this the project planner has to provide a corresponding list to the commissioner
(including the motor and plant data).
• In the case of a standard set-up, a pole position identification may have to be carried out for
synchronous motors of a third party manufacturer or Lenze synchronous motors with a
Stegmann absolute value encoder.
• After setting the parameters, they have to be saved on the memory module of the controller
with mains failure protection (C00002 = "11: Save start parameters").
3 Commissioning
3.3 Initial commissioning
________________________________________________________________
3.3 Initial commissioning
Worksteps
Parameterising motor control:
1. Read out the motor data of the controller or select them via the »Engineer« motor catalogue.
• If the motor connected to the controller is provided with an electronic nameplate (ENP), all motor
data are automatically read out from the ENP and a selection in the motor catalogue is not required.
Reading out motor data from the controller ( 165)
• If a motor without ENP or a motor by a third-party manufacturer is used, the selection is carried out
via the »Engineer« motor catalogue. Selecting a motor from the motor catalogue in the »Engineer«
( 166)
2. Select motor control. ( 169)
• Servo control is preset for the synchronous motor.
3. Adjusting motor and controller to each other ( 171)
4. Carry out settings for selected motor control.
• For this see description for the corresponding motor control:
• Servo control (SC)
• Sensorless vector control (SLVC) ()
• V/f control (VFCplus) ()
Optimise control mode:
7. Optimise control mode of the selected motor control.
• By means of traversing profile from the application and oscilloscope.
• For this see description for the corresponding motor control:
• Servo control (SC)
• Sensorless vector control (SLVC) ()
Save project and parameter set:
8. Execute device command C00002 = "11: Save start parameters".
9. Save »Engineer« project.
More (optional) worksteps
Worksteps
Establish network:
1. Insert network and machine application into the »Engineer« project.
2. Interconnect port blocks reasonably to each other within the machine application.
3. Configure network (set addresses, baud rate, and process data channels in a reasonable manner).
4. Establish communication with the control system.
5. Establish communication with other drive components (e.g. HMIs, I/O extensions and other controllers).
3 Commissioning
3.4 Standard set-up
________________________________________________________________
Worksteps
Check & optimise application/DC-bus operation:
1. Traverse axis in manual operation.
• See chap. Basic drive functionsManual jog ( 435)
2. Check area boundaries (path, speed, torque).
3. Traverse axis in automatic operation with set-up speed, possibly together with coupled axes.
4. Check coupling with other movements (master/slave axes, tools, …).
5. Optimisation of the process at higher speeds.
6. Recording of typical signal characteristics using the oscilloscope function for the documentation.
• See chapter Oscilloscope ( 611)
Save & archive project and parameter set:
3. Deposit a backup copy of the »Engineer« project, e.g. on CD ROM, in the control cabinet.
3.4 Standard set-up
Worksteps
Transfer application and parameter set to the controller:
1. Transfer the application preconfigured in »Engineer« and the corresponding parameter set to the
memory module of the controller.
For a motor with an electronic nameplate (ENP):
3. Restart controller with connected motor to read out the motor data from the electronic nameplate
(ENP).
• Either by switching off/switching on again the voltage supply or by means of device command
C00002 = "11000: Restart controller".
• See chap. Motor interfaceReading out motor data from the controller ( 165)
For a motor without an electronic nameplate (ENP):
 Note:
The motor is operated with the motor data and plant parameters identified during initial
commissioning. Adjusting motor and controller to each other ( 171)
3 Commissioning
3.5 Controller replacement
________________________________________________________________
3.5 Controller replacement
Scenario: The controller has failed in a running system.
 Note!
For the procedure described in the following it is assumed that the memory module and
possibly available extension modules in the controller, as well as the motor are not
affected by the failure and that all parameters have been saved with mains failure
protection.
Worksteps
Replacement of the controller:
1. Replace controller.
See Mounting Instructions for the controller!
2. Insert the memory module of the failed controller into the replacement device.
3. If further extension modules are plugged into the failed controller, they must be inserted into the
replacement device as well.
Further steps are not required since all data required are on the memory module.
3.6 Motor replacement
Scenario: The motor has failed in a running system.
 Note!
For the procedure described in the following it is assumed that the controller is not
affected by the failure.
Worksteps
Replacement of the motor:
1. Replace the motor.
See Mounting Instructions for the controller!
 Note:
The motor connection on the controller is accessible without having to remove the standard device
from the installation backplane.
For a motor with an electronic nameplate (ENP):
2. Restart controller with connected motor to read out the motor data from the electronic nameplate.
• Either by switching off/switching on again the voltage supply or by means of device command
C00002 = "11000: Restart controller".
• See chap. Motor interfaceReading out motor data from the controller ( 165)
For a motor without an electronic nameplate (ENP):
 Note:
The motor is operated with the motor data and plant data from the memory module.
4 PLC functionality
________________________________________________________________
4 PLC functionality
This chapter provides information on how to prepare, execute and complete a PLC programming.
The description focuses on the »PLC Designer« engineering software which serves to implement the
tasks mentioned.
Moreover, the software provides more opportunities than can be described here. More information
can be found in the associated online help of »PCL Designer«.
See also: Technical data

Task and timing frame
User task
Runtime measurement
Data consistency
Storage capacities and memory modules
Known function restrictions of the controller
4 PLC functionality
4.1 Setting the controller in »Engineer«
________________________________________________________________
System requirements
The installation of »Engineer« requires a PC with the following system requirements:
• processor with 1.4 GHz or higher
• A main memory of at least 512 MB and 650 MB of free hard disk space
• Microsoft Windows 2000 (service pack 2) or Windows XP
Required software
The following engineering software is required for programming, parameterising, configuring and
diagnosing the »9400 ServoPLC«
• »PLC Designer« for programming a drive application according to IEC 61131-3
Thus, separate system blocks are available, which, if required, can be integrated in the control
configuration, and which then can be accessed from the IEC 61131-3 program via the
corresponding system variables.
• »Engineer« HighLevel for parameterising, configuring and diagnosing Lenze controllers.
 Tip!
The full version of the L-force engineering software »Engineer« HighLevel can be obtained
as single user, multiple user, company, or buyout license.
You obtain the »Engineer« engineering software by
• contacting the Lenze employee responsible for your region or
• placing the order via the following internet address:
http://www.Lenze.com.
The »PLC Designer« engineering software and updates of »Engineer« and »PLC Designer«
can be downloaded for free in the download area "Services & Downloads".
An online help is also available for »PLC Designer«. It can be accessed by pressing the <F1>
button when being in the program. Many of the information that cannot be explained here
in detail, can be found there, e.g. the components described above.
4 PLC functionality
________________________________________________________________
4.1.1 First steps for setting the controller
When pressing the <F1> button, you start the online help of »Engineer«. In addition to the
descriptions of the Lenze controllers, the online help also contains the general description of
»Engineer«.
The following topics are described here. They are to be processed in the given order as a
precondition for the further descriptions in this manual:
1. Create a new project with controllers of the »9400 ServoPLC« series.
2. Select a memory module MM340 or MM440 for each controller.
3. Select the PLC application applicable for the memory module.
 Tip!
Please continue to use the online help as a supplementary description for the following
chapters.
After the actions mentioned above are completed, the Application parameters tab of the controller
appears in »Engineer«.
Usually, no PLC project has been assigned to the newly created device. Thus, the tab contains a
respective entry, see arrow:
Instructions of how to export a newly created PCL application can be found in the section
Assignment of a PLC project for a newly created ServoPLC ( 36)
4 PLC functionality
________________________________________________________________
4.1.2 Export and import of PLC applications
The exchange of PLC applications between »Engineer« and »PLC Designer« takes place by means of
the Export PLC Application and Import PLC Application buttons:
• The PLC project contained in »Engineer« is exported to a separate directory by means of the
Export PLC Application button.
• Development of the PLC application in the exported PLC project directory is carried out with
»PLC Designer«.
• After these actions are completed, the application must be re-imported into »Engineer«. This is
done by pressing the Import PLC application button.
[4-1] Exchange of the PLC application between »Engineer« and »PLC Designer«
 Tip!
If you want to use a PLC project that is already available, please read the section
Select an already existing project ( 38)
How to import a program from »PLC Designer« into »Engineer« is described in section
Import in the »Engineer« project ( 65)
4 PLC functionality
________________________________________________________________
Assignment of a PLC project for a newly created ServoPLC

If the PLC project has not yet been assigned, please observe the following instructions.
 How to export a PLC application from the »Engineer« project

1. Click on the Export PLC application button.
• An empty or not yet available directory must be indicated for the export. For this
purpose, »Engineer« proposes a directory name which contains the ending "_PLC" in
addition to the project name:
• Contrary to the proposal of »Engineer« the directory with the project file can also be
exported into another directory.
• Neither the directory nor files may be write-protected.
2. Click the "Complete" button.
• The PLC application contained in the »Engineer« project is exported in the directory that
is named before (in the example below: "Projekt_PLC").
In this directory, a subdirectory is created for the component (»9400 ServoPLC«) of the
project which has the name of the component in the project (e.g. "9400_ServoPLC-1").
• Each of the component directories contains a file with the file type PRO, PRG, CHK and
ECI:
4 PLC functionality
________________________________________________________________
3. Repeat export function for further controllers (components) with PLC functionality
• Independent of the project structure in »Engineer«, all exported component directories
are saved in the same directory.
Please note that, as an exception to the Lenze setting, the directory structure of the project
can be stored differently for each axis.
The directory path of the PLC project is saved relatively to the directory of the »Engineer«
project in the »Engineer« project. The PLC project will only be saved with an absolute path
indication if the PLC project is located on a different drive than the »Engineer« project. This,
among other things, makes the transfer of the project more difficult.
The "FileSave under" menu command only serves to save the »Engineer« project in a
different directory. The PLC projects and the assignment to the PLC projects in the
»Engineer« project remain untouched.
4 PLC functionality
________________________________________________________________
 Select an already existing project

1. Click on the ... button.
Select the project file <File name>.PRO of an already existing PLC project.
The example is about the supplied Standard project "PLC_Application.pro" ( 40).
4 PLC functionality
4.2 Preparations for creating a PLC program
________________________________________________________________
Once a project has been assigned or exported to a directory, »PLC Designer« can be started with this
project.
 Tip!
How to terminate the project is described in section
Completing the PLC project ( 64)
4.2.1 Starting »PLC Designer« from »Engineer«
»PLC Designer« is started from the Application parameters tab of »Engineer«:

• Click the Start »PLC Designer« button:
»PLC Designer« starts and loads the project assigned.

In this case it is the Standard project "PLC_Application.pro" ( 40)
Version of »PLC Designer«

The »Engineer« project stores the version of »PLC Designer« with which the project was edited last.
»Engineer« suggests this version for editing the PLC project.
If this version of »PLC Designer« is not installed or is a newly created project, the latest version is
suggested.
4 PLC functionality
________________________________________________________________
4.2.1.1 Standard project "PLC_Application.pro"

»Engineer« supplies a standard project for the controller. This standard project should generally
provide the basis of each PLC project.
The main window of »PLC Designer« shows the Object Organizer which is important for the
following descriptions with the Blocks, Data types, Visualisations and Resources:
Tab Blocks
The Blocks tab of the standard project contains
• Application (PRG)
• Idle (PRG)
• User (PRG)
• Visu (PRG)
Tab Data types

The Data types tab of the standard project contains 60 different user data type for ports.
Tab Visualisations
This tab will not be discussed in greater detail within the scope of this manual.
Tab Resources
The Resources tab of the standard project contains
• the tasks Application Task, User Task, Visu Task and Idle Task in the task configurations. The
associated description can be found in the section Configuring tasks ( 43)
• 60 global variables for accessing the ports in the Ports list
• 60 user codes for mapping the ports in the parameter manager.
• the libraries IecSfc.lib, standard.lib and SysLibCallBack.lib in the library manager
 Tip!
An online help is also available for »PLC Designer«. It can be accessed by pressing the <F1>
button when being in the program.
Information that cannot be described in detail here in the manual is explained there, e.g.
the components mentioned above.
4 PLC functionality
________________________________________________________________
4.2.2 Setting the communication parameters in »PLC Designer«
 Stop!
It is impermissible to establish an online connection to a device via the same bus system
with Engineer and »PLC Designer«.
 How to set the communication parameters in »PLC Designer«:

1. Select command OnlineCommunication parameters ....
2. Click the New button
3. Select the required interface
4. Click OK.
4.2.3 Selecting libraries
When setting the »9400 ServoPLC«, comprehensive libraries are available to support the
implementation of drive tasks.
An overview provides the tables divided according to CoDeSys and Lenze libraries.
Overview of the CoDeSys libraries

• Menu command: WindowLibrary manager
Library name Info

Analyzation.lib FBs for analysing transition terms in case of SFC
CheckBounds Function for monitoring array limits with indirect addressing
CheckDiv Functions for monitoring divisions
CheckPointer Function for monitoring pointer accesses
CheckRange.lib Functions for checking overflows
Iecsfc.lib FB "SFCActionControl" for IEC61131-3 conform processing of the SFC
Standard.lib FBs and functions from IEC61131-3
SysLibCallback.lib SysCallbackRegister and SysCallBackUnregister which serve to activate
defined callback functions for runtime events
SysLibInitLibrary.lib Function for initialising an external library that is provided on the
development computer as an obj file. Processing is executed synchronously.
SysLibSockets.lib This library supports the access on sockets for communicating via TCP/IP and
UDP.
SysLibTime.lib Representation of the task time evaluation in the task editor of »PLC
Designer«. Processing is executed synchronously.
SysTaskInfo.lib Used internally for evaluating the task runtimes
4 PLC functionality
________________________________________________________________
Overview of the Lenze libraries

• Menu command: InsertAdditional library
 Note!
It is only permissible to use the function blocks indicated in the column "FB restrictions"
in the following table with an interval time of 1 ms, 2 ms, 4 ms or 8 ms.
Library name Info FB restriction

LenzeCamVxxyy.lib FBs for cam functionality all
LenzeCanMsgVxxyy.lib FBs for CAN communication, transmission, and
reception of CAN telegrams
LenzeCiA402DeviceProfileVxxyy.lib FBs for implementing the CiA402 profile
LenzeDataConversionVxxyy.lib Data and type converters as well as bit operators
LenzeDevice9400Vxxyy.lib FBs for the evaluation of application errors, states, L_DevParReadFix,
and writing/reading of codes L_DevParWriteFix,
L_DevReadParDInt,
L_DevWriteParDInt
LenzeElectricalShaftVxxyy.lib FBs for the master value processing L_EsEncoderConv,
L_EsClutchPos,
L_EsStretchIntegrate
LenzeLineDriveVxxyy.lib FBs for the electrical shaft all
LenzePositioningVxxyy.lib FBs for positioning
LenzeServoDriveVxxyy.lib FBs for speed and position selections all
LenzeSysLibFileVxxyy.lib Functions for using file services
LenzeToolboxVxxyy.lib FBs for arithmetic and logic operations, as well as L_TbDifferentiate,
filters L_TbIntegrate,
L_TbPIController,
L_TbPT1Filter,
L_TbRateAction
"xxyy": Software version ( xx = main version, yy = subversion)
4 PLC functionality
________________________________________________________________
4.2.4 Configuring tasks
In the Resources tab in the Task configuration object, the task features of the four tasks described in
the section Standard project "PLC_Application.pro" ( 40) can be checked.
Please make sure that the interval times of the cyclic tasks are limited to the permissible or optional
values.
Task Priority Type Interval time and watchdog time Sensitivity

Application task 1 cyclic T = 1 ms 1
optional: 2 ms, 4 ms or 8 ms,
recommended: 1 ms or 2 ms
User task 2 cyclic T = 2 ms 1
optional: 2 ms, 4 ms or 8 ms *)
Visu task 7 cyclic Interval time T = 8 ms, 1
optional also larger
Idle task 8 free-running
*) The value of interval times of cyclic tasks must always be selected as the power of two (e.g. 24 = 16 ms).
 Tip!
When the checkbox Update unused I/Os (tab Resources  Object Target system settings 
tab General) is active, a system task with priority 9 is created.
If you have created your own task with priority 9, this will cause the translation error 3570
(error message: "The tasks 'InputUpdateTask' and 'IdleTask' have the same priority 9").
4.2.4.1 Inserting other user tasks

As described in section Standard project "PLC_Application.pro", the Application, User, Visu and Idle
Task exist after creating a new project.
In order to create other user tasks, mark a task and then select the menu command InsertInsert
task.
4 PLC functionality
________________________________________________________________
4.2.4.2 Program call

A task can only call blocks of PRG type (program). Then this program is the main program of this task.
You access the program call as follows:
Tab Resources  Object Task configuration  tab Program call
Attach program call

A task can be assigned to one or several programs. More program calls are assigned as follows:
1. Open the Task configuration object
2. Select the task you want call a program from
3. Select the menu command InsertAttach program call
 Tip!
A further option for attaching a program is to show the context menu by clicking the right
mouse button in the task configuration field (tab Resources) and select the corresponding
menu item.
If the field marked with the arrow has been selected, the input assistance opens which
displays all programs to be attached to the task.
4 PLC functionality
________________________________________________________________
4.2.4.3 Configuring system events

System events as for example stopping of the PLC processing can result in a block being called and
processed once.
The Task configuration object serves to define which block is to be called at which system event. It
is not required that a block must be defined for each system event.
 Tip!
Use the system events function to specify the exceptional behaviour of the "9400
ServoPLC", e.g. in the case of TaskOverrun.
 Example: You can create a block for the system event "TaskOverrun" as follows
1. Go to the Task configuration and open the System events

2. Activate the checkmark for the PLC_TaskOverrun system event.
3. Enter the block name to be called in the called POU column, e.g. PLC_Exception.
• If the block does already exist, select it by means of the input assistance <F2>.
• Otherwise, you can create the block via the Create POU PLC button.
The new block can be found on the POU with the name PLC_Exception (FUN).
 Note!
Only blocks of the type "program" can be selected with the input assistance whereas
»PLC Designer« creates a block of the type "function" when the button is clicked.
Lenze recommends using blocks of the type "program" for a system event. Otherwise, a
CRC error can occur in the »9400 ServoPLC«, for example, after downloading of the
project when the L_CanInit block is called from the LenzeCanMsg.lib library.
4 PLC functionality
________________________________________________________________
List of the system events

• Execution of a maximum of 1,000 instructions as a result of a system event is permissible.
• POUs (= program organisation unit) which are called by system events are not monitored
according to runtimes by a "watchdog" compared to tasks.
System event The called POU starts, ...

PLC_AfterReset after the PLC has been reset.
PLC_BeforeReset before the PLC is reset.
PLC_DebugLoop Not supported
PLC_FQSPState when quick stop by trouble has been activated.
PLC_MessageState when a message has been activated.
PLC_OnboardCANError when a system bus error occurs (e.g. Bus-Off).
PLC_Start when the PLC is started.
PLC_Stop when the PLC is stopped.
PLC_TaskOverrun when a task has overflown.
PLC_TripState when trouble has been activated.
PLC_WarningState when a warning has been activated.
4.2.5 Inserting more user POUs
Four POUs have already been created in the POUs

Standard project "PLC_Application.pro" ( 40).
In order to insert more POUs, please select the menu command ProjectObjectInsert.
The New POU opens where you can define the type, name and language you want to use to program
the POU:
4 PLC functionality
4.3 Programming notes
________________________________________________________________
 Note!
Up to and including version 02.xx.xx, remanent variables support RETAIN and PERSISENT
and RETAIN PERSISTENT are not supported.
From version 03.00.00, PERSISTENT and PERSISTENT RETAIN are also supported.
• If a persistent variable is linked to a user-defined write/read code, the variable will be
overwritten as follows after the application has been downloaded:
• When the application is downloaded with the »L-force Engineer«, the parameter
set is also loaded into the »9400 ServoPLC«. Thus, the value of this persistent
variable is overwritten by the download depending on the downloaded parameter
value.
• When the application is downloaded with the »PLC Designer«, the user-defined
codes are set to their initial value. Thus, the value of this persistent variable is
overwritten by the download depending on the initial value of the parameter.
• If a persistent variable is linked to a user-defined read code, the value is kept even
after the application has been downloaded.
• The size of the persistent variable memory is limited to 2 kbytes. During the
compilation, an error message is output if this value is exceeded. Please bear in mind
that permanently available contents as e.g. variable names, module names, and data
types reduce the freely available memory space.
4.3.1 Update function and scaling function
The update function is used to execute time-consuming calculations - similar to the scaling
functions.
• Scaling functions are always called when the corresponding user code is accessed.
• The update function "listens" to changes that have taken place elsewhere, e.g. changes in the
axis data structure, and executes various calculations again.
Some of the Lenze function blocks have an update function. The update function is not called
automatically by the »9400 ServoPLC«; calling of the function must be programmed.
Lenze function blocks with update function have the following syntax:
• Taskname-FBInstanzname.Update()
• Example: Cam.L_LdVirtualMasterP1.Update();
 Tip!
In order to protect the resources, the update function of the function blocks should be
called in an unsolicited task.
Whether a function block has an update function, can be recognised by a corresponding
"Update" entry in the library manager.
4 PLC functionality
________________________________________________________________
Overview of the function blocks with update function:
Application Function block (FB)

LenzeCam L_CamClutchPos
L_CamSetContDataSDO
L_CamSyncIn
LenzeCiA402DeviceProfile L_CiA402DeviceProfile
LenzeElectricalShaft L_EsClutchPos
L_EsEncoderConv
LenzeLineDrive L_LdClutchAxisP
L_LdClutchV
L_LdConvAxisV
L_LdMPot
L_LdPosCtrlLin
L_LdSyncOperation
L_LdVirtualMasterP
L_LdVirtualMasterV
LenzePositioning L_PosPositionerTable
L_PosProfileTable
LenzeServoDrive L_SdGetPosition
L_SdGetSpeed
L_SdRampGeneratorAny
L_SdSetPosition
L_SdSetSpeed
L_SdSpeedFilter
L_SdSwitchPoint
4 PLC functionality
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4.3.2 Creating user-defined codes
Memory area
For the 9400 servo inverter, all codes are assigned to different ranges, see table below.
• Within the range C03000 ... C08999, max. 196 kB can be created as user codes in the parameter
manager (register Resources).
• The range C03000 ... C05999 is used for the first instance codes of the Lenze function blocks.
• In order to avoid collisions, user codes must be created as of C06000 (unless they are first
instances).
Assignment Range Contents

Firmware C00000 ... C02999 Codes of the standard device
TA C03000 ... C03099 Basic codes of the technology application
C03100 ... C03499 Multiplexer codes of the technology application
Libraries C03500 ... C03999 Codes of function blocks used
C04000 ...
C05900 ... C05999 LenzeDevice9400
User C06000 ... C08999 Free field for user codes
Reserve C09000 ... C12999
Modules C13000 ... C13999 Extension module/communication module in module slot MXI1
Modules C14000 ... C14999 Extension module/communication module in module slot MXI2
Modules C15000 ... C15999 Safety module in module slot MSI for safety engineering
Reserve C16000 ...
Different kinds of creation

The user-defined codes can be directly created in the parameter manager or via Pragma instruction.
When being compared, both options show the following advantages and disadvantages:
Creation of codes .. Advantage Disadvantage

... in the parameter manager Less memory requirements than the Bad clarity due to many columns in
Pragma instruction the parameter manager
... via Pragma instruction Automatic creation of the parameter Complex definition in the declaration
list part of the Pragma instruction
4 PLC functionality
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Procedure for creating user-defined codes
 Danger!
The creation of codes that access individual bits of variables is not permissible for the
»9400 ServoPLC«.
1. Import the parameter list of »PLC Designer« to »Engineer« before exiting »Engineer«.
2. Comply with the following order
(see also Completing the PLC project ( 64))
• Translate PLC project in »PLC Designer«, create boot project and then save
• Import the parameter list from »PLC Designer« to »Engineer«
• Save the project in »Engineer«
3. Creation of the codes with the parameter manager or Pragma instruction. Decide for one of the
two options:
• How to create codes in the parameter manager ( 50)
• How to create codes with Pragma ( 50)
 How to create codes in the parameter manager

1. Open the parameter manager (Resources tab).
2. Click the menu command InsertList…
3. Choose the Variables type and enter a name. (for parameters on ARRAYs, the instance type
has to be selected).
The parameter list appears in the navigation window of the Parameter Manager.
4. To create a new user code, select the menu command InsertRow.
5. Enter a code number.
User codes from C03000 (0x0BB8) onwards can be used.
 How to create codes with Pragma

1. Create the Pragma in the declaration editor of the POU.
The appendix contains a
Sample collection for code creation with Pragma instruction ( 76)
2. Go to »PLC Designer« and select the menu command ProjectClean all.
3. Select the menu command ProjectRebuild all.
During the rebuild process, »PLC Designer« automatically inserts the new parameter list
into the parameter manager.
If now error messages are generated that refer to errors during the Pragma creation, delete
the new parameter list in the Parameter manager. For this purpose, right-click the Context
menu Delete list.
Rebuild the PLC project after "cleaning".
4 PLC functionality
________________________________________________________________
4.3.3 Generating application error messages
For generating application error messages, the L_DevApplErr and L_DevApplErrFix function blocks
from the LenzeDevice9400Vxxxx library are available.
The errors are written unambiguously via module ID and error ID. Moreover, an error response can
be defined, see the documentation for function libraries.
For defining an error message for an error, the LT_DevErrorList data type is available in the
LenzeDevice9400Vxxxx library.
Data type LT_DevErrorList
Identifier Data type Information/possible settings

dwModulId DWORD Module ID (980 ... 990) of the error
dwErrorId DWORD Error ID (0 ... 65535) for error message
strErrorMessage STRING(64) Error text
Definition of error messages:

1. Depending on the number of the error messages to be defined, an instance of the data type
LT_DevErrorList must be created.
• a declaration as array is possible
• the data type must be defined as global constant and initialised there,
see example:
VAR_GLOBAL CONSTANT
(* Example for declaration of errors as single structures *)

Error1 : LT_DevErrorList := (dwModulId := 980, dwErrorId:=8001,strErrorMessage:='Error1');
Error2 : LT_DevErrorList := (dwModulId := 980, dwErrorId:= 8002,strErrorMessage:=' Error2');
(* Example for declaration of errors as array *)

ErrorList : ARRAY[1..4] OF LT_DevErrorList :=(dwModulId := 901, dwErrorId:=1,strErrorMessage:='Hallo1'),
(dwModulId := 981, dwErrorId:= 8002,strErrorMessage:=' Error3'),
(dwModulId := 981, dwErrorId:= 8003,strErrorMessage:=' Error4'),
(dwModulId := 981, dwErrorId:= 8004,strErrorMessage:=' Error5');
END_VAR
2. The error messages are incorporated in the software when the PLC application is imported into
»Engineer«.
 Note!
• If the declaration of error messages is stored in an export file with the name
"Error_Text_Declaration.exp" in the project directory, the error messages will be read
out of this file during the importing process.
• Before error messages are imported from coded PLC projects, it is necessary to place
the error messages in an export file.
 Tip!
The import into the »Engineer« is described in section "Import in the »Engineer« project".
( 65)
4 PLC functionality
4.4 Use of function blocks
________________________________________________________________
When working with function blocks, proceed as follows (irrespective whether the function block has
instance codes or not):
1. Inserting the corresponding library in the library management,
menu command WindowLibrary management
2. Declaring the function block.
Parameterisable function blocks

Some function blocks of the controller libraries also have codes that serve to change certain settings
during operation or display actual values and status information.
In contrast to the 9400 HighLine servo inverter, the codes of these function blocks are not created
automatically but by the user in the PLC project.
 Note!
If new library versions are incorporated in the PLC project, the initialisation values of
codes of parameterisable function blocks are reset to the Lenze settings.
If necessary, the codes must be reset in the Parameter Manager.
 Tip!
Lenze recommends that no changes be made to the initialisation values of codes of
parameterisable function blocks.
Example for creating codes for function blocks:

1. Insert LenzeServoDriveVxxyy.lib library in the library management
2. Insert L_SdRampGenerator POU in the Application program
3. Carry out configuration:
4 PLC functionality
________________________________________________________________
 How to create the codes for function block instances:

1. Open the Parameter manager in the Resources tab.
2. Use the menu command InsertList to open the dialog window Insert list.
3. Activate the Instance field
4. Enter list names (example: "ramp generator").
After being imported into Engineer, the list name appears as pulldown menu in the "All
parametersIEC 1131 parameter" register.
5. Confirm with OK
6. Go to the Template selection field and enter the name of the L_SdRampGenerator function
block
7. Go to the Base variable and enter the name of the instanced POU using the function key
<F2>. Enter 0 in the base index and subindex fields.
8. Select Apply . The following image appears:
9. Import new codes as described in section "Import in the »Engineer« project". ( 65)
In the All parameters tab, the Ramp generator category is displayed.
4 PLC functionality
4.5 Use of system blocks
________________________________________________________________
Functions used for implementing applications for Lenze controllers are described by means of
function blocks (FBs).
• Functions which can be used in your project as software functions are included in the function
libraries as function blocks or functions.
• Moreover, there are quasi hardware functions which are available as system blocks (SBs) in the
»PLC Designer« control configuration.
Principle
The principle of the system blocks can be explained with the help of a PLC system in a rack: The rack
contains the CPU, digital I/Os, analog I/Os, counter cards, positioning cards etc. as additional cards.
• The CPU can directly access the extension cards and process the resulting information.
• The single extension cards have a permanent address for being addressed.
CPU 0 0 0 0 0 0 0
 Additional cards
With the »9400 ServoPLC«, the system blocks comply with these additional cards! Thus, system
blocks are special (hardware) function blocks that are permanently implemented in the runtime
system of the »9400 ServoPLC«.
• SBs can address real hardware.
• SBs are assigned/identified by node numbers.
• The inputs/outputs of the SBs are accessed via system variables or absolute memory addresses.
• Inputs/outputs are always classified from the program's point of view.
• Required SBs must be explicitly implemented into the project via the control configurations of
»PLC Designer«.
4 PLC functionality
________________________________________________________________
4.5.1 Access via system variables
When you have implemented a system block into the control configuration of »PLC Designer«, you
can use its system variable in your project.
• In the editors of »PLC Designer«, use the function key <F2> to call the input assistance which,
among other things, lists all available system variables.
• In this chapter, the system variables can be found in the description of the corresponding
system block.
4.5.2 Access via absolute addresses
The inputs and outputs of the system blocks can also be accessed via absolute addresses according
to the IEC 61131-3 standard.
• For inputs, the notation "%IDa.b" applies
(X = data type, a = module number, b = double word address)
• For outputs, the notation "%QDa.b" applies
(X = data type, a = module number, b = double word address)
• Each system variable described in the following chapters comes with the corresponding
address.
4.5.3 Definition of the inputs and outputs
In order to establish a connection of the user program with the hardware, system blocks are
connected to the program organisation unit (POU).
2XWSXWV
2XWSXWV
,QSXWV
,QSXWV
6% 328 6%
 Note!
The inputs and outputs are always classified from the program's point of view!
• Logic SB inputs are hardware outputs of the »9400 ServoPLC«.
• Logic SB outputs are hardware inputs of the »9400 ServoPLC«.
4 PLC functionality
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Example: System block DIGITAL_IO of the »9400 ServoPLC«

If you want to use the digital input 1 and the digital output 1 of the »9400 ServoPLC«, carry out the
following steps:
1. Implement the DIGITAL_IO system block into the control configuration of the »PLC Designer«.
Implementing system blocks in »PLC Designer«
2. For access to the digital input 1:
• The digital inputs can be found under Inputs_Digital[SLOT]
• Assign the system variable DIGIN_bIn1 to a POU input.
3. For access to the digital output 1:
• The digital outputs can be found under Outputs_Digital[SLOT]
• Assign the system variable DIGOUT_bOut1 to a POU output.
LS_DigitalInput LS_DigitalOutput
DriveInterface
POU
X5 X4
Inputs
Outputs
DIGIN_bCInh DIGOUT_bOut1
RFR 1 C00118/1...4 A1
DIGIN_bIn1 DIGOUT_bOut2
DI1 0 A2
C00114/1...8 DIGIN_bIn2 DIGOUT_bOut3 1

DI2 1 A3
DIGIN_bIn3 DIGOUT_bOut4
DI3 0 C00444/1...4 A4
1 1
DIGIN_bIn4
DI4
DIGIN_bIn5
DI5 C00443/1...8
DIGIN_bIn6
DI6
DIGIN_bIn7
DI7
DIGIN_bIn8
DI8
DIGOUT_ X2
bStateBusOut SB
X2
CONTROL DIGIN_ DIGOUT_ CONTROL
bStateBusIn bUserLED
SB
User
LED
[4-2] Connecting the system block DIGITAL_IO of the »9400 ServoPLC« with a POU
4.5.4 Implementing system blocks in »PLC Designer«
The system blocks are the interface between PLC program and the peripherals of the controller (e.g.
digital inputs and outputs).
In order to access from the PLC program to the system blocks, the system blocks must be inserted
into the control configuration.
 Note!
The process image of the system blocks is created by the »9400 ServoPLC« in the task
with the highest priority, irrespective of the interval time set for this task.
In the PLC standard project, the ApplicationTask has the highest priority (priority 1).
Thus, a consistent process image is only available in the ApplicationTask. Therefore, the
system blocks should only be accessed in this task.
4 PLC functionality
________________________________________________________________
Inserting the system blocks

Tab Resources  object Control configuration  menu command InsertAppend subelement.
Then, a selection list of the system blocks is displayed. In the control configuration, the inputs and
outputs of each implemented system block are listed with the identifier of the corresponding
system variable, the absolute address, and the data type of the system variable:
 System variable  Absolute address  Data type
[4-3] Example: Control configuration for the »9400 ServoPLC« with implemented system block DIGITAL_IO
4 PLC functionality
________________________________________________________________
Overview of system blocks

The following table lists the system blocks that you can enter into »PLC Designer« in the control
configuration.
Module number Designation in »PLC Designer« Description

Device interfaces
100, 101, 104, 105 CAN_onBoard System bus interface "CAN on board"
200, 201, 600 ... 604 EXTENSION_BOARDS_SLOT1 Interface MXI1 for fieldbus modules
300, 301, 600 ... 604 EXTENSION_BOARDS_SLOT2 Interface MXI2 for fieldbus modules
11 ... 13 ANALOG_IO Analog inputs
Analog outputs
1 ... 3 DIGITAL_IO Digital inputs
Digital outputs
139 ... 150 TP_TouchProbe Touch probe
Touch-Probe-Motor
Touch-Probe-Load
102 ... 103 SYNC_Synchronisation CAN-synchronisation
404 ... 405 SMI_SafetyModuleInterface Interface to the safety module
Safety engineering
Drive and motor interface
152 ... 154 DI_DriveInterface Drive interface
155 ... 157 MI_MotorInterface Motor interface
Basic drive functions
158 ... 160 BRK_Brake Brake control
161 ... 163 FDB_Feedback Encoder evaluation
164 ... 166 HM_Homing Homing
167 ... 169 LIM_Limiter Limiter
170 ... 172 MAN_ManualJog Manual jog
173 ... 175 POS_Positioner Positioning
176 ... 178 PF_PositionFollower Position follower
179 ... 181 QSP_Quickstop Quick stop
182 ... 184 SF_SpeedFollower Speed follower
185 ... 186 STP_Stop Stop
187 ... 189 TF_TorqueFollower Torque follower
193 ... 195 CAM_CamInterface Cam data management
196, 197 SSI_Encoder SSI encoder
198, 199, 500 MOL_ManualJogOpenLoop Encoderless_manual jog
501 ... 503 PPI_PolePositionIdentification Pole position identification
504, 505 ENC_EncoderX8 Encoder signal at X8
4 PLC functionality
4.6 Network communication
________________________________________________________________
Communication between the single components of an entire system requires fieldbus system for
process automation. For the common fieldbus systems, Lenze offers a great number of
communication modules in addition to the CAN system bus.
This section contains information on PDO mapping for the CAN (on board) implemented in the
controller and on PDO mapping for the fieldbus systems to be adapted additionally.
See also: Communicating with the controller ( 21)
4.6.1 Network communication with CAN on board
The »9400 ServoPLC« features the following parameterisable process data channels (PDO
channels):
• Max. 4 transmission objects (transmit PDO, TPDO) with 1 ... 8 bytes
• Max. 4 transmission objects (receive PDO, RPDO) with 1 ... 8 bytes
PDO mapping in »Engineer«

The data exchange between the »CAN on board« interface and the PLC program is carried out via
ports. In the Ports tab, 30 input ports and 30 output ports are created.
PDO mapping means the connection of the parameterisable process data channels with the ports
of the controller.
 Note!
In contrast to the »9400 HighLine«, in the case of the »9400 ServoPLC« the user cannot
create his own ports. Instead of that, a set of fixed ports is provided under the Ports tab,
via which a port interconnection can be carried out.
 Tip!
The general online help of »Engineer« describes PDO mapping in the section entitled Insert
and configure network / Process data objects.
4 PLC functionality
________________________________________________________________
PDO mapping in »PLC Designer«

The access to the ports and therefore to the CAN data is effected via global variables which are
already declared in the Ports list of the global variables.
Standard project "PLC_Application.pro"
In the PLC logic you can access the global "Port“ variables. The name of the variables is identical to
the port.
Each port variable has an individual data type which is defined in the standard project in the Data
types tab.
The CAN mapping of the ports is effected via codes which are defined in the
AutomationSuite_ObjectDirectory list in the parameter manager.
 Note!
Without the "AutomationSuite_ObjectDirectory" parameter list the PDO mapping can no
longer be carried out.
If you have deleted the "AutomationSuite_ObjectDirectory" parameter list, the global
variables "Ports", or the associated data types in your project, you can restore the missing
objects by importing them from a standard PLC application.
4 PLC functionality
________________________________________________________________
4.6.2 Network communication with fieldbus module
PDO mapping in »Engineer«

The »9400 ServoPLC« is to be extended by the Profibus module in the »Engineer« project.
 How to execute PDO mapping in »Engineer«:

1. Highlight the corresponding »9400 ServoPLC« in the project view of »Engineer«
2. Select the menu command InsertDevice module...
3. In the field Extension module for MXI1, select the Profibus module V1.11.
4. Click OK.
5. Complete the process by clicking the Complete button.
6. Highlight the element Profibus (Slot1) in the project view.
7. Enter the station address on the Settings tab.

8. Open the Process data objects tab.
4 PLC functionality
________________________________________________________________
9. Highlight the PDO_RX0 receive object.

• In this example data are to be received via the Profibus.
10. Click on the Edit PDO button.

11. In the Port selection, select the desired port
• In the Process data object structure: PDO_RX0 dialog box you define the connection
between the process data channel and the port.
12. Click on the » button.
13. Click OK.
4 PLC functionality
________________________________________________________________
14. Click on the icon to build the project.
PDO mapping in »PLC Designer«
 How to execute PDO mapping in »PLC Designer«:

1. Start »PLC Designer«.
2. Just like under CAN, the access to the ports and therefore on the Profibus data is effected
via global variables which are already declared in the Ports list of the global variables in the
standard project. Standard project "PLC_Application.pro"
3. In the PLC logic you can access the global "Port“ variables. The name of the variables is
identical to the port.
4 PLC functionality
4.7 Completing the PLC project
________________________________________________________________
Comply with the following procedure after PLC programming has been completed:
1. Compiling a PLC project ( 64)
2. Generating a boot project ( 64)
3. Saving the PLC project ( 65)
4. Import in the »Engineer« project ( 65)
5. Saving the »Engineer« project ( 66)
6. Project download ( 67)
4.7.1 Compiling a PLC project
For compiling the project, click on the menu command ProjectCompile all. In the message window
the number of errors and warnings, the size of the data and retain data consumed and the code size
used is displayed.
4.7.2 Generating a boot project
A boot project can only be downloaded using »Engineer«.

The boot project download loads and starts the compiled PLC project automatically in case of a
restart (e.g. mains switching).
The command "OnlineCreate boot project" is used to create the following files, among others, in
the PLC project directory:
• <projektname>.prg for the boot project
• <projektname>.chk for the checksum of the code.
 Note!
• During the download it is not checked whether the binary coded data match the
current project. In order to avoid that a non-current project is loaded into the »9400
ServoPLC« unintentionally, Lenze recommends to also generate a boot project after
every compilation process to always keep the files consistent like this.
• The boot project may not be generated in the online mode of »PLC Designer«.
4 PLC functionality
________________________________________________________________
 How to generate a boot project:

1. Select OnlineCreate boot project
2. Click on the Yes button.
3. Display of the created files:
4. Click OK.
4.7.3 Saving the PLC project
In order to prevent changes to the PLC project from being lost, they have to be saved via the menu
command FileSave before exiting »PLC Designer«.
4.7.4 Import in the »Engineer« project
The PLC project must be imported in »Engineer« after being completed.

The import causes
• the project directory to be copied with all subdirectories to the »Engineer« project directory
• the boot project to be saved in the »Engineer« project
• each user code to be declared in the »Engineer« project.
• user error messages to be imported.
4 PLC functionality
________________________________________________________________
 How to import the new codes in »Engineer«:

1. Click on the Import PLC application button on the Application parameters tab.
• During the import, error messages and warnings appear in the message window.
• If the checkmark next to Show details has been activated, the codes and error messages
imported into the »Engineer« project are shown in the message window as well.
The parameters imported can be viewed in the All parameters tab in the IEC 1131 parameters
category. The IEC 1131 parameters category only appears if user codes have been created in »PLC
Designer«.
 Note!
By clicking the Import PLC application button, all data (i.e. files and subdirectories) that
is the same directory as the project file (*.PRO) is imported into the Engineer project.
4.7.4.1 Saving the »Engineer« project

The project is saved completely if you
1. save the PLC project using »PLC Designer«
2. save the »Engineer« project using »Engineer«.
4 PLC functionality
________________________________________________________________
4.7.5 Project download
Detailed information on the project download and on "Going online" with »Engineer« can be found
in the »Engineer« online help.
 Note!
The download by »PLC Designer« may only be used during the development phase of a
device.
The following must be observed:
• The project is not saved with mains failure protection.
• All user codes are reset to their default values.
 How to start the project download using »PLC Designer«

1. Go to »PLC Designer« and select the menu command OnlineCommunication parameter.
2. In the Communication parameters dialog, press the New button.
3. Select a name for the new communication channel.
4. Confirm the dialog with OK.
5. Select communication driver (e.g. diagnostic bus driver).
6. Confirm the dialog with OK.
7. Select project download with the menu command OnlineLog-in.
8. Start download with Yes.
 How to restore the parameter values after a project download with »PLC Designer«:
1. Download the complete project with the »Engineer«.
2. Persist the project.
3. Send command C00002 = 301 (archive parameter set 1) to the »9400 ServoPLC«.
• All codes (system and user codes) are saved with mains failure protection on the memory
module.
4. Now you can alter the PLC project with »PLC Designer« and load it into the PLC.
5. Send command C00002 = 201 (activate parameter set 1) to the »9400 ServoPLC« to restore
the parameter set.
• All codes stored are reassigned with the saved values.
• All codes removed from the »PLC Designer« project are discarded.
• All codes that are newly created in the »PLC Designer« project have their initialisation
value.
A code that is changed with regard to its meaning nevertheless receives the stored value
if
• the value stored is within the value limits entered in the parameter manager of »PLC
Designer«.
• the data size of the code has not changed.
4 PLC functionality
4.8 Appendix
________________________________________________________________
4.8 Appendix
4.8.1 Technical data
Range Description
Inputs and outputs 2 free Analog inputs
2 free Analog outputs
1 digital input for controller enable (RFR)
8 free digital inputs (touch-probe capable)
4 free digital outputs
Operation set According to IEC 61131-3
Counter/times According to IEC 61131-3, depending on the user memory available
RAM memory 512 kByte code memory
for program code & data
256 kByte data memory
196 kByte memory for user parameters
File system (flash memory) Depending on the memory module used:
MM340: 4 MByte
MM440: 8 MByte
Retain memory Depending on the memory module used:
MM340: 4992 bytes
MM440: 64 kbytes
Available calculating time 350 μs per 1 millisecond
Task types 1 cyclic task
8 interval-controlled tasks (interval time 1 ms ... 16 s)
• The task with the highest priority must have an interval time of 1 ms or
2 ms.
1 unsolicited task
Network variables and mapping 0x6000 ... 0x6FFF: Available range for profile indices acc. to CiA402
0xA000 ... 0xAFFF: Available range for network variables acc. to CiA405
Configuring software »Engineer«
• Download, Network and project management
Programming software »PLC Designer«, is called from the »Engineer«.
• Programming languages according to IEC 61131-3 (AWL, KOP, FUP, ST,
AS)
• Monitoring & visualisation
Functions Functions which can be used in your project as software functions are
included in the function libraries as function blocks or functions.
Moreover, there are quasi hardware functions which are available as system
blocks (SBs) in the »PLC Designer« control configuration. Use of system
blocks ( 54)
4 PLC functionality
4.8 Appendix
________________________________________________________________
4.8.2 Task and timing frame
The task frame of the system mainly consists of a constant change of system components and user
components.
V V V V V V V V V V
6\VWHP 0& 8VHU3/& 0& 6\VWHP 0& 8VHU3/& 0& 6\VWHP 0&
PV PV PV
System = system components

MC = Motion Control basic functions
User PLC = freely programmable PLC part
[4-4] Distribution of the system interval
System components:
• Provision of the setpoint data for the control and actual data of the control
• Maintenance of the communication links on SDO and PDO level
• Processing and evaluation of the device status
• Parameter/services and error management
User components:
• Motion Control basic functions (MC)
• The basic functions enable a more comfortable access for motion control of the drive.
• For the »9400 ServoPLC«, the basic functions in »PLC Designer« are available as separate
system blocks which can be inserted, if required, into the control configuration and which
then can be accessed from the IEC 61131-3 program via the corresponding system variables.
• The basic functions are described in detail in the "Basic drive functions" chapter.
• Creation of the task images for the PLC tasks
• PLC part freely programmable by the user (User PLC).
4 PLC functionality
4.8 Appendix
________________________________________________________________
4.8.3 User task
9 user tasks can be created. User tasks can be event-controlled, time-controlled or unsolicited. Only
one unsolicited task can be created. The user tasks can interrupt themselves in the form of pre-
emptive multitasking and thus make optimum use of the available computing time.
 Note!
The »9400 ServoPLC« only ensures data consistency of the task images for the user task
with the highest priority. For all other tasks, the user is responsible for consistency.
Data consistency ( 73)
Pre-emptive multi-tasking may cause the task images to start with a delay or being
interrupted by tasks with a higher priority. Example of pre-emptive multitasking
( 71)
 Tip!
The tasks are created and configured in the »PLC Designer« via the task configuration that
is located as an object in the Object Organizer in the Resources tab.
Priorities
Each task is assigned to a priority (1: highest ..... 9: lowest). The hierarchy determines the
distribution of the available calculating time to the tasks.
• One priority cannot be assigned for several tasks.
• The task with the highest priority must be a cyclic task.
• The unsolicited task must always have the lowest priority.
Distribution of the calculating time

Max. 350 μs of calculating time per millisecond are available for the task with the highest priority,
see illustration [4-4]. The calculating time not required remains for the lower-level tasks which
share this calculating time according to their priority.
• If the processing time in a task with higher priority takes longer, the free calculating time in the
lower-priority tasks is automatically reduced.
• In »PLC Designer«, an interval time of 1 ms, 2 ms, 4 ms or 8 ms must be set for the task with the
highest priority. After this interval time, the task is followed by processing of the basic motor
control functions.
4 PLC functionality
4.8 Appendix
________________________________________________________________
Example of pre-emptive multitasking

In the following example, three interval-controlled user tasks share the available 350 μs of
computing time per millisecond.
• The respective task cycle will not be used completely by the tasks so that a small amount of
calculating time remains after the lower-priority task 3.
• In the grey areas, processing in the respective task is frozen since either a higher-priority task,
the system part, or the basic motion control functions are being processed.
8VHU3/& 8VHU3/& 8VHU3/& 8VHU3/&
PV PV PV PV PV

n
 Task 1  Task 2  Task 3  Free calculating time
[4-5] Example "pre-emptive multitasking"
User task Priority Task interval

 Task 1 1 1 ms
 Task 2 2 2 ms
 Task 3 3 4 ms
 Tip!
The example in illustration [4-5] shows that, e.g. for task 3 with the lowest priority, not the
total 1400 μs calculating time (4 task cycles * 350 μs per millisecond) is available but only
the part of the time that remains after processing the higher-priority task 1 and task 2.
4 PLC functionality
4.8 Appendix
________________________________________________________________
4.8.4 Runtime measurement
When the PLC program has started, the controller continuously carries out a runtime measurement.
The current and maximum task runtimes of the single tasks are displayed in the codes C02121/1...2
to C02129/1...2:

Value Unit
C02121/1 Current runtime Task Prio 1 - μs

C02121/2 Maximum runtime Task Prio 1 - μs
Highlighted in grey = display parameter
 Note!
The runtime measurement is reset by the following actions:
• Start application
• Reset/delete/restart program
• Device command "Reset runtime measurement"
 Tip!
On the basis of the runtime measurement, you can detect the amount of the remaining
free calculating time in the different priority levels.
The free calculating times must not simply be added since each extension in a higher-
priority task automatically affects the free calculating time in the lower-priority tasks.
4 PLC functionality
4.8 Appendix
________________________________________________________________
4.8.5 Data consistency
The data consistency of the system variables in the control configuration as well as of the PDO
network variables is ensured for the user task with the highest priority. If these data have to be used
in tasks with a lower priority as well, the user must provide appropriate consistency mechanisms.
Due to the fact that the »9400 ServoPLC« is based on a 32-bit architecture, all accesses up to this
width are atomic accesses. One exception are the single bit accesses which can only be
implemented as Read-Modify-Write and are not provided with a protection against interruption by
another task.
Accesses with a width of 64 bits are atomic as well since the load and save command in the
processor architecture for two related values is handled atomically.
4.8.6 Storage capacities and memory modules
RAM memory
 Note!
With controllers of the Servo Drives 9400 series, the program code is executed in the
RAM memory.
The device command C00002 = "11: Save start parameter" serves to protect the
parameter settings against data loss against e.g. mains failure. This command serves to
archive the data safe against mains failure in the memory module.
In the RAM memory, the user data is limited to the following size:
Memory for Size

Program code 512 kByte
Data 256 kByte
User parameter 196 kByte
Cam data 512 kByte
Retain memory
The values of the retain variables are permanently saved in the retain memory. In this way, they are
even after mains disconnection available to the program. An explicit saving of the parameter set is
not required.
• Retain variables are declared by means of the variable class VAR RETAIN.
• Retain variables are used as a memory which can be symbolically addressed.
• With every program download, the retain variables are reset to their initialisation value. If no
initialisation value is defined, the corresponding retain variable is initialised with the value "0".
• In the online mode of the »PLC-Designer« you can reset the retain variables in the controller to
their initialisation value using the commands Online  Reset (cold) or Online  Reset (original).
• The available retain memory depends on the memory module plugged into the controller:
• Memory module MM340: 4992 bytes
• Memory module MM440: 64 kbytes
4 PLC functionality
4.8 Appendix
________________________________________________________________
Memory modules
In order to use the PLC functionality, the memory module MM340 or MM440 (licence: "PLC") must
be plugged in the controller. Saving with mains failure protection of the IEC61131-3 program into
another memory module is not possible.
The following table compares the storage capacities and functions of both memory modules:
MM340 MM440
Size of the file system 4 MByte 8 MByte
• For example for »Engineer« project data, programs, and
parameter sets.
Retain memory 4992 Byte 64 kByte
CAN address switch  
• For system bus "CAN on board".
Real-time clock  
• For adjusting the system time at switch-on.
• Display in C01214, setting in C01215.
4.8.7 Known function restrictions of the controller
Restrictions when working with the SysLibTime.lib library

The structure entry DayOfWeek of the function block CurTimeEx is not supported by the controller.
Device error by aborting a trace recording

A started trace recording must be stopped with the command "Stop trace".
Otherwise, a device error occurs in case of a premature log-out that can only be reset by mains
switching of the controller.
Project options in »PLC Designer«

In the PLC project under the menu item ProjectOptionsSource download, the setting "Only on
request" must be activated at the time of download. Otherwise, an error message will be generated
when a boot project is created.
4 PLC functionality
4.8 Appendix
________________________________________________________________
Addressing of boolean system variables

System variables of the »9400 ServoPLC« are addressed with %IBx.y and %QBx.y which differs from
the absolute addressing of boolean system variables (%IXx.y or %QXx.y according to IEC61131).
Thus, the following restrictions must be considered:
• When boolean variables with the keyword AT are linked to a certain address, the prefix "B" must
be used instead of prefix "X".
Example
bVar AT%IB2.0:BOOL;
• When an event-controlled task is created, the absolute address of the system variables cannot
be used directly but the symbolic name of the system variables must be used.
• The assignment of an absolute address to a boolean variable is not possible.
Example
bVar:BOOL;
bVar:=%IB2.0;
Permissible marking in the path and file name

The PLC project cannot be loaded if the path referred to a PLC project contains ASCII characters > 126
or umlauts and special characters.
Thus, do not use umlauts and special characters in the file name.
Trace configuration
It is possible that too large a value will be specified for the parameter "Number of measurements"
in the "Trace Configuration" dialog box of »PLC Designer«. In this case, the following error message
is shown when trace recording is started:
"The control has executed the last online service incorrectly. Service number: 28, error number: 53."
In this case, the value for "Number of measurements" must be reduced so that the following
applies:
The sum of the size of the recorded variables multiplied by the number of measurements must be
lower than 4990 bytes.
4 PLC functionality
4.8 Appendix
________________________________________________________________
4.8.8 Sample collection for code creation with Pragma instruction
Example Bool
bCexample: BOOL(* Variable example Bool *)

{parameter list="CodePerPragma"
[index="7000"
subindex="0"
name="Bool example"
variable="bCexample"
MinIntern="0"
MaxIntern="1"
value="0"
MIN="0"
MAX="1"
Unit=""
Scaleroutine=""
Cinh="No"
PlcStop="No"
SHIFTPrg="Yes"
SelectText="0:off;1:on"
DisplayText="bExample"
DisplayNominator=1
DisplayDenominator=1
GDCText="bExample"
accessright="read-write"
Accesslevel="No"
]};
Example byte
byCExample: BYTE (* Variable example Byte *)

{parameter list="CodestellenPerPragma"
[index="7001"
subindex="0"
name="Byte example"
variable="byCExample"
MinIntern="0"
MaxIntern="15"
value="1"
MIN="0"
MAX="15"
Unit=""
Scaleroutine=""
Cinh="No"
PlcStop="No"
SHIFTPrg="Yes"
SelectText="0:default;1:fixed value 1;2:fixed value 2;3:fixed value 3;4:fixed value 4;5:fixed value 5;6:fixed value 6;
7:fixed value7;8:fixed value 8;9:fixed value 9; 10:fixed value 10;11:fixed value 11;12:fixed value 12; 13:fixed value
13;14:fixed value 14;15:fixed value 15"
DisplayText="byExample"
DisplayNominator=1
GDCText="byExample"
Accesslevel="No"
]};
4 PLC functionality
4.8 Appendix
________________________________________________________________
Example INT
nCBeispiel: INT (* Variable example int *){parameter list="CodePerPragma"

[index="7002"
subindex="0"
name="Int example"
variable="nCExample"
MinIntern="-32768"
MaxIntern="32767"
value="100"
MIN="-32768"
MAX="32767"
Unit="inc"
Scaleroutine=""
Cinh="No"
PlcStop="No"
SHIFTPrg="Yes"
SelectText=""
DisplayText="nExample"
DisplayNominator=1
GDCText="nExample"
Accesslevel="No"
]};
Example DINT
dnCExample: DINT (* Variable example dint *)

[index="7003"
subindex="0"
name="DInt Example"
variable="dnCExample"
MinIntern="-2147483648"
MaxIntern="2147483647"
value="10000"
MIN="-2147483648"
MAX="2147483647"
Unit="inc"
Scaleroutine=""
Cinh="No"
PlcStop="No"
SHIFTPrg="Yes"
SelectText=""
DisplayText="dnExample"
DisplayNominator=1
GDCText="dnExample"
Accesslevel="No"
]};
4 PLC functionality
4.8 Appendix
________________________________________________________________
Example WORD
wCBeispiel: WORD (* Variable example word *)

[index="7004"
subindex="0"
name="Word example"
variable="wCExample"
MinIntern="0"
MaxIntern="65535"
value="1000"
MIN="0"
MAX="65535"
Unit="kg"
Scaleroutine=""
Cinh="No"
PlcStop="No"
SHIFTPrg="Yes"
SelectText=""
DisplayText="wExample"
DisplayNominator=1
GDCText="wExample"
Accesslevel="No"
]};
FB instances per Pragma
(*-- Generating FB instances per Pragma ----*)

(* FB instances without initial values *)
L_CamContactor1 : L_CamContactor
{instance list=L_CamContactor1
template=L_CamContactor baseindex=0 basesubindex=0
};
(* FB instance with initial values *)
L_CamContactor2:L_CamContactor
{instance list=L_CamContactor2
template=L_CamContactor baseindex=50 basesubindex=0
[][][][value=5][value=6][][][][][]
};
5 Drive interface
________________________________________________________________
5 Drive interface
This chapter provides you with information on the drive interface via which you can control the
drive controller into specific states and call different pieces of status information of the controller.
Furthermore the machine constants for the motor end are entered via the drive interface.
 How to get to the dialog for setting the drive interface parameters:
1. Go to the Project view of the »Engineer« and select the»9400 ServoPLC«.
2. Select the Application parameters tab from the Workspace.
3. Click the following button of the Overview dialog level:
Parameterisation dialog in the »Engineer«
• The white buttons indicate the configuration of the drive interface inputs. Internal interfaces
| "LS_DriveInterface" system block ( 158)
• The assignment is predefined by the technology application selected (in the example
"Actuating drive – speed"). If required, this assignment configuration can be changed by
clicking the corresponding buttons.
• If you click a button marked with the symbol, you go one level deeper in the corresponding
parameterisation dialog.
5 Drive interface
5.1 Machine parameters
________________________________________________________________
The global machine constants ("machine parameters") are set in the »Engineer» on the Application
parameters tab in the dialog level Overview  Drive interface  Machine parameters:
 Tip!
Detailed information on the different machine parameters can be obtained from the
following subchapters.
5 Drive interface
________________________________________________________________
5.1.1 Mains voltage
Via the Mains voltage list field (C00173) the mains voltage for the controller is set.
• If you set a mains voltage with an adjustable threshold for undervoltage ("LU adjustable"), this
undervoltage threshold can be set in the Undervoltage threshold (LU) input field (C00174).
• In the Resp. to DC-bus overvoltage list field (C00600) you can select the response that is to be
effected when a DC-bus overvoltage occurs.
 Note!
Changing the setting in C00173 also affects the permissible device utilisation!
 Tip!
In the chapter "Rated data" of the hardware manual the device types and their permissible
device utilisation at a certain mains voltage and switching frequency are specified.
See also: Monitoring of the device utilisation ( 156)
5 Drive interface
________________________________________________________________
5.1.2 Gearbox ratio
The gearbox ratio indicates the number of revolutions of the motor axis it takes for exactly one
revolution of the load axis (e.g. spindle or drive roll) to take place.
M M
i = 58.667
[5-1] Schematic diagram of gearbox ratio
• In the example shown in illustration [5-1] one revolution of the spindle is carried out at exactly
58,667 revolutions of the motor axis.
Specification of the gearbox ratio

• The gearbox ratio is to be defined in the form of a quotient (numerator/denominator); the data
required can be found in the technical data for the gearbox:
L EXTERTAL / Germany
GFL05-2M HCR 080-32 004 B GFL 05
295 Nm i z1 z2 z3 z4
24/min (50Hz) 58.667 12 88 9 72
i = 58.667 CLP 460 1196
GT/40000027 00500038
[5-2] Example: Technical data relating to the gearbox (from gearbox catalogue)
 Tip!
In order to specify the gearbox ratio exactly, use the number of teeth indicated on the data
sheet or in the catalogue, if possible, instead of the information on the nameplate (see
following calculation).
In C02531/1 the gearbox factor is displayed in decimal format.
Example calculation on the basis of the technical gearbox data:
Gearbox factor numerator (C02520) = z2 × z4 = 88 × 72 = 6336

Gearbox factor denominator (C02521) = z1 × z3 = 12 × 9 = 108
[5-3] Sample calculation
5 Drive interface
________________________________________________________________
5.1.3 Motor mounting direction
Depending on the motor mounting position, you can carry out an inversion of the direction of
rotation via the Motor mounting direction list field (C02527), if required:
• C02527 = "0": Clockwise rotating motor ≡ positive machine direction.
• C02527 = "1": Counter-clockwise rotating motor ≡ positive machine direction.
5.1.4 Feedback configuration
In most cases the system only has one motor encoder, i.e. no separate position encoder is installed
on the load side. The motor position (angle of rotation) and motor speed are detected via the motor
encoder selected in C00495 and converted with regard to the load side.

M M
 Motor encoder
[5-4] Schematic diagram - feedback with position encoder = motor encoder
The actual position and speed values on the machine side result from the conversion via the
Gearbox ratio on the motor side and the Feed constant.
 Tip!
Detailed information on the parameterisation of the feedback systems for the motor
control can be found in the chapter "Encoder evaluation". ( 281)
5 Drive interface
________________________________________________________________
5.1.5 Unit/user-defined unit
Via these machine parameters you define the real unit of the machine in which the feed constant
and the parameters for a travel profile must be specified (e.g. position, speed, acceleration, and
deceleration).
• If you for instance set the unit "mm" for a linear axis, the position must be specified in [mm] and
the speed in [mm/s].
• By means of the user-defined unit, significant production units, like for example "bottles" can
also be set.
• For this, select the "User-defined" entry as unit in C02525 and then enter the desired user-
defined unit in C02526.
 Note!
In this documentation the term "unit" in the parameter unit data only serves as a
wildcard for the real unit of the machine.
Display parameter
Parameter Info
C02534 Time unit used
C02535 Unit used
C02537 Speed unit
C02538 Acceleration unit
5 Drive interface
________________________________________________________________
5.1.6 Traversing range
The selection of the traversing range ("Unlimited", "Limited", or "Modulo") in the Traversing range
list field (C02528) serves to define the machine measuring system.
 Note!
A change-over of the traversing range results in a loss of the reference information!
"Unlimited" traversing range

The drive can rotate continuously in one direction.
• By referencing and activating the software limit positions the traversing range can be limited.
• For positioning with absolute travel command the home position must be known.
[5-5] Unlimited traversing range, taking the "feed control tape" as an example
"Limited" traversing range

The travel range is limited by positive and negative position limits (mechanical limits/travel range
limit switches/software limit positions).Limiter ( 536)
• After a defined distance the drive must travel in the opposite direction again.
• For positioning in the limited traversing range the home position must be known.
• The software limit positions are basically monitored with regard to the maximum value range
that can be represented internally (±231 increments), even if monitoring has been deactivated
via C02700.
• An overflow of the value range results in a loss of the reference information.
[5-6] Example: Limited traversing range - "spindle drive" (linear axis)
5 Drive interface
________________________________________________________________
"Modulo" traversing range

The measuring system is repeated.
• If the cycle set in C02536 is exceeded, a defined overflow occurs. In a rotative system, the cycle
typically corresponds to a revolution or tool distance.
• For positioning in the "Modulo" traversing range the home position must be known.
• Software limit positions are not effective.
• Absolute targets can be approached by exceeding the measuring system limit, e.g. from 10° to
350°.
M

 C02536: Cycle (illustration = 60°)
[5-7] Example: Modulo traversing range - "rotary table""
Dependencies - traversing range/basic drive functions

• The following table lists the different dependencies between the selected traversing range and
the basic drive functions.
Basic drive function Traversing range

Unlimited Limited Modulo
Position data for Encoder evaluation Continuously Continuously Clocked
Position data for Position follower Absolute Absolute Absolute (in time)
Positioning modes for Positioning 1, 2, 5, 6, 7, 8 1, 2, 5, 6, 7, 8 5, 6, 11 ... 16
Restrictions for Homing None None Home position must
be in time
Limit positions (Limiter) Permitted Permitted Not permitted
j Example 1: Unlimited/limited position display

 Reference setting
t  Position in the machine measuring system
 Position in the motor measuring system
Example 2: Modulo position display

j
 Cycle
 Position in the machine measuring system
t
 Position in the motor measuring system

5 Drive interface
________________________________________________________________
5.1.7 Feed constant
The feed constant corresponds to the movement of the machine during one revolution of the
gearbox output shaft.
• The entry in the Feed constant field (C02524) is made in the unit defined in C02525 relating to
one revolution.
• In the case of a conveyor drive, the feed constant is obtained from the drive roll's circumference,
which, in the following example, is calculated on the basis of the indicated diameter:
d = 200 mm
d = diameter
[unit] mm mm
Feed constant = π ⋅ d ---------------------------- = π ⋅ 200 ---------------------------- = 628.3185 ----------------------------
Revolution Revolution Revolution
[5-8] Schematic diagram: Feed constant for a conveyor driver
• In the case of a spindle drive (linear axis), the feed constant is derived from the leadscrew pitch.
The feed constant indicates the distance the slide travels during one revolution of the spindle
(in the following example: 5.023 mm).
h = 5.023 mm
h = leadscrew pitch (can be obtained from the technical data of the linear axis)
[5-9] Schematic diagram: Feed constant for a spindle drive
• In the case of a rotary table and its specification as an angle, the feed constant is = 360°/
revolution.
5 Drive interface
________________________________________________________________
5.1.8 Resolution of an encoder revolution
C00100 serves to adjust the resolution to the application.

• The default resolution of 16 bits/revolution is sufficient for standard applications.

%LW
 Sign bit
 Number of revolutions: 15 bits ≡ ±32767 revolutions
 Resolution of one encoder revolution: 16 bits ≡ 65536 increments/revolution
[5-10] Example: standard resolution (16 bits/revolution)
• For more significant applications, a higher resolution of the position values can clearly improve
the control properties and positioning accuracies:
• Finer resolution of the position targets  improved positioning accuracy
• Finer quantisation of setpoints and actual values  better control quality
• Higher loop gain adjustable  less following errors
• However, a higher resolution at the same time causes a restricted number of encoder
revolutions, and only smaller traversing distances can be displayed.

%LW
 Sign bit
 Number of revolutions: 9 bits ≡ ±512 revolutions
 Resolution of one encoder revolution: 22 bits ≡ 4194304 increments/revolution
[5-11] Example: Higher resolution (22 bits/revolution) with a restricted traversing range
 Tip!
In the following subchapter "Determining the optimum resolution" ( 90) it is described
how you can determine the optimum resolution of the position values.
5 Drive interface
________________________________________________________________
 Note!
The position values (e.g. setpoints, actual values, parameters, …) in the signal flow
always use the resolution set in C00100. In this connection it is irrelevant which
resolution is delivered directly by the encoder.
Multi-axis systems
In an interconnection via the electrical shaft, at least two measuring systems (master
and slave) are available in the drive.
• Each measuring system is provided with an individual setting of the resolution.
• The machine parameters (gearbox factors, feed constants, encoder resolution and
cycle) for the master measuring system or master value must be set identically for all
drives in the system.
Technology applications "Electronic gearbox" and "Synchronism"
For these two technology applications the machine parameters of the master measuring
system are defined on the Application parameters tab in the "Master value scaling"
dialog level.
Electronic cam
The machine parameters of the master measuring system for electronic cams can be
defined on the Measuring systems tab for the electrical shaft.
5 Drive interface
________________________________________________________________
5.1.8.1 Determining the optimum resolution
 How to determine the optimum resolution:

In the dialog level Overview  Drive interface  Machine parameters:
1. Set gearbox factors.
2. Set real unit of the machine.
3. Set feed constant.
4. Press the Optimum positional resolution button.
• The Optimum positional resolution dialog box is displayed:
5. Go to the Max. presentable position input field and enter the highest position which is to
be entered in a parameter during operation.
• If required, set a reserve in the Overshoot input field to take into account possible
following errors (overshoot of actual values).
Then the maximum resolution for the position entered is shown in the Maximum
resolution for encoder revolution field.
6. Click Accept value to accept the displayed resolution in C00100.
7. Click Close to close the dialog box again.
 Tip!
In order to display the position that can be maximally represented for a defined resolution,
activate the second option Determine max. presentable position. Then you can set the
resolution for which the maximally presentable position is to be displayed in the Maximum
resolution for encoder revolution input field.
5 Drive interface
________________________________________________________________
5.1.9 Max. position, speed, and acceleration that can be displayed internally
By setting the following machine parameters, the connection between the real units (application
units) of the machine and the internal units in the controller is described:
• Gearbox ratio (C02520, C02521, C02522, C02523)
• Feed constant (C02524)
• Resolution of an encoder revolution (C00100)
Possibly the defined values for position, speed, and acceleration cannot be represented in the
internal units by the numerical 32-bit format used.
• The following display parameters show the values that can be maximally displayed:

Value Unit
C02539 Max. presentable position - Unit

C02540 Speed that can be maximally displayed - Unit/s
C02541 Acceleration that can be maximally displayed - Unit/s2
Response if a value that cannot be displayed internally is entered

If a position, speed, or acceleration which cannot be represented internally is defined via
parameters, the value defined is limited to the maximum value that can be represented internally
(±2147483647).
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2 Device commands
In the following subchapters the device commands of the controller are described, which are
provided in C00002 and which can be executed by means of »Engineer« or alternatively with the
keypad when an online connection has been established.
 Note!
Before switching off the supply voltage after a device command has been executed,
check the successful execution of the device command via the status display in C00003!
The meaning of the status display in C00003 can be obtained from the subchapter for
the corresponding device command.
Activating frequently required device commands via the toolbar

The simplest way to execute the frequently required device commands is directly via the Toolbar of
»Engineer« when an online connection has been established.
Icon Function
Enable controller
Inhibit controller
Start application
Inhibit controller and Stop application
 Note!
Device commands that can be executed via the Toolbar of the »Engineer« always affect
the element currently selected in the Project view including all subelements!
• If no controller but a system module is selected in the Project view, the corresponding
device command will be activated in all lower-level controllers having an online
connection with the »Engineer«.
Before the desired action is carried out, a confirmation prompt appears first, asking
whether the action is really to be carried out.
5 Drive interface
5.2 Device commands
________________________________________________________________
Activating device commands via the "Device commands" dialog box

All device commands of the controller are available in »Engineer« in the Device Commands dialog
box:
• The Device commands dialog box can be opened by clicking on the Device commands list field
on the Application parameters tab in the dialog level Overview  Drive interface.
• The Device commands dialog box can also be opened by clicking the setting of C00002 on the All
parameters tab.
 Note!
If you click a device command in the list field of the Device commands dialog box, the
corresponding device command is executed immediately!
• During and after the execution of the device command, the processing status is displayed in the
Device Commands dialog box:
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.1 Load Lenze setting
The C00002 = "0: Load Lenze setting" device command is used to reset the parameters of the active
application to the Lenze setting, which is stored in the controller firmware:
9400 RAM Memory module MM

Firmware Application Application 1
PS PS PSApplication 2
PSApplication 3
PS
[5-12] "Load Lenze setting" function
• Only possible when the application has stopped and the controller is inhibited.
• All parameter changes made since the last saving of the parameter set will get lost!
• This device command only affects the settings of the operating system, application and module
parameters, the active application remains unchanged.
Possible status displays for this device command
Status (C00003) Meaning

34050 Device command in process
0 Device command executed successfully
1 General error
39424 CAN fault
... ...
39679 CAN fault
Related device commands

Load start parameters ( 95)
Save start parameters ( 99)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.2 Load start parameters
Via C00002 = "1: Load start parameters" the start parameters of the active application can be
reloaded from the memory module to the controller:

Firmware Application 1* Application 1*
PSApplication 3
PS
* In this example, application 1 is the active application
[5-13] "Load start parameters" function
• All parameter changes made since the last saving of the parameter set will get lost!
• This device command only affects the settings of the operating system, application and module
parameters, the active application remains unchanged.

65537 General error

99371 Fault while reading the parameter set partition
99374 No memory module available
104960 CAN fault
... ...
105215 CAN fault

Save start parameters ( 99)
Load Lenze setting ( 94)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.3 ENP:Load plant data
If the Lenze motor connected to the controller is provided with an electronic nameplate (ENP), all
motor data are automatically read out from the electronic nameplate of the motor when the
controller is switched on for the first time and are temporarily stored in the controller at first.
With the device command C00002 = "2: ENP: Load plant data" the motor data can be reread from
the electronic nameplate (ENP) of the motor.
• For a permanent acceptance of the motor data, the parameter set must be saved.Save start
parameters ( 99)
• The following plant data are read out from the ENP:
Parameter Info
C00022 Maximum current
C00070 Speed controller gain
C00071 Speed controller reset time
C00596 Threshold max. speed reached
 Note!
The two pieces of plant data C00011 and C00497 listed in the following table are not
read out from the ENP and thus have to be checked and, if required, set manually after
this device command has been executed!
Parameter Info
C00011 Motor reference speed
C00497 Speed act. val. time const.

131073 General error
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.4 Activate application
If several applications are available on the memory module, the C00002 = "5: Activate application"
device command can be used to activate the application the number of which has been set in
C00005.

Application 2*
PS PS
PSApplication 3
* In this example, application selection "2" is set in C00005
[5-14] "Activate application" function
• Whether the application is started at the same time, depends on the auto-start setting selected
in C02104.
• After mains switching, the preset application will be loaded into the controller.
• If after mains switching another application than the one preset by Lenze is to be loaded, it must
be activated first and then the selected application must be saved with the device command
"Save selected application". ( 98).
• The number of the currently active application is displayed in C00007.
 Note!
When the application is activated, the corresponding start parameter set is loaded
automatically and parameter settings executed before will get lost unless the parameter
set was saved before!


Save selected application ( 98)
Start application ( 103) / Stop application ( 104)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.5 Save selected application
After mains switching the controller always loads the preset start application from the memory
module, even if a different application has been active before.
With the device command C00002 = "7: Save selected application" the active application can be
defined as start application.

Firmware Application 2* Application 1
Application 2*
PS PS
PSApplication 3
* In this example, the active application 2 is defined as start application
[5-15] "Save selected application" function
• When this device command is executed, the parameter set is also saved automatically.


Activate application ( 97)
Start application ( 103)
Stop application ( 104)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.6 Save start parameters
Controller parameter changes made via »Engineer« or keypad will get lost after mains switching of
the controller or loading of another application unless the settings have been explicitly saved.
With the device command C00002 = "11: Save start parameters" the current parameter settings of
the active application can be saved with mains failure protection in the memory module of the
controller:

PSApplication 3
PS
[5-16] "Save start parameters" function
 Tip!
With the keypad this device command can be executed via the left function key if it is
currently assigned with the  function.
 Note!
The saving process can take several seconds. Before you switch off the supply voltage
after having executed this device command, therefore be absolutely sure to check via
the status display in C00003 whether the device command has been executed
successfully!
Saving of the cam data
This device command serves to save the Cam data safe against mains failure in the
memory module.
• The saving process is only carried out if the cam data in the controller and the memory
module differ from each other (based on the time stamp/GUID of the cam data).
• For saving the cam data, you do not need to enter a possibly existing user password
(C02900).
• The C00002 = "502: Save Cam Data" device command remains available.Save cam
data ( 138)
5 Drive interface
5.2 Device commands
________________________________________________________________


754718 Fault while writing into a file
761857 Access to file has been denied since the file is already accessed from another position
761861 I/O fault when accessing the file system
761868 RAM is full
761869 Access authorisation denied
761884 No free memory on the memory module

Load start parameters ( 95)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.7 Delete logbook
The C00002 = "20: Delete logbook" device command is used to delete all entries in the logbook.
 Tip!
To display the logbook in the »Engineer«, click the Logbook button on the Diagnostics tab.
In the Logbook dialog box, it is also possible to delete all logbook entries by clicking the
Delete button.
Further information on the logbook can be found in the chapter "Diagnostics & fault
analysis". ( 630)


Archive logbook ( 102)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.8 Archive logbook
The C00002 = "21: Archive logbook" device command is used to archive the entries in the logbook.
 Tip!
To display the logbook in the »Engineer«, click the Logbook button on the Diagnostics tab.
You can also export all entries available in the logbook into a file (*.log) by clicking the
Export button in the Logbook dialog box.
Further information on the logbook can be found in the chapter "Diagnostics & fault


Delete logbook ( 101)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.9 Start application
The C00002 = "31: Start application" device command is used to start the active application in the
controller.

Application 2
Application 3
[5-17] "Start application" function

• The current program status is displayed in C02108.
• The active function state of the application is displayed in C02530.
 Tip!
This device command can also be activated via the icon in the Toolbar.


Stop application ( 104)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.10 Stop application
The C00002 = "32: Stop application" device command can be used to stop the application started in
the controller again.

Application 2
Application 3
[5-18] "Stop application" function
• Only possible when the controller is inhibited.
 Tip!
Via the icon in the Toolbar the controller can be inhibited, and at the same time the
application in the controller can be stopped.


Start application ( 103)
Inhibit controller ( 110)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.11 Reset program
The C00002 = "33: Reset program" device command is used to reset the application program in the
controller.
• All variables are reset to their initialisation value.
• The situation corresponds to the start of a new program loaded into the control (cold start).


Delete program ( 106)
Restart program ( 107)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.12 Delete program
The C00002 = "34: Delete program" device command is used to delete the application program in
the controller and reset the controller to its original state.


Reset program ( 105)
Restart program ( 107)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.13 Restart program
The C00002 = "35: Restart program" device command is used to restart the application program in
the controller.
• All variables except the RETAIN variables are reset to their initialisation value.
• The situation corresponds to a power failure or switching the controller off/on (warm start)
while the program is running.


Reset program ( 105)
Delete program ( 106)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.14 Reset runtime measurement
When the application is started, the controller continuously carries out a runtime measurement for
the interval-controlled application task, the interval-controlled user task, and the free-running idle
task and displays the current and maximum task runtimes via parameters.
The C00002 = "36: Reset runtime measurement" device command is used to reset the runtime
measurement, i.e. the memory for the maximum values is reset to "0".

 Note!
The runtime measurement is also reset by the following actions:
• Start application
• Reset/delete/restart program
Example for runtime measurement
0 1 ms 4 ms
0
1
2
3
T1 T1 T1 T1 T1 T1
T2 T2
T3
 System task
 Application task (here: task interval = 1 ms) T1 = runtime of the application task
 User task (here: task interval = 4 ms) T2 = runtime of the user task
 Free-running idle task T3 = runtime of the idle task
[5-19] Example: Runtimes of the different tasks
Display parameter

Value Unit
C02121/1 Current runtime - application task - μs

C02121/2 Maximum runtime - application task - μs
C02122/1 Current runtime - user task - μs
C02122/2 Maximum runtime - user task - μs
5 Drive interface
5.2 Device commands
________________________________________________________________

Value Unit
C02123/1 Current runtime - idle task - μs

C02123/2 Maximum runtime - idle task - μs
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.15 Inhibit controller
The C00002 = "41: Inhibit controller" device command is used to inhibit the controller ("controller
inhibit"), i.e. the power output stages in the controller are inhibited and the speed/current and
position controllers of the motor control are reset. The motor becomes torqueless and coasts unless
it is already at standstill.
• The controller can also be inhibited by other sources, e.g. via the digital input RFR or through the
application.
• C00158 provides a bit coded representation of all active sources/triggers of a controller inhibit.
 Note!
This device command has no status display in C00003, i.e. the display remains
unchanged showing the previous device command status.
 Tip!

Enable controller ( 111)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.16 Enable controller
The C00002 = "42: Enable controller" device command is used to re-enable an inhibited controller.
 Note!
Please note that the controller will only be enabled if all sources for controller inhibit are
reset!
• C00158 provides a bit coded representation of all active sources/triggers of a
controller inhibit.
 Tip!

Inhibit controller ( 110)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.17 Reset error
The C00002 = "43: Reset error" device command is used to acknowledge an error message if the
error cause has been eliminated and the error is thus no longer pending.
 Tip!
An error message can also be acknowledged by activating the Reset error button in the
Diagnostics tab.
Further information on error messages can be found in the chapter "Diagnostics & fault
 Note!
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.18 Activate quick stop
The C00002 = "45: Activate quick stop" device command is used to activate the basic function
"Quick stop", i. e. the drive is brought to standstill within the deceleration time set, irrespective of
the setpoint defined.
• Quick stop can also be activated by other sources, e.g. by the application.
• C00159 displays a bit code of active sources/causes for the quick stop.
 Note!
The activation of quick stop may cause following errors in superimposed controls (e.g.
synchronous or position control). If several drives execute a coordinated movement, the
quick stop function should therefore only be used for the motion master (master drive)
in order to maintain the coordination.
 Tip!
In contrast to the "stop" function, quick stop is required for a stop in the event of an error.
Thus, quick stop can also be set as an error response ("quick stop by trouble) for many
monitoring functions. Detailed information on this can be found in the chapter
"Diagnostics & fault analysis". ( 630)

Reset quick stop ( 114)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.19 Reset quick stop
The C00002 = "46: Reset quick stop" device command is used to exit an active quick stop again.
 Note!
Please note that the quick stop is only exited if all sources for quick stop are reset!
• C00159 displays a bit code of active sources/causes for the quick stop.

Activate quick stop ( 113)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.20 Identify pole position (360°)
If no absolute value encoder is connected, or a synchronous motor of a third-party manufacturer is

driven by the controller, the C00002 = "51: Identify pole position (360°)" device command is used to
determine the pole position with regard to the motor encoder currently activated in C00495.
• The function can only be activated if the controller is inhibited. Then the execution of the
function starts automatically as soon as the controller inhibit is deactivated again.
• During the pole position identification, the motor carries out one electrical revolution. This
leads to a mechanical rotation of the motor shaft.
• The determined pole position is indicated under code C00058.
 Note!
If the pole position identification is aborted, the response parameterised in C00640
(Lenze setting: "Fault"") is triggered and the error message "Pole position identification
cancelled" is entered in the logbook of the controller.
 Tip!
Detailed information on the pole position identification can be found in the chapter "Motor
interface", subchapter "Pole position identification". ( 176)


3382023 Pole position identification cannot be executed because of wrong motor type (asynchronous
motor).
3382024 Pole position identification has been aborted
3382025 Pole position identification cannot be executed because another identification is already
active.
3382026 Identification of pole position cannot be executed because U-rotation or I-rotation test
mode is active.
3382027 Identification of pole position cannot be executed because current controller optimisation
mode is active.
3382033 Pole position identification cannot be executed because the motor is blocked (e.g. by a
mechanical brake), a motor phase is not connected, or a phase shifter is in the motor cable.
3382047 Pole position identification cannot be executed because an error or trouble is active.
3382065 Pole position identification cannot be executed because either the entire motor or a motor
phase is not connected.

Identify pole position (min. motion) ( 116)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.21 Identify pole position (min. motion)
If no absolute value encoder is connected, or a synchronous motor of a third-party manufacturer is

driven by the controller, the C00002 = "52: Identify pole position (min. motion)" device command is
used to determine the pole position with respect to the motor encoder currently activated in
C00495.
• The function can only be activated if the controller is inhibited. Then the execution of the
function starts automatically as soon as the controller inhibit is deactivated again.
• During the pole position identification, the rotor aligns itself. This is compensated by a position
control.
• The determined pole position is indicated under code C00058.
 Note!
If the pole position identification is aborted, the response parameterised in C00640
(Lenze setting: "Fault"") is triggered and the error message "Pole position identification
cancelled" is entered in the logbook of the controller.
 Tip!
Detailed information on the pole position identification can be found in the chapter "Motor
interface", subchapter "Pole position identification". ( 176)


3447559 Pole position identification cannot be executed because of wrong motor type (asynchronous
motor).
3447561 Pole position identification cannot be executed because another identification is already
active.
3447562 Identification of pole position cannot be executed because U-rotation or I-rotation test
mode is active.
3447563 Identification of pole position cannot be executed because current controller optimisation
mode is active.
3447569 Pole position identification cannot be executed because the motor is blocked (e.g. by a
mechanical brake), a motor phase is not connected, or a phase shifter is in the motor cable.
3447583 Pole position identification cannot be executed because an error or trouble is active.
3447597 Identification of pole position cannot be executed because the rotor has moved too strongly.
3447601 Pole position identification cannot be executed because either the entire motor or a motor
phase is not connected.

Identify pole position (360°) ( 115)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.22 Resolver error identification
The C00002 = "59: Resolver error identification" device command serves to detect resolver errors
which are caused when sine and cosine tracks do not magnetise orthogonally. The identified
resolver errors serve to compensate the resolver errors.
• Only possible with servo control.
 Tip!
Detailed information on the resolver error compensation can be found in the chapter
"Encoder evaluation" in the subchapter "Resolver error compensation". ( 306)


3906358 Resolver error identification cannot be executed since the wrong control type is active (no
servo control).
3906359 Resolver error identification cannot be executed since an error or trouble is active.
3906360 Resolver error identification cannot be executed because another identification is already
active.
3906361 Resolver error identification cannot be executed because of too small speed (< 500 rpm).
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.23 Load Lenze INV characteristic
If determination of the so-called "inverter error characteristic" is not possible with the device
command "Calculate inv. characteristic" or leads to incorrect results, the device command
C00002 = "70: Load Lenze INV characteristic" can be used to load a characteristic which is typical of
the device in question.
• Only possible when the controller is inhibited.
 Tip!
Detailed information about the determination of the inverter error characteristic can be
found in the chapter "Motor interface" in the subchapter "Optimising the switching
performance of the inverter". ( 183)


Calculate inv. characteristic ( 119)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.24 Calculate inv. characteristic
If a motor of a third-party manufacturer with unknown motor parameters is driven by the

controller, the C00002 = "71: Determine inverter characteristic" device command can be used to
determine the so-called "Inverter error characteristic" for optimising the inverter switching
performance.
 Tip!
Detailed information about the determination of the inverter error characteristic can be
found in the chapter "Motor interface" in the subchapter "Optimising the switching
performance of the inverter". ( 183)
If the inverter error characteristic cannot be determined by means of this device command
or if the results of the determination are incorrect, the device command "Load Lenze INV
characteristic" can be used to load a characteristic typical for the device. ( 118)


4692754 The calculation of the inverter characteristic cannot be started since the current controller
test mode is active.
4692755 The calculation of the inverter characteristic cannot be started since the V/f test mode is
active.
4692756 The calculation of the inverter characteristic cannot be started since the pole position
identification is active.
4692757 Calculation of the inverter characteristic has been aborted.
4692758 Calculation of the inverter characteristic has been interrupted by error.
4692789 Determined inverter error characteristic exceeds internal limits.
• This situation can for instance occur if the motor power is very much lower than the
device power.

Load Lenze INV characteristic ( 118)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.25 Determine motor parameters
The C00002 = "72: Determine motor parameters" device command is used to automatically
determine the motor parameters for a third-party motor that are listed in the following table – if
they are not known:
Parameter Info ASM SM

C00079 Mutual motor inductance 
C00082 Motor rotor resistance 
C00084 Motor stator resistance  
C00085 Motor stator leakage inductance  
C00091 Motor cosine phi 
C00092 Motor magnetising current 
 Tip!
Detailed information about the automatic determination of the motor parameters can be
found in the chapter "Motor interface" in the subchapter "Determining the motor
parameters". ( 186)


4758290 Motor identification cannot be started since the current controller test mode is active.
4758291 Motor identification cannot be started since the V/f test mode is active.
4758292 Motor identification cannot be started because pole position identification is active.
4758293 Motor identification has been aborted.
4758294 Motor identification has been aborted by fault.
4758332 Motor identification aborted due to inconsistent motor parameters.
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.26 Calculate current controller parameters
The device command C00002 = "77: Calculate current controller parameters" is used to calculate
the gain and the reset time of the current controller for a third-party motor.
Precondition: The two motor parameters "stator resistance" (C00084) and "stator leakage
inductance" (C00085) either have been parameterised manually on the basis of the manufacturer
information before, or have been determined automatically via the device command "Determine
motor parameters".
 Note!
For a Lenze motor the calculation and the subsequent optimisation of the current
controller parameters is not required, as the correct current controller parameters are
accepted from »Engineer« motor catalogue.
The device command is no identification procedure for determining the current
controller parameters!
• The calculation is carried out according to the following formulas:
Gain = Stator
leakage inductance-
------------------------------------------------------------------
340 μs
Reset time = Stator leakage inductance-

------------------------------------------------------------------
Stator resistance
• After the device command has been executed successfully (see status in C00003), the two
calculated values are set in C00075 and C00076. They serve as starting values for a subsequent
optimisation of the current controller in the test mode.
• In the event of an error, codes C00075 and C00076 are not altered.
 Tip!
Detailed information on the optimisation of the current controller in the test mode can be
found in the chapter "Motor interface" in the subchapter for the respective motor control:
• Servo control (SC)Optimise current controller ( 192)
• Sensorless vector control (SLVC)Optimise current controller ( 226)
• V/f control (VFCplus) Optimise current controller ( 241)
5 Drive interface
5.2 Device commands
________________________________________________________________


5086002 At least one calculated value is outside the valid setting range.
5086003 Stator resistance (C00084) too small (zero).

Determine motor parameters ( 120)
Calculate speed controller parameters ( 123)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.27 Calculate speed controller parameters
The device command C00002 = "78: Calculate speed controller parameters" is used to calculate the
gain, reset time, and rate time of the speed controller.
Precondition: The moments of inertia for the motor (C00273/1) and load (C00273/2) have been
parameterised correctly before.
 Note!
The device command is no identification procedure for determining the speed controller
parameters!
• The calculation is carried out according to the following formulas, taking the actual speed value
filter time constant into consideration (C00497):
Moment of inertia of motor+load 2π

Gain = ----------------------------------------------------------------------------------------------------------------------------------------- ⋅ ------
4 ⋅ ( Actual speed value filter time constant + 500 μs ) 60
2
Reset time = 4 ⋅ ( Actual speed value filter time constant + 500 μs )
Rate time = 0 ms
• After the device command has been executed successfully (see status in C00003), the calculated
values are set in the corresponding codes:
• C00070: Speed controller gain
• C00071: Speed controller reset time
• C00072: Speed controller rate time
• In the event of an error, these codes are not altered.


5151540 At least one calculated value is outside the valid setting range.

Calculate current controller parameters ( 121)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.28 CAN on board: Reset Node
The C00002 = "91: CAN on board: reset node" device command is used to reinitialise the CANopen
system bus interface of the controller ("CAN on board"), which is required, for instance, after the
data transfer rate, node address, or identifiers have been changed.
 Tip!
For detailed information about the "CAN on board" CANopen system bus interface, please
see the "CAN" Communication Manual.


6003200 CAN fault
... ...
6003455 CAN fault

CAN on board: Pred.Connect.Set ( 126)
CAN on board: Identify node ( 128)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.29 CAN module: Reset node
The C00002 = "92: CAN module: reset node" device command is used to reinitialise the CANopen
interface of a CANopen communication module in module slot MXI1 or MXI2, which is required, for
instance, after the data transfer rate, node address, or identifiers have been changed.
 Tip!
Detailed information on the CANopen communication module (E94AYCCA) can be found in
the "CAN" Communication Manual.


6068736 CAN fault
...
6068991 CAN fault

CAN module: Pred.Connect.Set ( 127)
CAN module: Identify node ( 129)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.30 CAN on board: Pred.Connect.Set
The C00002 = "93: CAN on board: Pred.Connect.Set" device command is used to set the basic
identifiers for the CANopen system bus interface of the controller ("CAN on board") according to the
"Predefined Connection Set" (DS301V402).
 Tip!


CAN on board: Reset Node ( 124)
CAN on board: Identify node ( 128)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.31 CAN module: Pred.Connect.Set
The C00002 = "94: CAN module: pred.connect.set" device command is used to set the basic
identifiers for the CANopen system bus interface of a CANopen communication module in module
slot MXI1 or MXI2 according to the "Predefined Connection Set" (DS301V402).
 Tip!


CAN module: Reset node ( 125)
CAN module: Identify node ( 129)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.32 CAN on board: Identify node
The C00002 = "95: CAN on board: identify node" device command is used to determine the nodes
connected to the CANopen system bus interface of the controller ("CAN on board").
• The result of the CAN bus scan is displayed in C00393.
 Tip!


CAN on board: Reset Node ( 124)
CAN on board: Pred.Connect.Set ( 126)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.33 CAN module: Identify node
The C00002 = "96: CAN module: identify node" device command is used to determine the nodes
connected to the CANopen system bus interface of a CANopen communication module in module
slot MXI1 or MXI2.
• The result of the CAN bus scan is displayed in C13393 (for MXI1) or in C14393 (for MXI2).
 Tip!


CAN module: Reset node ( 125)
CAN module: Pred.Connect.Set ( 127)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.34 Unbind/bind Ethernet module MXI1
The C00002 = "101: Unbind/bind Ethernet module: MXI1" device command is used to reinitialise
the Ethernet interface of an Ethernet communication module in module slot MXI1, e. g. to accept a
newly set IP or gateway address without mains switching.
 Tip!
Detailed information on the Ethernet communication module (E94AYCEN) can be found in
the "Ethernet" Communication Manual.


Unbind/bind Ethernet module MXI2 ( 131)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.35 Unbind/bind Ethernet module MXI2
The C00002 = "102: Unbind/bind Ethernet module: MXI2" device command is used to reinitialise
the Ethernet interface of an Ethernet communication module in module slot MXI2, e. g. to accept a
newly set IP or gateway address without mains switching.
 Tip!
Detailed information on the Ethernet communication module (E94AYCEN) can be found in
the "Ethernet" Communication Manual.


Unbind/bind Ethernet module MXI1 ( 130)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.36 Activate parameter set 1 ... 4
In addition to the start parameters, up to four further parameter sets can be stored in the memory
module for each application. Like this you can for instance define different controller settings for an
application, which are then simply activated via device command, if required.
The following device commands can be used to activate the parameter set 1 ... 4 for the active
application (if available on the memory module):
C00002 = "201: Activate parameter set 1"

Application 2
PS PS PS
PS 1 PS
PS 2 PS 1
PS 3 PS 2
PS 4 PS 3
PS 4
[5-20] Example: "Activate parameter set 1" function
• All parameter changes of the previously active parameter set carried out since the last saving
will get lost!
• These device commands only affect the settings of the operating system, application and
module parameters, the active application remains unchanged.
5 Drive interface
5.2 Device commands
________________________________________________________________
Possible status displays for these device commands

for command for command for command for command
201 202 203 204
13206786 13272322 13337858 13403394 Device command in process
13172736 13238272 13303808 13369344 Device command executed successfully
13172731 13238273 13303809 13369345 General error

13206532 13272068 13337604 13403140 File could not be opened.
13206557 13272093 13337629 13403165 Fault while reading out of a file.
13206558 13272094 13337630 13403166 Fault while writing into a file.
13206559 13272095 13337631 13403167 Invalid file type.
13206560 13272096 13337632 13403168 Unexpected end of file.
13206562 13272098 13337634 13403170 Checksum error
13212160 13277696 13343232 13408768 CAN fault
... ... ... ... ...
13212415 13277951 13343487 13409023 CAN fault
13213697 13279233 13344769 13410305 Access to file has been denied since the file is
already accessed from another position
13213701 13279237 13344773 13410309 I/O fault when accessing the file system
13213708 13279244 13344780 13410316 RAM is full
13213709 13279245 13344781 13410317 Access authorisation denied
13213724 13279260 13344796 13410332 No free memory on the memory module

Activate parameter set 1 ... 4 ( 134)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.37 Activate parameter set 1 ... 4
In addition to the start parameters, up to four further parameter sets can be stored in the memory
module for each application. Like this you can for instance define different controller settings for an
application, which are then simply activated via device command, if required.
The following device commands are used to archive the current parameter settings of the controller
for the active application in the memory module as parameter set 1 ... 4:
C00002 = "301: Archive parameter set 1"

Application 2
PS PS PS
PS 1 PS
PS 2 PS 1
PS 3 PS 2
PS 4 PS 3
PS 4
[5-21] Example: "Archive parameter set 1" function
• Previously archived parameter settings will be overwritten with the current parameter settings!
5 Drive interface
5.2 Device commands
________________________________________________________________
Possible status displays for these device commands

for command for command for command for command
301 302 303 304
19760386 19825922 19891458 19956994 Device command in process
19726336 19791872 19857408 19922944 Device command executed successfully
19726337 19791873 19857409 19922945 General error

19760132 19825668 19891204 19956740 File could not be opened.
19760157 19825693 19891229 19956765 Fault while reading out of a file.
19760158 19825694 19891230 19956766 Fault while writing into a file.
19760160 19825696 19891232 19956768 Unexpected end of file.
19767297 19832833 19898369 19963905 Access to file has been denied since the file is
already accessed from another position
19767301 19832837 19898373 19963909 I/O fault when accessing the file system
19767308 19832844 19898380 19963916 RAM is full
19767309 19832845 19898381 19963917 Access authorisation denied
19767324 19832860 19898396 19963932 No free memory on the memory module

Activate parameter set 1 ... 4 ( 132)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.38 Load cam data
The C00002 = "501: Load cam data" device command serves to reload cam data from the memory
module into the controller.
 Note!
If you transfer the parameter set or the application from »Engineer« to the controller,
the cam data are also transferred automatically to the controller.
• The new/altered cam data are accepted in the controller according to the online
change mode set.
• Thus, normally this device command does not need to be executed manually.

Cam data Cam data
Cam application
[5-22] "Load cam data" function
• If the cam data are provided with an access protection, the user password has to be entered in
C02900 first.
 Tip!
Detailed information on the online change mode and the access protection can be found in
the chapter "Basic drive functions", subchapter "Cam data management". ( 584)
Process
1. The cam data are completely loaded from the memory module into the main memory of the
controller.
2. The present cam data in the application unit are converted to the internal unit [increments] and
are reorganised.
3. The processed cam data are stored in a separate main memory that can be accessed by the cam
application.
5 Drive interface
5.2 Device commands
________________________________________________________________


32875521 No cam data available on the memory module
32875523 Loading of the cam data failed
32875525 Checksum error
32875542 Wrong password entered
32875545 The cam functionality is deactivated

Save cam data ( 138)
Calculate cam data ( 140)
Calculate cam data checksum ( 141)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.39 Save cam data
The C00002 = "502: Save cam data" device command serves to save the cam data available in the
main memory of the controller with mains failure protection in the memory module.

Cam data Cam data
Cam application
[5-23] "Save cam data" function
• This function is executed in the background and is also possible when the controller is enabled
and the application is running.
• However, this function is only executed if valid cam data are available.
• The cam data can also be saved if previously no cam data have been available on the memory
module.
• While the function is executed, no online change and no change of the cam data via parameters
can be carried out.
• For saving the cam data, you do not need to enter a possibly existing user password (C02900).
 Tip!
Detailed information on the access protection can be found in the chapter "Basic drive
functions", subchapter "Cam data management". ( 584)
5 Drive interface
5.2 Device commands
________________________________________________________________


32941057 No cam data to be saved are available in the RAM of the controller
32941060 Saving of the cam data failed

Load cam data ( 136)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.40 Calculate cam data
The C00002 = "503: Calculate cam data" device command converts the cam data stored in the main
memory of the controller to the internal format and makes them available to the application. This,
for instance, is necessary if one or more machine parameters affecting the internal scaling of cam
data have been changed.
• The status signal bNewDataAvailable of the basic drive function "Cam data management"
(LS_CamInterface system block) is set to TRUE and the cam data are accepted automatically or
manually depending on the online change mode set. After successful data acceptance, the
status signal bNewDataAvailable is automatically reset to FALSE.
• The user password does not have to be entered in C02900.
• While the function is executed, no online change and no change of the cam data via parameters
can be carried out.
• This function is executed in the background and can also be activated when the controller is
enabled and the application is running.
 Tip!
Detailed information on the cam functionality can be found in the chapter "Basic drive



5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.41 Calculate cam data checksum
The C00002 = "504: Calculate cam data checksum" device command is used to recalculate the
checksum of the cam data available in the main memory of the controller. This is required if the cam
data in the main memory of the controller have been changed via parameters. Afterwards the cam
data can be converted to the internal format using the "503: Calculate cam data" device command,
or they can be saved with mains failure protection in the memory module using the "502: Save cam
data" device command.
• The user password does not have to be entered in C02900.
• This function is executed in the background and can also be activated when the controller is
enabled and the application is running.
 Tip!
Detailed information on the cam functionality can be found in the chapter "Basic drive



5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.42 Format file system
The C00002 = "1030: Format file system" device command is used to format the file system in the
memory module.
 Note!
By means of this device command all folders and files in the file system of the memory
module are irrevocably deleted!
The application has to be downloaded again with »Engineer«.


Restore file system ( 143)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.43 Restore file system
The C00002 = "1040: Restore file system" device command is used to execute a low level formatting
of the file system in the memory module.
 Note!
By means of this device command all folders and files in the file system of the memory
module and all pieces of internal information for the management of the file system are
irrevocably deleted!
 Stop!
The low level formatting of the file system by the user is only intended for the
exceptional case when the standard formatting of the file system via the
C00002 = "1030: Format file system" device command is no longer possible, e.g. due to
damaged internal management information.

Format file system ( 142)
5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.44 Prepare firmware update
 Note!
For Lenze service only!
The C00002 = "10000: Prepare firmware update" device command is used to set the
controller to the firmware update mode to update the firmware, if required, using the
corresponding software.

5 Drive interface
5.2 Device commands
________________________________________________________________
5.2.45 Restart controller
The C00002 = "11000: Restart controller" device command is used to restart the controller via
parameter setting.

 Note!
Due to the restart at the successful execution of the device command, this status is no
longer displayed in C00003.
If this device command is used, the message "Undervoltage in the DC bus (0x007b000f)"
may appear in the logbook.
5 Drive interface
5.3 Device states
________________________________________________________________
5.3 Device states
The state control of the drive is controlled internally via a state machine which can adopt the
following "device states":
Power on
Controller inhibit
Initialisation System fault
active active
0
Safe
Fault
torque off
active
active
Warning/
Ready to
switch on 2 Warning locked
active
Switched
on Operation
Quick stop
Trouble
by trouble
active
active
,  From all states

 "Warning active" or "Warning locked active" contradicts the definition of a device status. It is a message
which is intended to draw attention to a device status for which there is a reason for a warning.
Status "Warning active"/"Warning locked active" can occur simultaneously with other states.
[5-24] Device state machine
 Note!
The device states of the controller must not be confused with the function states of the
Basic drive functions. ( 412)
• In the device state "Operation" the Basic drive functions define the motion control of
the drive.
5 Drive interface
5.3 Device states
________________________________________________________________
Display parameters for diagnostic purposes

• In C00183 the current device state is shown.
• In C00150 (status word 1) the current device state is shown in a bit coded manner via
bits 8 ... 11:
Bit 11 Bit 10 Bit 9 Bit 8 Meaning

0 0 0 0 "Initialisation active" state
0 0 0 1 "Device is ready to switch on" state
0 0 1 0 -
0 0 1 1 "Device is switched on" state
0 1 0 0 -
0 1 0 1 -
0 1 1 0 "Operation" state
0 1 1 1 "Trouble active" state
1 0 0 0 -
1 0 0 1 -
1 0 1 0 "Quick stop by trouble active" state
1 0 1 1 "Safe torque off active" state
Observe LED on the safety module!
1 1 0 0 "Fault active" state
1 1 0 1 -
1 1 1 0 -
1 1 1 1 -
x x x x Displayed message "Warning active" or "Warning locked active"
The displayed message can occur at the same time as the device
states "Device is ready to switch on", "Device is switched on" and
"Operation", if a monitoring component responds for which the error
response "Warning" has been parameterised.
• C02530 displays the active function state.
LED status displays

The control of the two LEDs "DRIVE READY" and "DRIVE ERROR" in the middle of the controller's front
panel depends on the device state. LED status displays for the device state ( 631)
5 Drive interface
5.3 Device states
________________________________________________________________
Influence of the status signals of the SB LS_DriveInterface by the device state
Status signals
(Outputs of the SB LS_DriveInterface)
Device status DI_bReady DI_bFail DI_bImp DI_bCInh DI_bWarning DI_bReady DI_bOperation
Active Active Active Active ToSwitchOn Enabled
Initialisation active FALSE FALSE TRUE TRUE FALSE FALSE FALSE
Safe torque off active FALSE FALSE TRUE TRUE TRUE/FALSE FALSE FALSE
Device is ready to switch on FALSE FALSE TRUE TRUE TRUE/FALSE TRUE FALSE
Device is switched on TRUE FALSE TRUE TRUE TRUE/FALSE FALSE FALSE
Operation TRUE FALSE FALSE FALSE TRUE/FALSE FALSE TRUE
Warning active TRUE/FALSE TRUE/FALSE TRUE/FALSE TRUE/FALSE TRUE TRUE/FALSE TRUE/FALSE
Warning locked active TRUE/FALSE TRUE/FALSE TRUE/FALSE TRUE/FALSE TRUE TRUE/FALSE TRUE/FALSE
Quick stop by trouble active FALSE TRUE FALSE FALSE TRUE/FALSE FALSE FALSE
Trouble active FALSE FALSE TRUE TRUE TRUE/FALSE FALSE FALSE
Fault active FALSE TRUE TRUE TRUE TRUE/FALSE FALSE FALSE
System fault active FALSE TRUE TRUE TRUE TRUE/FALSE FALSE FALSE
Internal interfaces | "LS_DriveInterface" system block ( 158)
5.3.1 "Initialisation active" state
LED DRIVE READY LED DRIVE ERROR Display in C00183

OFF OFF 10: Initialisation active
This is the status of the controller directly after switching on the supply voltage.
• In this device state the operating system is initialised.
• The application is not yet processed.
• The monitoring functions are not active yet.
• Communication is not possible yet.
• The controller cannot be parameterised yet and no device commands can be carried out yet.
• When the device initialisation is completed, the device state is automatically changed to "Safe
torque off active".
5 Drive interface
5.3 Device states
________________________________________________________________
5.3.2 "Safe torque off active" state

OFF 101: Safe torque off active
This device state becomes active if the controller receives the "Safe torque off" request by the safety
module.
• "Drive is torqueless" (0x00750003) is entered in the logbook.
• If no corresponding request by the safety module is available, a change to the subsequent state
"Device is ready to switch on" is effected.
 Note!
The "Safe torque off active" status is also passed through after an error has been
acknowledged (see illustration [5-24]).
5.3.3 "Device is ready to switch on" state

OFF "Device is ready to switch on"
This is the device state of the controller directly after the initialisation has been completed and
where no DC-bus voltage is applied yet.
• The bus systems are running and the terminals and encoders are evaluated.
• The monitoring functions are active.
• The controller can be parameterised and device commands can be executed to a limited extent.
• The application is basically executable.
• The functions of the user task can be used.
• Precondition: The application has started (status display in C02108).
• The basic drive functions cannot be used yet.
 Note!
The "Device is ready to switch on" status is not only activated after mains connection but
also after reset of "Trouble", "Fault", or "Safe torque off active".
• In order to change from the "Device is ready to switch on" to the "Device is switched
on" status when C00142 = "0: inhibited", at least one of the controller inhibit sources
must be active.
• When C00142 = "1: Enabled", the "Device is ready to switch on" status directly
changes to the "Device is switched on" status.
5 Drive interface
5.3 Device states
________________________________________________________________
 Danger!
If automatic restart is enabled (C00142 = "1: Enabled"), the drive can restart
automatically from the "Trouble" and "Safe torque off" device states when the trouble or
request for "Safe torque off active" has been eliminated!
Automatic restart after mains connection/trouble... ( 153)
5.3.4 "Device is switched on" state

OFF 90: Drive is switched on
The drive is in this device status if the DC bus voltage is applied and the controller is still inhibited
by the user (controller inhibit).
• The bus systems are running and the terminals and encoders are evaluated.
• The monitoring functions are active.
• The controller can be parameterised and device commands can be executed to a limited extent.
• The application is basically executable.
• The functions of the user task can be used.
• Precondition: The application has started (status display in C02108).
• The basic drive functions cannot be used yet.
• If the controller is enabled, the motor builds up a torque.
5.3.5 "Operation" state

OFF 0: Operation
In this device state the motor follows its setpoint according to the basic drive function selected.
5 Drive interface
5.3 Device states
________________________________________________________________
5.3.6 "Warning active"

1: Operation/warning active
This displayed message can occur at the same time as the device states "Device is ready to switch
on", "Device is switched on" and "Operation", if a monitoring component responds for which the
error response "Warning" has been parameterised.
5.3.7 "Warning locked active"

2: Operation/warning locked active
This displayed message can occur at the same time as the device states "Device is ready to switch
on", "Device is switched on" and "Operation", if a monitoring element responds for which the error
response "Warning locked" has been parameterised.
 Note!
Do not use this error response if a higher-level control unit with the CANopen device
profile CiA402 (e.g. 9400 ServoPLC) is used.
5.3.8 "Quick stop by trouble active" state

151: Quick stop by trouble active
This device state becomes active as soon as a monitoring function responds for which the "Quick
stop by trouble" error response has been parameterised.
• The drive is decelerated to standstill with torque within the deceleration time parameterised for
quick stop independently of the defined setpoint and can be kept there.
• The device status can only be abandoned by acknowledging the error if the error cause is
removed.
• It is also possible to skip to the "Operation" state during the error status by setting controller
inhibit, as controller inhibit has a higher priority. As long as the error is still available and has not
been acknowledged, a change back to the "Quick stop by trouble active" state is effected when
the controller is enabled afterwards.
5 Drive interface
5.3 Device states
________________________________________________________________
5.3.9 "Trouble active" state

OFF 104: Trouble active
This device state becomes active as soon as a monitoring function responds for which the "Trouble"
error response has been parameterised.
• The motor has no torque (is coasting).
• The device state is automatically exited if the error cause is eliminated:
• "Trouble active" state < 500 ms: Return to the original device state.
• "Trouble active" state > 500 ms: Return via the device state "Safe torque off active".
5.3.10 "Fault active" state

OFF 102: Fault active
This device state becomes active as soon as a monitoring function responds for which the "Fault"
error response has been parameterised.
5.3.11 "System fault active" state

OFF 20: System fault active
This device status becomes active if a system fault occurs.

• The device state can only be exited by mains switching.
5 Drive interface
5.4 Automatic restart after mains connection/trouble...
________________________________________________________________
.../Fault/"Safe torque off active"

In C00142, the starting performance of the controller after mains connection and reset of "Trouble",
"Fault", or "Safe torque off active" can be parameterised.
 Danger!
 Note!
The automatic restart is inhibited in the Lenze setting! Set the selection "1: Enabled" in
C00142.
Auto-start option 0: Auto restart inhibited after mains connection

Controller inhibit always has to be set if the controller is to change from the "Ready to switch on"
state to the "Switched on" state after mains connection or reset of "Trouble", "Fault", or "Safe torque
off active". The following change to the "Operation" state is performed when the controller is
enabled:
0 1
RFR
Initialisation Ready to switch on Switched on Operation
RFR
t
RFR
RFR
t
 Controller pulses are inhibited

 Controller pulses are enabled
 With controller inhibit after power-on
 Without controller inhibit after power-on
[5-25] State change when auto-restart is inhibited (C00142 = "0: Inhibited")
5 Drive interface
________________________________________________________________
Auto-start option 1: Auto restart enabled after mains connection

The following illustration shows the state changes for the auto-start option 1 and their relationship
to controller inhibit:
0 1
RFR
RFR
t
RFR
RFR
t
 Controller pulses are inhibited

 Controller pulses are enabled
 With controller inhibit after power-on
 Without controller inhibit after power-on
[5-26] State change when auto-restart is enabled (C00142 = "1: Enabled")
5 Drive interface
5.5 Device output power
________________________________________________________________
The parameters described in the following subchapters influence the output power of the
controller.
5.5.1 Switching frequency
The controller uses a pulse-width modulation to generate its output voltage. The switching
frequency is used to change the control factor of the pulse-width modulation.
Automatic switching frequency reduction

In the Lenze setting, the "variable" switching frequency "8 kHz" has been selected in C00018, which
means that the controller automatically reduces the switching frequency depending on the
setpoint current.
• Depending on the current amount, it is changed down to an assigned switching frequency.
• The switching thresholds are device-dependent (see 9400 hardware manual, chapter "Rated
data").
• If a fixed switching frequency is selected in C00018 instead of a variable one, there is no
switching frequency changeover, however, (due to the field frequency range 0...5 Hz) it can only
be traversed at a low continuous current and low maximum currents (see 9400 hardware
manual, chapter "Rated data").
 Note!
If parameterisation is carried out offline or if the memory module is exchanged between
different »9400 ServoPLC« device types, always check the setting of the switching
frequency in C00018 and adapt it, if required, to prevent a parameter error after the
parameter set download or module change!
The maximum output frequency of the controller is limited to 1/8 of the switching
frequency selected in C00018! (See the following table.)
Switching frequency (C00018): 1 kHz 2 kHz 4 kHz 8 kHz 16 kHz

Maximum output frequency: 125 Hz 250 Hz 500 Hz 1000 Hz 1999 Hz
Motor - number of pole pairs: Maximum speed [rpm]
1 7500 15000 30000 60000 120000
2 3750 7500 15000 30000 60000
3 2500 5000 10000 20000 40000
4 1875 3750 7500 15000 30000
5 1500 3000 6000 12000 24000
6 1250 2500 5000 10000 20000
 Tip!
If a load profile and a fixed setting of the switching frequency (e. g. 8 kHz fixed) are given,
an I x t disconnection due to a high device utilisation can be avoided by selecting the
variable setting for the same switching frequency instead. Monitoring of the device
utilisation
5 Drive interface
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Reduced switching losses through switching frequency reduction

The advantage of a switching frequency reduction are the reduced switching losses in the
controller, which are monitored via an I x t evaluation.
• A reduced switching frequency enables a greater current-time area at the output than it would
be the case with a higher switching frequency. However, depending on the process, you always
have to make a compromise between the torque ripple and the output power.
5.5.2 Monitoring of the device utilisation
In C00064 the device utilisation (I x t) is displayed over the last 180 seconds in [%].
• If the value displayed in C00064 exceeds the warning threshold set in C00123, the error
message "device utilisation Ixt > C00123" is output and the fault response set in C00604 occurs
(default setting: "Warning").
• If the value displayed in C00064 exceeds 100 %, the error message "device utilisation Ixt
> 100 %" is output and the "Fault" error response occurs.
• The fault can only be reset if the value displayed in C00064 is < 95 % again.
5 Drive interface
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5.5.3 Operation with increased continuous power
If required, operation with an increased continuous power for the switching frequencies 1 kHz and
2 kHz can be activated in C01199 for controllers from the device size 8S, if the following
requirements are met:
• Controller is of E94AxxE1454 ... E94AxxE6954 type (device size 8S ... 10).
• The maximum current (C00022) is < 150 % of the rated device current.
 Stop!
During operation with increased continuous power, the max. permissible ambient
temperature is reduced to 40 °C.
The overload current must be reduced. An overload current of 180 % for 10 s is no longer
permissible during operation with increased continuous power.
 Note!
To activate operation with increased continuous power, controller inhibit must be set in
the controller.
The "activated" setting in C01199 is automatically reset to "deactivated" (without error
message) if the previously mentioned requirements are not (no longer) met.
• This is also the case if the memory module is plugged into a controller of the small
design 8 (device exchange).
 Tip!
The permissible output currents and overload factors for operation with increased
continuous power for different device types can be found in the Hardware Manual in the
"Rated data" chapter.
5 Drive interface
5.6 Internal interfaces | "LS_DriveInterface" system block
________________________________________________________________
LS_DriveInterface
DI_bSetCInh DI_dnState
DI_bResetError1 DI_bReady
DI_bResetError2 ³1 DI_bFailActive
DI_bResetError3 DI_bImpActive
DI_bSetExternError DI_bCInhActive
DI_bSwitchOn DI_bWarningActive
DI_bUVDetected
DI_bOVDetected
DI_bMainSupplyOk
DI_bReadyToSwitchOn
DI_bOperationEnabled
DI_dwErrorCode
DI_AxisData
Inputs
Identifier Information/possible settings

DIS code | data type
DI_bSetCInh Set/remove controller inhibit

C02549/1 | BOOL • The controller can be inhibited by different sources, e.g. via the digital input RFR
or using the device command "Inhibit controller". ( 110)
• The bit code under C00158 shows the source that inhibited the controller.
TRUE Set controller inhibit.
• The power output stages in the controller are inhibited and the
speed, current, and position controller of the motor control are
reset.
TRUEFALSE Remove controller inhibit.
• Please note that the controller will only be enabled if all sources
for controller inhibit are reset!
DI_bResetError1 Error message reset (acknowledgement)
C02548/1 | BOOL • This function resets an active error message if the cause of the error message has
DI_bResetError2 been eliminated.
C02548/2 | BOOL • The three inputs are linked via a logic OR gate.
DI_bResetError3
C02548/3 | BOOL TRUE Reset (acknowledge) error message.
DI_bSetExternError Activation of "External error" error message
C02548/4 | BOOL Monitoring of external events ( 162)
TRUE Activate error message with the response selected in C00581.
DI_bSwitchOn Deactivate switch-on inhibit
C02549/4 | BOOL • If the automatic restart is inhibited (C00142 = "0"), the state machine remains in
the "Device is ready to switch on" state after mains switching.
"Device is ready to switch on" state ( 149)
FALSETRUE The switch-on inhibit is deactivated and the controller changes to
the device state "Device is switched on".
5 Drive interface
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Outputs
Identifier Value/meaning
DI_dnState Status (bit coded)

C02547 | DINT
Status signals of the currently enabled basic function (if available):
Bit 0 -
Bit 1 Basic function is active (signal bActive).
Bit 2 Basic function is completed (signal bDone).
Bit 3 Acceleration/deceleration phase is active (signal bAccDec).
Bit 4 -
Bit 5 CCW rotation is active (signal bCcw).
Bit 6 -
Bit 7 Reference known.
Bit 8 Brake is open.
Bit 9 Waiting for clutch condition.
Bit 10 Zero crossing detected or position = "0".
Bit 11 -
Bit 12 -
Bit 13 -
Bit 14 -
Bit 15 Fault in active basic function (group signal).
Status signals of the internal state machine for the basic functions:
Bit 16 Torque follower active.
Bit 17 Speed follower active.
Bit 18 Position follower active.
Bit 19 Setpoint follower is active (group signal for bit 16 ...18).
Bit 20 Positioning active.
Bit 21 Homing active.
Bit 22 Manual jog active.
Bit 23 Brake test is active.
Bit 24 Drive at standstill.
Bit 25 Drive is stopped.
Bit 26 Quick stop active.
Bit 27 -
Bit 28 Controller is not ready.
Bit 29 Initialisation
Bit 30 State "Fault active" (signal DI_bFailActive).
Bit 31 State machine is not ready to receive setpoints.
(Group signal for bit 28 ... 30)
DI_bReady Status signal "controller is ready for operation"
C02549/6 | BOOL
TRUE The controller is ready for operation.
DI_bFailActive Status signal "Error active - acknowledgement required"
C02549/7 | BOOL
TRUE Monitoring with the "Fault" or "Quick stop by trouble" error response
has responded and the controller is in the device state "Fault active"
or "Quick stop by trouble active".
For exiting the device state the fault has to be acknowledged, e. g. via
the input DI_bErrorReset1...3.
5 Drive interface
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DI_bImpActive Status signal "Pulse inhibit set"

C02549/8 | BOOL
TRUE The power output stages are switched to high impedance.
DI_bCInhActive Status signal "Controller inhibit active"
C02549/9 | BOOL
TRUE The controller inhibit is active.
DI_bWarningActive Status signal "Warning active"
C02549/10 | BOOL
TRUE A warning is active in the controller.
DI_bUVDetected Status signal "Undervoltage detected"
C02549/11 | BOOL • The threshold for this monitoring function depends on the setting under C00173.
TRUE Undervoltage detected in DC bus.
DI_bOVDetected Status signal "Overvoltage detected"
C02549/12 | BOOL • The threshold for this monitoring function depends on the setting under C00173.
TRUE Overvoltage detected in DC bus.
DI_bMainSupplyOk Status signal "Mains voltage is applied"
C02549/13 | BOOL
TRUE A voltage is applied to the mains voltage inputs L1, L2 and L3.
DI_bReadyToSwitchOn Status signal "Controller ready to switch on"
C02549/14 | BOOL
TRUE The controller has completed the initialisation and is in the "Device
is ready to switch on" device state.
DI_bOperationEnabled Status signal "Operation is enabled"
C02549/15 | BOOL
TRUE The controller is in the "Operation" device state and the motor
follows its setpoint according to the selected basic drive function or
is at standstill due to stop or quick stop.
DI_dwErrorCode Error number of the current error message
DWORD Error messages of the operating system ( 642)
DI_AxisData Data structure, which contains all required machine constants.
5 Drive interface
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5.6.1 Status signals
The following representation shows which status signals of the drive interface are set to TRUE in
different typical cases:
Case 1:
Application has been transmitted to the controller.
No mains voltage available (LU fault).
Controller is inhibited (via RFR terminal).
Case 2:
Mains voltage has been connected.
Case 3:
Controller inhibit has been deactivated.
Case 4:
Fault is active.
Case 5:
Quick stop by trouble is active
Status Status signal (output)
Ready for operation   DI_bReady
Fault active   DI_bFailActive
Pulse inhibit active    DI_bImpActive
Controller inhibit active    DI_bCInhActive
Warning is active DI_bWarningActive
Undervoltage detected  DI_bUVDetected
Overvoltage detected DI_bOVDetected
Mains supply is ok     DI_bMainSupplyOk
Ready to switch on DI_bReadyToSwitchOn
Operation enabled  DI_bOperationEnabled
5 Drive interface
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5.6.2 Monitoring of external events
Use the input DI_bSetExternError of the LS_DriveInterface system block to monitor external events
by means of corresponding logic operations and activate the error message "External error" in the
controller.
Parameterising a response to an external error

The controller response to the error message "External error" can be selected under C00581.
Activation of "External error" error message

The error message "External error" is activated by setting the input DI_bSetExternError to TRUE.
• After this, the error number for the error message "External error" "0x20750000" (when "Fault"
has been selected as response) will be stored in the internal fault memory (C00168).
Reset error message

The error message "External error" and other active error messages are reset by setting the input
DI_bResetError to TRUE.
• If the input DI_bSetExternError is still set to TRUE, the reset will not be carried out.
• Error messages can only be reset if the cause of the error has been eliminated.
6 Motor interface
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6 Motor interface
This chapter provides you with information on initial commissioning of the motor and the
parameterisation of the internal motor control of the controller.
 Note!
The motor interface contains all control functions that are not provided by other basic
drive functions.
To select application-specific setpoints, the motor interface can be extended by
appropriate interfaces using the basic functions "Speed follower", "Torque follower" and
"Position follower".
The application-specific conditioning of the encoder signals is executed with the basic
function "Encoder evaluation".
6 Motor interface
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 How to get to the dialog for setting the motor interface parameters:
3. Click the following button of the Overview dialog level:
• The white buttons indicate the configuration of the motor interface inputs. Internal
interfaces | "LS_MotorInterface" system block ( 277)
• The configuration is predefined by the technology application selected (in this example
"Actuating drive – speed"). If required, this configuration can be changed by clicking the
corresponding buttons.
• If you click a button marked with the symbol, you go one level deeper in the corresponding
parameterisation dialog.
6 Motor interface
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6.1.1 Reading out motor data from the controller
If the Lenze motor connected to the controller has an electronic nameplate (ENP), the motor does
not need to be selected in the »Engineer« motor catalogue.
• With the first switch-on of the controller all motor data are automatically read out from the
electronic nameplate of the motor and at first are saved temporarily within the controller.
• For a permanent acceptance of the motor data, the parameter set must be saved (C00002 = "11:
Save start parameters").
• If there is an online connection between »Engineer« and the controller, the motor data can be
accepted from the controller to the »Engineer« project.
 How to read out the motor data from the controller:

1. Establish an online connection between »Engineer« and controller.
2. Select the Application parameters tab and change to the Overview  Motor  Motor dialog
level.
3. Click on the From Drive button.
• Then the motor data are read out of the controller and directly written into the
corresponding codes of the »Engineer« project.
Display parameters for electronic nameplate (ENP)

Value Unit
C00186 ENP: Identified motor type -

C00187 ENP: Identified serial number -
C00188 ENP: Status -
6 Motor interface
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6.1.2 Selecting a motor from the motor catalogue in the »Engineer«
If the Lenze motor does not have an electronic nameplate (ENP) or if a motor of a third-party
manufacturer is used, select the motor in »Engineer« via the motor catalogue and transfer the
motor data to the controller.
• If a checkmark is set in the Motor control field in the "Other components" dialog when the
controller is inserted into the project, the motor for the controller can be selected from the
motor catalogue in another dialog:
• Alternatively, the motor can be inserted into the project at a later time via the Insert a
component command.
 Tip!
If a third party manufacturer's motor is used, select a Lenze motor from the motor
catalogue first which is similar in terms of current, voltage and speed rating. Adapt the
preselected motor data exactly to the real motor afterwards.
Displaying/editing motor data in »Engineer« ( 167)
6 Motor interface
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6.1.3 Displaying/editing motor data in »Engineer«
The term "Motor data" combines all parameters that only depend on the motor. They solely
characterise the electrical behaviour of the machine.
• The motor data do not depend on the application in which the controller and motor are used.
• The motor data are, if available in »Engineer« via electronic nameplate or motor catalogue,
accepted by the controller without confirmation prompt.
In »Engineer« the motor data are shown on the Application parameters tab in the dialog level
OverviewMotorMotor:
• If you use a motor of a third-party manufacturer, the displayed motor data can be adapted
exactly to the existing motor by clicking the From Project button and then selecting the "Own
motor settings" entry in the Motor selection dialog box.
• Via the From Motor Catalogue button, the motor catalogue can be opened to select another
motor. Selecting a motor from the motor catalogue in the »Engineer« ( 166)
• If an online connection has been established, the motor data set in the controller can be
accepted in »Engineer« via the button From Drive. Reading out motor data from the controller
( 165)
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Overview of motor data
Parameter Info Lenze setting *

Value Unit
C00052 Motor voltage - V

C00054 Motor current - A
C00057/1 Maximum torque - Nm
C00057/2 Motor reference torque - Nm
C00059 Motor - number of pole pairs -
C00060 Rotor position -
C00079 Mutual motor inductance - mH
C00081 Rated motor power kW
C00082 Motor rotor resistance - Ohm
C00083 Motor rotor time constant - ms
C00084 Motor stator resistance Ohm
C00085 Motor stator leakage inductance mH
C00087 Rated motor speed rpm
C00088 Rated motor current A
C00089 Rated motor frequency Hz
C00090 Rated motor voltage V
C00091 Motor cosine phi
C00092 Motor magnetising current - A
C00128/1 Therm. time constant coil min
C00128/2 Therm. time constant plates min
C00273/1 Motor moment of inertia kg cm²
C01190 Motor thermal sensor
C01191/1 Spec. characteristic: temperature °C
C01191/2 Spec. characteristic: temperature °C
C01192/1 Spec. characteristic: resistance Ohm
C01192/2 Spec. characteristic: resistance Ohm
Highlighted in grey = display parameter * depending on the selected motor type
 Note!
If the motor has been selected via the »Engineer« motor catalogue, or if the motor data
have been adapted offline in »Engineer«, all motor data have to be transferred to the
controller afterwards when an online connection has been established and have to be
saved in the memory module with mains failure protection (device command C00002 =
"11: Save start parameters").
6 Motor interface
6.2 Select motor control
________________________________________________________________
In C00006 the motor control is selected; the default is the servo control for synchronous motors.
Alternatively to the servo control, also the V/f control and the sensorless vector control are provided
in C00006:
Open/closed loop control Detailed information

1 SC: Servo control for synchronous motor Servo control (SC) ( 190)
2 SC: Servo control for asynchronous motor
4 SLVC: Sensorless vector control Sensorless vector control (SLVC) ( 211)
6 VFCplus: V/f control open loop V/f control (VFCplus) ( 229)
7 VFCplus: V/f control closed loop V/f control (VFCplus) ( 245)
• The V/f control is the classic operating mode for standard applications.
• Compared to the V/f control, improved drive characteristics can be achieved with sensorless
vector control by:
• a higher torque across the entire speed range
• a higher speed accuracy and a higher concentricity factor
• Higher efficiency
M

MN
nN n
 V/f control
Sensorless vector control
[6-1] Comparison of V/f control and sensorless vector control
 Note!
Sensorless vector control (SLVC) is only approved for powers up to 55 kW and horizontal
applications (no hoists or lifting equipment)!
6 Motor interface
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For the V/f control and sensorless vector control the following table helps with the selection of the
correct control type:
Selection of the motor control in C00006

Motor cable Motor cable
shielded ≤ 50 m shielded > 50 m
unshielded ≤ 100 m unshielded > 100 m
recommended Alternatively recommended Alternatively
Single drives
With motor filter 6/7 - 6/7 -
With constant load 4 6/7 6/7 -
With extremely alternating loads 4 6/7 6/7 -
With high starting duty 4 6/7 6/7 -
Positioning and infeed drives 4 6/7 6/7 -
Winders/unwinders dancer 6/7 - 6/7 -
Pump and fan drives * 6/7 - 6/7 -
Three-phase reluctance motors 6/7 - 6/7 -
Three-phase sliding rotor motors 6/7 - 6/7 -
Three-phase AC motors with firmly assigned 6/7 - 6/7 -
voltage/frequency characteristic
Vertical drive/hoist (up to 55 kW) 6/7 - 6/7 -
(with VCC**) (with VCC**)
* For this application, we recommend a square-law voltage characteristic (C00950 = "1")
** VCC = voltage vector control
Group drives
Depending on the resulting motor cable length:
I res = i ⋅ ( I 1 + I 2 + ... + I i )
Identical motors and loads 4 6/7 6/7 -

Different motors and/or alternating loads 6/7 - 6/7 -
 Note!
For operation with motor encoder, we recommend to use the servo control!
For operation with motor filter, always use the V/f control!
6 Motor interface
6.3 Adjusting motor and controller to each other
________________________________________________________________
This "initial commissioning" of the motor is required if no motor data suitable for the application is
available yet in the memory module of the controller and in the »Engineer« project .
• The following step-by-step instructions can be used as a "check list" to correctly adjust the
motor and controller to each other.
• Detailed information on the individual steps can be found in the following subchapters.
Worksteps Motor control*

SC SLVC VFC
plus
1. Accepting/adapting plant parameters. ( 172)   

2. Parameterising motor encoder. ( 174)  ()
• Only required for the control types with speed feedback (servo control and V/f
control).
3. Pole position identification. ( 176) ()
• Only required:
• For servo control with synchronous motor of a third-party manufacturer.
• For servo control with synchronous motor and use of incremental encoders
(TTL or sin/cos encoders as well as multi-pole pair resolvers).
• After changes of the motor feedback system, e.g. encoder exchange.
4. Optimising the switching performance of the inverter. ( 183) ()  
• Only required for servo control if the motor parameters are to be defined by a
motor from a third-party manufacturer!
• Always required for sensorless vector control and open loop V/f control!
• An optimum drive performance can only be achieved with the sensorless
operating modes if the voltage errors in the inverter are compensated as
exactly as possible.
5. Determining the motor parameters. ( 186) () 
• Only required for servo control if the motor parameters are to be defined by a
motor from a third-party manufacturer!
• Always required for sensorless vector control!
• An optimum drive performance can only be achieved with the sensorless
vector control if the motor parameters correspond to the real motor as exactly
as possible.
* SC = servo control SLVC = sensorless vector control VFCplus = V/f control
6 Motor interface
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6.3.1 Accepting/adapting plant parameters
The "plant parameters" summarise all parameters which result from the combination of motor and
load. These characterise the transfer behaviour of the entire controlled system including the
required monitoring modes.
• The plant parameters depend on the application in which the controller and motor are used.
• When a Lenze motor is selected in the »Engineer«, plant parameters are suggested for this
motor for a load-free operation.
Overview of plant parameters
Parameter Info Lenze setting Motor control*

Value Unit SC SLVC VFC
plus
C00011 Motor reference speed 3000 rpm   

C00022 Maximum current 0.00 A   
C00070 Speed controller gain 0.500 Nm/rpm   1
C00071 Speed controller reset time 24.0 ms   1
C00072 Speed controller rate time 0.00 ms 
C00497 Speed act. val. time const. 2.0 ms   
C00596 Threshold max. speed reached 6500 rpm   
1
* SC = servo control SLVC = sensorless vector control VFCplus = V/f control open loop Only for V/f control closed loop
 Note!
If plant data have been adapted offline in »Engineer«, all plant data have to be
transferred to the control afterwards when an online connection has been established
and have to be saved in the memory module with mains failure protection (device
command C00002 = "11: Save start parameters").
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Motor reference speed

In C00011 the reference speed of the motor must be set.
 Note!
From the perspective of the application it has to be ensured that a maximum of 100 %
of the reference speed set in C00011 is requested as speed setpoint.
Maximum current
In C00022 the required maximum current must be set.
• To avoid that the motor starts unintentionally without adjusting the plant data, the maximum
current in the Lenze setting is set to "0 A" in C00022.
Ultimate motor current IULT

C00620 serves to check the set ultimate motor current IULT.
 Note!
When you select a Lenze motor from the catalogue and transfer the plant parameters of
the motor to the controller, the setting in C00620 is automatically adjusted to the
selected motor.
The ultimate motor current IULT is a limit value to protect the motor from destruction or influence
of the rated data.
• This limit value must not be travelled cyclically in the drive process.
• The maximum current parameterisable in C00022 should have a sufficient distance from this
limit value.
• If the instantaneous value of the motor current exceeds the limit value set in C00620 the
response set in C00619 is executed for motor protection (Lenze setting: Fault).
Maximum motor speed

Adapt the maximum motor speed in C00596 and select the error response required when this speed
limit has been reached in C00607.
6 Motor interface
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6.3.2 Parameterising motor encoder
 Note!
Only required for servo control and closed loop V/f control!
 Tip!
Detailed information on the encoder evaluation and on the use of a separate position
encoder can be found in the following main chapter "Encoder evaluation". ( 281)
• The motor encoder can be parameterised on the Application parameters tab of »Engineer« in
the Overview  Motor  Encoder dialog level.
• The following table shows the required settings for different encoder types:
Encoder type: Resolver CDD50 ITD21 ITD22 SEK... SKS... SCS70 SRS50 ECN1313 EQI1329
Tamagawa SEL... SKM... SCM70 SRM50 EQN1325
Motor type: MCS MCA MDFQA MDFQA MDxKS MCS MCS MCS
MCA LMR LMR MCA MCA MCA
MDxKS
MDXMA
C00495 0 1
Motor encoder Resolver Encoder
selection
C00080 1 - - - - - - - - -
Number of resolver
pole pairs
C00422 - 0 1 2 3
Encoder type Incremental encoder Sin/cos Absolute value encoder (Hiperface) Absolute value
(TTL signal) encoder encoder (EnDat)
C00420 - 2048 16 128 512 1024 2048 32

Number of encoder
increments
C00421 - 5V 8V 5V
Encoder voltage
 Danger!
If the encoder/resolver is used as motor encoder:
In case of error, safe operation of the motor is no longer guaranteed!
When servo control is used:
• For the (open circuit) monitoring of the encoder/resolver for reasons of safety always
the "Fault" response (Lenze setting) should be set!
When V/f control is used:
• For this type of motor control, the drive basically is to coast down after an encoder
failure and may not stop, therefore the "Warning" response is to be set for the (open
circuit) monitoring in this case!
6 Motor interface
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Short overview: Parameters for setting the response to (open circuit) monitoring

C00580 Resp. to encoder open circuit Fault
C00586 Resp. to resolver open circuit Fault
C00601 Resp. to encoder comm. error Fault
6 Motor interface
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6.3.3 Pole position identification
 Note!
Only required:
• For servo control with synchronous motor and use of incremental encoders (TTL or
sin/cos encoders as well as multi-pole pair resolvers).
For the control of permanent-magnet synchronous machines, the pole position – the angle between
the motor phase U and the field axis of the rotor – must be known.
• For Lenze motors with absolute value encoder or resolver, the pole position is already set
correctly in C00058/1...3.
• When incremental encoders (TTL or sin/cos encoders) are used, a pole position identification
(PPI) is always required after mains switching, even with Lenze motors.
• The controller can also evaluate multi-pole-pair resolvers.
• When the number of motor pole pairs is an integer multiple of the number of pole pairs of
the resolver, a pole position identification must only be executed once.
• When the number of motor pole pairs is no integer multiple of the number of pole pairs of
the resolver, a pole position identification must be executed after every mains switching.
• The device commands "Identify pole position (360°)" and "Identify pole position (min. motion)"
serve to determine the pole position for the motor encoder currently activated in C00495 (see
the following instructions).
 Danger!
The machine must not be braked or blocked during the pole position identification! For this
reason, the pole position identification is not permitted for hanging loads!
During the pole position identification the rotor aligns itself. The motor shaft moves by
max. one electrical revolution which causes the corresponding movement of the connected
mechanical components!
 Stop!
Check the correct parameterisation of the max. motor current monitoring (C00619 and
C00620) before carrying out the pole position identification to prevent the motor from
being permanently damaged.
6 Motor interface
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 Note!
If the pole position identification is aborted, the response parameterised in C00640 is
activated (Lenze setting: "Fault").
• Pay attention to this changed behaviour in the Lenze setting when updating the
firmware of existing systems!
• If this behaviour is not wanted, deactivate the monitoring by selecting "0: No
response" in C00640.
The pole position identification can be adjusted to the respective machine and the
prevailing moments of inertia by means of parameters.
Adjustment of the pole position identification ( 180)
 How to execute the pole position identification:

1. If the controller is enabled, inhibit the controller, e. g. with the device command
C00002 = "41: Inhibit controller".
2. Execute device command C00002 = "51: Identify pole position (360°)" or
device command C00002 = "52: Identify pole position (min. motion)".

The procedure starts with controller enable, if
• a synchronous machine is selected,
• no other identification is active,
• no error has occurred, and
• no test mode is activated.
If one of the above conditions is not met, the procedure is cancelled and the corresponding
device command status is indicated under C00003.
Note:
By means of controller inhibit, the procedure started can be cancelled anytime, if required,
without carrying out a change in C00058.
For detailed information about the corresponding procedure, please see the following
sections:
 Tip!
For controller enable all sources for controller inhibit must be reset. In C00158 the sources
for controller inhibit are displayed in a bit-coded manner.
The status of the device command activated under C00002 is indicated under C00003.
6 Motor interface
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Procedure for "pole position identification 360°"

If all conditions are met, the motor is energised with a direct current corresponding to the lower of
the following two values:
2 ⋅ Rated device current

or
2 ⋅ Rated motor current
• The rotor is aligned through the current flow. This is absolutely necessary for the procedure.
• To ensure that the torque-neutral axis is not accidentally energised and the rotor stops, a 45°
current vector is (electrically) generated for a short instant and then (electrically) switched back
to 0° (≡ phase U).
• Then a DC current of the above-mentioned value could be measured in this motor phase.
The next steps of the procedure depend on the feedback system used:
• If an absolute value encoder with Hiperface or EnDat protocol is used, the encoder position is set
to zero and the procedure is cancelled.
• If a resolver or an optical encoder without absolute track is used, the difference between the
preselected current angle and the mechanical rotor angle is determined. After this, the current
vector is (electrically) turned by another 22.5° and the difference between current angle and
rotor angle is determined once again.
• The procedure is repeated 16 times. This corresponds to one electrical revolution. The
machine rotates by 360° (mech.)/pole pair number.
• Take the average value of the 16 measurements to compensate for asymmetries.
Procedure for "pole position identification with minimal movement"

If all conditions are met, the motor current is increased step by step to the smaller of the following
two values:
25 % ⋅ 2 ⋅ Rated device current

or
25 % ⋅ 2 ⋅ Rated motor current
• By the current flow the rotor aligns itself, which, however, is compensated by a position control.
• If the rotor moves electrically by more than 20°, a fault message is output and the value
measured is rejected. This may occur in the case of motors with a noticeable detent torque.
• In order to detect a non-permissible blocking of the machine, a positive and negative test angle
(± 20°) relative to the current position are defined after the identification. The machine must
align itself to these two test angles within a tolerance of 25 %.
 Note!
In this procedure it is not written back into an optical absolute value encoder and all
feedback systems are treated the same way.
Unlike in the "pole position identification 360°" procedure where, when an optical
absolute value encoder is used, a "0" is entered into the encoder and into C00058/2, for
this procedure nothing needs to be entered into the encoder and the identification result
is entered into C00058/2.
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After successful completion...

...the controller is inhibited automatically and the pole position determined for the activated
feedback system is set in the corresponding subcode of C00058.
• For a permanent acceptance of the identified pole position, the parameter set must be saved
(C00002 = "11: Save start parameters").
• The next controller inhibit and subsequent controller enable serve to cancel the controller
inhibit automatically set by the procedure (e.g. by first executing the device command
C00002 = "41: Inhibit controller" and then executing the device command C00002 = "42: Enable
controller").
In the event of an error

If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to short-time
undervoltage), the procedure is terminated with controller inhibit without making a change in
C00058.
If the machine was braked or blocked during the procedure, this will be recognised at the end of the
measurement and no change is made in C00058.
If the pole position identification is aborted, the response parameterised in C00640 (Lenze setting:
"Fault"") is triggered and "Pole position identification cancelled" is entered in the logbook of the
controller.
 Tip!
The identification of pole position is additionally available as a basic function in the form
of the LS_PolePositionIdentification system block.
Basic drive functions:Pole position identification ( 602)
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6.3.3.1 Adjustment of the pole position identification

The two procedures for Pole position identification (PPI) described in the previous sections can be
adjusted to the respective machine and the prevailing moments of inertia by means of the
parameters described below.
 Note!
The two procedures for the pole position identification should give the same results. But,
due to e.g. friction, bearing forces and a trapezoidal field pattern, the results may differ.
A proportional increase of the current amplitude in C00641 or C00646 can counteract
this deviation.
Parameters for the pole position identification 360°

Value Unit
C00641 PLI 360° current amplitude 100 %

C00642 PLI 360° ramp time 100 %
C00643 PLI 360° traversing direction Clockwise rotating field
C00644 PolePosId 360° fault tol. 0 °
• The current amplitude can be adjusted proportionally in C00641.

• For large machines and high mass inertia values or for linear direct drives, the current
amplitude usually has to be increased.
• The Lenze setting "100 %" corresponds to the smaller of the two following values:

or
2 ⋅ Rated motor current
 Stop!
If there is no temperature monitoring in the motor and/or the I2xt motor monitoring and
the maximum current monitoring are not parameterised correctly, the motor may be
permanently damaged when the current amplitude is set too high (e.g. to the maximum
value)!
Motor monitoring (I2xt) ( 263)
Maximum current monitoring ( 276)
 Note!
If the current amplitude is set to 100 % in C00641 >, the device utilisation (Ixt)
monitoring and/or one of the motor monitoring functions may respond and cause the
abort of the pole position identification.
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• The ramp time can be adjusted proportionally in C00642.

• For large machines and high mass inertia values, the ramp time usually has to be increased.
• For small machines, a reduction of the ramp time can speed up the pole position
identification process.
• In some situations it may be helpful to reverse the travel direction (C00643) for the pole position
identification (e.g. for linear motor at the end stop).
• The "pole position identification 360°" procedure comprises a plausibility check. If the rotor
position determined via the encoder system does not correspond to the controlled output
position:
• the pole position identification procedure is aborted.
• the response parameterised in C00640 (Lenze setting: "Fault") is activated.
• the error message "Pole position identification cancelled" is entered into the logbook of the
controller.
• The preset fault tolerance for the plausibility check can be changed via C00644.
Parameters for the pole position identification with minimal movement

Value Unit
C00646 PolePosId min.mov. cur. amp. 100 %

C00647 PolePosId min.mov. cur.rise rate 100 %
C00648 PolePosId min.mov. gain Vp 0
C00649 PolePosId min.mov. reset time Tn 62.5 ms
C00650 PolePosId min.mov. max.perm.mov. 20 °
• The current amplitude can be adjusted proportionally in C00646.

• For large machines and high mass inertia values or for linear direct drives, the current
amplitude usually has to be increased.
• The Lenze setting "100 %" corresponds to the smaller of the two following values:

or
 Stop!
If there is no temperature monitoring in the motor and/or the I2xt motor monitoring and
the maximum current monitoring are not parameterised correctly, the motor may be
permanently damaged when the current amplitude is set too high (e.g. to the maximum
value)!
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 Note!
If the current amplitude is set to 400 % in C00646 >, the device utilisation (Ixt)
monitoring and/or one of the motor monitoring functions may respond and cause the
abort of the pole position identification.
• The rate of the current rise for the pole position identification can be adjusted proportionally in
C00647. The Lenze setting "100 %" corresponds to the fixed rise rate setting.
• The P component of the PI controller for the pole position identification can be adjusted in
C00648. With the Lenze setting "0", the PI controller continues to work as an I controller (as in
the previous software versions).
• The I component of the PI controller for the pole position identification can be adjusted in
C00649. Please observe the following notes:
• The variable Position.dnActualMotorPos can be used to monitor the deviation of the position
from the start position with the Oscilloscope function in »Engineer«.
• In order to be able to compensate a position deviation faster, first the reset time in C00649
should be reduced. If this does not result in the desired behaviour, the proportional gain can
be increased in C00648.
• Ensure that the position control does not get unstable. We therefore recommend to use an I
controller.
• The pole position identification comprises a monitoring function for the follow-up control. If a
movement greater than the permissible movement set in C00650 is detected by the encoder
system:
• the pole position identification procedure is aborted.
• the response parameterised in C00640 (Lenze setting: "Fault") is activated.
• the error message "Pole position identification cancelled" is entered into the logbook of the
controller.
• In order to detect a non-permissible blocking of the machine, a positive and negative test angle
relative to the current position are defined after the identification. The machine must align
itself to these two test angles within a tolerance of 25 %. The size of the test angle corresponds
to the max. permissible movement set in C00650.
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6.3.4 Optimising the switching performance of the inverter
 Note!
Only required for servo control if the motor parameters are to be defined by a motor
from a third-party manufacturer!
Always required for sensorless vector control and open loop V/f control!
• An optimum drive performance can only be achieved with the sensorless operating
modes if the voltage errors in the inverter are compensated as exactly as possible.
An inverter generates a pulse-width-modulated, three-phase voltage system. Due to the design of

the inverter, current-dependent and switching frequency-dependent losses inside of the inverter
falsify the voltage that is output. As the voltage that is output is not measured, the losses have to
be compensated by a suitable feedforward control. This compensation is based on an inverter error
characteristic.
Among other things, the inverter error characteristic depends on the length of the motor cable and
at least has to be individually determined once for the connected motor by means of the device
command "Calculate inv. characteristic". For an automatic determination of the motor parameters,
this ensures that the current has a sinusoidal form.
 Danger!
This procedure may only be carried out during commissioning, not during operation!
• During the procedure the motor is energised so that:
• it cannot be excluded that the connected mechanical components may move!
• the windings heat up.
If you repeat the procedure, ensure that the motor is not thermally overloaded
(particularly if no temperature feedback is used).
 Note!
For devices of the types 6 + 7 the Ixt monitoring may be activated during the inverter
error characteristic is determined.
Remedy: Only start identification at a device utilisation (C00066) of 0 % and/or reduce
rated motor current (C00088) and reset it to the original value after the identification.
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 How to determine the inverter error characteristic:

2. Execute device command C00002 = "71: Calculate inv. error characteristic".
3. The detection of the inverter error characteristic starts with the C00002 = "42: Enable
controller" device command (or, alternatively, with the controller enable via terminal RFR).
Note:
• By means of controller inhibit, the started procedure can be cancelled anytime, if
required. Characteristic values that have already been determined in this case are
rejected. Details on the procedure can be seen from the "Procedure" section below.
• After successful termination, the detected characteristic is set in the controller. The
inverter error characteristic must only be detected again if the controller, motor, or
motor cable has changed e.g. due to an exchange.
The following device commands are used to terminate the successful procedure:
4. Device command C00002 = "11: Save start parameters" for a permanent acceptance of the
characteristic.
5. Device command C00002 = "41: Inhibit controller"
6. Device command C00002 = "42: Enable controller"
 Tip!
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Process
The detection of the inverter characteristic is started if
If all conditions are met, the motor is energised with a maximum direct current corresponding to
the lower of the following two values:

or
2 ⋅ 1.8 ⋅ Rated motor current
• Ideally, the first value should be reached, the second value is to ensure that the load on the
machine is not too high during this test.
During the procedure, the motor current rises up to the specified maximum value and falls back to
"0" to repeat the cycle with a negative current sign.
• The maximum value is reached four times.
• The switching frequency is set to rated switching frequency and after the procedure, it is reset
to the original value.
• If the switching frequency should be changed later during operation, the characteristic will
be adapted to the current switching frequency.

undervoltage), the procedure is terminated with controller inhibit and the detected characteristic is
not considered.
 Tip!
If it is not possible to determine the "Inverter error characteristic", or if the results of the
determination are incorrect, the device command C00002 = "70: Load Lenze inverter
characteristic" can be used to load a characteristic typical for the device. Load Lenze INV
characteristic ( 118)
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6.3.5 Determining the motor parameters
 Note!
Only required for servo control if the motor parameters are to be defined by a motor
from a third-party manufacturer!
Always required for sensorless vector control!
• An optimum drive performance can only be achieved with the sensorless vector
control if the motor parameters correspond to the real motor as exactly as possible.
To control an electrical machine, the motor parameters must be known.

• The motor parameters for Lenze motors are known and are already set accordingly by selecting
them from the »Engineer« motor catalogue or reading out the ENP.
• The device command "Determine motor parameters" is used to automatically determine the
motor parameters for a third-party motor that are listed in the following table – if they are not
known:
Parameter Info ASM SM

C00079 Mutual motor inductance 
C00082 Motor rotor resistance 
C00084 Motor stator resistance  
C00085 Motor stator leakage inductance  
C00091 Motor cosine phi 
C00092 Motor magnetising current 
 Danger!
This procedure may only be carried out during commissioning, not during operation!
• During the procedure the motor is energised so that:
• it cannot be excluded that the connected mechanical components may move!
• the windings heat up.
If you repeat the procedure, ensure that the motor is not thermally overloaded
(particularly if no temperature feedback is used).
Preconditions
• For the automatic determination of the motor parameters it is required that first the switching
performance of the inverter has been optimised successfully, to ensure that the current has a
sinusoidal form. Optimising the switching performance of the inverter ( 183)
• The motor parameters listed in the following table are excluded from the automatic
determination and must be adapted to the motor used (see motor nameplate) before the
determination.
Parameter Info
C00081 Rated motor power
C00084 Motor stator resistance
(Default setting is used as starting value for the automatic determination.)
C00087 Rated motor speed
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Parameter Info
C00088 Rated motor current
(The current amount for the procedure is derived from this specification)
C00089 Rated motor frequency
C00090 Rated motor voltage
 Note!
For devices of the types 9 + 10 (from 132 kW) the automatic determination of the motor
parameters may fail and a corresponding status display is output.
Remedy: Parameterise the motor parameters manually by means of the manufacturer's
data sheet.
 How to determine the motor parameters:

2. Execute device command C00002 = "72: Determine motor parameters".
The procedure starts with controller enable, if
Note:
By means of controller inhibit, the started procedure can be cancelled anytime, if required,
without altering the codes for the motor parameters.
For detailed information about the procedure, please see the following section "Sequence".
 Tip!
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Process
If all conditions are met, the impedance of the controlled system is determined for approx. 30
different frequencies. These values are used to determine the electrical machine parameters by
means of a mathematical procedure.
• Since the procedure starts with very low frequencies and always considers several complete
periods, the whole process takes approx. 3 minutes.
• During the procedure, the motor is energised with a current, the r.m.s. value of which
corresponds to the lower of the following two values:
Rated device current

or
1
--- ⋅ Rated motor current
2
After the parameters have been extracted from the impedance, they are checked for consistency
with the required rated values. If an inconsistent parameter set is detected, is this an indication of
faulty rated values on the nameplate.
 Note!
During the procedure, the motor should not rotate.
With synchronous machines, this cannot always be ensured. Although the current flow
is produced in the torque-neutral axis, asymmetries in the machine lead to a rotation of
the rotor.
• In such a case, the measurement would be useless and would have to be repeated.
• As a remedy, we recommend to use a holding brake.
With asynchronous machines, slight rotations might possibly occur. Their influence on
the measurements is, however, not worth mentioning.
• In case of uncertainties, the measurement should be repeated several times to check
if the results for the stator resistance, the leakage inductance of the stator and the
rotor resistance differ widely. This should not be the case.
• The magnetising inductance and the cos(ϕ) values are not that important for the
diagnostics, because they are strongly non-linear.
After successful completion...

...controller inhibit is set automatically and the motor data determined are set in the corresponding
codes.
• For a permanent acceptance of the settings, the parameter set must be saved (C00002 = "11:
Save start parameters").
• With the device command C00002 = "42: Enable controller" the controller inhibit set
automatically during the procedure can be deactivated again.

undervoltage), the procedure is terminated with controller inhibit without changing the codes for
the motor parameters.
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Display and manual adjustment of motor data

In »Engineer« you can have an equivalent circuit diagram with the motor parameters displayed by
clicking on the Further motor data... button on the Application parameters in the dialog level
OverviewMotorMotor:
• The representation of the equivalent circuit diagram depends on the motor control selected
(C00006).
• The motor stator resistance (C00084) and motor stator leakage inductance (C00085) can be
altered directly via the input fields in the equivalent circuit diagram.
• The motor magnetising current (C00092) is displayed as comparison value to the motor current
(C00054).
• The motor magnetising current must especially be observed in case of a no-load operation,
both at standstill and with rated speed.
• The motor magnetising current is directly calculated from the rated motor current (C00088)
and the motor power factor (C00091).
• The mutual motor inductance can be indirectly adapted via the parameter Lh adjustment
(C02861) in the range of 50 ... 200 %. The mutual motor inductance evaluated in percent is
shown in C00079.
• The motor rotor resistance can be indirectly adapted via the parameter Rr adjustment (C02860)
in the range of 50 ... 200 %. The motor rotor resistance evaluated in percent is shown in C00082.
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In the Lenze setting the servo control for synchronous motors is selected in C00006.
After the motor and controller are optimally adjusted to each other, no more basic settings are
required for servo control.
 Tip!
How to optimise the control behaviour and adjust it to the concrete application is described
in the chapter "Optimising the control mode". ( 191)
The parameterisable additional function "Field weakening for synchronous machines" is
provided for the servo control. ( 254)
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6.4.1 Optimising the control mode
The "optimisation steps" given in the following table serve to further optimise the control behaviour
of the servo control and adjust it to the concrete application.
Optimisation steps
1. Optimise current controller. ( 192)
• The current controller should always be optimised if a motor of a third-party manufacturer with
unknown motor data is used!
Parameterise selected technology application in »Engineer« and load it into the controller.
• See description of the corresponding technology application.
• During operation (with setpoint selection) further steps can be carried out to optimise the motor control:
2. Optimising the speed controller. ( 195)
• Via running a typical speed profile and recording the ramp response of the speed controller with the
oscilloscope.
3. If the speed controller optimisation did not achieve the intended result:
Set current setpoint filter (band-stop filter). ( 198)
• In order to suppress or damp (mechanical) resonant frequencies, two current setpoint filters are
integrated in the speed control loop of the controller which are switched off in the default setting but
can be parameterised accordingly, if required.
Then readjust the speed controller: Optimising the speed controller. ( 195)
4. Optimising phase controller. ( 201)
• Via running a typical speed profile and recording the ramp response of the phase controller with the
oscilloscope.
5. Optimising response to setpoint changes. ( 202)
• Via running a typical speed profile and recording the inputs and outputs of the speed controller with the
oscilloscope.
6. Setting the field weakening for asynchronous machines. ( 204)
• By means of traversing a speed profile 0 ↔ nmax and recording the speed, flow, and D-current setpoints/
actual values with the oscilloscope.
 Tip!
To run a typical speed profile for optimising the motor control, you can also use the basic
function "manual jog" with suitably adapted manual jog parameters if this basic function
is supported by the technology application selected. Manual jog ( 435)
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6.4.1.1 Optimise current controller
 Note!
The current controller should always be optimised if a motor of a third-party
manufacturer with unknown motor data is used!
An optimisation of the current controller is useful, as the two controller parameters gain (C00075)
and reset time (C00076) depend on the maximum current required and the switching frequency set.
For this purpose, the controller parameters only need to be adapted once at a fixed switching
frequency.
We recommend to select a switching frequency
• as low as possible if the controller is to be operated frequently at the maximum current limit.
• of 8 kHz (up to and including model 7) or 4 kHz (from model 8 onwards) if the maximum current
limit will not be reached or will only be reached rarely.
The controller parameters are then automatically adapted to the other switching frequencies.
In a test mode you can select current setpoint step-changes and optimise the setting of both control
parameters by evaluating the step responses.
• The starting values for gain and reset time can be calculated with the following formula:
Stator leakage inductance

Gain = -------------------------------------------------------------------
340 μs
Reset time = -------------------------------------------------------------------
Stator resistance
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 How to optimise the current controller in the test mode:

2. Set a fixed switching frequency using C00018. Observe the above mentioned
recommendations.
3. Activate one of the two following optimisation modes for the current controller:
• C00398 = "3: Current controller optimisation mode":
After controller enable, the motor is supplied with current as long as the controller is
enabled.
• C00398 = "4: Current controller optimisation mode pulse":
The motor is supplied with voltage for 50 ms after controller enable. Due to this time
limit, the load of the machine is reduced. Afterwards, the controller is inhibited
automatically.
4. Select the effective value of the current setpoint step change under C00022.
• The peak value of the measurable motor current will be 1.41 times higher.
5. Enable the controller for a short time and measure the step response of the motor current
in the motor phases using the oscilloscope and clamp-on ammeters or record the field-
oriented direct-axis current using the Oscilloscope function in »Engineer«. ( 611)
• Variable of the motor control to be recorded:
Current.dnActualDirectCurrent (field-oriented direct-axis current)
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6. Evaluate the step response:

Vp < Vp opt. Vp = Vp opt. Vp > Vp opt.
I I I
Tn < Tn opt.
t t t
I I I
Tn = Tn opt.
t t t
I I I
Tn > Tn opt.
t t t
7. Change the gain Vp under C00075 and the reset time Tn under C00076.
8. Repeat steps 4 ... 6 until the optimum step response of the motor current is reached.
• In the optimised state the current rise time typically is 0.5 ... 1 ms.
• If the adjustment results are not satisfactory, the decoupling network can be
additionally activated via the setting C00074 = "1". After this, repeat the steps 2 ... 6.
• In case of MCS, satisfying results may only be achieved with a current-dependent
correction of the current controller parameters based on the saturation behaviour of the
motor stator leakage inductance. For this purpose, it is required to use a motor with an
electronic nameplate (ENP) or to set the saturation characteristic manually.Correction
of the stator leakage inductance... ( 249)
9. After the optimisation has been completed, deactivate the test mode again (C00398 = "0:
Test mode deactivated").
10. Save parameter set (C00002 = "11: Save start parameters").
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6.4.1.2 Optimising the speed controller

The speed controller is designed as PID controller.
Gain setting
The proportional gain Vp is selected under C00070:
1. Select the speed setpoint.
2. Increase C00070 until the drive becomes unstable (observe motor noises).
3. Reduce C00070 until the drive becomes stable again.
4. Reduce C00070 to approx. half the value.
Reset time setting

The reset time Tn is selected under C00071:
1. Reduce C00071 until the drive becomes unstable (observe motor noises).
2. Increase C00071 until the drive is stable again.
3. Increase C00071 to approx. double the value.
Rate time setting

The rate time Td is selected under C00072:
• Increase C00072 during operation until an optimum control behaviour is reached.
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Using the ramp response for setting the speed controller

When operation of the mechanics at the stability limit is not possible, the ramp response can be
used to set the speed controller. The proceeding is similar to optimising the current controller.
 Stop!
If the controller parameters are preset unfavourably, the control can tend to heavy
overshoots up to instability!
• Following and speed errors can adopt very high values.
• If the mechanics are sensitive, the corresponding monitoring functions are to be
activated.
 How to optimise the speed controller setting by means of the ramp response:
1. Run a typical speed profile and record the ramp response of the speed with the
Oscilloscope. ( 611)
• Motor control variables to be recorded:
Speed.dnSpeedSetpoint (speed setpoint)
Speed.dnActualMotorSpeed (actual speed value)
2. Evaluate the ramp response:
n n n
Tn < Tn opt.
t t t
n n n
Tn = Tn opt.
t t t
n n n
Tn > Tn opt.
t t t
• Solid line = ramp response (actual speed value)

• Dash line = speed setpoint
4. Repeat steps 1 ... 3 until the optimum ramp response is reached.
5. Save parameter set (C00002 = "11").
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Setting of actual speed filter

In order to maximise the dynamics of the speed control loop, the actual speed filter should be
operated with a time constant as low as possible (C00497). The lower the time constant the higher
the gain of the speed controller. Since actual value filters have the task to dampen measuring errors
or interference components, it must be found a compromise between filter task and the resulting
delay.
If a Lenze motor is selected from the motor catalogue, a time constant is automatically preset in
C00497 which serves to operate the motor even with a faulty detection (e.g. in case of a bad shield
connection).
When using EMC-compliant systems or high-quality encoders, you can reduce the preset time
constant considerably. For this purpose, the running noise of the motor can be used for setting
C00497 at constant speed.
If this is not possible, e.g. due to a too loud environment or because the motor is too far away, the
noise of the actual speed value or the setpoint torque value can be used for evaluation by means of
the Oscilloscope. Please observe that the speed controller gain Vp (C00070) in is used for the torque
setpoint.
Dynamics of the actual value detection

Another element which influences the maximally achievable control dynamics, is the dynamics of
the actual value detection itself. In case of optical encoders, the time delay by the actual value
detection does not need to be considered. This does not apply to resolvers.
The resolver evaluation of the controller is adapted to the resolver types mounted in Lenze motors
and offers a good compromise between the dynamic performance and interference suppression. If
the resolver is used as a speed feedback system, the dynamic performance of the resolver evaluation
determines, among other things, the maximum speed controller gain by means of which stable
operation is possible.
It is possible to increase the dynamics of the resolver evaluation in C00417 in an EMC-compliant
system (with low interference) without a quality loss in the speed signal.
Adaptation of the resolver evaluation dynamics ( 293)
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6.4.1.3 Set current setpoint filter (band-stop filter)

Due to the high dynamic performance or the high limit frequency of the closed current control loop,
mechanical natural frequencies can be excited, which can result in resonance and thus cause the
speed control loop to become unstable.
In order to suppress or damp these resonant frequencies, two current setpoint filters are integrated
in the speed control loop of the controller, which need to be parameterised. In the Lenze setting,
these filters are switched off:
Filter 1 Filter 2
C00270/1 Frequency [Hz] C00270/2 Frequency [Hz]
C00271/1 Width [Hz] C00271/2 Width [Hz]
C00272/1 Depth [dB] C00272/2 Depth [dB]
m m*
m = Output of the jerk limitation
[6-2] Optional current setpoint filters (filter cascade) in the speed control loop
Overview of parameters for current setpoint filter

Value Unit
C00270/1 Freq. - current setpoint filter 1 200.0 Hz

C00270/2 Freq. - current setpoint filter 2 400.0 Hz
C00271/1 Width current setp. filter 1 20.0 Hz
C00271/2 Width current setp. filter 2 40.0 Hz
C00272/1 Depth current setp. filter 1 0 dB
C00272/2 Depth current setp. filter 2 0 dB
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Use of the current setpoint filters depending on the resonant frequency
 Stop!
If the filter parameters are set incorrectly, the impaired closed-loop control can respond
with too large overshoots and cause the controller to become unstable, e.g. if the filter
width is set to a value more than twice as large as the filter frequency.
After setting the filter parameters, the drive behaviour during stop and quick stop (QSP,
Fail-QSP) must be checked. If impairments exist,
• the drive that is still running must either be coasted down by activating the controller
inhibit or immediately be brought to a standstill via a brake.
• the speed controller must be optimised again afterwards.
• the test procedure must be repeated.
2 1 0
f
1
f fgrenz_DRZ
2 grenz_DRZ
 Normal and intended use of the current setpoint filter
 Use of the current setpoint filter is only partially suitable
 The current setpoint filter should not be used
[6-3] Use of the current setpoint filter depending on the resonant frequency
• Resonant frequencies ≥ flimit_SPEED = 70 Hz ... 110 Hz

This filter is suitable for use with resonant frequencies in the range around or above the limit
frequency of the speed controller.
• Resonant frequencies < flimit_SPEED
Please follow the Lenze recommendation and select suitable speed profiles, S-ramp or S-rounding,
for avoiding resonances.
Setting of the current setpoint filter

Since the frequency response of the speed controlled system is only rarely known to such an extent
that the current setpoint filters can be adjusted to the controlled system in the run-up, the following
example describes an experimental procedure for setting the current setpoint filters:
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 How to set the current setpoint filters:

1. Adjust the current control loop.
2. Go to C00071 and adapt the reset time of the speed controller to the filter time constant of
the speed filter (C00497) and the equivalent time constant of the current control loop:
C00071 = 16 * (C00497 + 200 μs)
Note: The setting of C00071 incorporates the equivalent time constant of the current
control loop. The indicated 200 μs are typical in a power range of up to 20 kW. Beyond it,
higher time constants may occur.
3. Slowly increase the proportional gain in C00070 until the speed control loop starts to
become unstable (acoustic determination or measuring of the motor current).
4. Measure the oscillation frequency using an oscilloscope (observe current or speed).
5. Set the measured oscillation frequency in C00270/1 as filter frequency.
6. Set "50%" of the filter frequency in C00271/1 as filter width.
• Example: Filter frequency = 200 Hz  filter width = 100 Hz.
7. Set "40 dB" in C00272/1 as filter depth.
• If the filter depth is set to "0 dB" (default setting), the filter is not active.
8. Further increase the proportional gain in C00070 until the speed control loop starts to
become unstable again.
• If the oscillation frequency has changed now, readjust the filter frequency by trimming.
The use of a second filter is ineffective here.
• If the oscillation frequency remains the same, readjust the filter depth and/or the filter
width by trimming (the first reduces the amplitude, the second lets the phase rotate
faster).
• Repeat step 8 until the desired behaviour or the limit of a sensible speed controller gain
has been reached.
 Note!
Readjust the speed controller after setting the current setpoint filter. Optimising the
speed controller. ( 195)
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6.4.1.4 Optimising phase controller
 How to optimise the phase controller setting by means of the ramp response:
1. Run a typical speed profile and record the ramp response of the phase controller with the
Oscilloscope. ( 611)
Speed.dnOutputPosCtrl (phase controller output)
Position.dnEncounteringError (following error)
2. Adjust the gain Vp of the phase controller under C00254 and repeat oscilloscope recording
until the intended following error behaviour is reached and the motor runs sufficiently
smoothly during the constant travel phase.
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6.4.1.5 Optimising response to setpoint changes

Setting the load moment of inertia under C00273/2 does not always provide the optimum torque
feedforward control. Depending on the application, an adjustment of the setting under C00273/2
may be necessary to optimise the response to position/speed setpoint changes by means of the
torque feedforward control.
Without feedforward control: C00273/2 set too low:
n, M n, M

t t
C00273/2 set too high: Optimum feedforward control:

n, M n, M

t t

 Speed setpoint (Speed.dnSpeedSetpoint signal)

 Actual speed value (Speed.dnActualMotorSpeed signal)
 Speed controller output (Torque.dnOutputSpeedCtrl signal)
 Torque feedforward control (Torque.dnTotalTorqueAdd signal)
[6-4] Typical signal characteristics for different settings of the load moment of inertia
Apart from the load moment of inertia, effects can be compensated with C00273/2, which in the
closed speed control loop are identified by the speed controller. These for example include the
friction torques.
Below you will find a description of a procedure for optimising the feedforward control behaviour
starting from the system's moment of inertia.
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 How to optimise the torque feedforward control:

1. Run a typical speed profile and record the inputs and outputs of the speed controller with
the Oscilloscope. ( 611)
Torque.dnOutputSpeedCtrl (speed controller output)
Torque.dnTotalTorqueAdd (torque feedforward control)
• Application variable to be recorded (if available):
L_LdMonitFollowError1.dnFollowErrorIn_p (following error)
It is essential for optimising the response to setpoint changes to monitor the speed
controller output (Torque.dnOutputSpeedCtrl) and the torque feedforward control
(Torque.dnTotalTorqueAdd). The effect of the feedforward control can also be observed in
the following error.
2. Select the signal source required for the torque setpoint (feedforward control path) under
C00276.
3. Estimate the load moment of inertia and set it under C00273/2 with regard to the motor
end (i.e. considering the gearbox factors).
4. Repeat the oscilloscope recording (see step 1).
Now the oscillogram should show that part of the required torque is generated by the
feedforward control (Torque.dnTotalTorqueAdd) and the speed controller output signal
(Torque.dnOutputSpeedCtrl) should be correspondingly smaller. The resulting following
error decreases.
5. Change the setting under C00273/2 and repeat the oscilloscope recording until the
intended response to setpoint changes is reached.
• The optimisation could aim at the speed controller being completely relieved (see signal
characteristics in Fig. [6-4]).
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6.4.1.6 Setting the field weakening for asynchronous machines

For the following setting instructions it is assumed that the drive has been adjusted in the base
speed range (inverter error characteristic, motor parameters, current controller, speed controller,
current setpoint filter, angle controller, torque feedforward control) and is running satisfactorily to
the rated motor speed.
 How to set the field weakening for an asynchronous machine:

1. Set the desired maximum speed (with field weakening) in C00011.
2. Carry out the following basic setting for the controller parameters for third-party motors:
• Field controller gain (C00077) = 1 / (2 * C00082 * 500 μs)
• Field controller reset time (C00078) = motor rotor time constant (C00083)
• Field weakening controller gain (C00577) = 0 [Vs/V]
• Field weakening controller reset time (C00578)
= 4 ms / (0.3 … 1.0 * 60) * C00059 * 2π * C00011 [rpm] * s
(with factor 0.3 … 1.0 for motor with rated power of 400 kW … 0.4 kW)
Optimising the static behaviour in the field weakening range:
3. By means of speed ramp (acceleration time several seconds), slowly accelerate to the field
weakening range up to maximum speed (C00011),and decelerate to speed 0 again and
record the signal characteristic using the Oscilloscope (see example oscillogram [6-5]).
• From the entry into the field weakening range, the flow setpoint (output of the field
weakening controller) should decrease with 1/n. Influences of the DC-bus voltage may
be seen in the flow setpoint. The signal characteristic should preferably be "smooth".
• From the entry into the field weakening range, the D-current setpoint (output of the
field controller) should always decrease with 1/n. In the signal characteristic no heavy
vibrations may occur.
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Optimising the dynamic behaviour in the field weakening range:

4. Adapt the dynamic performance to the behaviour required for the machine application.
5. Repeat the recording of the speed characteristic and record the small signal range in the
field weakening range (n1 ↔ n2).
• If the flow setpoint is adapted to the speed too slowly, increase the dynamic
performance of the field weakening controller: reduce the reset time (C00578) in small
steps, the gain (C00577) should remain set to 0 [Vs/V] for most machines.
• If the flow setpoint in the field weakening range falls "too early" with 1/n2 (stability limit
of the machine reached), the leakage inductance of the motor (C00085) may be reduced
a bit.
• If the actual flow value follows the flow setpoint too slowly, increase the dynamic
performance of the field controller: increase gain (C00077), reduce reset time (C00078).
• If the actual D-current value does not correspond enough to the D-current setpoint, the
dynamic performance of the current controller has to be adapted. Optimise current
controller ( 192)
• If the motor speed does not feature the desired characteristic, the speed controller has
to be readjusted with maximum speed in the field weakening range. Optimising the
speed controller ( 195)
Checking the motor parameters:
6. Carry out dynamic measurement in the range -nMax ↔ +nMax and record the motor speed
using the Oscilloscope.
• The objective is a preferably linear speed characteristic.
• In particular check the ranges around the rated motor speed and speed 0 and, if required,
improve them by adjusting RR (C02860) or LH (C02861)!
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Example oscillogram
Ch Variable of the motor control Unit 1/Div Offset Position
1 Speed.dnActualMotorSpeed (current speed) rpm 1k 0 -4
2 Voltage.dnActualMotorVoltage (current motor voltage) V 100 0 -5
3 Torque.dnActualMotorTorque (current motor torque) Nm 500m 0 0
4 Speed.dnSpeedSetpoint (speed setpoint) rpm 1k 0 -4
5 Common.dnFluxSet (flux setpoint) % 20 0 -5
6 Common.dnActualFlux (actual flux value) % 20 0 -5
7 Current.dnDirectCurrentSet (D-current setpoint) A 1 0 0
8 Current.dnActualDirectCurrent (actual D-current value) A 1 0 0
[6-5] Example oscillogram
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6.4.2 Signal flow (servo control for synchronous motor)
MI_bTorqueSetpointLimited
MI_dnTorqueSetpoint_n
C00776 MCTRL_dnInputJerkCtrl
MI_dnTorqueHighLimit_n Max. acceleration change
C00274 Bandwitdh 1 Bandwidth 2 MI_dnFilteredTorqueSetpoint_n
(1) (2) (3) M
Torque setpoint I
C00695
C00270/1 C00270/2
MI_dnTorqueLowLimit_n C00271/1 C00271/2
C00272/1 C00272/2
C02559/1...2
Internal torque limit MI_bCurrentSetpointLimited
Pilot control current controller

C00074
(4) Current controller
(8) (10)
Switching frequency
(5) C00018
Vp C00075
Tn C00076
Actual Q-current C00079
Rotating field frequency
Actual D-current C00091
M
Motor type Coordinate
Magnetising current
C00092
Field
1
(6) Current controller transformation G
current
Voltage limit calculation 0A (7) (9) (11)
0
Vp C00075
C00093 Tn C00076
Fieldweaking
2
a +b
2 MI_dnActualMotorCurrent_n
C00054 Motor current
C00780 MCTRL_dnImotAct
usq (14)
a +b
2 2 MI_dnActualMotorVoltage_n
usd
C00052 Motor voltage
C00783 MCTRL_dwMotorVoltageAct
[6-6] Signal flow - servo control for synchronous motor
See also: Signal flow - encoder evaluation ( 284)

Signal flow - speed follower ( 528)
Signal flow - torque follower ( 533)
Signal flow - position follower ( 522)
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Internal variables of the motor control (oscilloscope signals)

• The red numbers in brackets listed in the signal flow stand for internal variables of the motor
control, which you can record by means of the Oscilloscope for purposes of diagnostics and
documentation. ( 611)
No. Variable of the motor control Meaning

(1) Torque.dnInputNotchFilter1 Torque setpoint at the band-stop filter input 1
(2) Torque.dnInputNotchFilter2 Torque setpoint at the band-stop filter 2 input
(3) Torque.dnFilteredTorqueSetpoint Filtered torque setpoint
(4) Current.dnQuadratureCurrentSet Q current setpoint
(5) Current.dnActualQuadratureCurrent Actual Q current
(6) Current.dnActualDirectCurrent Actual D current
(7) Current.dnDirectCurrentSet D current setpoint
(8) Voltage.dnOutputQuadratureCurrentCtrl Q-output voltage of the current controller
(9) Voltage.dnOutputDirectCurrentCtrl D-output voltage of the current controller
(10) Voltage.dnQuadratureVoltage Q voltage
(11) Voltage.dnDirectVoltage D voltage
(12) -
(13) -
(14) Voltage.dnActualMotorVoltage Current motor voltage
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6.4.3 Signal flow (servo control for asynchronous motor)
C00776 MCTRL_dnInputJerkCtrl
MI_dnTorqueHighLimit_n Max. acceleration change
C00274 Bandwitdh 1 Bandwidth 2 MI_dnFilteredTorqueSetpoint_n
(1) (2) (3) M
Torque setpoint I
C00695
C00270/1 C00270/2
MI_dnTorqueLowLimit_n C00271/1 C00271/2
C00272/1 C00272/2
C02559/1...2
Internal torque limit MI_bCurrentSetpointLimited
Pilot control current controller

C00074
(4) Current controller
(8) (10)
Switching frequency
(5) C00018
Vp C00075
Tn C00076
Actual Q-current C00079
MCTRL_dnFluxAct
Rotating field frequency
Actual D-current C00091
M
C00778 Motor type Coordinate
(12) Field controller (6) Current controller transformation G
(13) (7) (9) (11)
Vp C00077 Vp C00075
Tn C00078 Tn C00076
Filter DC detection Field weakening controller

Voltage limit 2
a +b
Filter time constant C00280 Vp C00577 C00054 Motor current

Tn C00578 C00780 MCTRL_dnImotAct
usq (14)
2
a +b
2 MI_dnActualMotorVoltage_n
usd
[6-7] Signal flow - servo control for asynchronous motor
See also: Signal flow - encoder evaluation ( 284)

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(1) Torque.dnInputNotchFilter1 Torque setpoint at the band-stop filter input 1
(2) Torque.dnInputNotchFilter2 Torque setpoint at the band-stop filter 2 input
(3) Torque.dnFilteredTorqueSetpoint Filtered torque setpoint
(8) Voltage.dnOutputQuadratureCurrentCtrl Q-output voltage of the current controller
(9) Voltage.dnOutputDirectCurrentCtrl D-output voltage of the current controller
(12) Common.dnActualFlux Actual flux value
(13) Common.dnFluxSet Flux setpoint
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6.5 Sensorless vector control (SLVC)
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If this motor control mode is set in C00006, a considerably higher torque and a lower current
consumption in idle state can be achieved compared to the V/f control mode.
 Note!
Observe the following application limits of the sensorless vector control:
• Only approved for power up to 55 kW and horizontal applications (no hoists or lifting
equipment)
• For single drives only
• For asynchronous motors only
• Not suitable for operation in generator mode/braking operation (e. g. unwinders)
 Tip!
For vertical drives/hoists, use the servo control (with feedback), or the V/f control with
activated voltage vector control (VVC), which supports vertical drives/hoists up to 55 kW.
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6.5.1 Basic settings
After the motor and controller have been optimally adjusted to each other, the "initial
commissioning steps" described in the following table are sufficient for a quick initial
commissioning.
Initial commissioning steps

1. Parameterising speed and torque controller. ( 213)
2. Additional "flying restart" function:
• In the Lenze setting, this parameterisable additional function is activated.
• If the flying restart function is not required, deactivate this function. Flying restart function ( 257)

Only deactivate the flying restart if it is ensured that the drive is always at standstill in the case of controller
enable!
3. Additional "DC-injection braking" function:
• In the Lenze setting, this parameterisable additional function is deactivated.
• If DC-injection braking is required, activate this function. DC-injection braking ( 260)
 Tip!
A precise adjustment of the motor parameters for an improved concentricity factor and
stability is described in the chapter "Optimising motor parameters". ( 214)
Parameterisable additional functions are described correspondingly in the chapter
"Parameterisable additional functions". ( 248)
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6.5.1.1 Parameterising speed and torque controller
Short overview: Parameters for controller settings

Value Unit
C00070 Speed controller gain 0.500 Nm/rpm

C00071 Speed controller reset time 24.0 ms
C00987 SLVC: Torque controller gain 0.5000 Hz/A
C00988 SLVC: Torque controller reset time 10.00 ms
Typical controller settings

The following table contains typical guide values concerning the setting of the speed and torque
control for different device types/motor powers:
Device type Motor power Speed controller Torque controller

E94ASx (4-pole standard Gain Reset time Gain Reset time
ASM) C00070 C00071 C00987 C00988
[Nm/rpm] [ms] [Hz/A] [ms]
E0024 0.37 kW 0.0122 50.00 5.0833 10.00
E0034 0.75 kW 0.0138 50.00 3.0500 10.00
E0044 1.50 kW 0.0264 50.00 1.9818 10.00
E0074 3.00 kW 0.0411 50.00 1.1077 10.00
E0134 5.50 kW 0.0674 50.00 0.5965 10.00
E0174 7.50 kW 0.1183 50.00 0.3303 10.00
E0244 11.00 kW 0.1183 50.00 0.3303 10.00
E0324 15.00 kW 0.2244 50.00 0.2368 10.00
E0474 22.00 kW 0.3442 50.00 0.1547 10.00
E0594 30.00 kW 1.1503 50.00 0.1232 10.00
E0864 45.00 kW 1.7400 50.00 0.0817 10.00
E1044 55.00 kW 2.1712 50.00 0.0661 10.00
[6-8] Typical controller settings
The gain for the field current controller (C00985) and the gain for the cross current controller
(C00986) are initially set to "0.00".
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6.5.2 Optimising motor parameters
Although the motor parameters have been determined before as described in the chapter
"Adjusting motor and controller to each other", an additional optimisation may be required in the
following cases using the adjustment processes described in this chapter:
• When the concentricity factor in the lowest speed range is to be improved.
• When the stability in the lower speed range is to be improved.
• When the rated torque is not reached in the rated point, i. e. at rated speed and rated current.
• When a too high magnetising current is injected in idle state.
General information on the motor parameter adjustment

The motor stator resistance can generally always be adjusted with a passive load since the motor is
stopped when this parameter is set.
An optimisation of the mutual motor inductance, however, is only sensible when the motor rotates
in the medium speed range. In the majority of cases, the no-load operation is sufficient for this
adjustment. In contrast to the rated operation, the no-load operation is also possible for initial
commissioning in many applications.
The motor rotor resistance can only be adjusted exactly if the current motor speed is available. Thus,
for this adjustment only applications are considered where a speed measurement is possible, even
with a manual tachometer. If, under operating conditions (e.g. at rated load), the motor consumes
more than the rated motor current indicated, an adjustment can also be executed by reducing the
mutual motor inductance.
 Note!
To execute the adjustment processes described in the following subchapters, the
controller must always be enabled!
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6.5.2.1 Motor power factor

Together with the rated motor current, the motor power factor (C00091) defines the motor
magnetising current (C00092) and thus the current consumption of the controller in idle state.
 Note!
The following adjustment of the motor power factor should be executed after the motor
parameters have been determined and when the value set in C00091 deviates more
than 10 % from the data on the motor nameplate.
If the setting of the motor power factor in C00091 is changed, the setting of the mutual
motor inductance also changes in C00079.
For the adjustment of the motor power factor, first the motor current in idle state at rated speed is
determined in the control type "V/f control". Afterwards the motor power factor is set in the control
type "Sensorless vector control" so that the motor magnetising current corresponds to the
previously determined no-load current.
 How to adjust the motor power factor:

2. Select the control type VFCplus: V/f control" in C00006.
3. Select setpoint speed 0 rpm
4. Enable controller.
5. Slowly increase setpoint speed to rated speed (no field weakening) and then keep it at rated
speed constantly.
6. Take down the motor current displayed in C00054.
7. Slowly reduce the setpoint speed to 0 rpm again.
8. Inhibit controller.
9. Go to C00006 and select the "SLVC: Sensorless vector control" again.
10. Set Lh adjustment in C02861 to 100 %.
11. Set the motor power factor (C00091) so that the following applies:
motor magnetising current (C00092) ≈ motor current taken down before.
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6.5.2.2 Motor stator resistance

For the adjustment of the motor stator resistance, first the motor current at standstill (without load
of the motor) is compared to the motor magnetising current. Afterwards the setting of the motor
stator resistance is changed step by step until the motor current stably reaches the motor
magnetising current.
 How to adjust the motor stator resistance:

1. Select setpoint speed 0 rpm or activate quick stop.
3. Compare the motor current displayed in C00054 with the motor magnetising current
displayed in C00092.
5. If motor current > motor magnetising current:
• Reduce the motor stator resistance stepwise in C00084.
If motor current < motor magnetising current:
• Increase the motor stator resistance stepwise in C00084.
6. Repeat steps 2 ... 5 until the following applies: Motor current ≈ motor magnetising current.
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6.5.2.3 Mutual motor inductance
Adjustment at rated operation

This adjustment is executed at rated speed and a defined load (e.g. measuring brake) which serves
to define the rated torque. A condition for the adjustment is to know the real load torque. The motor
current is compared to the rated current. At rated load, these two values should be almost identical.
If an adjustment at rated operation is not possible, alternatively execute the adjustment at no-load
operation (see the following section "Adjustment at no-load operation").
 How to adjust the mutual motor inductance at rated operation:

1. Set the maximum current in C00022 to 110 % of the rated motor current (C00088).
4. Slowly increase setpoint speed to rated speed (no field weakening) and then keep it at rated
speed constantly.
5. Apply rated load to the motor.
6. Compare the motor current displayed in C00054 with the rated motor current displayed in
C00088.
7. If motor current > rated motor current:
• Reduce the mutual motor inductance stepwise and indirectly via the Lh adjustment in
C02861 until the following applies: motor current ≈ rated motor current.
If motor current < rated motor current:
• Increase the mutual motor inductance stepwise and indirectly via the Lh adjustment in
C02861 until the following applies: motor current ≈ rated motor current.
8. Unload the motor again and slowly reduce the setpoint speed to 0 rpm again.
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Adjustment at no-load operation

If an adjustment at rated operation is not possible, alternatively execute the adjustment at no-load
operation.
For the adjustment of the mutual motor inductance in no-load operation, first the motor current is
compared to the motor magnetising current at a setpoint speed of approx. 75 % of the rated speed
(without load of the motor). Afterwards the setting of the mutual motor inductance is changed step
by step until the motor current just, but stably reaches the motor magnetising current.
 How to adjust the mutual motor inductance at no-load operation:

3. Slowly increase the setpoint speed to approx. 75 % of the rated speed and keep this value
constant.
• If the controller oscillates, check the speed controller.
4. Compare the motor current displayed in C00054 with the motor magnetising current
5. If motor current > motor magnetising current:
• Reduce the mutual motor inductance stepwise and indirectly via the Lh adjustment in
C02861 (based on 100 %) until the following applies:
motor current < motor magnetising current
If motor current << motor magnetising current:
• Increase the mutual motor inductance stepwise and indirectly via the Lh adjustment in
C02861 (based on 100 %) until the following just applies:
motor current < motor magnetising current
6. Slowly reduce the setpoint speed to 0 rpm again.
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6.5.2.4 Motor rotor resistance

This adjustment is carried out at a setpoint speed of approx. 75 % of the rated speed and with a
defined load (e. g. measuring brake). The precondition for the adjustment is that the actual speed
is known (e. g. by the use of a manual tachometer). At constant setpoint speed first the actual speed
is measured while the machine is unloaded. Afterwards the motor is loaded at the same setpoint
speed until the rated torque is reached (rated current). The speed measured should preferably
correspond in idle state and at rated speed.
 How to adjust the motor rotor resistance:

3. Slowly increase the setpoint speed to approx. 75 % of the rated speed and keep this value
constant.
4. Measure actual speed nIdle (e.g. using a manual tachometer) and take it down.
5. Increase load of the motor until the motor current displayed in C00054 corresponds to the
rated current.
6. Measure actual speed nLoad.
7. If nLoad < nIdle:
• Reduce motor rotor resistance stepwise and indirectly via the Rr adjustment in C02860
until the following applies: nLoad ≈ nIdle.
If nLoad > nIdle:
• Increase motor rotor resistance stepwise and indirectly via the Rr adjustment in C02860
until the following applies: nLoad ≈ nIdle.
8. Unload the motor again and slowly reduce the setpoint speed to 0 rpm again.
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A manual optimisation of the controller settings may be required for very dynamic applications and
in the field weakening range.
 Note!
The processes for optimising the controller settings described in the following
subchapters can only be executed while the drive is rotating and never when being at
standstill!
For all optimisation processes the magnetisation phase has to be completed!
Based on the typical controller settings which are listed in the chapter "Parameterising speed and
torque controller" in table [6-8], first the field feedforward control and the speed controller are
optimised in the base speed range. Afterwards, the torque controller is optimised in the field
weakening range.
For optimisation, a suitable speed ramp must be selected for the drive and the acceleration must be
recorded, e.g. using the Oscilloscope function in »Engineer«. ( 611)
Short overview: Parameters for controller settings

Value Unit
C00070 Speed controller gain 0.500 Nm/rpm

C00071 Speed controller reset time 24.0 ms
C00985 SLVC: Field controller gain 0.00
C00986 SLVC: Cross current controller gain 0.00
C00987 SLVC: Torque controller gain 0.5000 Hz/A
C00988 SLVC: Torque controller reset time 10.00 ms
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6.5.3.1 Optimising field feedforward control

To optimise the field feedforward control, the drive must be accelerated in the base speed range
with slow setpoint ramps (e.g. acceleration time = 5 s) to speed values below the rated speed and
then decelerated again.
• If the field current oscillates at the beginning of the acceleration and at the end of the
deceleration (Current.dnActualDirectCurrent), these oscillations can be reduced by increasing
the gain for the field current controller in C00985.
1 Speed.dnSpeedSetpoint (speed setpoint) rpm 0.2k 0 -4
2 Speed.dnActualMotorSpeed (current speed) rpm 0.2k 0 -4
3 Current.dnActualDirectCurrent (actual field current) A 10 0 0
4 Current.dnQuadratureCurrentSet (cross current setpoint) A 10 0 0
5 Current.dnActualQuadratureCurrent (actual cross current) A 10 0 0
[6-9] Oscillogram 1: speed ramp (motor 55 kw) – field controller gain = 0.00
[6-10] Oscillogram 2: speed ramp (motor 55 kw) – field controller gain = 2.00
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6.5.3.2 Optimising the speed controller

To optimise the speed controller, the drive must be accelerated in the base speed range with slow
setpoint ramps (e.g. acceleration time = 5 s) to speed values below the rated speed and then
decelerated again.
Gain optimisation
The proportional gain Vp is selected under C00070:
1. Increase C00070 until the drive oscillates slightly (see picture [6-11]).
2. Reduce C00070 until the drive runs stable again (see picture [6-12]).
3. Reduce C00070 to approx. half the value.
Optimise the reset time

The reset time Tn is selected under C00071:
1. Reduce C00071 until the drive oscillates slightly.
2. Increase C00071 until the drive is stable again.
3. Increase C00071 to approx. double the value.
6 Motor interface
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[6-11] Oscillogram 1: speed ramp (motor 55 kw) – speed controller gain = 15.49
[6-12] Oscillogram 2: speed ramp (motor 55 kw) – speed controller gain = 7.49
6 Motor interface
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Setting of actual speed filter

In order to maximise the dynamics of the speed control loop, the actual speed filter should be
operated with a time constant as low as possible (C00497). The lower the time constant the higher
the gain of the speed controller. Since actual value filters have the task to dampen measuring errors
or interference components, it must be found a compromise between filter task and the resulting
delay.
If a Lenze motor is selected from the motor catalogue, a time constant is automatically preset in
C00497 which serves to operate the motor even with a faulty detection (e.g. in case of a bad shield
connection).
When using EMC-compliant systems or high-quality encoders, you can reduce the preset time
constant considerably. For this purpose, the running noise of the motor can be used for setting
C00497 at constant speed.
If this is not possible, e.g. due to a too loud environment or because the motor is too far away, the
noise of the actual speed value or the setpoint torque value can be used for evaluation by means of
the Oscilloscope. Please observe that the speed controller gain Vp (C00070) in is used for the torque
setpoint.
6.5.3.3 Optimising torque controller

To optimise the torque controller a steep speed ramp is required which reaches into the field
weakening range (e.g. 1.2 * rated speed). For this purpose, the drive must be operated at its current
and voltage limit.
 Stop!
Reduce the maximum current in C00022 for this adjustment to approx. 130 % of the
motor magnetising current (C00092) to prevent shocks on the drive!
 Note!
If no field weakening operation is required, the adjustment must be executed in the base
speed range.
The gain (C00987) and reset time (C00988) of the torque controller are to be set so that the actual
cross current can preferably follow the cross current setpoint.
• If oscillations occur during the cross current (see illustration [6-13]), the gain (C00987) is to be
reduced until the drive is stable again (see illustration [6-14]).
• Afterwards the reset time (C00988) can be reduced as long as the drive accelerates in a stable
way.
6 Motor interface
________________________________________________________________
[6-13] Oscillogram 1: speed ramp (motor 55 kw) – torque controller gain = 0.0661
[6-14] Oscillogram 2: speed ramp (motor 55 kw) – torque controller gain = 0.0361
6 Motor interface
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 Note!
Only required for sensorless vector control if one of the following functions is used.
• Flying restart function ( 257)
• DC-injection braking ( 260)
In a test mode you can select current setpoint step-changes and optimise the parameter settings of
the current controller (gain and reset time) by evaluating the step responses.
Gain = Stator
leakage inductance-
------------------------------------------------------------------
340 μs
Reset time = Stator

leakage inductance-
------------------------------------------------------------------
Stator resistance

enabled.
automatically.
6 Motor interface
________________________________________________________________

I I I
Tn < Tn opt.
t t t
I I I
Tn = Tn opt.
t t t
I I I
Tn > Tn opt.
t t t
6 Motor interface
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6.5.4 Signal flow
f(C00022, Pull-out slip limitation) Actual Q-current

(3)
C00776
MI_bCurrentSetpointLimited
Torque controller
MI_dnTorqueHighLimit_n
Feedforward
Torque setpoint M C00986 control C00059 Number of pole pairs
I
C00695 (1) (2)
C00051 Actual speed value
MI_dnTorqueLowLimit_n (4)
C00987 Gain C00497
C02559/1...2 C00988 Reset time Switching frequency
Internal torque limits C00018
Coordinate
Flux model (6) Motor model transformation
Slip calculation
(5) (7) C00079 (8)
C00091
M
(9)
Filter - DC detection Inverter error
characteristic
Voltage limit
(11) Feedforward
Filter time constant C00280 Field weakening C00985 control
Field controller MI_dnActualFlux_n
(12) C00778 MCTRL_dnFluxAct
usq (10) Actual D-current
2
a +b
2 MI_dnActualMotorVoltage_n
usd
(3)
Actual Q-current
2
a +b
Actual D-current
(10) C00054 Motor current
C00780 MCTRL_dnImotAct
[6-15] Signal flow - sensorless vector control


(1) Torque.dnTorqueSetpoint Torque setpoint
(4) Speed.dnActualMotorSpeed Actual speed value
(5) Common.dnActualFlux Actual flux value
(6) Frequency.dnActualSlipFrequency Actual slip frequency
(7) Frequency.dnActualRotatingFieldFrequency Current field frequency
6 Motor interface
6.6 V/f control (VFCplus)
________________________________________________________________
If this motor control mode is set in C00006, the output voltage of the controller follows a firmly
defined characteristic.
 Note!
The operation of vertical drives/hoists is only supported up to 55 kW by the V/f control!
6.6.1 Basic settings
After the motor and controller have been optimally adjusted to each other, the "initial
commissioning steps" described in the following table are sufficient for a simple characteristic
control.
Initial commissioning steps

1. Defining the V/f characteristic. ( 230)
2. Setting the voltage boost. ( 231)
3. Parameterising load adjustment. ( 233)
4. Activating voltage vector control. ( 234)
• The Voltage Vector Control (VCC), which can be activated, serves to provide a torque at low field
frequencies. This task is executed by a current controller the output voltage of which is added to the
voltage from the characteristic.
5. Defining the current limit (Imax controller). ( 235)
6. Additional "flying restart" function:
• In the Lenze setting, this parameterisable additional function is activated.
• If the flying restart function is not required, deactivate this function. Flying restart function ( 257)

Only deactivate the flying restart if it is ensured that the drive is always at standstill in the case of controller
enable!
7. Additional "DC-injection braking" function:
• In the Lenze setting, this parameterisable additional function is deactivated.
• If DC-injection braking is required, activate this function. DC-injection braking ( 260)
 Tip!
Parameterisable additional functions are described correspondingly in the chapter
"Parameterisable additional functions". ( 248)
6 Motor interface
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6.6.1.1 Defining the V/f characteristic
Linear/square-law characteristic
C00950 serves to select the shape of the characteristic to adjust the characteristic to different load
profiles:
• Linear characteristic for drives with constant load torque over the speed.
• Square-law characteristic for drives with a linear or square-law load torque over the speed:
• Square-law V/f characteristics are mostly used in centrifugal pump and fan drives. However,
it must be checked in each individual case if your pump or fan drive can be used in this
operating mode!
• If your pump or fan drive is not suitable for operation with a square-law V/f characteristic,
you have to use the linear or user-definable V/f characteristic or the sensorless vector control
instead of the V/f control.
U U
C00090 C00090

0 fsoll 0 fsoll
0 C00951 0 C00951

 C00090: Rated motor voltage
 C00951: V/f base frequency
[6-16] Linear/square-law V/f characteristic
• The calculation of the characteristic considers the rated motor voltage (C00090) and the V/f
base frequency (C00951).
Short overview: Parameters for V/f characteristic

Value Unit
C00950 VFC: V/f characteristic shape Linear (V/f)

C00951 VFC: V/f base frequency 50 Hz
C00952/1...11 VFC: Frequency interpol. point n Defining a user-defined V/f
characteristic ( 237)
C00953/1...11 VFC: Voltage interpol. point n
C00954/1...11 VFC: Activat. interpol. point n
6 Motor interface
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6.6.1.2 Setting the voltage boost

C00960 and the MI_dnBoostSet_n input of the motor interface serve to define a constant, load
independent voltage boost at low speeds (below the V/f rated frequency) or at motor standstill to
optimise the starting performance.
 Stop!
If the motor is operated at standstill for a longer time - especially in case of smaller
motors - the motor can be destroyed by overtemperature!
• Connect the thermal contact (NC contact), PTC, or KTY of the motor and activate the
motor temperature monitoring of the controller.
• Operate self-ventilated motors with a blower, if required.
 Note!
When device types > BF7 are used, the voltage boost only functions in a restricted way
due to the hardware properties!
Depending on the required starting torque, the voltage boost must be set so that the required
motor current will be available after controller enable (starting current ~ Vmin).
 Tip!
The required voltage can be calculated by multiplying the stator resistance by the rated
magnetising current:
U min = R S ⋅ I mN
Optionally, the voltage can be determined empirically by increasing the value for the
voltage boost until the rated magnetising current flows.
• Via the input MI_dnBoostSet_n the voltage has to be selected in [%] relating to the rated motor
voltage (C00090).
• In C00960, however, the voltage must be set directly in [V].
• Only positive voltage values can be selected, negative values are limited to 0 V.
• Both selections are added:
U Boost = MI_dnBoostSet_n ⋅ C00090

-------------------- + C00960
100 %
• The resulting voltage VBoost is added geometrically to the characteristic voltage:
2 2
U = U Characteristic + U Boost
6 Motor interface
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U U
C00090 C00090

UBoost UBoost
0 fsoll 0 fsoll
0 C00951 0 C00951

 C00090: Rated motor voltage
 C00951: V/f base frequency
[6-17] Voltage boost at linear/square-law V/f characteristic
Short overview: Parameters for voltage boost

Value Unit
C00960 VFC: V/f voltage boost 0 V
 Tip!
For magnetising the motor, consider a sufficient time from the controller enable to the
start of the speed ramp function generator.
• The bigger the motor the longer the time required for magnetisation. A motor with a
power of 90 kW requires up to 2 seconds.
6 Motor interface
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6.6.1.3 Parameterising load adjustment

C00962 serves to parameterise a load adjustment in [%] proportionally to the rated torque to obtain
a correspondingly "rigid "drive behaviour even after the starting action.
• When starting torque = rated torque, a load adjustment of 50 % is suitable for most
applications.
 Stop!
If the load adjustment is too high, the motor current may increase in idle state and the
motor may overheat!
The C00961 parameter serves to adjust the characteristic depending on the load at CW and CCW
rotation:
Setting in C00961 Info

0: CW rotation in motor mode/CCW rotation in motor The motor operates in motor mode in both directions.
mode
1: CW rotation in motor mode/CCW rotation in Application example: Hoist without counterweight
generator mode
2: CW rotation in generator mode/CCW rotation in Application example: Dancer-controlled unwinder
motor mode
Short overview: Parameters for load adjustment

Value Unit
C00961 VFC: Load - cw/ccw-operation CW: mot. / CCW: mot.

C00962 VFC: Load adjustment 20.00 %
6 Motor interface
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6.6.1.4 Activating voltage vector control

The Voltage Vector Control (VCC), which can be activated, is an alternative to the voltage boost. The
voltage vector control is used if a high starting torque has to be ensured. The voltage vector control
ensures that the motor current required for this purpose is available in the zero speed range.
 Note!
A disadvantage of the voltage vector control is the increased current at low speeds. This
causes higher losses and thus an increased heating of the machine.
The voltage vector control is activated by defining a current setpoint in C00957 and can be
deactivated again by setting "0.0 A".
• The voltage vector control is additive to the voltage boost.
Setting the voltage boost ( 231)
• When the current setpoint is defined, provide a reserve of 20 % to prevent a motor stalling
caused by sudden additional loads.
• Example for starting torque = rated motor torque:
The current setpoint must be parameterised in C00957 to approx. 120 % of the load current.
Setting of the controller parameters

For the gain (C00958) and the reset time (C00959), accept the values that have been detected for
the current controller gain (C00075) and reset time (C00076) in the test mode. Optimise current
controller ( 241)
Since the voltage vector control controls the current value which has a higher background noise due
to its calculation, the reset time might possibly be increased.
Short overview: Parameters for voltage vector control

Value Unit
C00957 VFC: VVC current setpoint 0.00 A

C00958 VFC: VVC gain 0.00 V/A
C00959 VFC: VVC reset time 2000.00 ms
 Tip!
For controllers with a power > 55 kW we recommend to use the voltage vector control for
horizontal drives for improving the smooth running characteristics.
6 Motor interface
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6.6.1.5 Defining the current limit (Imax controller)

The current limit for the Imax controller is defined by the maximum current which must be set in
C00022. If the motor current exceeds the value set in C00022, the Imax controller gets active.
• The Imax controller changes the field frequency so that the motor current does not exceed the
current limit. In motor mode, the frequency is reduced and in generator mode it is increased.
• Gain and reset time of the Imax controller can be parameterised in C00963 and C00964.
Short overview: Parameters for Imax controller

Value Unit
C00022 Maximum current 0.00 A

C00963 VFC: Gain - Imax controller 0.001 Hz/A
C00964 VFC: Reset time - Imax controller 100.0 ms
Optimising the Imax controller

• If oscillations occur during operation at the current limit, the Imax controller has to be
decelerated:
• Reduce gain (C00963)
• Increase reset time (C00964)
• If the Imax controller does not operate fast enough after having exceeded the current limit, it
must be accelerated:
• Increase gain (C00963)
• Reduce reset time (C00964).
6 Motor interface
________________________________________________________________
The "optimisation steps" given in the following table serve to further optimise the control behaviour
of the V/f control and adjust it to the concrete application.
Optimisation steps
1. Defining a user-defined V/f characteristic. ( 237)
• Individual adjustment of the motor magnetisation to the concrete application if linear and square-law
characteristics are not suitable.
2. Parameterising slip compensation. ( 238)
3. Parameterising oscillation damping. ( 239)
4. When the flying restart function is used: Optimise flying restart process. Flying restart function ( 257)
5. Optimise current controller. ( 241)
• Only required if one of the following functions is used:
• Voltage vector control ( 234)
6 Motor interface
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6.6.2.1 Defining a user-defined V/f characteristic

To individually adjust the motor magnetisation to the real application, a user-definable
characteristic can be selected in C00950 if the linear and square-law characteristic are not suitable.
• The interpolation points (voltage/frequency values) of this characteristic are selected via the 11
subcodes of C00952 and C00953.
• If less interpolation points are required, the interpolation points that are not needed have to be
deactivated via the subcodes of C00954.
• In the Lenze setting the 11 grid points represent a linear characteristic:
U [V]
C00952/1 C00952/11
C00953/1 C00953/11
P1 C00952/2 400 P11
C00953/2
P2 C00952/3 320 P10

C00953/3
P3 240 P9
P4 160 P8
P5 80 P7
P6
-50 -40 -30 -20 -10 0 10 20 30 40 50 f [Hz]
P1 P2 P3 P4 P5 P6 P7 P8 P9 P10 P11
V 400 V 320 V 240 V 160 V 80 V 0V 80 V 160 V 240 V 320 V 400 V
f -50 Hz -40 Hz -30 Hz -20 Hz -10 Hz 0 Hz 10 Hz 20 Hz 30 Hz 40 Hz 50 Hz
[6-18] User-definable characteristic (Lenze setting)
6 Motor interface
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6.6.2.2 Parameterising slip compensation

The slip compensation serves to automatically compensate a load-dependent speed loss. In order
that the slip compensation can operate correctly, the rated slip of the motor is required. This is
calculated from the rated frequency (C00089) and the rated speed (C00087), thus both parameters
must be parameterised correctly.
• A percentage adjustment of the calculated slip can be made in C00965, e.g. when the real motor
data deviate from the data given on the nameplate. A value of 100 % in C00965 corresponds to
the rated slip of the machine.
• The time behaviour of the slip compensation can be parameterised in C00966.
Short overview: Parameters for slip compensation

Value Unit
C00965 VFC: Gain - slip compensation 0.00 %

C00966 VFC: Time const. slip comp. 2000 ms
6 Motor interface
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6.6.2.3 Parameterising oscillation damping

The oscillation damping serves to reduce the oscillations during no-load operation which are caused
by energy oscillating between the mechanical system (mass inertia) and the electrical system (DC
bus). Furthermore, the oscillation damping can also be used to compensate resonances.
 Note!
Observe the following restrictions:
• Oscillations occurring sporadically cannot be damped.
• Damping is possible only for constant oscillations at a steady-state operating point.
• The oscillation damping is not suitable for oscillations occurring during dynamic
processes (e.g. accelerations or load changes).
Function
The determination of the oscillation is based on the active current. In order to obtain the alternating
component of the active current, this current is differentiated. This signal is then passed through a
PT1 filter.
• The base frequency of the PT1 filter has to be set in such a way that the oscillation can be
damped and higher-frequency components are filtered out of the signal. For this purpose the
time constant (C00968) is used.
• C00967 serves to parameterise the gain of the oscillation signal. The maximum amplitude of
the frequency change determined by the oscillation damping is set via C00969.
• Oscillation damping is only active if the setpoint speed is greater than 10 rpm and the DC-bus
voltage exceeds a value of 100 V.
• In the lower speed range, the oscillation damping may have a negative impact on the
concentricity factor.
• Therefore, from software version V5 onwards, a ramp end frequency can be set in C00970 up
to which the gain of the oscillation damping (C00967) from 10 rpm is slowly increased with
increasing rotational frequency.
C00968 C00969
Actual value
of active current
Set value
of rotating frequency
C00967
C00970
6 Motor interface
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Identification of the oscillation

Before the oscillation damping can be parameterised, the oscillation has to be identified. One way
is to examine the motor current while oscillation damping is switched off (C00967 = 0 %). At steady-
state operation, a constant current flows. If the drive oscillates, these oscillations are also visible on
the motor current. It is therefore possible to determine the frequency and the amplitude of the
oscillation from the alternating component of the motor current. In the following, this alternating
component is referred to as "current oscillation".
Parameter setting
• The time constant (C00968) is determined from the reciprocal value of twice the frequency of
the current oscillation:
1
Time constant = --------------------------------------------------------------
2 ⋅ Oscillation frequency
• The gain factor (C00967) is calculated with the following formula based on the relationship
between the amplitude of the current oscillation and the maximum device current:
Current amplitude
Gain = ------------------------------------------------------------------------------------------------------ ⋅ 100 %
2 ⋅ Maximum device current (C00789)
• The maximum oscillation frequency (C00969) serves to the absolute limitation of the oscillation
frequency calculated before it is added to the field frequency. It can be derived from the
amplitude of the current oscillation, the rated motor current, and the slip frequency of the
motor connected:
2 ⋅ Amplitude of the current oscillation

Max. frequency = ---------------------------------------------------------------------------------------------------- ⋅ Rated slip frequency
Rated motor current
• The ramp end frequency (C00970) defines the rotational frequency from which the gain factor
is to have reached its nominal value (C00967).
• The ramp end frequency refers to the rated motor frequency in percent (C00089).
• Below a speed of 10 rpm, the oscillation damping remains deactivated.
• For machines with a power greater than 55 kW a ramp end frequency of 20 % is
recommended.
Short overview: Parameters for oscillation damping

Value Unit
C00967 VFC: Gain - oscillation damping 20 %

C00968 VFC: Time const. - oscill. damp. 5 ms
C00969 VFC: Limitation - oscillation damping 0.2 Hz
C00970 VFC: Ramp end freq. - oscillation damping 0 %
6 Motor interface
________________________________________________________________
 Note!
Only required if one of the following functions is used:
• Voltage vector control ( 234)
In a test mode you can select current setpoint step-changes and optimise the parameter settings of
the current controller (gain and reset time) by evaluating the step responses.

Gain = -------------------------------------------------------------------
340 μs
Reset time = -------------------------------------------------------------------
Stator resistance

enabled.
automatically.
6 Motor interface
________________________________________________________________

I I I
Tn < Tn opt.
t t t
I I I
Tn = Tn opt.
t t t
I I I
Tn > Tn opt.
t t t
9. If the Imin control is used, both calculated controller parameters can also be used for the
Imin controller:
• C00075  C00958 (Imin controller: gain)
• C00076  C00959 (Imin controller: reset time )
6 Motor interface
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6.6.2.5 Optimising pull-out slip limitation
M = Mmax
1.0
0.9
M = Mmax * n1/n
0.8
0.7
0.6
M2
0.5
0
0.4
M = M2 * n22/n2
0.3
1
0.2
0.1 2
0
2.0
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
3.0
3.1
3.2
3.3
3.4
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
n1 n2
[6-19] Speed/torque curve of the asynchronous motor with two field weakening ranges  and 
The operating range of an asynchronous motor consists of the voltage control range  and the field
weakening range. The field weakening range again is divided into two ranges:
• In the first range , the power can be kept constant without causing motor stalling.
• The second field weakening range  is characterised by the fact that the maximum permissible
stator current (defined via C00022 "Maximum current") is reduced to prevent motor stalling.
The override point (n2, M2) can be influenced via C00980 ("VFC: Override point of field weakening").
If the motor stalls in the field weakening range, the override point (n2, M2) can be adjusted by
decreasing C00980 so that motor stalling is avoided.
If the motor does not provide sufficient torque in the field weakening range, C00980 must be
increased.
6 Motor interface
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6.6.3 Signal flow
Oscillation damping
Gain C00967 Limitation
Time constant C00968 C00967
Actual Q-current
(3)
Imax controller Speed setpoint C00050

C00963 Gain
C00964 Reset time Slip compensation
Maximum current C00022
Actual motor current C00780 C00965 Gain
(2) C00966 Time constant (5)
fmax = f(C00018, C00059)

fmax fmax fmax
(4)
Speed setpoint (6)
C00050 (1)
Number of pole pairs C00059

Load adjustment 0
1
MI_dnActualMotorFreq_s
2
Characteristic C00784 MCTRL_dnMotorFreqAct
Base frequency C00951 Load
calculation Rated slip
Charact. shape C00950 CW/CCW rotation C00961 Switching frequency
Linear Load adjustment C00962 C00018
characteristic Inverter error
0
(7) characteristic
Square-law 1
characteristic 2
MI_dnBoostSet_n
(8)
2
a +b
2
M
User-definable C00960 Coordinate
characteristic transformation
V/f voltage boost
(9)
Frequency values 1...11 C00952/1...11 MI_dnActualMotorVoltage_n
Voltage values 1...11 C00953/1...11 C00052 Motor voltage
Activat. of interpolat. point 1...11 C00954/1...11
VVC controller
Motor current C00054
C00957 Current setpoint

C00958 Gain
C00959 Reset time
[6-20] Signal flow - V/f control


(1) Speed.dnSpeedSetpoint Speed setpoint
(2) Current.Current.dnActualMotorCurrent Actual motor current
(4) Speed.dnActualMotorSpeed Current motor speed
(5) Frequency.dnActualSlipFrequency Actual slip frequency
(7) Voltage.dnOutputQuadratureVoltage Q voltage
(8) Voltage.dnOutputDirectCurrentCtrl D voltage
6 Motor interface
________________________________________________________________
 Note!
The descriptions in chapter "V/f control (VFCplus)" also apply to the V/f control. ( 229)
When this motor control mode is used, the operation can be continued if the encoder
fails. For this, the encoder monitoring must be parameterised to "Warning". If the
encoder fails, the speed controller is "frozen" so that the slip correction via the speed
controller is maintained.
For the closed loop V/f control, the speed controller (also called "slip regulator") also has to be
parameterised for the speed feedback.
• C00971 serves to define the influence of the speed controller in [%] with regard to the reference
speed of the motor (C00011). If the influence is adjusted to the slip expected under normal
operating conditions, the motor cannot accelerate in an uncontrolled way when the encoder
fails.
• To activate the speed controller, parameterise the gain (C00972) and the reset time (C00973).
Short overview: Parameters for speed controller

Value Unit
C00971 VFC: Influence - speed controller 10.00 %

C00972 VFC: Gain - speed controller 0.000 Hz/rpm
C00973 VFC: Reset time - speed controller 6000.0 ms
6 Motor interface
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6.7.1 Signal flow
Oscillation damping
Gain C00967 Limitation
Time constant C00968 C00967
Actual Q-current
(3)
Imax controller Speed setpoint C00050

C00963 Gain
C00964 Reset time
Maximum current C00022
Actual motor current C00780
(2)
fmax = f(C00018, C00059)

fmax fmax fmax fmax
(4)
Speed setpoint (6)
C00050 (1)
Motor reference speed C00011
Motor pole pair number C00059
Number of pole pairs C00059
Feedback influence C00971
Speed controller
C00971 Influence
Number of pole pairs C00059 C00972 Gain
C00973 Reset time
Unfiltered actual speed value
Filter time constant C00497
Actual speed value C00051

Characteristic C00784 MCTRL_dnMotorFreqAct

Base frequency C00951
calculation
Charact. shape C00950 Switching frequency
Linear C00018
characteristic Inverter error
0
(7) characteristic
Square-law 1
characteristic 2
MI_dnBoostSet_n
(8)
2
a +b
2
M
User-definable C00960 Coordinate
characteristic transformation
V/f voltage boost
(9)
Frequency values 1...11 C00952/1...11 MI_dnActualMotorVoltage_n
Voltage values 1...11 C00953/1...11 C00052 Motor voltage
Activat. of interpolat. point 1...11 C00954/1...11
VVC controller
Motor current C00054
C00957 Current setpoint

C00958 Gain
C00959 Reset time
[6-21] Signal flow for closed loop V/f control
6 Motor interface
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(2) Current.Current.dnActualMotorCurrent Actual motor current
(7) Voltage.dnOutputQuadratureVoltage Q voltage
(8) Voltage.dnOutputDirectCurrentCtrl D voltage
6 Motor interface
6.8 Parameterisable additional functions
________________________________________________________________
Detailed information on the parameterisable additional functions can be found in the following
subchapters:
Parameterisable additional functions Motor control*

SC SLVC VFCplus
Correction of the stator leakage inductance... ( 249) 

Field weakening for synchronous machines ( 254) 
Flying restart function ( 257)  
DC-injection braking ( 260)  
* SC = servo control SLVC = sensorless vector control VFCplus = V/f control
6 Motor interface
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6.8.1 Correction of the stator leakage inductance...
...and the current controller parameters by means of the saturation characteristic
 Note!
Function only possible for servo control!
The current controller must be adjusted to the electrical characteristics of the motor stator
resistance (C00084) and stator leakage inductance (C00085). In case of modern motors, the stator
leakage inductance changes with the height of the current so that a new current controller setting
is required for each current height.
When the motor is operated with very low and very high currents (e.g. in Pick and place
applications), it is not always possible to achieve a satisfactory current controller setting for all
operating points. For this purpose, the correction of the stator leakage inductance and current
controller parameters is now possible via an adjustable saturation characteristic that can be set in
C02853 (17 interpolation points).
The following picture shows a typical saturation characteristic of an MCS motor:
L/Ln
120 %
100 %
80 %
60 %
40 %
20 %
0% I/Imax
0% 10 % 20 % 30 % 40 % 50 % 60 % 70 % 80 % 90 % 100 %
[6-22] Saturation characteristic: Inductance referring to the inductance for rated current
• By optimising the current controller with different current setpoints such a characteristic can be
determined "by trial" and set in C02853.
• The correction by means of this saturation characteristic can be switched on/off via C02859.
 Note!
The saturation characteristic is not only used for the correction of the current controller
but also influences the current controller feedforward control (C00074).
6 Motor interface
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Distribution of the grid points

• The saturation characteristic is defined by 17 interpolation points which are distributed linearly
on the x axis.
• Interpolation point 17 represents 100 % of the maximum motor current in the process (C02855).
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Vp [V/A]
Tn [ms]
Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
[6-23] Saturation characteristic: Distribution of the grid points
Example for determining the saturation characteristic
Given values:
• Rated motor current: 5 A
• Maximum motor current: 20 A
• Maximum process current: 15 A (must be set later in C00022)
Procedure:
1. Deactivate correction (C02859 = "OFF").
2. Set the maximum current up to which the motor is to be operated in the process in C02855 (in
this example "15 A").
• The value set in C02855 has to be greater or the same as C00022.
3. Adjust the current controller with different current setpoints and take down the corresponding
settings for Vp and Tn.
• The procedure for the adjustment is described in the chapter "Optimise current controller".
• The current setpoints that are to be set for the respective adjustment in C00022 result from
the scaling of the maximum process current to the x axis of the saturation characteristic.
• The grid points which are required to define the saturation characteristic with a sufficient
quality varies from motor to motor and thus has to be determined individually.
6 Motor interface
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• For this example currents were selected that are part of the interpolation points 5, 9, 13, and
15, and a measurement at rated motor current was carried out:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Vp [V/A]
Tn [ms]
Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A

Rated motor current
 Maximum process current (≡ 100 %)
[6-24] Saturation characteristic: Distribution of the grid points
Specifications for adjustment Measured values

Grid point Scaling Setting in C00022 Vp [V/A] Tn [ms]
5 0.25 * 15 A = 3.75 A 13 6.5
9 0.5 * 15 A = 7.5 A 8 4
13 0.75 * 15 A = 11.25 A 5 2.5
15 0.875 * 15 A = 12.38 A 4 2
17 1.0 * 15 A = 15 A 3 1.7
Rated motor current = 5A 10 5
4. Create a characteristic based on the values calculated for Vp.

• Here, the values of the grid points which have not been adjusted must be determined by
interpolation between two values.
• Note: In this example it was assumed that the inductance does not change considerably
below 3.75 A. For this reason the same Vp value resulting from a measurement with a motor
current of 3.75 A was used for all interpolation points below 3.75 A.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Vp [V/A]
13
12
11
10
9
8
7
6
5
4
3
2
1
0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A
[6-25] Determined saturation characteristic
6 Motor interface
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5. Set the gain Vp in C00075 and the reset time Tn in C00076, which have been determined during
the adjustment with rated motor current (in this example "5 A"):
• Set C00075 = "10 V/A".
• Set C00076 = "5 ms".
6. Scale the Vp values on the Y axis of the characteristic to the 100 % Vp setting in C00075:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Vp [%]
130 13
120 12
C00075 = "10 V/A" º 100 %
110 11
100 10
90 9
80 8
70 7
60 6
50 5
40 4
30 3
20 2
10 1
0 0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A
[6-26] Scaling of the determined saturation characteristic to the "100 %" setting in C00075
7. Enter the Vp values in percent, which are placed on the interpolation point, in C02853/1...17:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Vp [%]
130
107
95
87.5
80
72.5
65
57.5
50
45
40
35
30
0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
[6-27] Grid point values of the saturation characteristic determined
Grid point Setting Grid point Setting

1 C02853/1 = 130 % 10 C02853/10 = 72.5 %
2 C02853/2 = 130 % 11 C02853/11 = 65 %
3 C02853/3 = 130 % 12 C02853/12 = 57.5 %
4 C02853/4 = 130 % 13 C02853/13 = 50 %
5 C02853/5 = 130 % 14 C02853/14 = 45 %
6 C02853/6 = 107 % 15 C02853/15 = 40 %
7 C02853/7 = 95 % 16 C02853/16 = 35 %
8 C02853/8 = 87.5 % 17 C02853/17 = 30 %
9 C02853/9 = 80 %
8. Enter the maximum process current ("15 A") in C00022.
6 Motor interface
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9. Switch on the correction (C02859 = "ON").

• When the correction of the stator leakage inductance is switched on, the same current
characteristic should occur, irrespective of the current magnitude.
• Since the current controller gain is corrected actively, the step responses may differ slightly
compared to the previous measurements. In this case C00075 and C00076 must be optimised
one last time.
6 Motor interface
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6.8.2 Field weakening for synchronous machines
 Note!
Function only possible for servo control!
If required, the field weakening mode can be switched on in C00093 for synchronous machines.
• When field weakening is switched on, the motor

Umotor magnetising current is increased from 0 A to the maximally
effective magnetising current via an internal control loop
when the voltage limit is reached.
• As a result, a higher speed can be reached at the same
motor voltage or DC-bus voltage.
n
 Armature control range

 Field weakening range
[6-28] Voltage/speed characteristic with switched-on field weakening
800V
n max = n nenn_mot ⋅ --------------------------------------
2 ⋅ U nenn_mot
[6-29] Calculation of the maximally reachable speed with switched-on field weakening
M [Nm]
60
50
40 0

30

20
1
10
0 n [rpm]
0 1500 3000 4500
 Standstill torque
 Rated torque
 Characteristic for continuous operation
 Limit characteristic at a mains voltage of 400 V without field weakening
 Limit characteristic with field weakening
[6-30] Speed/torque characteristics of a synchronous servo motor with field weakening
• The maximally effective motor magnetising current is calculated based on the motor data set
in C00084 to C00091.Then the calculated value is internally limited to 98 % of the maximum
current set in C00022.
6 Motor interface
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• When field weakening is switched on, the actually used maximum effective motor magnetising
current is shown in C00092, if field weakening is switched off, "0 A" are displayed, as before.
 Note!
If a Lenze motor is used:
The controller is parameterised automatically so that the field weakening works
optimally and there is no danger to the devices.
 Stop!
If an OEM motor is used:
If pulse inhibit is set in the controller, the DC bus is loaded with the voltage that
corresponds to the current speed of the machine.
Since with switched-on field weakening higher speeds can be achieved at a
correspondingly higher rotor voltage of the motor, the DC bus can be loaded to a voltage
higher than the set DC-bus voltage in case of pulse inhibit and a currently high motor
speed and even exceed the maximally permissible voltage of 800 V!
In order to protect the device, either use a brake chopper, or parameterise the speed
monitoring via C00596 and C00607, so that only a maximum motor speed is possible
that could also be reached with Vdc-bus = 800 V without field weakening.
Maximum motor speed ( 172)
6 Motor interface
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Example: Voltage increase in the DC bus when field weakening is switched off
(For instance by an active setting of the controller inhibit or by tripping a fault or error at high motor
speed.)
Field weakening Speed n Motor voltage peak value

Switched off 4000 rpm 560 V
5700 rpm 800 V
6000 rpm 840 V
Switched on 6000 rpm 560 V
U
• If pulse inhibit occurs at 6000 rpm and switched-on field
840 V
> 800 V weakening, the DC bus is loaded to more than 800 V ().
• A speed limitation to 5700 rpm is required since this speed
560 V
causes a DC-bus voltage of 800 V if field weakening is
switched off.
4000 6000 n
[6-31] Example: Possible DC-bus voltage > 800 V if field weakening gets lost
6 Motor interface
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6.8.3 Flying restart function
 Note!
Function only possible for V/f control or sensorless vector control!
In the case of V/f control or sensorless vector control, the current motor speed is only provided to
the controller if the motor control is active. However, if the controller is enabled, one cannot always
assume that the drive is at standstill. The drive for example may still coast down, or be further
operated by a load. It cannot always be assumed that fans are at standstill if the controller is
enabled, e. g. if the fan impeller is further driven by an air flow in an undefined direction.
If the flying restart mode is activated in C00990, after controller inhibit is deactivated (or DC-
injection braking is cancelled), a flying restart process is automatically started to determine the
current motor speed if the following conditions are met:
• V/f control or sensorless vector control are selected as motor control in C00006.
• The position control structure is set to "Phase controller is active" in C02570.
• The MI_bFlyingSyncBlocked control input of the motor interface is not assigned or set to FALSE.
• The holding brake, if available, is not applied.
 Stop!
If the flying restart function is deactivated and the controller is not enabled at standstill,
the output voltage and output frequency does not match the current motor speed. High
compensation currents may flow!
• The drive is first braked towards 0 Hz and is then accelerated again!
• This may cause the following error messages:
• Controller: Overload during acceleration phases (fault)
• Device utilisation Ixt > C00123 (warning)
• Device utilisation Ixt > 100 % (fault)
• Motor load I2xt > C00127 (warning)
• Motor load I2xt > C00120 (fault)
• Overcurrent detected (fault)
• Overvoltage in DC bus (trouble)
 Note!
The flying restart algorithm requires the motor voltage as exact as possible. Therefore it
is absolutely necessary to predetermine the inverter error characteristic. Optimising
the switching performance of the inverter ( 183)
In addition to the exact motor voltage, the stator resistance must also be known exactly.
If the flying restart function should not work as required, slightly adjust the setting of
the stator resistance in C00084.
6 Motor interface
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Process
A. Initial situation: basic function

0 "Speed follower" is enabled and
Speed follower enabled
active.
t
1 3 B. The controller is inhibited while
CINH the drive is not at standstill.
t
C. The motor coasts down
Drive not ready Speed follower active
(torqueless).
t D. The controller inhibit is
deactivated again.
Speed setpoint
Act
2 E. The flying restart process starts.
ual
spe
e d
t
4
[6-32] Process example: Speed follower is active  Controller inhibit  Controller enable
Flying restart process

The controller calculates the output frequency required for the momentary speed of the coasting
motor, then connects to the system, and accelerates the motor to the defined setpoint again.
• The flying restart process serves to prevent the motor from decelerating to zero speed with
subsequent acceleration.
• The currently detected flying restart speed is provided to the application via the current motor
speed MI_dnActualMotorSpeed_s.
6 Motor interface
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Parameter setting
• The flying restart algorithm injects a current into the motor to identify the current speed. This
flying restart current can be parameterised in C00991 in [%] relating to the rated motor current.
• The higher the current the higher the torque imposed upon the motor.
• If the current is too low, a wrong speed can be detected.
• The starting frequency of the flying restart algorithm can be set in C00992.
• If it can be anticipated at which frequency the motor "caught" most frequently in a flying
restart process, this frequency is to be set here.
• The integration time of the phase controller is set in C00993.
• The Lenze setting "60 ms" is adapted for machines with a medium power (45 kW).
• A guide value for the integration time can be calculated with the following equation as a
function of the motor power (C00081):
μs
T i = 1.1 ------ ⋅ Motor power (C00081) + 9.4 ms
W
• For accelerating the flying restart process, this guide value can be reduced.
• If the flying restart frequency (Frequency.dnActualRotatingFieldFrequency) oscillates too
much, the integration time has to be increased again.
• A longer integration time increases the time for "catching" the drive.
• To avoid starting a flying restart process at short-time controller inhibit, a time can be set in
C00995 for the minimum active controller inhibit time.
• Since a pulse inhibit > 500 ms causes a controller inhibit, this also applies to the pulse inhibit.
Short overview: Parameters for flying restart process

Value Unit
C00990 Flying restart: Activation Off

C00991 Flying restart: Current 15 %
C00992 Flying restart: Start frequency 20.0 Hz
C00993 Flying restart: Integration time 60 ms
C00994 Flying restart: Min. deviation 5.00 °
C00995 Flying restart: Delay time 0 ms
6 Motor interface
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6.8.4 DC-injection braking
 Note!
Function only possible for V/f control or sensorless vector control!
DC-injection braking can be divided into three functionalities:
Manual DC-injection braking

Braking can be activated and deactivated via the internal interface QSP_bActivateDCBrake of the
basic function "Quick stop".
 Tip!
A detailed description of this functionality can be found in the main chapter "Basic drive
functions", subchapter "Quick stop":
DC-injection braking". ( 432)
DC-injection braking instead of quick stop

If DC-injection braking is activated in C00976 instead of quick stop, DC-injection braking is executed
automatically when quick stop is activated.
 Tip!
functions", subchapter "Quick stop":
DC-injection braking when quick stop is activated". ( 434)
Automatic DC-injection braking

This functionality is part of the basic function "Brake control".
If mode 22 has been selected for the brake control in C02580, DC-injection braking is executed
automatically if the current speed setpoint falls below the speed threshold set in C02581.
 Tip!
functions", subchapter "Brake control":
Mode 22: Automatic DC-injection braking". ( 432)
6 Motor interface
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Short overview: Parameters for DC-injection braking

Value Unit
C00974 DC brakes: Current 0.00 A

C00975 DC brakes Current for quick stop 0.00 A
C00976 DC brake: Activat. by quick stop Off
6 Motor interface
6.9 Monitoring
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6.9 Monitoring
6.9.1 Signal flow
DI_bOVDetected
const.
DI_bUVDetected
C00173
DC-bus voltage filter C00174
(15)
DC-bus voltage MI_dnActualDCBusVoltage
const. C00053 DC-bus voltage
C00779 MCTRL_dnDCBusVoltage
Error message
"Failure of motor phase"
C00597
C00599
Error message "Earth fault detected"

Error message "Overcurrent detected"
const.
Phase currents
(16) U C00055/1
S
(17) V C00055/2 MCTRL_dnIxtLoad
(18) W C00055/3 C00786 ³1 MI_bMotorOverloadWarning
C00018 const.
Rotating field frequency C00022
Thermal motor model
Actual Q-current MCTRL_dnI2xtLoad
2 2
Actual D-current a +b
C00790
C00128 C00120
C00129
[6-33] Signal flow of motor interface (monitoring)


(15) Voltage.dnActualDCBusVoltage Actual DC-bus voltage
(16) Current.dnActualCurrentPhaseU Actual motor current (phase U)
(17) Current.dnActualCurrentPhaseV Actual motor current (phase V)
(18) Current.dnActualCurrentPhaseW Actual motor current (phase W)
6 Motor interface
6.9 Monitoring
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6.9.2 Motor monitoring (I2xt)
The "Servo Drives 9400" are provided with an extended, sensorless thermal I2xt motor monitoring
function which is based on a mathematical model that calculates a thermal motor utilisation from
the detected motor currents.
• The calculation considers the speed dependency of the torque (difference between standstill
torque and rated torque).
• C00066 indicates the calculated motor utilisation in [%].
• If the motor utilisation exceeds the advance warning threshold set n C00127, the error message
"I2t motor overload OC8" is output and the response (default setting: "Warning") set in C00606
is activated..
• If the switch-off threshold set in C00120 is exceeded, the error message "I2t motor overload
OC6" is output and the "Fault" response is activated.
• From software version V5.0:
After mains switching, the thermal model of the I²xt motor monitoring is initialised with the
starting value initialised in C01197.
 Stop!
The I2xt motor monitoring function is no full motor protection!
Since the motor utilisation calculated in the thermal model gets lost after mains
switching, the following operating states cannot be determined correctly:
• Restarting (after mains switching) of a motor that is already very hot.
• Change of the cooling conditions (e.g. cooling air flow interrupted or too warm).
Full motor protection requires additional measures such as the evaluation of
temperature sensors that are located directly in the winding or the use of thermal
contacts.
6 Motor interface
6.9 Monitoring
________________________________________________________________
Structure of the I2xt monitoring

The introduction of a two-component model with two time constants (one for the winding and the
other for the housing/laminated core) serves to display the thermal behaviour of the motor up to
500% of the rated current:
2
Iact motor 1
Iperm motor (n)
k1
(1 + pt1)

1
(1 + pt2)
k2
 Thermal utilisation of the motor in [%]
[6-34] Structure of the motor monitoring
Parameter Setting
Iact motor Actual motor current -
Iperm motor (n) Permissible motor current (speed-dependent) -
τ1 Therm. time constant coil C00128/1
k1 Percentage of the winding in the final temperature C01195
τ2 Therm. time constant plates C00128/2
k2 Percentage of the steel plates in the final temperature 100 % - C01195
Calculation with only one time constant

With C01195 = "0 %" the time constant for the winding is not considered and the thermal model is
only calculated with the time constant set for the housing/laminated core.
• The setting C01195 = "0 %" is reasonable if for example the two time constants are not known.
• The calculation simplified due to this setting corresponds to the calculation in the previous
Lenze devices (e.g. 9300 servo inverter or ECS).
6 Motor interface
6.9 Monitoring
________________________________________________________________
Speed-dependent evaluation of the motor current

By selecting a characteristic in C01196/1...8 the permissible motor current is evaluated depending
on speed for calculating the thermal motor utilisation.
Parameter Characteristic point

C01196/1 n1/nn Speed = "0" (standstill)
C01196/2 I1/In Permissible motor current at standstill
C01196/3 n2/nn Speed from which the torque must be reduced for self-ventilated motors.
• Below this speed the cooling air flow of the integral fan is not sufficient
anymore.
C01196/4 I2/In Permissible motor current at speed n2 (torque reduction)
C01196/5 n3/nn Rated speed
C01196/6 I3/In Permissible motor current at rated speed
C01196/7 n4/nn Speed above the rated speed (in the field weakening range for asynchronous
motors)
C01196/8 I4/In Permissible motor current at speed n4 (field weakening)
• The speed-dependent evaluation can be more or less switched off by setting C01196/1...8 to
"100 %" each. The calculation simplified due to this setting corresponds to the calculation in
previous Lenze devices (e.g. 9300 servo inverter or ECS).
 Note!
Self-ventilated standard motors are protected insufficiently at low speeds by setting
C01196/1...8 to "100 %" each.
Servo motors, however, do not have a point from which the torque must be reduced due
to a too low speed.
• When setting the characteristic in C01196/1...8 this point must not be ignored. Hence,
point 2 is to be set ideally to point 1 or point 3.
6 Motor interface
6.9 Monitoring
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6.9.2.1 Example for entry of the characteristic for asynchronous servo motor
Motor type: MDFMARS 090-32
Data from the catalogue:

• Rated speed nrated: 1410 rpm  Setting in C00087
• Rated current I: 6.1 A  Setting in C00088
• Rated torque Mrated: 10.2 Nm
• Characteristic of maximum torques (50 Hz, star connection):
M C01196/4 C01196/6
10.2
C01196/2 C01196/8
6.1
4.5
0
0 600 1410 3000 n
C01196/1 C01196/3 C01196/5 C01196/7
[6-35] Torque/speed characteristic for motor type MDFMARS 090-32 from catalogue
 Note!
At present, relative current values are still expected for the specification of the
interpolation points in subcodes 2, 4, 6, 8 of C01196. This example, however, already
uses relative torque values, the entry of which shall be possible at a later date.
Parameter Setting Info

C00128/1 1.0 min Thermal time constant - winding
• Is unknown and is therefore deactivated by setting C01195 = "0 %".
C00128/2 5.0 min Thermal time constant - laminated core/housing
C01195 0% Percentage of the winding in the final temperature.
C01196/1 0% Speed = "0" (standstill)
C01196/2 Permissible motor torque at standstill
Self-ventilated: 60 % = 6.1 Nm / 10.2 Nm * 100 %
Forced-ventilated: 100 % = 10.2 Nm / 10.2 Nm * 100 %
C01196/3 Speed n2 from which the torque must be reduced for self-ventilated motors.
Self-ventilated: 43 % = 600 rpm / 1410 rpm * 100 %
Forced-ventilated: 0% No torque reduction required.
C01196/4 100 % Permissible motor torque at speed n2 (torque reduction)
C01196/5 100 % Rated speed (≡ 1410 rpm)
C01196/6 100 % Permissible motor torque at rated speed (≡ 10.2 Nm)
C01196/7 213 % Speed above the rated speed (in the field weakening range for asynchronous
motors)
= 3000 rpm / 1410 rpm * 100 %
C01196/8 44 % Permissible motor torque at speed n4 (field weakening)
= 4.5 Nm / 10.2 Nm * 100 %
6 Motor interface
6.9 Monitoring
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6.9.2.2 Example for entry of the characteristic for synchronous servo motor
Motor type: MCS 06C60
Data from the catalogue:

• Rated speed nrated: 6000 rpm  Setting in C00087
• Rated current I: 2.4 A  Setting in C00088
• Rated torque MN: 0.5 Nm (in S1 operation: 0.55 Nm)
• Characteristic - maximum torques:
M
1.5
C01196/2 1.0
C01196/4 C01196/6
0.5 C01196/8
0
0 1000 2000 3000 4000 5000 6000 7000 n
C01196/1 C01196/5
C01196/3 C01196/7
[6-36] Torque/speed characteristic for motor type MCS 06C60 from the catalogue
 Note!
At present, relative current values are still expected for the specification of the
interpolation points in subcodes 2, 4, 6, 8 of C01196. This example, however, already
uses relative torque values, the entry of which shall be possible at a later date.
Parameter Setting Info

C00128/1 1.0 min Thermal time constant - winding
C01195 27 % Percentage of the winding in the final temperature.
(Only the laminated core percentage is known.)
C01196/1 0% Speed = "0" (standstill)
C01196/2 160 % Permissible motor torque at standstill
= 0.8 Nm / 0.5 Nm * 100 %
C01196/3 0% Speed n2 from which the torque must be reduced for self-ventilated motors.
C01196/5 100 % Rated speed (≡ 6000 rpm)
C01196/6 100 % Permissible motor torque at rated speed (≡ 0.5 Nm)
C01196/7 100 % Speed above rated speed
C01196/8 100 % Permissible motor torque at speed n4 (field weakening)
6 Motor interface
6.9 Monitoring
________________________________________________________________
6.9.2.3 UL 508-compliant I²xt motor temperature monitoring

The following test steps 1 ... 4 are part of the UL 508C-compliant device acceptance.
They have to be executed successfully during the I²xt motor monitoring.
Test step 1
• Motor overload: 6 x Irated,mot(Irated,mot: Rated motor current (C00088))
• Trigger time: Max. 20 s after the overload has occurred
Code Setting Info

C01195 0% Percentage of the winding in the final temperature
C00120 100 % Switch-off threshold of motor overload protection (I²xt)
Test step 2
• Motor overload: 2 x Irated,mot(Irated,mot: Rated motor current (C00088))
• Trigger time: Max. 480 s after the overload has occurred
Code Setting Info

Test step 3
• Motor overload: 1,1 x Irated,mot(Irated,mot: Rated motor current (C00088))
• In case of a motor field frequency of 10 Hz, the I²xt motor monitoring has to be tripped faster
than with a motor field frequency of 20 Hz.
Code Setting Info

C01196/1 0% Speed = 0 (standstill)
C01196/2 < 100 % Permissible motor torque at standstill
C01196/3 20 Hz / C00089 * C00087 Speed n2 from which on the torque must be reduced
6 Motor interface
6.9 Monitoring
________________________________________________________________
Test step 4
• After mains switching and an overload of the rated motor current (C00088), the I²xt motor
monitoring has to be tripped faster than before mains switching with the same overload.
• From software version V5.0:
Initial value of the thermal model of the I²xt motor monitoring: C01197 > 0 %.
Example for a UL 508C-compliant total parameterisation of the I²xt motor monitoring of the device:
Code Setting Info

C01196/1 0% Speed = 0 (standstill)
C01196/2 < 100 % Permissible motor torque at standstill
C01196/3 20 Hz * ( C00089 / C00087) Speed n2 from which on the torque must be reduced
C01196/5 100 % Rated speed
C01196/6 100 % Permissible motor torque at rated speed
C01196/7 100 % Rated speed
C01196/8 100 % Speed above rated speed
C01197 >0% Initial value of the thermal model of the I²xt motor
monitoring
6 Motor interface
6.9 Monitoring
________________________________________________________________
6.9.3 Motor temperature monitoring
If the winding temperature detected by the motor temperature sensor exceeds the limit value set
in C00121, the response set in C00584 is activated as advance warning.
• In the Lenze setting the "Warning" response occurs if the winding temperature exceeds 120 °C.
• As soon as the fixed limit value of 150 °C is exceeded, the response set in C00583 is activated
(default setting: "Fault").
• If an open circuit is detected in the motor temperature sensor, the response set in C00594
(default setting: "Fault") is activated.
 Note!
By setting C00583 = "0" the monitoring response and the temperature correction is
switched off within the motor control (identification and parameter correction)
This setting for example is reasonable if no usable winding temperature signal is
available.
 Tip!
The winding temperature currently detected by the motor temperature sensor is displayed
in C00063.
6 Motor interface
6.9 Monitoring
________________________________________________________________
6.9.3.1 Specific characteristic for the motor temperature sensor

If required, you can define and activate a special characteristic for the motor temperature sensor.
• The specific characteristic is defined on the basis of two grid points which must be set in C01191
and C01192. Those two points define a line which is extrapolated to the right and to the left.
• The special characteristic is activated by setting C01190 = "1".
• In the Lenze setting, the specific characteristic is defined as follows:
W • Interpolation point
• C01191/1 = 25 °C
2225
• C01192/1 = 1000 Ω
• Interpolation point
1000 • C01191/2 = 150 °C
• C01192/2 = 2225 Ω
0
0 25 150 °C
[6-37] Lenze setting of the special characteristic
 Note!
• If a motor is selected from the motor catalogue, parameters C01190, C01191, and
C01192 are overwritten!
• If the controller measures a resistance below 122 Ω, this is interpreted as a sensor
error and a temperature of 255 °C is output.
• Sometimes a short circuit is a desired state (e.g. temperature contact closed below 140 °C). For
this purpose, the interpolation point 1 (C01191/1) must be below 122 Ω to prevent the
triggering of sensor errors. In this case the temperature continues to be calculated.
6 Motor interface
6.9 Monitoring
________________________________________________________________
6.9.3.2 Motor temperature monitoring (PTC)

For detecting and monitoring of the motor temperature, a PTC thermistor (DIN 44081/DIN 44082)
or a thermal contact (NC contact) can be connected to the terminals X106/T1 and X106/T2.
 Stop!
• This monitoring is only active if the controller is supplied via the line side, i.e. if
the DC-bus voltage (Uz) > undervoltage threshold (LU).
• The controller can only evaluate one PTC thermistor!
Do not connect several PTC thermistors in series or parallel.
• If several motors are operated on one controller, use thermal contacts (NC contacts)
connected in series.
• To achieve full motor protection, an additional temperature monitoring with separate
evaluation must be installed.
 Note!
• In the Lenze setting (C00585 = "0: No response"), motor temperature monitoring is
deactivated!
• Lenze three-phase AC motors are provided with a thermal contact on delivery.
• The monitoring responds from a resistance value of 1.6 kΩ at connections X106/T1 and X106/
T2, see functional test below.
• If the monitoring responds:
• The error response set in C00585 is activated (Lenze setting: "No response").
• the error message "PTC has triggered" (0x0077000f) is entered into the logbook of the
controller.
• the status output MI_bMotorOverloadWarning is set to TRUE.
 Tip!
We recommend to always activate the PTC input when using motors which are equipped
with PTC thermistors or thermostats. This prevents the motor from being destroyed by
overheating.
Functional test
Connect a fixed resistor to the PTC input:
• R > 4 kΩ : The fault message must be triggered.
• R < 1 kΩ : The fault message must not be triggered.
6 Motor interface
6.9 Monitoring
________________________________________________________________
6.9.3.3 Temperature monitoring of a second motor

Two motor temperature sensors can be evaluated simultaneously via the two encoder inputs X7
and X8 when two motors are used (e.g. double motor for a storage and retrieval unit). For this
purpose, the selection "X7 and X8 in parallel" must be set as feedback system for the motor
temperature in C01193.
• In this case, always the higher temperature of the two detected temperatures is displayed as the
current motor temperature on the Diagnostics tab and in C00063.
• In addition, the following display parameters exist:
• C01200/1: Motor temperature via X7
• C01200/2: Motor temperature via X8
• If one of the two detected temperatures exceeds the limit value set in C00121, the response set
in C00584 is activated as advance warning.
• In the Lenze setting the "Warning" response occurs if one of the two winding temperature
exceeds 120 °C.
• As soon as one of the two detected temperatures exceeds the fixed limit value of 150 °C, the
response set in C00583 is activated (default setting: "Fault").
• If an open circuit is detected in one of the two motor temperature sensors, the response set in
C00594 (default setting: "Fault") is activated.
• It is not possible to set different responses for the two temperature monitoring modes.
• For the motor model in the controller, the mean value of both detected temperatures is used.
Related topics:
Brake controlControl of two motor holding brakes ( 583)
6 Motor interface
6.9 Monitoring
________________________________________________________________
6.9.4 Motor phase failure monitoring
6.9.4.1 Monitoring of the individual motor phases during operation

If a current-carrying motor phase (U, V, W) fails during operation, the response set in C00597 is
executed (Lenze setting: "No response") if two conditions are fulfilled:
Condition 1: Monitoring is activated

To safely detect a motor phase failure, a certain motor current must flow for the current sensor
system.
• Monitoring will therefore only be activated if, in the case of servo control the setpoint of the
motor current, and in the case of sensorless vector control or V/f control the actual value motor
current (display in C00054) has exceeded a certain current value.
• The current value for the activation can be set in C00599 in [%] with regard to the maximum
device current (display in C00789).
Condition 2: A certain commutation angle has been covered

In this case monitoring works according to the principle of checking for each motor phase that a
current flows depending on the commutation angle.
• Monitoring responds if a certain commutation angle (approx. 150°) is covered without the
current having exceeded a (non-parameterisable) threshold that depends on the device power.
 Note!
• In case of sensorless vector control or V/f control, the safe detection of a motor phase
failure is only carried out if the actual current has exceeded the 3.5-fold value of the
threshold parameterised in C00599.
• The dependence on the commutation angle also causes a dependence on the motor
type used:
• The commutation angle and the angle at the shaft (number of pole pairs) of a
synchronous machine are proportional. This makes it possible to predict which
shaft angle is maximally covered in case of error.
• An asynchronous machine has an additional slip between the commutation angle
and the angle on the shaft. This results in a load dependency due to which it is
impossible to predict the maximally covered shaft angle in the event of a fault.
In certain applications (e.g. hoists during lowering operation at non-zero speeds) it
may be possible that a rotating field is no longer applied. Instead, a DC current
flows. In this case, condition 2 is no longer met.
6 Motor interface
6.9 Monitoring
________________________________________________________________
6.9.4.2 Checking the individual motor phases before operation is started

A check via test signal application has been added. It injects a current into the machine before the
actual operation is started, by means of which both a motor phase failure and the existence of the
motor are checked. Only after the check has been carried out successfully, the actual operation is
continued.
• The setpoint current amplitude corresponds to the lower of the two following values:

or
• The test signal application is activated directly after controller enable if the following conditions
are fulfilled:
• In C00597 a response other than "No response" is set.
• No test mode is activated (C00398 = 0).
• No identification of pole position is active
(by device command C00002 = "51" or "52").
• No identification procedure is active
(by device command C00002 = "71" or "72").
• The check actuates the response set in C00597 if one or more motor phase currents have not
reached a certain threshold value within 5 ms after controller enable.
• The threshold value depends on the device power and cannot be parameterised.
• If only one motor phase current does not reach the threshold value, "Motor phase U/V/W not
available" is entered in the logbook.
• If several motor phases do not reach the threshold value, the motor is considered as not
connected, and "Motor not connected" is entered in the logbook.
• The check is completed successfully if all three motor phase currents have exceeded the
threshold value. Then the actual operation is continued immediately.
 Note!
• As the check is cancelled immediately if all three motor phase currents have exceeded
the threshold value, the setpoint current usually is not achieved.
• In order to be able to achieve the threshold value used for the check, the rated motor
current must at least be 10 % of the maximum device current.
• This monitoring is independent of the further rotation of the commutation angle.
6 Motor interface
6.9 Monitoring
________________________________________________________________
6.9.5 Maximum current monitoring
The ultimate motor current IULT to be parameterised in C00620 is a limit value to protect the motor
from destruction or influence of the rated data.
• The maximum current parameterisable in C00022 should have a sufficient distance from this
limit value.
• If the instantaneous value of the motor current exceeds the limit value set in C00620 the
response set in C00619 is executed for motor protection (Lenze setting: Fault).
 Note!
When you select a Lenze motor from the catalogue and transfer the plant parameters of
the motor to the controller, the setting in C00620 is automatically adjusted to the
selected motor.
6 Motor interface
6.10 Internal interfaces | "LS_MotorInterface" system block
________________________________________________________________
LS_MotorInterface
MI_dnPosCtrlAdaptLoad_n MI_dwControlMode
MI_dnPosCtrlAdaptMotor_n MI_bMotorOrientationInverse
MI_dnSpeedCtrlAdapt_n MI_dwReferenceSpeed
MI_bResetSpeedCtrlIntegrator MI_dwReferenceTorque
MI_dnTorqueHighLimit_n MI_bLimitationActive
MI_dnTorqueLowLimit_n MI_bPosCtrlLimited
MI_dnFluxSetpoint_n MI_bSpeedSetpointLimited
MI_dnInertiaAdapt_n MI_dnSpeedSetpoint_n
MI_dnBoostSet_n MI_dnSpeedSetpoint_s
MI_bFlyingSyncBlocked MI_bSpeedFollowingError
MI_dnTorqueAdd_n MI_bSpeedCtrlLimited
M MI_dnFilteredTorqueSetpoint_n
MI_bCurrentSetpointLimited
MI_bMotorOverloadWarning
MI_bSpeedBelowThresholdC19
MI_dnActualMotorCurrent_n
MI_dnActualMotorVoltage_n
MI_dnActualMotorTorque_n
MI_dnActualMotorSpeed_n
MI_dnActualMotorSpeed_s
MI_dnActualMotorPos_p
MI_dnActualDCBusVoltage_n
MI_dnThermalLoadDevice_n
MI_dnThermalLoadMotor_n
MI_dnActualFlux_n
MI_bFlyingSyncBusy
MI_bClampIsActive
MI_bMagnetisationFinished
 Note!
All input and output signals of the motor interface directly refer to the motor!
6 Motor interface
________________________________________________________________
Inputs

MI_dnPosCtrlAdaptLoad_n Dynamic change of the proportional gain Vp of the position controller during
C02568/1 | DINT operation
• Internal limitation to 0 ... 200 %
MI_dnPosCtrlAdaptMotor_n Dynamic change of the proportional gain Vp of the phase controller during
MI_dnSpeedCtrlAdapt_n Dynamic change of the proportional gain Vp of the speed controller during
• If the input is assigned, the following applies:
VP = MI_dnSpeedCtrlAdapt_n [%] * C00070
• If the input is not assigned, the following applies:
VP = 100 % * C00070 = C00070
Optimising the speed controller ( 195)
MI_bResetSpeedCtrlIntegrator Reset integral action component in the speed controller
C02569/2 | BOOL
TRUE Integral action component is reset to "0".
MI_dnTorqueHighLimit_n Upper/lower limit value for correcting variable of the speed controller and total
C02568/4 | DINT torque setpoint
MI_dnTorqueLowLimit_n • These two inputs serve to select an external torque limitation.
C02568/5 | DINT • If the motor torque reaches the selected limits, the drive can no longer
follow the speed setpoint!
• If the torque limitation is active, the output MI_bTorqueSetpointLimited is
set to TRUE.
• 100 % ≡ C00057/2
• Only a positive torque is permissible as upper limit value.
• Only a negative torque is permissible as lower limit value.
• The motor mounting position (C02527) defines the assignment to the
limitation inputs of the motor control.
• The internally effective torque limit values are displayed in C02559/1...2.
MI_dnFluxSetpoint_n Setpoint for the field controller
C02568/7 | DINT
MI_dnInertiaAdapt_n Adaptation of the moment of inertia in [%]

C02568/8 | DINT • If input is not assigned = 100 %
MI_dnBoostSet_n Boost voltage
C02568/9 | DINT • 100 % ≡ 1000 V
MI_bFlyingSyncBlocked Block flying restart

C02569/16 | BOOL Flying restart function ( 257)
FALSE Flying restart function is active
TRUE Flying restart process is blocked.
MI_dnTorqueAdd_n Additional torque feedforward control value in [%]
C02568/10 | DINT This input serves to provide an additional torque setpoint. In this way, you can
provide an additional torque for the basic functions manual jog, positioning and
homing besides the acceleration feedforward control.
• 100 % = motor reference torque
If the controller is enabled, the torque setpoints at this input have a direct effect
on the drive!
The user has to
• apply the appropriate setpoint for every state of the drive.
• avoid setpoint step-changes.
- 200 %
+ 200 %
6 Motor interface
________________________________________________________________
Outputs
MI_dwControlMode Active control structure of the motor control

DWORD • Displayed value is bit-coded:
Bit 1 Position control without feedback, external following error
calculation
Bit 2 Position control with encoder on the motor side
Bit 3 Position control with encoder on the load side
Bit 4 Speed control
Bit 5 Torque control
MI_bMotorOrientationInverse Parameterised motor mounting position
BOOL
FALSE Motor mounting position in the same direction, setpoints are
not defined.
TRUE Motor mounting position in the opposite direction, setpoints are
reversed.
MI_dwReferenceSpeed Parameterised motor reference speed (C00011) in [rpm]
DWORD
MI_dwReferenceTorque Reachable motor torque with Imax_device (C00022) in [mNm]

DWORD • 1000 mNm ≡ 1 Nm
• Display in C00057/2 in [Nm]
MI_bLimitationActive Status signal "Internal limitation active"
C02569/3 | BOOL • Group signal for all limitation messages.
TRUE One of the internal limitations is active.
MI_bPosCtrlLimited Status signal "Phase/position controller at the limit"
C02569/4 | BOOL
TRUE The limitation of the phase and/or position controller is active.
MI_bSpeedSetPointLimited Status signal "Resulting speed setpoint at the limit"
C02569/5 | BOOL
TRUE The resulting speed setpoint is limited to the limit values
parameterised in C00909/1 and C00909/2.
MI_dnSpeedSetpoint_n Current speed setpoint from position control and speed feedforward control or
DINT direct setpoint selection in [%]
• After limitation by the upper speed limit value (C00909/1) and lower speed
limit value (C00909/2).
• 100 % ≡ Motor reference speed (C00011)
MI_dnSpeedSetpoint_s Current speed setpoint from position control and speed feedforward control or
DINT direct setpoint selection in [rpm]
• After limitation by the upper speed limit value (C00909/1) and lower speed
limit value (C00909/2).
MI_bSpeedFollowingError Status signal "Impermissible speed control deviation"
C02569/10 | BOOL
TRUE Speed control deviation is higher than the window set in
C00576.
MI_bSpeedCtrlLimited Status signal "Speed controller at the limit"
C02569/6 | BOOL
TRUE The speed controller limitation is active.
MI_bTorqueSetpointLimited Status signal "Total torque setpoint at the limit"
C02569/7 | BOOL
TRUE The total torque setpoint is limited.
MI_dnTorqueSetpoint_n Current torque setpoint from speed control and torque feedforward control or
DINT direct setpoint selection
• After limitation by MI_dnTorqueLimit_n.
• 100 % ≡ C00057/2
MI_dnFilteredTorqueSetpoint_n Filtered torque setpoint (after jerk limitation and band-stop filter)
DINT • 100 % ≡ C00057/2
6 Motor interface
________________________________________________________________
MI_bCurrentSetpointLimited Status signal "Setpoint for current controller at the limit"

C02569/8 | BOOL
TRUE The setpoint for the current controller is limited to Imax_device
(C00022).
MI_bMotorOverloadWarning Status signal "Motor overload"
C02569/11 | BOOL • Group signal for warning signals from temperature monitoring (KTY, PTC,
thermal switch) or I2xt monitoring.
TRUE One of the monitoring modes for motor overload protection is
active.
MI_bSpeedBelowThresholdC19 Status signal "Standstill reached"
C02569/9 | BOOL
TRUE The current speed is below the threshold set in C00019.
MI_dnActualMotorCurrent_n Actual motor current
DINT • 100 % ≡ Imax_device (C00789)
• Display in C00780 in [A]
MI_dnActualMotorVoltage_n Current motor voltage
DINT • 100 % ≡ 1000 V
• Display in C00783 in [V]
MI_dnActualMotorTorque_n Current motor torque
DINT • 100 % ≡ C00057/2
• Display in C00774 in [Nm]
MI_dnActualMotorSpeed_n Current speed of the motor shaft in [%]
DINT • 100 % ≡ Motor reference speed (C00011)
MI_dnActualMotorSpeed_s Current speed of the motor shaft in [rpm]
DINT • Display in C00772
MI_dnActualMotorPos_p Current position of the motor shaft in [increments]
DINT • Display in C00770
MI_dnActualDCBusVoltage_n Actual DC-bus voltage
DINT • 100 % ≡ 1000 V
MI_dnThermalLoadDevice_n Thermal device utilisation in [%]
DINT • Current result of the Ixt calculation.
• Display in C00064
Monitoring of the device utilisation ( 156)
MI_dnThermalLoadMotor_n Thermal motor utilisation in [%]
DINT • Current result of the I2xt calculation.
• Display in C00066
MI_dnActualMotorFreq_s Current motor frequency in [Hz]
DINT The motor frequency corresponds to the field frequency [Hz].
Field frequency [Hz] = motor speed × number of motor pole pairs
MI_dnActualFlux_n Actual flux value
DINT
MI_bFlyingSyncBusy "Flying restart function active" status signal

C02569/13 | BOOL Flying restart function ( 257)
TRUE Flying restart function is active
MI_bClampIsActive Status signal "Clamping is active"
C02569/14 | BOOL
TRUE Clamping is active.
MI_bMagnetisationFinished Status signal "Motor magnetisation is completed"
C02569/15 | BOOL Note:
This bit is only supported in the SLVC control mode (sensorless vector control).
TRUE Motor magnetisation is completed.
7 Encoder evaluation
________________________________________________________________
This chapter contains information on how to use feedback systems for the motor control.
 Danger!
If the encoder/resolver is used as motor encoder:
In case of error, safe operation of the motor is no longer guaranteed!
When servo control is used:
• For the (open circuit) monitoring of the encoder/resolver for reasons of safety always
the "Fault" response (Lenze setting) should be set!
When V/f control is used:
• For this type of motor control, the drive basically is to coast down after an encoder
failure and may not stop, therefore the "Warning" response is to be set for the (open
circuit) monitoring in this case!
Parameters for the (open circuit) monitoring:
• C00580: Response to open circuit of encoder
• C00586: Response to open circuit of resolver
• C00601: Response to communication error of encoder
 Note!
The encoder position is stored safe against mains failure in the memory module and is
therefore known to the drive control even after the mains has been switched.
With regard to their position resolution, higher-level applications are based on the
resolution of the encoder which is activated for position control.
Behaviour of the home position after mains switching
If the home position/information is also to be available after mains switching, the
setting C02652 = "1: Received" is required.
• Another condition for keeping the home position/information after mains switching
is the compliance with the maximum permissible angle of rotation of the encoder,
which can be set in C02653.
• When resolvers or single-turn absolute value encoders are used and the mains is
switched off (24 V supply off), the encoder may only be moved by ½ revolution since
otherwise the home position will get lost due to the ambiguity of the encoder
information.
See also: Parameterising motor encoder ( 174)
7.1 Internal interfaces | "LS_Feedback" system block
________________________________________________________________
LS_Feedback
FDB_dnPosOffset_p FDB_dnActualPos_p
FDB_dnActPosIn_p FDB_dnActualSpeed_s
FDB_bResetPosFollowingError FDB_dnPosFollowingError_p
FDB_dnSetPos_p
FDB_dnSetSpeed_s
FDB_bResolverError
G E R
FDB_bSinCosSignalError
FDB_bEncoderComError
FDB_dnSetAcc_x
Inputs

Data type
FDB_dnPosOffset_p Offset for position setpoint and actual position in [increments]

DINT
FDB_dnActPosIn_p External actual position in [increments]

DINT • For the selection of an external actual position with a corresponding position
control.
Use of an external position encoder ( 283)
FDB_ Input for deleting the following error
bResetPosFollowingError
BOOL
True The position setpoint is equated with the actual position value.
Outputs
FDB_dnActualPos_p Current position of the position encoder in [increments]

DINT
FDB_dnActualSpeed_s Current speed of the position encoder in [rpm]

DINT
FDB_dnPosFollowingError_p Current following error in [increments]

DINT
FDB_dnSetPos_p Set position calculated by active basic drive function in [increments]

DINT • Considering the motor mounting position.
• In the case of an active speed or torque control (instead of position control) the
actual position (FDB_dnActualPos_p) is shown at this output.
FDB_dnSetSpeed_s Setpoint speed calculated by active basic drive function in [rpm]
FDB_bResolverError Status signal "Resolver error"
C02579/1 | BOOL
TRUE A resolver error (e.g. open circuit) has occurred.
FDB_bSinCosSignalError Status signal "sine/cosine encoder error"
C02579/2 | BOOL
TRUE A sine/cosine encoder error has occurred.
________________________________________________________________
FDB_bEncoderComError Status signal "Encoder communication error"

C02579/3 | BOOL
TRUE An encoder communication error has occurred.
FDB_dnSetAcc_x Setpoint acceleration calculated by active basic function
• For the basic functions Stop, Manual jog, Homing and Positioning, the internal
acceleration resulting from the profile generation is output.
• For the basic functions Quick stop, Position follower and Speed follower, the
acceleration from the differentiated setpoint speed is determined. C02562 serves
to filter the determined acceleration.
• With an active torque control or in a non-controlled operation (function states
"Controller not ready" and "Error"), the value "0" is output.
7.1.1 Use of an external position encoder
The FDB_dnActPosIn_p input serves to evaluate an external encoder (CAN, SSI, Profibus) for the
position control.
• Via this input, a current actual position of an external encoder in [increments] can be directly
transferred to the encoder evaluation.
 How to activate the use of the external actual position:

On the Application parameters
tab in the dialog level Overview  Drive interface  Machine parameters:
1. Select the "Position controller active" setting in the Position control structure list field
(C02570), so that the position encoder is evaluated.
2. Set "From application" in the Position encoder selection list field (C00490).
 Note!
• Encoder inversion and offset selection FDB_dnPositionOffset_p also affect the
external actual position.
• If the use of the external actual position preset via FDB_dnActPosIn_p is activated, the
"Home position known" status (HM_bHomePosAvailable = TRUE) is automatically set
and homing with the basic function "Homing" cannot be activated anymore.
• If the traversing range (C02528) is set to "Modulo", the external actual position also
has to be defined as modulo (0 … cycle-1).
7.2 Signal flow
________________________________________________________________
7.2 Signal flow
FDB_dnPosOffset_p
FDB_dnActPosIn_p C02527
0 Signals for setpoint follower

C02570
1
Offset for position
1
FDB_dnActualPos_p
C00490 2
C02529 10
(1)
C00771 Actual position value
0 4
(2)
1
<4 Motor position
C00770
(3)
Motor speed
C00051
C00497 C00772
Position evaluation Position evaluation MI_dnActualMotorPos_p

Position encoder Motor encoder MI_dnActualMotorSpeed_n
MI_dnActualMotorSpeed_s
C02527
0
C02570
1
1
FDB_dnActualSpeed_s
C00490 2
C02529 10
0 4
C00596
<4
1
C00490 C00495 C00579

Position
10 4 3 2 1 0
Encoder interface 3 2 1 0
Motor FDB_dnPosFollowingError_p
encoder encoder
Motion FDB_dnSetPos_p*
Control FDB_dnSetSpeed_s*
(4) (5)
G G E R FDB_bResolverError
Encoder module Encoder module Encoder X8 Resolver X7 FDB_bSinCosSignalError

in MXI2 in MXI1 FDB_bEncoderComError
MI_... = output signals of the motor interface. Internal interfaces | "LS_MotorInterface" system block ( 277)
* Set position and setpoint speed are calculated from the basic function that is currently active.
[7-1] Signal flow - encoder evaluation


(1) Position.dnActualLoadPos Actual position
(2) Position.dnActualMotorPos Current motor position
(4) Speed.dnActualEncoderSpeed Current encoder speed
(5) Speed.dnActualResolverSpeed Current resolver speed
7.3 Parameter setting
________________________________________________________________
Short overview of parameters for the encoder evaluation:

Value Unit
C00058/1 Resolver pole position -90.0 °

C00058/2 Rotor displ. angle encoder 0.0 °
C00058/3 Module pole position 0.0 °
C00080 Number of resolver pole pairs 1
C00416 Resolver error correction 0
C00417 Dynamics of the resolver evaluation 100 %
C00418 Activate resolver error compensation Deactivated
C00420 Number of encoder increments 512
C00421 Encoder voltage 5.0 V
C00422 Encoder type Incremental encoder (TTL signal)
C00423 SSI encoder: Bit rate 400 kbps
C00424 SSI encoder: Data word length 25 Bit
C00427 TTL encoder signal evaluation 4x evaluation (A, B)
C00435/1...8 SSI encoder: Partword starting position 0
C00436/1 SSI encoder: partword length (partword 1) 31
C00436/2...8 SSI encoder: partword length (partwords 2...8) 0
C00437/1...8 SSI encoder: partword coding Binary coded
C00490 Position encoder selection Motor encoder
C00495 Motor encoder selection Resolver X7
C00497 Speed act. val. time const. 2.0 ms
C00579 Resp. to speed monitoring Off
C00580 Resp. to encoder open circuit Fault
C00586 Resp. to resolver open circuit Fault
C00601 Resp. to encoder fault Fault
C00621 Resp. to angular drift of encoder No response
C02527 Motor mounting direction Motor rotating CW
C02529 Position encoder mounting direction Encoder rotating CW
C02570 Position control structure Phase controller is active
C02572 Speed setpoint (enc. eval.) - Unit/s
C02573 Position setpoint (enc. eval.) - Unit
C02574 Actual speed (encoder eval.) - Unit/s
C02575 Actual position (enc. eval.) - Unit
C02576 Following error - Unit
C02577 External actual position - Unit
C02578 Offset actual pos. value/setp. - Unit
C02760 Activate Encoder Deactivated
C02761 Resolution Multiturn - Rev.
C02762 Encoder position - Steps.
C02763 Encoder position - Rev.
C02764 Encoder speed - rpm
________________________________________________________________

Value Unit
C02765 ENC_bError -
C02862/1 Resolver: cos gain 100 %
C02862/1 Resolver: sine gain 100 %
C02863 Resolver: Angle correction 0
 How to get to the dialog for setting the encoder evaluation parameters:
3. Click the button All basic functions in the Overview dialog level.
4. Click the button Encoder evaluation in the dialog level Overview  All basic functions.
See also: Parameterising motor encoder ( 174)
________________________________________________________________
7.3.1 Controller configuration
The device interfaces for the encoder on the motor side and, if available, on the load side are directly
assigned to the corresponding control according to the structure of the position control selected
(C02570):
Phase control (Lenze setting) Position control

Cycle time: 250 μs Application-dependent
Dead time: Smaller dead time in the actual value Same dead time for position setpoint and
channel actual position
Use: In positioning technology and single-axis In multi-axis applications or if a position
applications or if only one encoder is used. encoder is used in addition to the motor
encoder.
• If only an encoder on the motor side is available, this "motor encoder" provides the actual value
signals for the phase/position control and the speed control.
• In this case both the angle control and the position control can be selected.
• When selecting the position control, make sure that the position encoder selection "10:
Motor encoder (C00495)" is set in C00490. With this selection, the mounting position and the
resulting gearbox factor are already considered.
• The motor encoder supports the secondary servo control irrespective of the use for position
and speed control (commutation).
• If an additional encoder is available on the load side, this "position encoder" only supports the
position control and C02570 accordingly has to be set to "Position controller active", so that the
position encoder is evaluated.
• The used position encoder must be set in C00490.
• The position encoder mounting direction must be set in C02529.
• The starting position of the position encoder can be set via the basic function "Homing".
 Note!
When the basic function "Quick stop" is activated, the controller configuration is always
switched over to angle control internally, irrespective of the setting in C02570.
• If the basic function "Quick stop" is to be used, the gain of the phase controller
(C00254) must also be set correctly for the "Position control" controller configuration.
For the technology applications for the interconnection via the "Electrical shaft", the
controller configuration is set to position control in the default setting.
________________________________________________________________
The selection "3: Position controller active" is additionally available in C02570.

• In contrast to the already existing selection "2: Position controller active (<= FW V5.xx)", this
selection considers the gearbox factor.
• Further explanations on this can be obtained from the following table:
C02570 = 2: Position controller active (<= FW V5.xx) C02570 = 3: Position controller active
When the separate position encoder at the output end is When the separate position encoder at the output end is
used, the reference speed to the tool is assumed. This used, the reference speed is referred to the motor. Thus,
causes the acceleration and deceleration times not to all acceleration and deceleration times are calculated
refer to the motor but to the encoder. with regard to the reference speed at the motor.
In order to re-establish the motor reference, the desired
acceleration time of the corresponding function must be
multiplied by the resulting gearbox factor.
Example:
• Motor reference speed (C00011) = 3000 rpm
• Resulting gearbox factor = 10
• Acceleration time = 1 s
With 10 % setpoint selection:
• Motor speed = 100 % (3000 rpm) • Motor speed = 10 % (300 rpm)
• Tool speed = 300 rpm • Tool speed = 30 rpm
• Acceleration time up to 10 % setpoint selection • Acceleration time up to 10 % setpoint selection
(100 % motor speed) = 0.1 s (10 % motor speed) = 0.1 s
7.3.2 System with motor encoder
No encoder is installed on the load side. The motor position (angle of rotation) and motor speed are
detected via the motor encoder selected in C00495 and are converted with regard to the load side.

M M
 Motor encoder
[7-2] Schematic diagram - feedback with position encoder = motor encoder
The actual position and actual speed values on the machine side result from the conversion via the
gearbox factor on the motor side (C02520/C02521) and the feed constant (C02524).
See also: Gearbox ratio ( 82)

Feed constant ( 87)
________________________________________________________________
7.3.3 System with motor encoder and position encoder
The optional position encoder is used as a feedback for the position control and transmits the
position of slide or drive roll to the controller.

M M

 Motor encoder
 Position encoder
 Gearbox ratio for position encoder
[7-3] Schematic diagram - feedback with separate position encoder
In this case, the actual position and actual speed values on the machine side result from the
conversion of the position encoder position via the resulting gearbox factor (ratio of the motor
speed to the position encoder speed; display in C02531/3) and the feed constant (C02524).
 How to activate the use of a separate position encoder:

On the Application parameters
tab in the dialog level Overview  Drive interface  Machine parameters:
1. Select the "Position controller active" setting in the Position control structure list field
(C02570), so that the position encoder is evaluated.
2. Select the position encoder available in the Position encoder selection list field (C00490).
3. Select the gearbox ratio of the position encoder (ratio of load speed to encoder speed) as a
quotient (numerator/denominator) which results from the resulting teeth number:
• Enter numerator in the input field Gearbox fact. num.: Pos. enc. (C02522).
• Enter denominator in the input field Gearbox fact. denom.: Pos. enc. (C02523).
4. If required, adapt the position encoder mounting direction via the Position encoder
mounting direction list field (C02529). The position encoder mounting direction is preset to
"Encoder rotating CW".
 Tip!
In C02531/2 the gearbox factor is displayed in decimal format.
Important reference variables converted to the load side:
• Motor reference speed (C00011)  Load reference speed (C02542)
• Reference torque (C00057/2)  Load reference torque (C02543)
________________________________________________________________
If a position encoder is used as well as the motor encoder, it is essential that position control is used
instead of angle control (C02570 = 2 or 3).
Rotative encoders as well as linear distance measuring devices can be used as position encoders.
The feedback from position encoders (SSI-, EnDat-, TTL-, Sin/Cos-, Hiperface encoder) is transferred
via encoder input X8, with the exception of fieldbus encoders.
If a fieldbus encoder is used, the fieldbus interface is used for position feedback.
The actual position value is passed on to the position controller via the system block available for
encoder evaluation LS_Feedback. For this purpose, the actual position value must be connected to
the input FDB_dnActPosIn_p.
 Note!
The use of an SSI encoder is a special case:
• Position feedback takes place via encoder input X8 as is the case with most position
encoders.
• Processing of the actual position value is carried out in the same way as in the case of
a fieldbus encoder. The actual position is passed on to the position controller via the
system block available for encoder evaluation LS_Feedback. For this purpose, the
actual position value must be connected to the input FDB_dnActPosIn_p.
________________________________________________________________
7.3.4 Position feedback with a linear distance measuring device
Linear distance measuring devices (e.g. with Hiperface® or EnDat interface) are only used for
additional position feedback in the case of servo-controlled drives. For speed and current control, a
motor encoder is always necessary.
For applications with low requirements regarding dynamic response and speed accuracy, the use of
sensorless V/F control (VFCplus) and position feedback for position control is possible.
7.3.4.1 Conversion from linear to rotative encoder variables

Like the signals of rotative position encoders, the signals of linear distance measuring devices are
read in at encoder input X8. The actual position value of these usually optical encoders is thus
directly available for position control. Additional block interconnection is not necessary.
Evaluation at encoder input X8 is designed for rotary encoders. In order to adapt the linear system,
conversion to (notional) rotative values, which have to be entered in the code, is necessary.
Conversion for the number of encoder increments in C00420:

In the case of linear distance measurement devices, the encoder resolution is usually indicated in
the form of graduations in [μm] or as a number of increments per millimetre [inc/mm].
The following rule of thumb can be used to determined the number of encoder increments C00420:
Feed constant [units/rev]

Number of encoder increments = ---------------------------------------------------------------------
Encoder graduation [units]
C02524
C00420 = INT number of encoder increments = ---------------------------------------------------
Encoder graduation
[7-4] Determination of the number of encoder increments of linear distance measuring devices
The integer value (INT = integer part of the calculation) must be entered in C00420. The resulting
rounding-off error is corrected by means of the position encoder gearbox factor (C02522 / C02523)
in the machine parameters.
SeeDetermination of the position encoder gearbox factor of linear distance measuring devices
The resulting maximum position which can be shown can be checked inC02539.
The maximum speed that can be shown is indicated in C02540.
If the necessary speeds and positions for the application can no longer be shown, C00420 can be
enlarged. The internal resolution is thus decreased.
Calculation of the position encoder gearbox factor C02522 and C02523

Please note that, when the number of encoder increments in the numerator of the following
formula is indicated, the value with decimal places must be given whereas, in the numerator, the
integer (INT = integer) is used for purposes of calculation:
Position encoder - gearbox factor = Encoder

– Strichzahl (incl. decimal places)-
----------------------------------------------------------------------------------------------------------------
Number of encoder increments (integer)
C02522 Number of encoder increments (incl. decimal places)
-------------------- = ----------------------------------------------------------------------------------------------------------------------------------------
C02523 C00420
[7-5] Determination of the position encoder gearbox factor of linear distance measuring devices
________________________________________________________________
Example: Position encoder feedback with a laser distance measuring device

The current position of a positioning unit is detected with a laser distance measuring device (e.g.
»DME5000«) with a Hiperface® interface. A graduation of 0.1 mm has been parameterised in the
distance measuring device.
The positioning unit is moved by 848.23 mm in an axial direction for each revolution of the slip-free
drive roll. The current motor speed is detected by a resolver.
M
DME
5000

?
 Motor encoder
 Laser distance measuring device
 Feed
 Laser beam hits reflective surface
 Circumference of the drive roll = 848,23 mm
[7-6] Schematic diagram of feedback with a laser distance measuring device
Short overview of the parameters:

Value Unit
C00420 Number of encoder increments 8482

C00422 Encoder type Absolute value encoder (Hiperface)
C00490 Position encoder selection Encoder on X8
C00495 Motor encoder selection Resolver on X7
C02522 Gearbox factor numerator: position encoder 84823 -
C02523 Gearbox factor denominator: position encoder 84820
C02524 Feed constant 848.23 mm
C02570 Position control structure Position controller is
active
See also: Feed constant ( 87)
________________________________________________________________
7.3.5 Adaptation of the resolver evaluation dynamics
The resolver evaluation of the controller is adapted to the resolver types mounted in Lenze motors
and offers a good compromise between the dynamic performance and interference suppression. If
the resolver is used as a speed feedback system, the dynamic performance of the resolver evaluation
determines, among other things, the maximum speed controller gain by means of which stable
operation is possible.
In a system with an EMC-compliant structure (low interference), you can increase the dynamic
performance of the resolver evaluation in C00417 without a loss in quality in the speed signal. By
increasing C00417, the evaluation is rendered more dynamic, and thus the speed controller gain Vp
(C00070) is also increased without leaving the stable operating range.
The acceleration of the evaluation depends on the cable length, the resolver, and the quality of the
electrical shielding. In many cases, a setting of C00417 = 300 % is possible which can double the
speed controller gain. The higher gain in the speed controller may reduce following errors.
If an SM301 safety module is used to monitor the equipment, a parameterised value in C00417 of >
500 % can cause incorrect triggering of the safety module. A value which is too high must be
decreased in order to eliminate incorrect triggering.
See also: Servo control (SC): Optimising the speed controller ( 195)
Sensorless vector control (SLVC): Optimising the speed controller ( 222)
7.3.6 Parameterisation of an unknown Hiperface encoder
Application: A Hiperface encoder is to be used with the controller, the current firmware of which has
not (yet) been stored permanently.
 How to parameterise a Hiperface encoder unknown to the controller:

1. Determine the type code of the encoder.
• If the encoder has already been connected and read out, the type code is indicated in
C00413.
• Alternatively, the type code can be obtained from the manufacturer or gathered from
the documentation for the encoder.
2. Set the type code of the encoder in C00414.
• Please observe that the decimal format has to be used for the setting. The type codes
provided by the manufacturer, however, are in the hexadecimal format.
3. If a multi-turn encoder is used, set the number of displayable resolutions in C00415.
• This value can also be gathered from the documentation for the encoder.
4. Set the number of encoder increments in C00420.
• This point must be executed last since it initiates a renewed readout of the encoder.
________________________________________________________________
7.3.7 Parameterisation of a Hiperface® encoder with increased initialisation time
This function extension is available from software version V5.0 onwards!
Application: A Hiperface® encoder is to be used at the controller which has an initialisation time
that differs from the Hiperface specification. This applies to e.g. the absolute value encoders of the
types SEK37, SEL37, SEK52 and SEL52 of the Sick company.
In case of Hiperface® encoders with increased initialisation time, an error message occurs after
switching on the controller 0x007b001a ("absolute value encoder: communication error"). This
error can be acknowledged but occurs again after every switch-on.
In order to avoid the error message, it is possible to consider the increased initialisation time of the
encoder in C00412.
For the absolute value encoders of the types SEK37, SEL37, SEK52 and SEL52 of the Sick company,
the required initialisation time in C00412 is = 1200 ms.
The initialisation time required for each case can be obtained from the respective absolute value
encoder data sheet.
________________________________________________________________
7.3.8 Use of an SSI encoder at X8
All encoders at X8 using the Stegmann SSI protocol are supported.

• Supported bit rates for the SSI communication: 150 ... 1000 kbits
• Supported data word widths: 1 ... 31 bits (effective)
• Supported output code of the SSI encoder: Gray or binary
• The SSI encoder can be used as position encoder or master encoder with a minimum cycle time
of 1 ms.
• The SSI encoder can be supplied via X8 up to a maximum voltage of 12 V and a maximum
current of 0.25 A.
• The SSI data words received are provided to the application via the LS_SsiEncoderX8 system
block for further processing within the function block editor.
 Note!
The LS_SsiEncoderX8 SB is only provided within controllers with a MM3xx or MM4xx
memory module.
 How to parameterise the SSI encoder at X8:

1. Set the supply voltage of the SSI encoder used in C00421.
2. Set the selection "4: SSI encoder" as encoder type in C00422.
3. Set the bit rate for SSI communication in C00423.
• For SSI protocols, the permissible baud rate is reduced if the cable length is increased. A
safe bit rate must be set, depending on the length of the used encoder cable and the
electromagnetic interference level.
• Lenze setting: 400 kbits (for encoder cables with a length of up to ≈ 50 meters)
4. Set the data word width in C00424, i. e. the number of data bits that is used for the
transmission of a complete SSI data packet.
• Lenze setting: 25 bits (Stegmann multiturn SSI encoder)
5. Optionally: Split the SSI data word received into partwords and connect a data conversion
from Gray into binary code, which may be required (see the following subchapters).
________________________________________________________________
7.3.8.1 "LS_SsiEncoderX8" system block
 Note!
• The LS_SsiEncoderX8 SB is only provided within controllers with a MM3xx or MM4xx
memory module.
• If a position is transmitted in the SSI data word, it is output in an unchanged manner
with regard to the position format by the LS_SsiEncoderX8 SB. For a use of the SSI
encoder as position encoder the position has to be converted into the 9400 format
afterwards by means of the L_EsEncoderConv FB.
LS_SsiEncoderX8
S C00424 Dataword length

31 0
SSI Start position Length Coding
SSI_dwDataword_1
dataword Partword 1 C00435/1 C00436/1 C00437/1
SSI_dwDataword_2
Partword 2 C00435/2 C00436/2 C00437/2
SSI_dwDataword_3
Partword 3 C00435/3 C00436/3 C00437/3
Encoder voltage SSI_dwDataword_4
C00421 Partword 4 C00435/4 C00436/4 C00437/4
SSI_dwDataword_5
Partword 5 C00435/5 C00436/5 C00437/5
Encoder type SSI_dwDataword_6
C00422 Partword 6 C00435/6 C00436/6 C00437/6
SSI_dwDataword_7
Partword 7 C00435/7 C00436/7 C00437/7
Bitrate SSI_dwDataword_8
C00423 Partword 8 C00435/8 C00436/8 C00437/8
Outputs
Data type
SSI_dwDataword_1 SSI partword 1

DWORD • In the Lenze setting the complete SSI data word received is shown at this output
without a conversion of the data format.
SSI_dwDataword_2 SSI partwords 2 ... 8
... • In the Lenze setting these outputs are deactivated.
SSI_dwDataword_8 Division of the SSI data word into partwords ( 297)
DWORD
Gray-binary conversion
If an SSI encoder with Gray coding is used, a data conversion of Gray-to-binary code can be
connected in C00437/1...8 individually for each output of the LS_SsiEncoderX8 SB, and thus for each
partword.
• In the Lenze setting "Binary coded" there is no conversion, i. e. an SSI encoder with binary coding
is expected.
________________________________________________________________
7.3.8.2 Division of the SSI data word into partwords

The LS_SsiEncoderX8 SB can be configured so that it splits up the SSI data word received by the
encoder interface into several partwords.
• A separation into partwords is reasonable if the SSI data word also contains other data (like for
instance fault or status information) in addition to the position.
• The max. 8 possible partwords are fixedly assigned to the outputs SSI_dwDataword_1 ...
SSI_dwDataword_8.
• The partwords are configured via the following parameters:
Parameter Info
C00435/1...8 Starting position for partwords 1 ... 8
In order to be able to display the individual components of the SSI data word received at
different outputs, this code serves to specify the bit position with which the partword for the
respective output starts for the eight possible outputs of the LS_SsiEncoderX8 SB .
Subcode 1 is fixedly assigned to the first output, subcode 2 to the second output, etc.
C00436/1...8 Length of the partwords 1 ... 8
Apart from the position of the first bit, also the bit length of each partword is important for
the separation. A length of zero means that no partword is to be shown at the corresponding
output (output = 0). Here also subcode 1 is fixedly assigned to the first output, subcode 2 to
the second output, etc.
• In the Lenze setting the complete SSI data word received is shown at the output
SSI_dwDataword_1:
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3DUWZRUG/HQJWK & &

66,BGZ'DWDZRUGB n
S = start bit  position information
[7-7] Example 1: Lenze setting
• The following example shows the parameterisation required to split up the SSI data word
received into three partwords (here status information, error bit, and position information):
3DUWZRUG6WDUWSRVLWLRQ &
3DUWZRUG/HQJWK &
3DUWZRUG6WDUWSRVLWLRQ &
3DUWZRUG/HQJWK &
3DUWZRUG6WDUWSRVLWLRQ & &

3DUWZRUG/HQJWK & &

66,BGZ'DWDZRUGB n
66,BGZ'DWDZRUGB o
66,BGZ'DWDZRUGB p
S = start bit  Status information  Error bit  Position information
[7-8] Example 2: Splitting up the SSI data word received into three partwords
________________________________________________________________
7.3.8.3 Linear distance measuring devices with SSI protocol

Linear distance measuring devices provide the position directly in a physical unit of length (e.g.
[mm]). An incremental position must be sent to the position controller via the system block
LS_Feedback. The reference of this incremental position corresponds to a value of 65536 (Lenze
setting: C00100 = 16) in the case of a revolution at the output end.
The necessary conversion of the position value can be carried out by means of the block
L_EsEncoderConv. The block L_EsEncoderConv is designed for rotary encoders. Conversion to
(notional) rotative values is therefore necessary for the adaptation of linear distance measuring
devices. The results of the conversion must be entered in the code.
Conversion for the number of encoder increments in C05273:

In the case of linear distance measurement devices, the encoder resolution is usually indicated in
the form of graduations in [μm] or as a number of increments per millimetre [inc/mm].
The following rule of thumb can be used to determined the number of encoder increments C05273:
Feed constant [units/rev]

Number of encoder increments = ---------------------------------------------------------------------
Encoder graduation [units]
C02524
C05273 = INT number of encoder increments = --------------------------------------------------
-
Encoder graduation
[7-9] Determinatino of the number or encoder increments of linear distance measuring devices with SSI protocol
The integer (INT = integer part of the calculation) must be entered in C05273. The resulting
rounding-off error is corrected by means of the position encoder gearbox factor (C02522 / C02523)
in the machine parameters.
Determination of the position encoder gearbox factor of linear distance measuring devices with
SSI protocol
The resulting maximum position which can be shown can be checked inC02539.
The maximum speed that can be shown is indicated in C02540.
If the necessary speeds and positions for the application can no longer be shown, C05273 can be
enlarged. The internal resolution is thus decreased.
Calculation of the position encoder gearbox factor C02522 and C02523

Please note that, when the number of encoder increments in the numerator of the following
formula is indicated, the value with decimal places must be given whereas, in the numerator, the
integer (INT = integer) is used for purposes of calculation:
Position encoder - gearbox factor = Encoder

– Strichzahl (incl. decimal places)-
----------------------------------------------------------------------------------------------------------------
Number of encoder increments (integer)
C02522 Number of encoder increments (incl. decimal places)
-------------------- = ----------------------------------------------------------------------------------------------------------------------------------------
C02523 C05273
[7-10] Determination of the position encoder gearbox factor of linear distance measuring devices with SSI protocol
________________________________________________________________
Example: Position encoder feedback with an SSI linear distance measuring device
The current position of a positioning unit is detected with a laser distance measuring device (e.g.
»DME5000«) with an SSI interface. A graduation of 0.1 mm has been parameterised in the linear
distance measuring device.
The positioning unit is moved by 848.23 mm in an axial direction for each revolution of the slip-free
drive roll. The current motor speed is detected by a resolver.
A position offset of 100 mm must be taken into account due to installation of the distance
measuring device and the reflector.
The lower 24 bits of the SSI data word contain information coded in Gray.
M
DME
5000

?
 Motor encoder
 Laser distance measuring device
 Feed rate of the screw
 Laser beam/reflective surface
 Circumference of the drive roll = 848,23 mm
[7-11] Schematic diagram of feedback with laser distance measuring device DME5000
The Multiturn resolution (C05274) that is set must allow the entire traversing range of the
application to be represented and must also ensure that the display limit in the 9400 device is not
exceeded.
• Minimum Multiturn resolution.
C05274 = Maximum traversing range / feed constant = 59
• Maximum Multiturn resolution
C05274 = 231-1 / resolution of Singleturn = 253181
Required FB interconnection
________________________________________________________________

Value Unit
C00422 Encoder type SSI encoder

C00435/1 SSI enc.: Partword 1 start 0
C00436/1 SSI enc.: Partword 1 length 24
C00437/1 SSI enc.: Partword 1 coding gray coded
C02522 Gearbox factor numerator: position encoder 84823
C02524 Feed constant 848.23 mm
C02570 Position control structure Position controller is active
C04276 Position offset at FDB_dnPosOffset_p 100 mm
C05271 32-bit encoder signal
C05273 Single turn resolution 8482 Steps/rev
C05274 Resolution Multiturn 60 Rev
________________________________________________________________
7.3.9 Rotative encoder with SSI protocol
In accordance with the parameterisation of the system block LS_SsiEncoderX8, the position
information of the encoder is available in a partword and only has to be sent to the position
controller via the SB LS_Feedback.
In accordance with the Lenze setting of the position encoder gearbox factor (C02522 = 1,
C02523 1 = 1), it is expected that one encoder revolution corresponds to one rotation at the output
end, i.e. to a feed rate in accordance with the feed constant C02524.
The position information from the SSI data word is converted to the internal scale with the function
block L_EsEnconderConv, with which a certain machine position can be set as the reference/starting
position. The parameterisation of the block makes it possible for the position to be reconstructed
after mains switching. This is necessary if the absolute encoder display range of e.g. 4096
revolutions has been left.
Example: Material feed with length measurement by means of measuring wheel and SSI encoder
The current position of the material of a feed unit is detected with a rotative SSI encoder. One
encoder revolution corresponds to one revolution of the measuring wheel (400 mm).
Every time the slip-free drive roll revolves, the material is moved 1200 mm in an axial direction. The
current motor speed is detected by a resolver.
The lower 24 bits of the SSI data word contain the position information coded in Gray. The SSI
encoder supplies 4096 gradations per revolution and has an absolute display range of 4096
revolutions.
M
?
 Motor encoder
 SSI encoder
 Circumference of the measuring wheel = 400 mm
 Circumference of the drive roll = 848,23 mm
[7-12] Schematic diagram of feedback with laser distance measuring device DME5000
Required FB interconnection
________________________________________________________________

Value Unit
C00422 Encoder type SSI encoder

C00435/1 SSI enc.: Partword 1 start 0
C00436/1 SSI enc.: Partword 1 length 24
C00437/1 SSI enc.: Partword 1 coding gray coded
C02522 Gearbox factor numerator: position encoder 1200
C02524 Feed constant 1200 mm
C02570 Position control structure Position controller is active
C05271 Encoder evaluation 32-bit encoder signal
C05272 Encoder mounting position Left
C05273 Single turn resolution 4096 Steps/rev
C05274 Resolution Multiturn 4096 Rev
________________________________________________________________
7.3.10 Provision of the encoder signal of input X8
The LS_EncoderX8 system block serves to provide the encoder signal of input X8 to the application,
independent of the selected feedback system for the motor encoder and position encoder.
Application cases:
• High-resolution speed encoder as master encoder /value, correcting signal, ...
• Absolute value encoder for length measurements
• Display of the absolute encoder value without considering an offset
 Note!
For SSL encoders, the LS_SsiEncoderX8 system block must be used. Use of an SSI
encoder at X8 ( 295)
7.3.10.1 System block "LS_EncoderX8"
LS_EncoderX8
ENC_dnEncoderOut1
ENC_dnEncoderOut2
ENC_dnActualSpeed_s
ENC_bError
G E R
Outputs
ENC_dnEncoderOut1 Display of the current encoder position (steps) within one revolution
C02762 |DINT • 1 revolution ≡ 232 bits
Note:
In order to convert the encoder information/position into a position_p in the
internal measuring system, connect both outputs ENC_dnEncoderOut1 and
ENC_dnEncoderOut2 with the inputs dnEncoderIn and dnEncoderIn2 of the
FB L_EsEncoderConv. A storage with mains failure protection of the position signal
is also processed via this FB.
ENC_dnEncoderOut2 Display of all revolutions of the encoder (only with Multiturn)
C02763 |DINT • After the max. presentable revolutions have been reached, the value jumps back
to "0".
• C02761 shows the max. presentable revolutions of the MultiTurn encoder
(encoder-dependent).
• In case of SingleTurn, the value "0" is always output.
ENC_dnActualSpeed_s Current encoder speed in [rpm]
C02764 | DINT
ENC_bError Status signal "Encoder error"

C02765 | BOOL
TRUE An encoder error has occurred.
________________________________________________________________
7.3.10.2 Activate evaluation

C02760 serves to activate the evaluation of the encoder signal of input X8.
• When the evaluation is activated, the encoder parameterised in C00422 is read in.
• At the same time, the monitoring functions are active. If no encoder is available, the
corresponding monitoring functions are triggered.
• When the evaluation is deactivated, the outputs of the system block are reset.
• Monitoring is deactivated depending on the position encoder selection (C00490) and the
motor encoder selection (C00495).
Monitoring
The monitoring functions depend on the encoder type selected inC00422 and do not differ from the
existing monitoring functions:
• Open circuit of encoder (response: C00580)
• Encoder angular drift monitoring ( 307)
• Encoder communication error (FDB_bEncoderComError; response: C00601)
• Sine/cosine encoder error (FDB_bSinCosSignalError)
• Group signal for errors as process date (ENC_bError)
Conditioning of the encoder signal

• The encoder signal is conditioned to a position (including a storage with mains failure
protection) within the application using the FB L_EsEncoderConv:
• Interconnection of the ENC_dnEncoderOut1 output signal with the dnEncoderIn input of the
FB L_EsEncoderConv.
• Interconnection of the ENC_dnEncoderOut2 output signal with the dnEncoderIn2 input of the
FB L_EsEncoderConv.
• Additional parameter setting of the FB L_EsEncoderConv:
Mode selection: Cxxxxx = 1
Number of revolutions transmitted from C02761
• The (optional) reconstruction of the position after mains switching is also made by the
FB L_EsEncoderConv.
• In contrast, the conditioning of the encoder signal to a speed is directly made in the
LS_EncoderX8 system block.
• The current encoder speed is provided at the ENC_dnActualSpeed_s output in [rpm] (display
parameter: C02764).
• TouchProbe function is not supported (continues to be only available for motor and position
encoders).
• If the encoder at X8 is simultaneously used as motor or position encoder, the "raw value" of the
encoder is continued to be output.
________________________________________________________________
Display parameter

Value Unit
C02761 Resolution Multiturn - Rev.

C02762 Encoder position: Steps within one revolution - Steps
C02763 Encoder rev: Number of revolutions - Rev.
C02764 Encoder speed - rpm
C02765 Encoder error -
________________________________________________________________
7.3.11 Resolver error compensation
Resolver errors typically occur in form of the 1st and 2nd harmonic. They have two different causes:
1. The inductances of the sine and cosine track of the resolver have slightly different values.
2. Sine and cosine track do not magnetise orthogonally to each other.
The resolver error which is based on cause 1 can be corrected by adapting the gains of the digital/
analog converters which feed the resolver tracks. In the Lenze setting, the gains for both resolver
tracks are preset identically.
Resolver errors due to cause 2 can be compensated for by a slight correction of the angle via which
both resolver tracks are fed relative to one another.
By executing the device command C00002 = "59: Resolver error identification", the gain of the
digital/analog converter for feeding the resolver and the angle which serves to feed the two resolver
tracks relatively to each other are corrected so that the resolver error is minimised.
• A precondition for the execution of the device command is that the machine is in speed-
controlled operation (servo control). The speed amount during the identification must be
constant and higher than 500 rpm.
• After the resolver error identification has been executed successfully, the resolver error
compensation is activated automatically (C00418 = "1: Activated"). Now the resolver operates
with the following resolver error parameters which have been identified during the procedure:

Value Unit
C02862/1 Resolver: cos gain 100 %

C02862/1 Resolver: sine gain 100 %
C02863 Resolver: Angle correction 0
• The detected gain can take values between 0 ...100 %.

• With a setting of 0 %, the gain of the corresponding resolver track is only 95 % of the default
setting.
• With a sensible resolver error compensation only one of the two gains is adapted. The other
remains at 100 %.
• For a permanent acceptance of the identified resolver error parameters, the parameter set must
be saved (C00002 = "11: Save start parameters").
• When the resolver error compensation is deactivated (C00418 = "0: Deactivated"), the resolver
operates with the Lenze setting again. The identified resolver error parameters remain stored.
The resolver error identification can fail due to the following:
• Wrong control mode is active (no servo control)
• Error or fault is active
• Another identification is active
• The speed is too low (< 500 rpm)
• Time-out while the algorithm is processed
________________________________________________________________
7.3.12 Encoder angular drift monitoring
The optional encoder angular drift monitoring monitors a potential deviation between the actual
encoder angle and the angle calculated by the counting of increments in the encoder evaluation.
 The encoder angular drift monitoring is activated by parameterising an error response that
is not "0: No response" in C00621.
If a deviation higher than 45° (electrical) is recognised when monitoring is activated:

• The error message "Encoder monitoring: pulse deviation detected" is entered in the logbook of
the controller.
• The error response parameterised in C00621 is triggered.
• The "Reference known" status of the "Homing" basic drive function is reset (if this status was set
before)
 Tip!
A deviation may occur, for instance, by incorrect parameter setting of the encoder
increments, by lines in the form of interferences caused by EMC or loss of lines caused by
EMC.
The encoder angular drift monitoring for encoders with and without absolute information is
implemented by two different principles which are explained in detail in the following subchapters.
7.3.12.1 Angular drift monitoring for encoders without absolute information

When an encoder without absolute information is used, the number of increments between two
zero pulses (one revolution) is monitored. This value must equal the encoder increments set in
C00420.
 Note!
After mains switching, monitoring is only active after second incoming zero pulse since
the first line difference to be used can only be calculated with the second and first zero
pulse.
When the motor (and thus the encoder) is replaced, it is very likely that a angular drift
error occurs within the first revolution after acknowledging the encoder error since the
monitoring function cannot recognise that the encoder has been replaced.
________________________________________________________________
7.3.12.2 Angular drift monitoring for encoders with absolute information

For an encoder with absolute information, cyclical communication with the encoder takes place and
the angle is read out digitally. This angle is compared to the angle from the encoder evaluation.
 Note!
If monitoring is deactivated (C00621 ="0: No response"), there is no cyclic
communication with the encoder, and therefore no communication errors with the
encoder can occur.
If monitoring is activated, it is only executed for speeds lower than 100 rpm due to
runtimes for communication.
• If increments get lost at higher speeds, this deviation can only be recognised when the
speed falls below 100 rpm for at least 80 ms.
After each detected encoder angular drift error, a renewed read-out of the position is
tripped automatically and this angle is written into the encoder evaluation. This makes
it possible to acknowledge the error. In case of synchronous machines, the pole position
is corrected simultaneously.
8 Braking operation
________________________________________________________________
8 Braking operation
The 9400 ServoPLC as a single-axis controller (Single Drive) is provided with an integrated brake
transistor.
• The required brake resistor must be connected externally (see Mounting Instructions/Hardware
Manual).
• The rated values for the internal brake transistor are given in the Hardware Manual in the
chapter "Rated data".
 Stop!
If the brake resistor actually connected is smaller than the brake transistor
parameterised, the brake chopper can be destroyed!
The brake resistor can be thermally overloaded. Carry out protective measures suitable
for the installation, e.g.:
• Parameterisation of an error response in C00574 and evaluation of the parameterised
error message within the application or within the machine control. I2t utilisation
- brake resistor ( 313)
• External interconnection using the thermal contact on the brake resistor (e.g. supply
interruption via the mains contactor and activation of the mechanical brakes).
 Note!
The brake chopper control is also guaranteed if, for example, the application stands still
or the 24-V supply is not connected and the controller is only fed by the DC bus.
8 Braking operation
________________________________________________________________
Short overview: Parameters for braking operation

Value Unit
C00129 Brake resistance value 180.0 Ohm

C00130 Rated brake resistor power 5600 W
C00131 Thermal capacity - brake resistor 485 kWs
C00133 Ref.: Brake chopper utilisation Minimum resistance (C00134)
C00134 Min. brake resistance - Ohm
C00137 Brake transistor utilisation - %
C00138 Brake resistor utilisation - %
C00173 Mains voltage 400/415 V
C00181 Reduc. brake chopper threshold 0 V
C00569 Resp. brake trans. ixt > C00570 Warning
C00570 Warning thres. brake transistor 90 %
C00571 Resp. brake res. i2t > C00572 Warning
C00572 Warning thres. brake resistor 90 %
C00573 Resp. to brake transistor overload No response
C00574 Resp. to brake resist. overtemp. No response
C00600 Resp. to DC bus overvoltage Trouble
8.1.1 Setting the voltage threshold for braking operation
The voltage threshold for braking operation is set via C00173 (mains voltage) and C00181 (reduced
brake chopper threshold). If the brake chopper threshold in the DC bus is exceeded, the brake
transistor is switched on.
Mains voltage selected in C00173 Effective brake chopper threshold

230 V 390 V - value in C00181 (0 ... 100 V)
400/415 V 725 V - value in C00181 (0 ... 100 V)
460/480 V 765 V - value in C00181 (0 ... 100 V)
500 V 790 V - value in C00181 (0 ... 100 V)
8 Braking operation
8.2 Monitoring
________________________________________________________________
8.2 Monitoring
8.2.1 Overcurrent protection
The brake chopper hardware is monitored with regard to overcurrent (short circuit or earth fault).
 Note!
The monitoring with regard to overcurrent can only be triggered if a braking current is
actually available. It is not possible to carry out a test in idle state (without connected
brake resistor).
• If monitoring responds:
• The brake chopper is switched off immediately.
• The "Fault" response is activated.
• The "Brake transistor: overcurrent" error message is entered into the logbook of the
controller.
 Note!
The error can only be acknowledged after 2 seconds at the earliest to resume the braking
operation.
 Tip!
In addition to the overcurrent protection the controller is provided with two further
monitoring functions for the braking operation, which are also activated if no brake resistor
is connected at all (testing mode for checking the parameterisation):
Ixt utilisation - brake transistor ( 312)
I2t utilisation - brake resistor ( 313)
8 Braking operation
8.2 Monitoring
________________________________________________________________
8.2.2 Ixt utilisation - brake transistor
The controller is provided with a monitoring function for the Ixt utilisation of the internal brake
transistor.
 Note!
The braking operation will never be switched off by this monitoring function.
C00569
UDC_act C00133
IBr = Logbook entry "Brake chopper: Ixt > C00570"
C00134 0
IBr Ixt C00570
UDC_act 1 C00137
IBr = Logbook entry "Brake transistor: Ixt overload"
C00129 TOn = 1 = f(duty cycle, RBr)
TOff = 0 100 % C00573
[8-1] Signal flow of Ixt utilisation - brake chopper
• Monitoring is based on a mathematical model which calculates the braking current from the
current DC-bus voltage and the brake resistance parameterised.
• Hence, monitoring can be activated although no brake resistor is connected and can
therefore also be used for a testing mode to check the parameterisation.
• During the calculation the thermal utilisation of the brake transistor is taken into consideration
by the use of an accordingly adapted time constant.
• In C00133 it can be selected whether the minimum brake resistance (display inC00134) which
depends on the network setting in C00173) or the brake resistor value parameterised in C00129
is to be used as a reference for calculating the utilisation.
• C00137 displays the calculated utilisation of the brake transistor in [%].
• A 100 % utilisation corresponds to the continuous braking power which is provided by the
integrated brake chopper at a DC-bus voltage of 790 V (or 390 V at a mains voltage of 230 V).
• The maximum braking power (assuming that the utilisation starts at 0 %) can be provided for
a time period depending on the device.
• The calculated utilisation is provided as oscilloscope signal Common.dnIxtBrakeChopper to
check the braking operation while the system is running
(scaling: 230 ≡ 100 %).
• If the utilisation exceeds the advance warning threshold set in C00570, "Brake chopper: Ixt >
C00570" is entered in the logbook and the response set in C00569 (default setting: "Warning")
is activated.
• When the utilisation reaches the limit value (100 %):
• The activation of the brake chopper is reset to the permanently permissible mark-to space
ratio (taking the parameterised brake resistance into consideration). (The brake chopper is
activated with 4 kHz, which means that it can be switched on/off at minimum intervals of
250 μs.)
• The response set in C00573 (default setting: "No response") is activated with the
corresponding effects on the state machine and the inverter.
8 Braking operation
8.2 Monitoring
________________________________________________________________
 Note!
If the DC-bus voltage exceeds the overvoltage threshold due to a too high braking
energy, the monitoring function for overvoltage in the DC bus responds. Overvoltage
in the DC bus ( 314)
8.2.3 I2t utilisation - brake resistor
The controller is provided with a monitoring function of the I2t utilisation of the brake resistor
which is proportional to the converted braking power.
 Note!
The braking operation will never be switched off by this monitoring function.
Temperature model C00571
Logbook entry "Brake resistor: I2t > C00572"

UDC_act IBr I2t
IBr = C00572
C00129 C00129 C00138
C00130
C00131 Logbook entry "Brake resistor: I2t overload"
TOn = 1
TOff = 0 100 % C00574
[8-2] Signal flow - I2t utilisation - brake resistor
• The monitoring function is based on the mathematical model which calculates the braking
current from the current DC-bus voltage and the brake resistance parameterised in C00129.
• Hence, monitoring can be activated although no brake resistor is connected and can
therefore also be used for a testing mode to check the parameterisation.
• The calculation considers the thermal utilisation of the brake resistor based on the following
parameters:
• Resistance value (C00129)
• Continuous power (C00130)
• Thermal capacity (C00131)
• C00138 displays the calculated utilisation of the brake resistor in [%].
• A 100 % utilisation corresponds to the continuous power of the brake resistor which results
at the maximum permissible temperature limit of the brake resistor.
• The calculated utilisation is provided as oscilloscope signal Common.dnI2tBrakeResistor to
check the braking operation while the system is running
(scaling: 230 ≡ 100 %).
• If the utilisation exceeds the advance warning threshold set in C00572, "Brake resistor: I2t >
C00572" is entered in the logbook and the response set in C00571 (default setting: "Warning")
is activated.
• When the utilisation reaches the limit value (100 %):
• The response set in C00574 (default setting: "No response") is activated with the
corresponding effects on the state machine and the inverter.
8 Braking operation
8.2 Monitoring
________________________________________________________________
 Stop!
The brake resistor can be thermally overloaded. Carry out protective measures suitable
for the installation, e.g.:
• Parameterisation of an error response in C00574 and evaluation of the parameterised
error message within the application or within the machine control.
• External interconnection using the thermal contact on the brake resistor (e.g. supply
interruption via the mains contactor and activation of the mechanical brakes).
 Note!
If the system is dimensioned correctly, this monitoring function should not respond. If
individual rated data of the actually connected brake resistor are not known, they have
to be determined "empirically".
8.2.4 Overvoltage in the DC bus
If, due to a too high braking energy, the DC-bus voltage exceeds the overvoltage threshold which
results from the mains voltage setting in C00173, the "Overvoltage in the DC bus" error message is
output and the response set in C00600 is activated (default setting: "Trouble").
 Note!
For hoist applications, the "Fault" response should be selected in C00600 (in combination
with an emergency stop via mechanical brakes).
9 I/O terminals
9.1 Overview
________________________________________________________________
9 I/O terminals
This chapter provides information about options for parameter setting and configuration of the
controller input and output terminals.
 Tip!
Information on wiring the terminals can be found in the Mounting Instructions for the
controller!
9.1 Overview
Front view Terminal assignment Info
X2 "State bus" monitoring function ( 325)

SB 24E GE
X3 Analog inputs ( 316)

A2- A2+ A1R A1- A1- A1+ AO2 AO1 GA
Analog outputs ( 319)
X4 Digital outputs ( 323)

DO4 DO3 DO2 DO1 24O GO
X5 Digital inputs ( 321)

DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI
Touch probe detection ( 327)
9 I/O terminals
9.2 Analog inputs
________________________________________________________________
9.2 Analog inputs
The controller has two analog inputs that can be used to detect differential voltage signals in the
range of ±10 V, e.g. analog speed setpoint selections or the voltage signals of an external sensor
(temperature, pressure, etc.).
• Optionally, analog input 1 can also be used to detect current setpoints.
9.2.1 Terminal assignment/electrical data
X3
A2- A2+ A1R A1- A1- A1+
Terminal Application Electrical data

X3/A1- Differential voltage input 1 Level: -10 V ... +10 V
X3/A1+ (no jumper between A1R and A1- Resolution: 11 bits + sign
Scaling: When C00034 = "0":
±10 V ≡ ±230
Conversion rate: 1 kHz
Current input Level: -20 mA ... +20 mA
(jumper between A1R and A1-) Resolution: 10 bits + sign
Scaling: When C00034 = "1":
-20 mA ... -4 mA = -230 ... 0
+4 mA ... +20 mA = 0 ... 230
When C00034 = "2":
±20 mA ≡ ±230
X3/A2- Differential voltage input 2 Level: -10 V ... +10 V
X3/A2+ Resolution: 11 bits + sign
Scaling: ±10 V ≡ ±230
9 I/O terminals
9.2 Analog inputs
________________________________________________________________
9.2.2 Parameter setting
Short overview of parameters for the analog inputs:
Parameter Info
C00034 Config. analog input 1
C00598 Resp. to open circuit AIN1
C02730/1 Analog input 1: Gain
C02730/2 Analog input 2: Gain
C02731/1 Analog input 1: Offset
C02731/2 Analog input 2: Offset
C02732/1 Analog input 1: Dead band
C02732/2 Analog input 2: Dead band
C02800/1 Analog input 1: Input signal (-16384 ≡ -100 %, 16383 ≡ 100 %)
C02800/2 Analog input 2: Input signal (-16384 ≡ -100 %, 16383 ≡ 100 %)
9.2.3 Reconfiguring analog input 1 into current input
By means of the following two steps, analog input 1 can be reconfigured into a current input:
1. Bridge the terminals A1R and A1- at terminal strip X3 by means of wiring.
2. Select the corresponding current loop under C00034.
 Tip!
Like this you can implement a 4 ...20 mA current loop, e.g. for speed setpoint selection.
Open-circuit monitoring
Under C00598 you can set an error response to open circuit for the 4 ...20 mA current loop.
9 I/O terminals
9.2 Analog inputs
________________________________________________________________
9.2.4 "LS_AnalogInput" system block
LS_AnalogInput
X3 C02800/1
A2- A2+ A1R A1- A1- A1+

C02731/1 C02730/1 C02732/1
AIN1_dnIn_n
250
C02731/2 C02730/2 C02732/2
AIN2_dnIn_n
C02800/2 AIN1_bCurrentError
Output Value/meaning
Data type
AIN1_dnIn_n Analog input 1

DINT • Scaling:
±230 ≡ ±10 V for use as a voltage input
±230 ≡ ±20 mA for use as a current input
AIN2_dnIn_n Analog input 2
DINT • Scaling: ±230 ≡ ±10 V
AIN1_bCurrentError Status signal "Current input error"
BOOL • Only when analog input 1 is used as current input.
• Application: Cable-breakage monitoring of the 4 ...20 mA circuit.
TRUE |IAIN1| < 2 mA
9 I/O terminals
9.3 Analog outputs
________________________________________________________________
9.3 Analog outputs
The controller has two analog outputs that can be used to output internal analog signals as voltage
signals, e.g. for the control of analog indicating instruments or as a setpoint for slave drives.
 Note!
Initialisation behaviour:
• After mains switching until the application is started, the analog outputs remain on
0 V.
Exception handling:
• In the case of a critical exception within the application (e. g. reset), the analog
outputs are set to 0 V.
X3
AO2 AO1 GA

X3/AO1 Voltage output 1 Level: -10 V ... +10 V
(max. 2 mA)
Resolution: 11 bits + sign
Scaling: ±230 ≡ ±10 V
X3/AO2 Voltage output 2 Level: -10 V ... +10 V
(max. 2 mA)
Resolution: 11 bits + sign
Scaling: ±230 ≡ ±10 V
X3/GA Reference potential (analog ground)
9 I/O terminals
9.3 Analog outputs
________________________________________________________________
Short overview of parameters for the analog outputs:
Parameter Info
C02733/1 Analog output 1: Gain
C02733/2 Analog output 2: Gain
C02734/1 Analog output 1: Offset
C02734/2 Analog output 2: Offset
C02801/1 Analog output 1: Output signal
9.3.3 "LS_AnalogOutput" system block
LS_AnalogOutput
X3
AO2 AO1 GA
C02734/1 C02733/1 C02801/1
AOUT1_dnOut_n
C02734/2 C02733/2
AOUT2_dnOut_n
C02801/2
Input Information/possible settings

Data type
AOUT1_dnOut_n Analog output 1

AOUT2_dnOut_n Analog output 2
9 I/O terminals
9.4 Digital inputs
________________________________________________________________
9.4 Digital inputs
The controller is provided with eight freely configurable digital inputs.

• All digital inputs can be used for touch probe. Touch probe detection ( 327)
• The control input RFR of terminal strip X5 for controller enable is fixedly connected to the device
control.
X5

X5/DI1 Digital input 1 ... 8 LOW level: 0 ... +5 V
HIGH level: +15 ... +30 V
X5/DI8
Input current: 8 mA per input
(at 24 V)
Electric strength of Max. ±30 V
external voltage
X5/RFR Controller enable See digital inputs
X5/GI Reference potential (digital ground)
Short overview of parameters for the digital inputs:
Parameter Info
C00114 Digital input x - terminal pol.
C00443 Status: Digital inputs
C02803 Status word: Digital inputs
C02830 Digital inputs: Delay time
9 I/O terminals
9.4 Digital inputs
________________________________________________________________
9.4.3 "LS_DigitalInput" system block
LS_DigitalInput
X5 DriveInterface
DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI DIGIN_bCInh
1
DIGIN_bIn1
DIGIN_bIn2
DIGIN_bIn3
C00114/1...8
DIGIN_bIn4
0
1 DIGIN_bIn5
1
DIGIN_bIn6
C00443/1...8
DIGIN_bIn7
DIGIN_bIn8
X2
SB 24E GE
CONTROL
DIGIN_bStateBusIn
DIGIN_bCInh Status signal "Controller inhibit"

C00443/9 | BOOL • The control input RFR (X5/pin 9) for setting/deactivating controller inhibit is
fixedly connected to the device control (DCTRL) via an inverter.
TRUE Controller inhibit active
DIGIN_bIn1 Digital input 1 ... 8
C00443/1 | BOOL
...
DIGIN_bIn8
C00443/8 | BOOL
DIGIN_bStateBusIn State bus status

C00443/12 | BOOL "State bus" monitoring function ( 325)
TRUE A node connected to the state bus has set the state bus to LOW level
and the "Error" state has been set.
• The "Error" state is also set if a node connected to the state bus is
not supplied with voltage.
9 I/O terminals
9.5 Digital outputs
________________________________________________________________
9.5 Digital outputs
The controller is provided with four freely configurable digital outputs.
 Note!
Initialisation behaviour:
• After mains switching until the application is started, the digital outputs remain on
FALSE.
Exception handling:
• In the case of a critical exception within the application (e. g. reset), the digital outputs
are set to FALSE, taking the terminal polarity parameterised in C00118 into
consideration.
X4

X4/DO1 Digital output 1 ... 4 LOW level: 0 ... +5 V
... HIGH level: +15 ... +30 V
X4/DO4
Output current: max. 50 mA per output (external
resistance > 480 Ω at 24 V)
X4/24O External 24 V voltage supply for the digital outputs
X4/GO Reference potential (digital ground)
Short overview of parameters for the digital outputs:
Parameter Info
C00118 Digital output x - terminal pol.
C00444 Status: Digital outputs
C02802 Status word: Digital outputs
9 I/O terminals
9.5 Digital outputs
________________________________________________________________
9.5.3 "LS_DigitalOutput" system block
LS_DigitalOutput X4

DIGOUT_bOut1
C00118/1...4
DIGOUT_bOut2
0
DIGOUT_bOut3 1 1
DIGOUT_bOut4
C00444/1...4
X2
SB 24E GE
DIGOUT_bStateBusOut
CONTROL
DIGOUT_bUserLED
User LED
Input Information/possible settings

DIGOUT_bOut1 Digital output 1 ... 4

C00444/1 | BOOL
...
DIGOUT_bOut4
C00444/4 | BOOL
DIGOUT_bStateBusOut Setting the state bus to the "Error" state

C00444/18 | BOOL "State bus" monitoring function ( 325)
TRUE The state bus is set to LOW level, all nodes connected to the state bus
start their pre-programmed response.
DIGOUT_bUserLED Control of yellow user LED on the front of the controller
C00444/9 | BOOL
TRUE LED on
9 I/O terminals
9.6 "State bus" monitoring function
________________________________________________________________
The state bus is a bus system that is solely designed for Lenze controllers, via which up to 20
controllers can be connected to each other, and by means of which the function of a "release cord"
can be simulated:
SB 24E GE
SB 24E GE
SB 24E GE
X2 X2 X2
X2/SB = State bus In/Out (reference potential GE)
[9-1] Schematic diagram: Networking via state bus
• The state bus only knows the states "OK" and "Error".
• The state bus is a bus with multi-master capability, i.e. each node connected to the state bus can
set the state bus to the "Error" state by setting it to LOW level.
• In the "Error" status, all nodes start their adjustable response, e.g. synchronised braking of the
drive system.
• The "Error" state is also set if a node connected to the state bus is not supplied with voltage.
 Note!
Exception handling:
• In the case of a critical exception within the application (e. g. reset), the "release cord"
is not triggered, the state bus remains in the "OK" status.
9 I/O terminals
________________________________________________________________
9.6.1 Detecting the current state
Via the output DIGIN_bStateBusIn of the LS_DigitalInput system block, the current status of the
state bus can be queried. In case of error the output DIGIN_bStateBusIn is set to TRUE.
LS_DigitalInput
X2
SB 24E GE
CONTROL
DIGIN_bStateBusIn
9.6.2 Setting the state bus to the "Error" state
If the input DIGOUT_bStateBusOut of the LS_DigitalOutput system block is set to TRUE, the state
bus is set to "Error" and all connected nodes start their pre-programmed response.
LS_DigitalOutput
X2
SB 24E GE
CONTROL
DIGOUT_bStateBusOut
9 I/O terminals
9.7 Touch probe detection
________________________________________________________________
A "Touch probe" is an event which can for instance be actuated in an edge-controlled manner via a
digital input to detect an actual value (that changes quickly) at the time of activation and to process
it further within the program afterwards.
Overview of the touch probe channels

For the touch probe detection 12 touch probe channels are provided, which can be configured
independently of each other:
Touch probe channel Activating event System block

1 Edge change at digital input 1 LS_TouchProbe1...8 ( 330)
2 Edge change at digital input 2
9 Motor encoder zero pulse LS_TouchProbeMotor ( 331)
10 Position encoder zero pulse LS_TouchProbeLoad ( 331)
11 DFIN zero pulse LS_TouchProbeDFIN
12 DFOUT zero pulse LS_TouchProbeDFOUT
• Each touch probe channel is assigned to a system block which provides the application with a
scaled time stamp.
• The time stamp refers to the sampling time of the encoder signals and outputs the difference
with regard to the touch probe event.
Further processing of the touch probe

For further processing of the touch probe event the time stamp is to be transmitted to an instance
of the L_SdTouchProbe FB:
LS_TouchProbex L_SdTouchProbe
TPx_dnTouchProbeTimeLag dnActPos_p dnTpPos_p
TPx_bTouchProbeReceived dnTpTimeLag dnTpPosDiff_p
TP
TPx_bTouchProbeLost bTpReceived
TPx_bNegativeEdge AxisData
DI_AxisData
[9-2] Transfer of the time stamp to the L_SdTouchProbe FB
• The L_SdTouchProbe FB takes over the interpolation of the input signal on the basis of the time
stamp and outputs the interpolated value and the difference to the last input signal.
9 I/O terminals
________________________________________________________________
9.7.1 Actual value interpolation (principle)
If a touch probe is detected, the (remaining) time until the following task cycle is determined and
from this a time stamp is generated. On the basis of this time stamp, the L_SdTouchProbe FB can
then carry out a linear interpolation between the two actual position interpolation points; the result
is the precise actual position at the time of the physical touch probe event.
Task cycle Task cycle Task cycle
Data Data Data

processing Application processing Application processing Application
t
Position
Touch probe received p2
p1
t1
0
t

 Actual position point 1
 Actual position point 2
 Residual time (dnTouchProbeTimeLag)
[9-3] Actual value determination through linear interpolation (principle)
9 I/O terminals
________________________________________________________________
9.7.2 Dead time compensation
For dead time compensation during the detection of the touch probe event, it is possible to select a
delay time (Touch probe delay) in C02810 for each touch probe channel, which will be considered in
the touch probe calculation.
Task cycle Task cycle Task cycle
Data Data Data

processing Application processing Application processing Application
t
Position
Touch probe received
0 1 2
t
Delay time

 Mechanical event: Switch is closed

 Electrical event: Closed switch contact is registered
• Can for example be delayed by flying times of the mechanical contact or filter.
 Value and position determination for the real (mechanical) event, the determined values are transferred to
the application
 Delay time (dead time) between mechanical and electrical event
• This dead time can be compensated by a corresponding setting in C02810.
 Time considered by touch probe calculation
• If more than one task cycle has elapsed, the two actual position values are searched within a history
buffer, between which the physical event has taken place.
[9-4] Dead time compensation (principle)
• The filtering of the digital inputs has an impact on the electrical detection of the touch probe,
i. e. the delay time for the digital inputs set in C02830 has to be taken into consideration within
the delay time C02810.
• For the optional digital frequency input/output the setting of the delay times is effected via
separate parameters:
• C13021 or C14021: TP delay time - digital frequency input.
• C13061 or C14061: TP delay time - digital frequency output.
9 I/O terminals
________________________________________________________________
9.7.3 "LS_TouchProbe1...8" system block
LS_TouchProbex
TPx_bEnablePosEdge TPx_dnTouchProbeTimeLag
TPx_bEnableNegEdge TPx_bTouchProbeReceived
TP TPx_bTouchProbeLost
TPx_bNegativeEdge
x = 1 ... 8
Input Value/meaning
Data type
TPx_bEnablePosEdge Enable response to positive edge

BOOL Note:
• If several positive edges occur within the basic cycle time (ServoPLC: 1 ms), only
the first positive edge initiates the touch probe event and no status signal "touch
probe(s) lost" is generated.
TRUE A touch probe event is activated by a positive edge at the digital
input DIx.
TPx_bEnableNegEdge Enable response to negative edge
BOOL Note:
• If several negative edges occur within the basic cycle time (ServoPLC: 1 ms), only
the first negative edge initiates the touch probe event.
• If a positive and negative edge occur within the basic cycle time (1 ms), and if the
response to both edges is enabled, only the positive edge initiates the touch
probe event.
• In both cases no status signal "touch probe(s) lost" is generated.
TRUE A touch probe event is activated by a negative edge at the digital
input DIx.
Data type
TPx_dnTouchProbeTimeLag Scaled time stamp for further processing of the touch probe event with the
DINT L_SdTouchProbe FB.
• 1 ms ≡ 20 bits
TPx_bTouchProbeReceived Status signal "Touch probe detected"
BOOL • State is only set for one task cycle.
TRUE Touch probe event has been activated.
TPx_bTouchProbeLost Status signal "Touch probe(s) lost"
TRUE More than one touch probe event was actuated within the task
runtime. The time stamp that is output only refers to the first touch
probe event.
TPx_bNegativeEdge Status signal "Negative edge detected"
TRUE A negative edge has been detected at the digital input DIx.
9 I/O terminals
________________________________________________________________
9.7.4 "LS_TouchProbeMotor" system block
LS_TouchProbeMotor
TPM_dnTouchProbeTimeLag
TPM_bTouchProbeReceived
TP TPM_bTouchProbeLost
Data type
TPM_dnTouchProbeTimeLag Scaled time stamp for further processing of the touch probe event with the
TPM_bTouchProbeReceived Status signal "Touch probe detected"

TPM_bTouchProbeLost Status signal "Touch probe(s) lost"
runtime and therefore could not be detected anymore.
9.7.5 "LS_TouchProbeLoad" system block
LS_TouchProbeLoad
TPL_dnTouchProbeTimeLag
TPL_bTouchProbeReceived
TP TPL_bTouchProbeLost
Data type
TPL_dnTouchProbeTimeLag Scaled time stamp for further processing of the touch probe event with the
TPL_bTouchProbeReceived Status signal "Touch probe detected"
TPL_bTouchProbeLost Status signal "Touch probe(s) lost"
runtime and therefore could not be detected anymore.
10 "CAN on board" system bus
________________________________________________________________

The controller has an integrated CANopen system bus interface ("CAN on board") which is used to
exchange i.a. process data and parameter values between the nodes. Furthermore, other modules
can be connected via this interface such as decentralised terminals, operator and input devices
(HMIs), as well as external controls and host systems.
The interface transfers CAN objects following the CANopen communication profile CANopen
(CiA DS301, version 4.02) developed by the umbrella organisation of CiA (CAN in Automation) in
conformity with the CAL (CAN Application Layer).
 Tip!
• The parameters relevant for the CANopen system bus interface are assigned to different
subcategories in the parameter list in »Engineer« and in the keypad in the CAN category.
• Information on CAN communication modules and CANopen system bus interfaces of
other Lenze devices is provided in the "CAN" communication manual in the Lenze library.
________________________________________________________________
For many years the system bus (CAN) based on the CANopen communication profile has been
integrated in Lenze controllers. Due to the lower number of data objects available, the functionality
and compatibility of the old system bus are lower as compared with CANopen. For parameter
setting, two parameter data channels are always available to the user while CANopen provides only
one active parameter data channel (along with the possibility to establish further channels).
The system bus (CANopen) of the Servo Drives 9400 has been developed from the system bus (CAN)
of the controller of the 9300 series with the following properties:
• Full compatibility according to CANopen DS301 V4.02.
• Support of the NMT master/slave function "Node Guarding" (DS301 V4.02).
• Support of the "Heartbeat" NMT slave function (DS301, V4.02).
• There are no restrictions regarding the selection of the node addresses.
• Number of parameterisable server and client SDO channels:
• max. 10 channels with 1 ... 8 bytes
• Number of parameterisable PDO channels:
• max. 4 Transmit-PDOs (TPDOs) with 1 ... 8 bytes
• max. 4 Receive-PDOs (RPDOs) with 1 ... 8 bytes
• All PDO channels are functionally equivalent.
• Monitoring of the RPDOs for data reception
• Telegram counters for SDOs and PDOs
• Bus status diagnostics
• Boot-up telegram generation
• Emergency telegram generation
• Reset node telegram generation (in case of master configuration)
• Sync telegram generation and response to sync telegrams:
• Data transmission/reception
• Device-internal time base synchronisation
• Abort codes
• All CAN on board functions can be parameterised via codes
• Object directory (all mandatory functions, optional functions, indexes)
________________________________________________________________
10.1.1 General data and application conditions
Range Values
Communication profile CANopen (DS301 V4.02)
Communication medium DIN ISO 11898
Network topology Line closed on both sides (e.g. termination by Sub-D plug, type EWZ0046)
Adjustable node addresses 1 ... 127
• Adjustable via DIP switch on the memory module (exception: memory
module MM1xx) or via code C00350.
Max. number of nodes 127
Baud rate 10, 20, 50, 125, 250, 500, 800, 1000 kbit/s or automatic recognition
• Adjustable via DIP switch on the memory module (exception: memory
module MM1xx) or via code C00351.
Process data • max. 4 TPDOs with 1 ... 8 bytes
• max. 4 RPDOs with 1 ... 8 bytes
Parameter data Max. 10 client and server SDO channels with 1 ... 8 bytes
Transfer mode for TPDOs • With change of data
• Time-controlled, 1 to x ms
• After the reception of 1 to 240 sync telegrams
10.1.2 Supported protocols
Category Protocol
Standard PDO protocols PDO write
PDO read
SDO protocols SDO download
SDO download initiate
SDO download segment
SDO upload
SDO upload initiate
SDO upload segment
SDO abort transfer
SDO block download
SDO block download initiate
SDO block download end
SDO block upload
SDO block upload initiate
SDO block upload end
NMT protocols Start remote node (master and slave)
Stop remote node (slave)
Enter pre-operational (slave)
Reset node (slave and local device)
Reset communication (slave)
Monitoring protocols Node guarding (master and slave)
Heartbeat (heartbeat producer and heartbeat consumer)
________________________________________________________________
10.1.3 Communication time
The communication time is the time between the start of a request and the arrival of the
corresponding response.
 Tip!
The communication times in the CAN network depend on the
• processing time in the device
• telegram run time (baud rate / telegram length)
• bus load (especially if the bus is loaded with PDOs and SDOs at a low baud rate.)
Servo Drives 9400 processing time

No dependencies exist between parameter data and process data.
• Parameter data:
• For controller-internal parameters: approx. 30 ms ± 20 ms tolerance (typically)
• For some codes the processing time can be longer.
• Process data are transported in real time.
10.2 Possible settings by DIP switch
________________________________________________________________
The DIP switches on the front of the memory serve to set the baud rate and the node address.
O
N d c b a 64 32 16 8 4 2 1
Baud CAN Address
[10-1] DIP switch
10.2.1 Setting the node address
The node address can be set via code C00350 or with the DIP switches 1 to 64.
• The labelling on the housing corresponds to the values of the individual DIP switches for
determining the node address.
• Valid address range: 1 … 127
 Note!
• The addresses of the nodes must differ from each other.
• All twelve DIP switches = OFF (Lenze setting):
• At switching on, the settings under code C00350 (node address) and C00351 (baud
rate) will become active.
• Switch the voltage supply of the basic device off and then on again to activate altered
settings.
Example: Setting of the node address 23
DIP switch 64 32 16 8 4 2 1
Switch position OFF OFF ON OFF ON ON ON
Value 0 0 16 0 4 2 1
Node address = Sum of the values = 16 + 4 + 2 + 1 = 23
 Tip!
The node address resulting from the setting of the DIP switches at the last mains switching
is displayed in C00349/1.
________________________________________________________________
10.2.2 Setting the baud rate
The baud rate can be set via code C00351 or with the DIP switches a to d:
Switch positions Baud rate

d c b O
OFF ON ON OFF 10 kbps
OFF ON OFF ON 20 kbps
OFF OFF ON ON 50 kbps
OFF OFF ON OFF 125 kbps
OFF OFF OFF ON 250 kbps
OFF OFF OFF OFF 500 kbps
ON ON ON OFF 800 kbps
OFF ON OFF OFF 1 Mbps
OFF ON ON ON Automatic recognition
 Note!
Switch the voltage supply of the basic device off and then on again to activate altered
settings.
 Tip!
The baud rate resulting from the setting of the DIP switches at the last mains switching is
displayed in C00349/2.
10.3 LED status displays for the system bus
________________________________________________________________
10.3 LED status displays for the system bus
Both upper LEDs LEDs "CAN-RUN" and "CAN-ERR" on the front of the controller inform about the
CANopen state and report CANopen errors.
CAN-RUN CAN-ERR
[10-2] LED status displays CAN-RUN and CAN-ERR
The meaning can be seen from the table below:
LED status display Meaning

CAN-RUN CAN-ERR CANopen state CANopen error
Only CAN-ERR is on - Bus off
CAN-RUN and CAN-ERR jitter Automatic detection of the baud rate is active.
CAN-RUN is blinking every 0.2 seconds | CAN-ERR is off Pre-Operational -
CAN-RUN is blinking every 0.2 seconds | CAN-ERR 1 x blinking, 1 Warning Limit reached
s off
CAN-RUN is blinking every 0.2 seconds | CAN-ERR 2 x blinking, 1 Node Guard Event
s off
Only CAN-RUN is on Operational -
CAN-RUN on | CAN-ERR 1 x blinking, 1 s off Warning Limit reached
CAN-RUN on | CAN-ERR 2 x blinking, 1 s off Node Guard Event
CAN-RUN on | CAN-ERR 3 x blinking, 1 s off Sync Message Error
CAN-RUN is blinking every 1 second | CAN-ERR is off Stopped -
CAN-RUN is blinking every 1 second | CAN-ERR 1 x blinking, 1 s off Warning Limit reached
CAN-RUN is blinking every 1 second | CAN-ERR 2 x blinking, 1 s off Node Guard Event
10.4 Structure of the CAN data telegram
________________________________________________________________
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[10-3] Basic structure of the CAN telegram
The following subchapters provide a detailed description of the identifier and the user data. The
other signals refer to the transfer characteristics of the CAN telegram whose description is not
included in the scope of this documentation.
 Tip!
Please visit the homepage of the CAN user organisation CiA (CAN in automation) for further
information:
http://www.can-cia.org
10.4.1 Identifier
The principle of the CAN communication is based on a message-oriented data exchange between a
transmitter and many receivers. All nodes can transmit and receive quasi-simultaneously.
The identifier, also called COB-ID (abbr. for communication object identifier), is used to control
which node is to receive a transmitted message. In addition to the addressing, the identifier
contains information on the priority of the message and the type of user data.
The identifier consists of a basic identifier and the node address of the node to be addressed:
Identifier (COB-ID) = basic identifier + node address (node ID)
Exception: For process data, heartbeat and emergency objects as well as network management and
syn telegrams, the identifier is assigned freely by the user (either manually or automatically by the
network configurator) or is firmly allocated.
________________________________________________________________
Node address (node ID)

Every node of the system bus network must be assigned to a node address (also called node ID)
within the valid address range (1 ... 127) for unambiguous identification.
• Assigning a node address more than once within a network is impermissible.
• The own node address can be configured via the DIP switch of the memory module (exception:
MM1xx memory module) or via code C00350. Setting the node address ( 336)
Identifier assignment
The system bus is message-oriented instead of node-oriented. Every message has an unambiguous
identification, the identifier. For CANopen, node-oriented transfer is achieved by the fact that every
message has only one transmitter.
• The basic identifiers for network management (NMT) and sync as well as the basic SDO channel
(SDO1) are defined in the CANopen protocol and cannot be changed.
• The basic identifiers of the PDOs are preset in the Lenze setting according to the "Predefined
Connection Set" of DS301 V4.02 and can be changed via parameters/indexes, if required.
Identifiers of the process data objects ( 347)
Object Direction Basic identifier

from device to device dec hex
Network management (NMT) 0 0
Sync 128 80
Emergency  128 80
PDO1 TPDO1  384 180
(Process data channel 1) RPDO1  512 200
PDO2 TPDO2  640 280
PDO3 TPDO3  896 380
PDO4 TPDO4  1152 480
SDO1  1408 580
(Basic SDO channel)  1536 600
SDO2 ... SDO10  1472 5C0
(Parameter data channel 2 ... 10)  1600 640
Node guarding, heartbeat  1792 700
________________________________________________________________
10.4.2 User data
All nodes communicate by exchanging data telegrams via the system bus. The user data area of the
CAN telegram either contains network management data or parameter data or process data:
Network management data

(NMT data)
• Control information on start, stop, reset, etc. of communication to specific nodes or to all nodes
of the CAN network.
Process data
(PDOs – process data objects)
• Process data are transferred via the process data channel.
• Process data can be used to control the controller.
• Process data are not saved to the controller.
• Process data are transmitted between host system and nodes to ensure continuous exchange
of current input and output data.
• Process data usually are unscaled/scalable raw data.
• Process data are, for instance, setpoints and actual values.
Parameter data
(SDOs – service data objects)
• Parameter data are the CANopen indexes or, in case of Lenze devices, the codes.
• Parameters are, for instance, used for one-off plant setting during commissioning or when the
material is changed on a production machine.
• Parameter data are transmitted as SDOs via the parameter data channel. They are
acknowledged by the receiver, i.e. the transmitter gets a feedback about the transmission being
successful or not.
• The parameter data channel enables access to all Lenze codes and CANopen indexes.
• Parameter changes are automatically saved to the controller until mains switching.
• In general, the parameter transfer is not time-critical.
• Parameter data are, for instance, operating parameters, diagnostic information and motor data.
10.5 Communication phases/network management
________________________________________________________________
Regarding communication via the system bus, the controller distinguishes between the following
statuses:
Status Explanation
"Initialisation" After switch-on, an initialisation run is carried out.
(Initialisation) • During this phase, the controller is not involved in the data exchange via
the bus.
• The standard values are re-written to all CAN-relevant parameters.
• After initialisation is completed, the controller is automatically set to the
"Pre-Operational" status.
"Pre-Operational" Parameter data can be received, process data are ignored.
(before being ready for operation)
"Operational" Parameter data and process data can be received!
(ready for operation)
"Stopped" Only network management telegrams can be received.
(stopped)
Communication object Initialisation Pre-Operational Operational Stopped

PDO 
SDO  
Sync  
Emergency  
Boot-up 
Network management (NMT)   
 Tip!
Part of the initialisation or the entire initialisation can be carried out anew in every status
by transferring the corresponding network management telegrams.
________________________________________________________________
10.5.1 Status transitions
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[10-4] NMT status transitions in the CAN network
Transition NMT command Status after Effects on process/parameter data after status change
change
(1) - Initialisation Initialisation starts automatically when the mains is
switched on.
• During initialisation, the controller is not involved in the
data exchange.
• After the initialisation is completed, the node sends a
boot-up message with an individual identifier and
automatically changes to the "pre-operational" status.
(2) - Pre-Operational In this phase, the master determines the way in which the
node(s) takes/take part in communication.
 From here, the master changes the statuses for the entire network.
• A target address included in the NMT command defines the receiver(s).
• If the controller has been configured as CAN master, the state automatically changes to
"Operational" after the waiting time has expired (C00378) and the NMT command 0x0100
("Start Remote Node") is sent to all nodes.
• Data can only be exchanged via process data objects if the status is "Operational"!
(3), (6) 0x01 xx Operational Network management/sync/emergency telegrams as well
Start remote node as process data (PDO) and parameter data (SDO) are active.
Optional: When the status is changed, event and time-
controlled process data (PDOs) are transmitted once.
(4), (7) 0x80 xx Pre-Operational Network management/sync/emergency telegrams and
Enter Pre-Operational parameter data (SDO) are active.
(5), (8) 0x02 xx Stopped Only network management telegrams can be received.
Stop remote node
(9), (10), (11) 0x81 xx Initialisation All CAN-relevant parameters (CiA DS 301) are initialised with
Reset node the saved values.
(12), (13), (14) 0x82 xx All CAN-relevant parameters (CiA DS 301) are initialised with
Reset communication the saved values.
 Meaning of the node address in the NMT command:

• xx = 0x00: If this assignment is selected, the telegram addresses all nodes (broadcast telegram).
The status of all nodes can be changed at the same time.
• xx = Node ID: If a node address is specified, only the status of the node with the corresponding
address changes.
________________________________________________________________
10.5.2 Network management telegram (NMT)
The telegram for the network management contains identifier "0" and the command included in
the user data which consists of the command byte and the node address:
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[10-5] Network management telegram for changing over the communication phases
Command specifier (cs) NMT command

dec hex
1 0x01 Start remote node

2 0x02 Stop remote node
128 0x80 Enter Pre-Operational
129 0x81 Reset node
130 0x82 Reset communication
The communication phases are changed over by a node, the CAN master, for the entire network. The
CAN master can also be a controller. Parameterising the controller as CAN master ( 345)
Example:
Data can only be exchanged via process data objects if the status is "Operational".If the CAN master
is supposed to switch all nodes connected to the bus from the "Pre-Operational" communication
status to the "Operational" communication status, the identifier and user data in the transmission
telegram must be set as follows:
• Identifier: 0x00 (network management)
• User data: 0x0100 ("Start remote node" NMT command to all nodes)
________________________________________________________________
10.5.3 Parameterising the controller as CAN master
If the initialisation of the system bus and the associated status change from "Pre-Operational" to
"Operational" is not effected by a superimposed host system, the controller can instead be defined
to be a "quasi" master to execute this task.
The controller is configured as CAN master in C00352.
• Being the CAN master, the controller sets all nodes connected to the bus (broadcast telegram)
to the "Operational" communication status with the "Start remote node" NMT telegram. Only
in this communication status, data can be exchanged via process data objects.
• In C00378, you can set a delay time which must elapse after power-up before the controller
applies the "Start Remote Node" NMT telegram to the bus.

Value Unit
C00352 CAN slave/master Slave

C00378 CAN delay boot-up - Operational 3000 ms
 Note!
The changes of the master/slave operation in C00352 will not be activated until
• another mains switching of the controller
or
• the "Reset node" or "Reset communication" NMT telegram has been transmitted to
the controller.
As an alternative to the "Reset Node" NMT telegram, the device command C00002 = "91:
CAN on board: Reset Node" can be used to reinitialise the CAN-specific device
parameters.
 Tip!
Master functionality is only required during the initialisation phase of the drive system.
10.6 Process data transfer
________________________________________________________________
[10-6] PDO data transfer from / to the higher-level host system
For the transfer of process data, four separated process data channels (PDO1 ... PDO4) are available.
Definitions
• Process data telegrams between the host system and the devices are distinguished in terms of
direction as follows:
• Process data telegrams to the device (RPDO)
• Process data telegrams from the device (TPDO)
• The CANopen process data objects are designated as seen from the node's view:
• Receive PDOs (RPDOx): Process data object received by a node
• Transmit PDOs (TPDOx): Process data object sent by a node
 Note!
Data can only be exchanged via process data objects if the status is "Operational"!
Communication phases/network management ( 342)
________________________________________________________________
10.6.1 Identifiers of the process data objects
The identifiers for the process data objects PDO1 ... PDO4 in the Lenze setting result from the basic
identifier and the node address set in C00350.
• The basic identifiers of the PDOs are preset in the Lenze setting according to the "Predefined
Connection Set" of DS301 V4.02.
• The identifiers for the PDOs can be set individually via the Lenze codes and CANopen indexes
listed in the following table. Thus, you can also set an identifier independent of the node
address for certain PDOs.
Process data object Basic identifier Individual setting

dec hex Lenze code CANopen index
PDO1
RPDO1 512 0x200 C00321/1 I-1400/1
TPDO1 384 0x180 C00320/1 I-1800/1
PDO2
RPDO2 768 0x300 C00321/2 I-1401/1
TPDO2 640 0x280 C00320/2 I-1801/1
PDO3
RPDO3 1024 0x400 C00321/3 I-1402/1
TPDO3 896 0x380 C00320/3 I-1802/1
PDO4
RPDO4 1280 0x500 C00321/4 I-1403/1
TPDO4 1152 0x480 C00320/4 I-1803/1
 Note!
After the node address (C00350) has changed and a subsequent CAN reset node, the
identifiers which result from the corresponding basic identifiers and the set node
address are automatically set again in the subcodes of C00320 and C00321.
 Tip!
The "Predefined Connection Set" can be re-established anytime using the following device
commands (C00002):
• "93: CAN on board: Pred.Connect.Set" for CAN on board
• "94: CAN module: Pred.Connect.Set" for E94AYCCA communication module
________________________________________________________________
10.6.2 Transmission type
The process data objects are transmitted in an event-controlled or time-controlled way.

• Event-controlled: The PDO is sent if a special device-internal event has occurred, for instance,
when the data contents of the TPDO have changed or when a transmission cycle time has
elapsed.
• Synchronous: A TPDO (or RPDO) is transmitted (or received) after the device has received a sync
telegram (with identifier 0x80).
• Cyclically: The PDOs are transmitted in fixed time intervals after the transmission cycle time has
elapsed.
The table shows that combinations of logic operations (AND, OR) are also possible between the
different transmission modes:
Transmission type PDO transmission Logic operation

cyclic synchronous event-controlled
0   AND
1 ... 240  -
254, 255   OR
Transmission type Description

0 The PDO is transmitted on an event-controlled basis with every sync (e.g. when a bit change
occurs in the PDO).
1 ... 240 SYNC (with response)
• Selection n = 1: The PDO is transmitted with every sync.
• Selection 1 < n ≤ 240: The PDO is transmitted with every n-th sync.
254, 255 Event-controlled (with mask) with cyclic overlay
If this value is entered, the PDO transmission is event-controlled or cyclic.
(Note: The values "254" and "255" have the same meaning).
For cyclic overlay, a cycle time must be set for the respective PDO. In this case, cyclic
transmission takes place in addition to event-controlled transmission (e.g. through a bit
change in the PDO).
The communication parameters such as the transmission mode and cycle time can be set freely for
every PDO and independently of the settings of other PDOs:

Value Unit
C00322/1...4 CAN TPDOx Tx mode 254

C00323/1...4 CAN RPDOx Rx mode 254
C00324/1...4 CAN TPDOx delay time 0 1/10 ms
C00356/1...4 CAN TPDOx cycle time 0 ms
 Tip!
The setting can also be carried out via the following CANopen objects:
• I-1400 ... I-1403: Communication parameters for RPDO1 ... RPDO4
• I-1800 ... I-1803: Communication parameters for TPDO1 ... TPDO4
________________________________________________________________
10.6.3 Masking of the TPDOs for event control
For TPDO1 ... TPDO4, a mask can be parameterised for every byte. In case of the event-controlled
transmission of a PDO, only the masked bits are used for the event control.
• Mask "0x0" means that no bit of the corresponding byte actuates the transmission.
• Mask "0xff" means that every bit of the corresponding byte can actuate the transmission.
Short overview: Parameters for masking the TPDOs

C00311/1...8 CAN TPDO1 mask byte x 0x00
10.6.4 Monitoring of the RPDOs for data reception
For RPDO1 ... RPDO4 each, a monitoring time can be parameterised within which the RPDO must
arrive. If the RPDO is not received within the monitoring time or not with the configured sync, the
response parameterised for each RPDO takes place.
Short overview: Parameters for RPDO monitoring

Value Unit
C00357/1...4 CAN RPDOx monitoring time 3000 ms

C00591/1...4 Resp. to CAN RPDOx error No response
________________________________________________________________
10.6.5 Synchronisation of PDOs via sync telegram
During cyclic transmission, one or more PDOs are transmitted/received in fixed time intervals. An
additional specific telegram, the so-called sync telegram, is used for synchronising cyclic process
data.
• The sync telegram is the trigger point for the transmission of process data from the slaves to the
master and for the acceptance of process data from the master in the slaves.
• For sync-controlled process data processing, the sync telegram must be generated accordingly.
• The response to a sync telegram is determined by the transmission type selected.
Transmission type ( 348)
Basic workflow
SYNC
SYNC
0 1 2
 Sync cycle time (C01121)
[10-7] Sync telegram
A. After the sync telegram has been received, the slaves transmit the synchronous process data to
the master (TPDOs). The master reads them as process input data.
B. When the transmission process is completed, the slaves receive (RPDOs) the process output
data (of the master).
• All other telegrams (e.g. parameters or event-controlled process data) are accepted acyclically
by the slaves after the transmission is completed.
• Illustration [10-7] does not include acyclic data. However, they need to be considered when
dimensioning the cycle time.
C. The data are accepted in the slave with the next sync telegram if the Rx mode is set to 1 ... 240.
If the Rx mode is 254 or 255, the data are accepted in the next device cycle, irrespective of the
sync telegram.
________________________________________________________________
10.6.5.1 Parameter setting
Short overview: Parameters for the synchronisation via sync telegram
Parameter Info Lenze setting Assignment

Value Unit Sync Sync
master slave
C00367 CAN SYNC Rx identifier 128 

C00368 CAN SYNC Tx identifier 128 
C00369/1 CAN sync transmission cycle time 0 ms 
C01120 Sync source Off 
C01121 Sync cycle time 1000 μs 
C01122 Sync phase position 400 μs 
C01123 Sync tolerance 0 μs 
C01124 Sync PLL increment 109 ns 
C01130 Sync application cycle 1000 μs 
Sync source
C01120 is used to select the source of the synchronisation signals. Only one source can synchronise
the node.
Sync cycle time

Time after which the internal phase-locking loop (PLL) anticipates the synchronisation signals. The
time must be set in C01121 according to the cycle of the synchronisation source selected in C01120.
 Note!
If the synchronisation takes place via the system bus, it is reasonable to only enter
integer multiples of 1000 μs in C01121.
Example: For the system bus, the distance between two synchronisation signals is set to 2 ms. If the
system bus is to be used as synchronisation source, a sync cycle time of 2000 μs must be set in
C01121.
________________________________________________________________
Sync phase position

The phase position defines the zero point of time for the application relating to the synchronisation
signal (bus cycle). Since PDO processing is integrated in the system part of the application, the
instant of the PDO acceptance also changes if the phase position is changed.
• If 0 is set, the application is started together with the synchronisation signal.
• If a value > 0 is set, the application starts by the set time interval before the synchronisation
signal arrives (the phase position acts negatively).
Example: If the phase position is set to 400 μs, the system part of the application starts 400 μs
before the synchronisation signal arrives.
 Note!
The effect of the sync phase position can be affected by the application cycle set in
C01130. For the Lenze setting of C01130 the behaviour remains as before.
Sync tolerance
Time slot for monitoring the synchronisation signal via the system block LS_SyncInput. System
block "LS_SyncInput" ( 404)
• If the last synchronisation signal amounted to approx. the expected value within this time slot,
the SYNC_bSyncInsideWindow output of the LS_SyncInput system block is set to TRUE.
• This setting does not affect the synchronisation process.
Sync PLL increment

If the cycle times of the synchronisation signal and the phase-locking loop (PLL) differ from each
other, the setting in C01124 defines the increment with which the phase-locking loop can be reset.
• The recommended reset time for the system bus as synchronisation source with regard to
occurring deviations is 109 ns (Lenze setting).
________________________________________________________________
Sync application cycle

This parameter influences the effect of the sync phase position (C01122) with regard to the instant
of acceptance of the synchronous PDOs by the application or the instant of transmission of the
synchronous PDOs to the system bus.
• The sync application cycle can be set in C01130. The set value is automatically rounded down to
full 1000 μs.
• The resulting PDO delay can be calculated with the following formula taking into consideration
an internal processing time of 150 s: PDO delay= (sync cycle time - sync phase position + 150 μs)
modulo C01130
 Note!
If the sync application cycle in C01130 is set higher than the sync cycle time (C01121),
the behaviour is undefined. The same applies if the sync phase position (C01122) is set
higher than the sync cycle time (C01121).
Usually, no synchronous PDOs are then applied to the system bus anymore.
10.6.5.2 Effect of C01130 on the sync phase position
Example 1:
SYNC
SYNC
150 µs 150 µs
1 0 1 0 1
n-1 n n+1 n+2
 Sync cycle time (C01121) = 2000 μs

Sync phase position (C01122) = 0 μs
Sync application cycle (C01130) = 1000 μs
 Instant of acceptance/transmission of synchronous PDOs
 Inactive instant of acceptance
n Device cycle
Example 2:
SYNC
SYNC

0 1 0 1 0
n-1 n n+1 n+2 n+3

 Sync phase position (C01122) = 400 μs
 PDO delay = (C01121 - C01122 + 150 μs) modulo C01130 = 750 μs
n Device cycle
________________________________________________________________
Example 3:
SYNC
SYNC

1 0 1 0 1
n-1 n n+1 n+2 n+3

n Device cycle
Example 4:
SYNC
SYNC

0 1 0 1 0
n n+1 n+2 n+3 n+4

n Device cycle
10.7 Parameter data transfer
________________________________________________________________
[10-8] Parameter data transfer via the available parameter data channels
Parameters are values stored in codes on Lenze controllers.

Ten separate parameter data channels are available for parameter setting, enabling the
simultaneous connection of several devices for configuration.
Parameter data are transmitted via the system bus as SDOs ("Service Data Objects") and
acknowledged by the receiver. The SDO enables read and write access to the object directory.
Indexes (e.g. I-1000) ensure access to parameters and functions included in the object directory. To
transfer SDOs, the information contained in the user data must comply with the CAN-SDO protocol.
________________________________________________________________
10.7.1 Identifiers of the parameter data objects
The identifiers for the parameter data objects SDO1 ... SDO10 in the Lenze setting result from the
basic identifier and the node address set in C00350.
• The basic identifiers of the SDOs are preset in the Lenze setting according to the "Predefined
Connection Set" of DS301 V4.02.
Parameter data object Direction Basic identifier

from device to device dec hex
SDO1  1408 580
(Parameter data channel 1)  1536 600
SDO2 ... 10   deactivated
(Parameter data channel 2 ... 10)
Node guarding, heartbeat  1792 700
Boot-up  1792 700
 Note!
Please observe that the parameter data channels 2 ... 10 are deactivated in the Lenze
setting.
The procedure for activating these parameter data channels is explained in the
description of parameters C00372 and C00373 and the description for the implemented
CAN object I-1201. Example ( 392)
10.7.2 User data
Structure of the user data of the parameter data telegram
1st byte 2nd byte 3rd byte 4th byte 5th byte 6. byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
LOW byte HIGH LOW word HIGH word
byte
LOW byte HIGH byte LOW byte HIGH byte
 Note!
For the user data, the Motorola format is used.
Parameter data telegram examples ( 362)
The following subchapters provide detailed information on user data.
________________________________________________________________
10.7.2.1 Command
byte
The following commands can be transmitted or received for writing and reading the parameters:
Command 1st byte Data length Info

hex dec
Write request 0x23 35 4 bytes Writing of a parameter to the controller.

0x2B 43 2 bytes
0x2F 47 1 byte
0x21 33 Block
Write response 0x60 96 4 bytes Controller acknowledges a write request.
Read request 0x40 64 4 bytes Reading of a parameter from the controller.
Read response 0x43 67 4 bytes Controller's response to a read request with the current
parameter value.
0x4B 75 2 bytes
0x4F 79 1 byte
0x41 65 Block
Error response 0x80 128 4 bytes Response from the controller when the read/write request
could not be executed correctly. Error messages ( 359)
More precisely, the command byte comprises the following information:
Command 1st byte

Command specifier (cs) Toggle (t) Length* e s
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Write request 0 0 1 0 0/1 0/1 1 1

Write response 0 1 1 0 0 0 0 0
Read request 0 1 0 0 0 0 0 0
Read response 0 1 0 0 0/1 0/1 1 1
Error response 1 0 0 0 0 0 0 0
*Bit coding of the length: 00 = 4 bytes, 01 = 3 bytes, 10 = 2 bytes, 11 = 1 byte
e: expedited (shortened block service)
s: segmented (normal block service)
 Tip!
More commands are defined in CANopen specification DS301, V4.02 (e.g. segmented
transfer).
________________________________________________________________
10.7.2.2 Addressing by means of index and subindex
byte
A parameter (a Lenze code) is addressed as per the following formula:

Index = 24575 - (Lenze code number)
Example
The C00011 parameter (motor reference speed) is to be addressed.
Calculation:
• Index:
• Decimal: 24575 - 11 = 24564
• Hexadecimal: 0x5FFF - 0xB = 0x5FF4
• Subindex: 0x00 (subindex 0 since the parameter does not have any subcodes)
Entries:
0xF4 0x5F 0x00
________________________________________________________________
10.7.2.3 Data 1 ... Data 4
byte
Maximally 4 bytes are available for parameter value entries. Depending on the data format, they are
assigned as follows:
5th byte 6. byte 7th byte 8th byte

Parameter value (1 byte) 0x00 0x00 0x00
Parameter value (2 bytes) 0x00 0x00
LOW byte HIGH byte
Parameter value (4 bytes)
LOW word HIGH word
 Note!
The "Factor" column of the Table of attributes contains a so-called scaling factor for all
Lenze parameters. The scaling factor is relevant to the transfer of parameter values
which have one or more decimal positions in the parameter list.
If the scaling factor is > 1, the value must be multiplied by the indicated scaling factor
prior to transmission to be able to transfer the value as an integer. At the SDO client end,
the integer must be divided by the scaling factor to obtain the original value including
decimal positions again.
Example
For a code with the scaling factor "100" and the data format U32 the value "123.45" is to be
transmitted.
Calculation:
• Value to be transmitted = scaling factor x value
• Data (1 ... 4) = 100 x 123.45 = 12345 (0x00 00 30 39)
Entries:
0x39 0x30 0x00 0x00
10.7.2.4 Error messages
Command Index Subindex Error code
0x80 LOW byte HIGH byte LOW word HIGH word
(128) LOW byte HIGH byte LOW byte HIGH byte
________________________________________________________________
In the event of an error, the addressed node generates a telegram with the "Error response" (0x80)
command.
• The telegram includes the index and subindex of the code where the error occurred.
• The error code is entered in bytes 5 ... 8.
• The error codes are standardised according to DS301, V4.02.
• The representation of the error codes is provided in reverse read direction (see example
below).
Example
Representation of error code "0x06 04 00 41" in bytes 5 ... 8:
Command Index Subindex Error code
0x41 0x00 0x04 0x06
________________________________________________________________
Meaning of the error codes
Error code Explanation

0x0503 0000 Toggle bit not changed.
0x0504 0000 SDO protocol expired.
0x0504 0001 Invalid or unknown client/server command specifier.
0x0504 0002 Invalid block size (block mode only).
0x0504 0003 Invalid processing number (block mode only).
0x0504 0004 CRC error (block mode only).
0x0504 0005 Memory does not suffice.
0x0601 0000 Object access not supported.
0x0601 0001 Attempted read access to a writable only object.
0x0601 0002 Attempted write access to a readable only object.
0x0602 0000 Object not listed in object directory.
0x0604 0041 Object not mapped to PDO.
0x0604 0042 Number and length of objects to be transferred longer than PDO length.
0x0604 0043 General parameter incompatibility.
0x0604 0047 General internal device incompatibility.
0x0606 0000 Access denied because of hardware error.
0x0607 0010 Unsuitable data type (unsuitable service parameter length).
0x0607 0012 Unsuitable data type (service parameter length exceeded).
0x0607 0013 Unsuitable data type (service parameter length too short).
0x0609 0011 Subindex does not exist.
0x0609 0030 Parameter value range exceeded.
0x0609 0031 Parameter values too high.
0x0609 0032 Parameter values too low.
0x0609 0036 Maximum value falls below minimum value.
0x0800 0000 General error.
0x0800 0020 Data cannot be transferred or saved for application.
0x0800 0021 Data cannot be transferred or saved for application due to local control.
0x0800 0022 Data cannot be transferred or saved for application due to current device status.
0x0800 0023 Dynamic generation of object directory failed or no object directory available (e.g. object
directory generated from file, generation not possible because of a file error).
________________________________________________________________
10.7.3 Parameter data telegram examples
10.7.3.1 Read parameters

Task: The heatsink temperature of 43 °C (code C00061, data format INTEGER32, scaling factor 1) is
to be read from the controller with node address 5.
Telegram to drive
Identifier User data

0x0605 0x40 0xC2 0x5F 0x00 0x00 0x00 0x00 0x00
Explanations on the telegram to the drive

Identifier = 1536 + node address = 1536 + 5 = 1541 = 0x0605
(1536 = SDO1 basic identifier to the controller)
Command = 0x40 = "Read request" (read request of a parameter from the controller)
Index = 24575 - code number = 24575 - 61 = 24514 = 0x5FC2
Subindex = 0 (code C00061 does not have any subcodes)
Response telegram from drive (if data have been correctly transmitted)

0x0585 0x43 0xC2 0x5F 0x00 0x2B 0x00 0x00 0x00
Explanations on the telegram from the drive

(1408 = SDO1 basic identifier from the controller)
Command = 0x43 = "Read Response" (response to read request with current value)
Index as in telegram to the drive
Subindex
Data 1 ... 4 = 0x0000002B = 43 [°C]
________________________________________________________________
10.7.3.2 Write parameters

Task: The rated current of the connected motor with Irated = 10.2 A (code C00088) is to be entered in
the controller.
Telegram to drive

0x0602 0x23 0xA7 0x5F 0x00 0x66 0x00 0x03 0x00

Command = 0x23 = "Write request" (write request of a parameter to the controller)
Index = 24575 - code number = 24575 - 88 = 24487 = 0x5FA7
Data 1 ... 4 = 10,2 x 10 = 102 = 0x00030066
(Value for motor current, data type U32; display factor 1/10)
Response telegram from drive (if data have been correctly transmitted)

0x0582 0x60 0xA7 0x5F 0x00 0x00 0x00 0x00 0x00

Command = 0x60 = "Write response" (Acknowledgement of the write access from the controller)
Subindex
________________________________________________________________
10.7.3.3 Read block parameters

Task: The firmware version (code C00099) is to be read from the parameter set of the controller with
the node address "12". The firmware version has a length of 11 ASCII characters which are
transmitted as block parameters. Within the user data, the data width from the 2nd to the 8th byte
is assigned per block.
Telegram 1 to the drive: Read request

0x060C 0x40 0x9C 0x5F 0x00 0x00 0x00 0x00 0x00

Identifier = 1536 + node address = 1536 + 12 = 1548 = 0x060C
Command = 0x40 = "Read request" (read request of a parameter from the controller)
Index = 24575 - code number = 24575 - 99 = 24476 = 0x5F9C
Response telegram 1 from the drive: Indication of the block length (11 characters)

0x058C 0x41 0x9C 0x5F 0x00 0x0B 0x00 0x00 0x00

Identifier = 1408 + node address = 1408 + 12 = 1420 = 0x058C
Command = 0x41 = "Read response" (response is block telegram)
Subindex
Data 1 ... 4 = 0x0000000B = data length of 11 characters in the ASCII format
________________________________________________________________
Telegram 2 to the drive: Request of the 1st data block

Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7
0x060C 0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Command = 0x60 = "Read segment request" (request: read data block)
• Bit 4 = 0 (toggle bit)
Influence of the toggle bit on the request command
The blocks are toggled one after another, i.e. the request ist made with the "0x60" (=
0110*0000bin) command, then with the "0x70" (= 0111*0000bin) command, and then again
with the "0x60" command, etc.
* Toggle bit
Response telegram 2 from the drive: Transmission of the 1st data block

0x058C 0x00 0x30 0x31 0x2E 0x30 0x30 0x2E 0x30
0asc 1asc .asc 0asc 0asc .asc 0asc

Command = 0x00 = 00000000bin
Influence of the toggle bit on the transmission command
• The 1st response of the controller in the command byte is "0x0000*0000bin" if bytes 2 ... 8 are
completely filled with data and other telegrams are following.
• The 2nd response of the controller in the command byte is "0x0001*0000bin" if bytes 2 ... 8
are completely filled with data and other telegrams are following, etc.
* Toggle bit
Data 1 ... 7 = "01.00.0" (ASCII representation)
________________________________________________________________
Telegram 3 to the drive: Request of the 2nd data block

0x060C 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Explanations on telegram 3 to the drive

Command = 0x70 = "Read segment request" (request: read data block)
Response telegram 3 from the drive: Transmission of the 2nd data block including end identifier

0x058C 0x17 0x30 0x2E 0x30 0x30 0x00 0x00 0x00
0asc .asc 0asc 0asc - - -
Explanations on telegram 3 from the drive

Command = 0x17 = 00010111bin:
• Bit 0 = 1 (end of transmission)
• Bit 1 ... bit 3 = 011bin (3 bytes do not contain any data)
Influence of the final bit and the residual data length on the transmission command
• The end of transmission is signalled via the set final bit 0.
• Bits 1 ... 3 reveal the number of bytes that do not contain any data anymore.
* Toggle bit
Data 1 ... 7 = "0.00" (ASCII representation)
The result of the data block transmission is: "01.00.00.00"
10.8 Diagnostics
________________________________________________________________
10.8 Diagnostics
The display parameters listed in the following table serve to request current information on the
system bus for diagnostic purposes, e.g. using the keypad, via a bus system, or using »Engineer«
(when an online connection has been established to the controller).
• The »Engineer« parameter list and the keypad contain these parameters in the category
CAN  CAN management.
• A detailed description of these parameters can be found in the chapter "Parameter reference".
( 738)
Parameter Display
C00345 CAN error
C00359 CAN status
C00360/1 CAN stuffing bit error counter
C00360/2 CAN format error counter
C00360/3 CAN acknow. error counter
C00360/4 CAN bit 1 error counter
C00360/5 CAN bit 0 error counter
C00360/6 CAN CRC error counter
C00360/7 CAN Tx telegram counter
C00360/8 CAN Rx telegram counter
C00361/1 CAN bus load: Current node load in Tx direction
C00361/2 CAN bus load: Current node load in Rx direction
C00361/3 CAN bus load: Current node load of faulty telegrams
C00361/4 CAN bus load: Node peak load in Tx direction
C00361/5 CAN bus load: Node peak load in Rx direction
C00361/6 CAN bus load: Node peak load of faulty telegrams
C00390 CAN error register (DS301V402)
10.9 Monitoring
________________________________________________________________
10.9 Monitoring
10.9.1 Node guarding protocol
In a CAN network, the node guarding protocol serves to monitor the connection between the NMT
master and the NMT slave(s). If the controller was parameterised as NMT master, it can monitor up
to 32 NMT slaves.
Basic workflow
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t: Toggle bit
s: NMT slave status (4: Stopped, 5: Operational, 127: Pre-Operational)
[10-9] Node guarding protocol
1. The NMT master within cyclic time intervals sends a data telegram to the NMT slave, which is
referred to as "Remote Transmission Request" (RTR).
2. The NMT slave then returns a response telegram ("Response") to the NMT master.
10.9 Monitoring
________________________________________________________________
10.9.1.1 Telegram structure
RTR telegram
• The RTR telegram from the NMT master has the following identifiers:
Identifier (COB-ID) = 1792 + node address of the NMT slave
• The RTR telegram does not contain any user data.
• The RTR bit in the arbitration field of the RTR telegram is set to the valency LOW (dominant
level).
Response telegram
• The response telegram from the requested NMT slave has the same identifier as the RTR
telegram received by the NMT master.
• The user data (1 byte) contains the NMT slave status and the toggle bit (see the following
description).
NMT slave state (s)
NMT slave status Data

Communication status Decimal value (t) NMT slave state (s)
(s)
Stopped 4 0/1 0 0 0 0 1 0 0
Operational 5 0/1 0 0 0 0 1 0 1
Pre-Operational 127 0/1 1 1 1 1 1 1 1
Toggle bit (t)

• The toggle bit (t) in the response telegram has the value "0" when the node guarding protocol is
activated for the first time.
• The toggle bit (t) must change its value with each response.
 Note!
The toggle bit is monitored by the NMT master.
If a telegram is received with a toggle bit value that has not changed compared to the
previously received telegram, it will be treated as if it were not received, i.e. the
monitoring time is not reset and elapses further.
The toggle bit can only be reset to the value "0" by the "Reset Communication" telegram
of the NMT master.
10.9 Monitoring
________________________________________________________________
Short overview of parameters for the "Node Guarding" monitoring function:

Value Unit Master Slave
C00382 CAN guard time 0 ms 

C00383 CAN life time factor 0 
C00386/1...32 CAN node guarding 0x00000000 
C00387 CAN Node Guarding Activity - 
C00388/1...32 CAN node guarding status - 
C00612/1...32 Resp. to CAN node guarding error No response 
C00614 Resp. to CAN life guarding error No response 
C00625 CAN behaviour in case of fault Pre-operational state  
Guard time
The time interval with which the NMT master transmits the RTR telegram is the "Guard Time".
• For each NMT slave to be monitored an individual time interval can be set.
• The RTR telegram prompts the NMT slave to send its current status.
Node life time

The "Node Life Time" is the product of the "Guard Time" and the "Life Time Factor":
Node Life Time = Guard Time x Life Time Factor
• "Life time factor" and "Guard time" have to be known to the NMT master. For this, the values
from the NMT slave are read at each reboot, or defined values are sent to the NMT slave at each
reboot.
• It is possible to select a different "node life time" for each NMT slave to be monitored.
OK status
The status of the connection is ok (OK status) if within the "Node life time"
• the NMT slave has received an RTR telegram from the NMT master and
• the NMT master has received a correct response from the requested NMT slave.
In the OK status the monitoring times for the NMT master and the NMT slave are reset and the node
guarding protocol is continued.
10.9 Monitoring
________________________________________________________________
Life guarding event

The "Life Guarding Event" is triggered in the NMT slave if this has not received an RTR telegram from
the NMT master within the "Node Life Time":
• In the Lenze setting, the NMT slave changes from the "Operational" communication status into
the "Pre-Operational" communication status.
• C00625 or the I-1029 object serve to set a status change.
• The NMT master receives an emergency telegram containing emergency error code 0x8130.
• The response parameterised in C00614 takes place (Lenze setting: "No response").
 Note!
The "Life Guarding Event" can only be triggered in the NMT slave if at least one RTR
telegram has been received successfully from the NMT master.
Node guarding event

The "Node Guarding Event" is triggered in the NMT master if this has not received any response to
its RTR telegram from the requested NMT slave within the "Node Life Time" or the toggle bit in the
response telegram has not changed within the "Node Life Time".
• In the Lenze setting, the NMT master changes from the "Operational" communication status
into the "Pre-Operational" communication status.
• The response parameterised in C00612/1...32 takes place (Lenze setting: "No response"). The
response in the NMT master can be set individually for each monitored node.
 Note!
The "Node Guarding Event" can only be triggered in the NMT master if at least one
response has been received successfully from the requested NMT slave.
10.9 Monitoring
________________________________________________________________
10.9.1.3 Commissioning example
Task
A 9400 controller configured as NMT master (node 1) is to monitor another 9400 controller (node 2).
• The node guarding telegram is to be transmitted from the NMT master to the NMT slave in
intervals of 1 s:
• Guard time = 1000 ms
• The node life time is to amount to 5 seconds:
• Node life time = guard time (1000 ms) x life time factor (5)
• If an error occurs, an error response is to be activated both in the NMT master and the NMT
slave.
Parameter setting of the NMT master (node 1)

1. Set heartbeat producer time (C00381) to 0 ms to deactivate the heartbeat monitoring (node
guarding and heartbeat must not be used simultaneously in a CANopen device).
2. Configure controller as NMT master: Set C00352 = "1: Master".
3. Set guard time (C00382) to 0 ms (slave parameter).
4. Set life time factor (C00383) to 0 (slave parameter).
5. Configure monitoring for the node guarding in C00386.
• The value to be entered into a free subcode (1 ... 32) is "0x050203E8".
It consists of the following:
Bit 31 ... bit 24 Bit 23 ... Bit 16 Bit 15 ... Bit 0

Life time factor Node address of slave Guard time
0x05 0x02 1000 [ms] = 0x03E8
6. Go to C00612/1...32 and set the response required for the monitoring functions parameterised
in C00386/1...32 which are to take place in case of a "Node Guarding Event" in the NMT master.
 Tip!
• C00387 displays the activity of every monitoring function parameterised in C00386/
1...32 in a bit-coded form.
• C00388/1...32 displays the node guarding status of the monitored NMT slaves.
• C00625 serves to set which status change is to occur in the NMT master in case of a
"Node Guarding Event".
10.9 Monitoring
________________________________________________________________
Parameterise NMT slave (node 2)

1. Accept the settings made in the NMT master in C00386 of the life time factor and the guard
time for the NMTslave:
• Set guard time (C00382) to 1000 ms.
• Set life time factor (C00383) to 5.
2. Go to C00614 and set the response required in case of a "Life Guarding Event" in the NMT slave.
 Tip!
C00625 serves to set which status change is to occur in case of a "Life Guarding Event" in
the NMT slave.
Node guarding telegrams

• Remote Transmission Request:
The RTR telegram from the NMT master has the following identifiers:
Identifier (COB-ID) = 1792 + node address of slave = 1792 + 2 = 1794 = 0x702
• Remote Transmission Response:
The response telegram from the NMT slave has the same identifier and the "Operational" NMT
status in the user data (s = 5). Telegram structure ( 369)
10.9 Monitoring
________________________________________________________________
10.9.2 Heartbeat protocol
The heartbeat protocol can be used optionally to the node guarding protocol for monitoring nodes
within a CAN network. Unlike the node guarding, this monitoring does not require a polling by
means of an RTR telegram (Remote Transmission Request) from the NMT master.
 Note!
Heartbeat and node guarding protocols must not be used simultaneously in a CANopen
device. If the heartbeat producer time is set > 0 ms, the heartbeat protocol is used.
Basic workflow
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r: Reserved (always 0)
s: Status of the producer (0: Boot-up, 4: Stopped, 5: Operational, 127: Pre-Operational)
[10-10] Heartbeat protocol
1. A heartbeat producer cyclically transmits a so-called heartbeat telegram to one or more

consumers.
2. The consumer(s) monitor the heartbeat telegram for arrival on a regular basis.
10.9 Monitoring
________________________________________________________________
10.9.2.1 Telegram structure

• The heartbeat telegram of the producer has the following identifier:
Identifier (COB-ID) = 1792 + producer's node address
• The user data (1 byte) contain the status (s) of the producer:
Heartbeat producer status Data

Communication status Decimal value (r) Producer status (s)
(s)
Boot-up 0 0 0 0 0 0 0 0 0
Stopped 4 0 0 0 0 0 1 0 0
Operational 5 0 0 0 0 0 1 0 1
Pre-Operational 127 0 1 1 1 1 1 1 1
Short overview of the parameters for the "Heartbeat" monitoring function:

Value Unit Consumer Producer
C00346 CAN heartbeat activity - 

C00347/1...32 CAN heartbeat status - 
C00381 CAN Heartbeat producer time 0 ms 
C00385/1...32 CAN heartbeat consumer time 0x00000000 
C00613/1...32 Resp. to CAN Heartbeat error No response 
C00625 CAN behaviour in case of fault Pre-operational state  
Heartbeat producer time

Time interval for the transmission of the heartbeat telegram to the consumer(s).
• Parameterisable in C00381 or via object I-1017. The parameterised time is rounded down to an
integer multiple of 5 ms.
• The heartbeat telegram is sent automatically as soon as a time > 0 ms is set.
 Note!
Heartbeat and node guarding protocols must not be used simultaneously in a CANopen
device. If the heartbeat producer time is set > 0 ms, the heartbeat protocol is used.
10.9 Monitoring
________________________________________________________________
Heartbeat consumer time

Monitoring time for the nodes (producers) to be monitored.
• Can be parameterised in C00385/1...32 or via the object I-1016.
• The parameterised time is rounded down to an integer multiple of 5 ms and must have a greater
value than the heartbeat producer time of the node to be monitored.
• A consumer can monitor up to 32 producers.
Heartbeat event
The "Heartbeat event" is activated in the consumer if it does not receive any heartbeat telegram
from the producer within the heartbeat consumer time:
• In the Lenze setting, the consumer changes from the "Operational" communication status into
the "Pre-Operational" communication status.
• The NMT master receives an emergency telegram containing emergency error code 0x8130.
• The response parameterised in C00613/1...32 for the corresponding producer takes place (Lenze
setting: "No response").
 Note!
The heartbeat monitoring will not start until the first heartbeat telegram of a monitored
producer has been received successfully and the "Pre-Operational" NMT status has been
assumed.
The boot-up telegram counts as the first heartbeat telegram.
10.9 Monitoring
________________________________________________________________
10.9.2.3 Commissioning example
Task
A 9400 controller (node 2) configured as a heartbeat consumer is to monitor another 9400
controller (Heartbeat Producer; node 1).
• The heartbeat producer is to transmit a heartbeat telegram to the heartbeat consumer every
10 ms.
• The heartbeat consumer monitors the heartbeat telegram for arrival. A response is to be
activated in the event of an error.
Parameterising the heartbeat producer (node 1)

1. Set the heartbeat producer time (C00381) to 10 ms.
Parameterising the heartbeat consumer (node 2)

1. Configure monitoring for the heartbeat in C00385.
• Note: The heartbeat consumer time must be greater than the heartbeat producer time of the
node to be monitored set in C00381.
• The value to be entered into a free subcode (1 ... 32) is "0x0001000F". It consists of the
following:

Reserved Node address Heartbeat consumer time
of the producer (integer multiple of 5 ms)
0x00 0x01 15 [ms] = 0x000F
2. Go to C00613/1...32 and set the response required for the monitoring functions parameterised
in C00385/1...32 which are to take place in case of a "Heartbeat Event" in the consumer.
 Tip!
• C00346 displays the activity of every monitoring function parameterised in C00385/
1...32 in a bit-coded form.
• C00347/1...32 displays the node guarding status of the monitored NMT slaves.
• C00625 serves to set which status change is to occur in case of a "Heartbeat Event".
Heartbeat telegram
• The heartbeat telegram of the producer has the following identifier:
Identifier (COB-ID) = 1792 + producer's node address = 1792 + 1 = 1793 = 0x701
10.9 Monitoring
________________________________________________________________
10.9.3 Emergency telegram
If the error status changes because an internal device error occurs or has been eliminated, the NMT
master receives an emergency telegram once with the following structure:
Emergency error codes Error register Manufacturer-specific error message
LOW byte HIGH byte I-1001 0x00 LOW word HIGH word
(Reserved) LOW byte HIGH byte LOW byte HIGH byte
See table below • With emergency error code 0x1000: Lenze error number
(displayed value in C00168)
• All other emergency error codes have a value of "0" here.
Emergency error codes Error register Cause

0x0000 0xXX One of several errors eliminated
0x00 One error has been eliminated (error-free status afterwards)
0x1000 0x01 Generic error
• In the standard device, an error has occurred with the error
response "Fault", "Trouble", "Quick stop by trouble", "Warning",
"Warning locked" or "System fault".
• Error message is the Lenze error number (C00168).
• For error cause see fault error description (C00166).
0x3100 0x01 Supply voltage of standard device faulty or failed
0x8100 0x11 Communication error (warning)
0x8130 0x11 Life guarding error or heartbeat error
0x8150 0x11 Collision of identifiers (COB-IDs): An identifier parameterised for
reception is also used for transmission.
0x8210 0x11 PDO length shorter than expected
0x8220 0x11 PDO length greater than expected
0x8700 0x11 Monitoring of the sync telegram
Example
Emergency error codes Error register Manufacturer-specific error message
0x00 0x10 0x01 0x00 0x1B 0x00 0x7B 0x00
Generic error (Reserved) Lenze error message 0x007b001b: Encoder wire
breakage. Error messages of the operating system
Corresponding error-free message: Value
"0x00000000"
 Tip!
A detalied description can be found in CAN specification DS301, V4.02.
10.10 Implemented CANopen objects
________________________________________________________________
Lenze devices can both be parameterised with Lenze codes and manufacturer-independent
"CANopen objects". A completely CANopen compliant communication can only be achieved by
using CANopen objects for parameter setting. The CANopen objects described in this chapter are
defined in the CAN specification DS301 V4.02.
Many CANopen objects can be mapped on Lenze codes. The following table lists the related Lenze
codes in the column "Relationship to Lenze codes".
 Note!
Some of the terms used here derive from the CANopen protocol.
Overview of CANopen indices and their relationship to Lenze codes
CANopen object Relationship to Lenze

code
Index Subindex Designation
I-1000 0 Device type -
I-1001 0 Error register C00390
I-1003 Predefined error field
0 Number of errors -
1 ... 10 Standard error field -
I-1005 0 COB-ID SYNC message C00367
C00368
I-1006 0 Communication cycle period C00369
I-100C 0 Guard time C00382
I-100D 0 Life time factor C00383
I-1010 Store parameters
0 Highest subindex supported -
1 Save all parameters -
I-1011 Restore default parameters
1 restore all default parameters -
I-1014 0 COB-ID EMCY C00391
I-1015 0 Inhibit time EMCY C00392
I-1016 Consumer heartbeat time
1 ... 32 Consumer heartbeat time C00385/1...32
I-1017 0 Producer heartbeat time C00381
I-1018 Identity object
1 Vendor ID -
2 Product code -
3 Revision number -
4 Serial number -
________________________________________________________________
CANopen object Relationship to Lenze

code
Index Subindex Designation
I-1029 Error behaviour
1 Communication error C00625
I-1200 SDO1 server parameter
1 COB-ID client −> server (rx) C00372/1
2 COB-ID server −> client (tx) C00373/1
I-1201 SDO2 ... SDO10 server parameter
... 0 Highest subindex supported -
I-1209
1 COB-ID client −> server (rx) C00372/2...10
2 COB-ID server −> client (tx) C00373/2...10
3 Node-ID of the SDO client -
I-1400 RPDO1 ... RPDO4 communication parameter
I-1403
1 COB-ID used by RPDO C00321/1...4
2 Transmission type C00323/1...4
3 Inhibit time -
4 Compatibility entry -
5 Event timer -
I-1600 RPDO1 ... RPDO4 mapping parameter
... 0 Number of mapped application objects in PDO -
I-1603
1 ... 8 Application object 1 ... 8 -
I-1800 TPDO1 ... TDDO4 communication parameter
I-1803
1 COB-ID used by TPDO C00320/1...4
2 Transmission type C00322/1...4
3 Inhibit time C00324/1...4
4 Reserved -
5 Event timer C00356/1...4
I-1A00 TPDO1 ... TDDO4 mapping parameter
... 0 Number of mapped application objects in PDO -
I-1A03
1 ... 8 Application object 1 ... 8 -
10.10 Implemented CANopen objects | I-1000
________________________________________________________________
I-1000
Index Name:
I-1000 Device type
Subindex Default setting Display range (min. value | unit | max. value) Access Data type
0: Device type 0 0 4294967295 ro U32
The CANopen index I-1000 specifies the profile for this device. Furthermore, additional information
defined in the device profile itself can be stored here.
8th byte 7th byte 6. byte 5th byte

Data 4 Data 3 Data 2 Data 1
HIGH word LOW word
HIGH byte LOW byte HIGH byte LOW byte
Additional information ECAT: Device Profile Number
[10-11] Data telegram assignment
I-1001
Index: Name:
I-1001 Error register
0: Error register - 0 255 ro U8
Error register
• This object is related to the Lenze code C00390.
• The error status in the data byte (U8) is bit coded (see the following table). Currently only bit 0
and bit 4 in the data byte contain the corresponding information.
Bit Meaning if bit is set:

Bit 0 Generic error
Bit 1 Current error (not used)
Bit 2 Voltage error (not used)
Bit 3 Temperature error (not used)
Bit 4 Communication error
Bit 5 Device profile spec. error (not used)
Bit 6 Reserved
Bit 7 Manufacturer-specific error (not used)
________________________________________________________________
I-1003
Index: Name:
I-1003 Predefined error field
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of errors 0 0 255 rw U8
1 ... 10: Standard error field - 0 4294967295 ro U32
Error history
This object indicates that an error has occurred in the module and in the standard device.
Subindex Meaning
0 Number of saved error messages
1 ... 10 Display of the error list
The error messages (U32) consist of a 16-bit error code and a manufacturer-specific
information field comprising 16 bits.
 Note!
The values in the "standard error field" under subindex 1 ... 10 will be deleted if the
subindex "number of recorded errors" is overwritten with the value "0".
Emergency Cause Entry in the error

error codes register
(I-1001)
0x0000 One of several errors eliminated 0xXX
Elimination of one single error 0x00
(afterwards no more errors)
0x1000 Standard device is in error status (error response "fault", "message", 0x01
"warning", "error", "quick stop by trouble", or "system error")
0x3100 Supply voltage of standard device faulty or failed 0x01
0x8100 Communication error (warning) 0x11
0x8130 Life guard error or heartbeat error 0x11
0x8150 Collision of COB-IDs: An ID parameterised for reception is also used 0x11
for transmission.
0x8210 PDO length shorter than expected 0x11
0x8220 PDO length greater than expected 0x11
0x8700 Monitoring of the sync telegram 0x11
________________________________________________________________
I-1005
Index: Name:
I-1005 COB-ID SYNC message
0: COB-ID SYNC message 0x0000 0080 0 4294967295 rw U32
or
0x8000 0080
This object can be used to activate the generation of sync telegrams and to write the identifier
value.
• This object is related to the Lenze codes C00367 and C00368.
Creating sync telegrams

Sync telegrams are created by setting bit 30 (see below) to "1". The time between the sync telegrams
can be set using the object I-1006.
Writing identifiers
To receive PDOs, the value 0x80 must be entered in the 11-bit identifier in the Lenze setting (and
according to CANopen specification) . This means that all modules are by default set to the same
sync telegram.
• If sync telegrams are only to be received by certain communication modules, their identifiers
can be entered with values up to and including 0x07FF.
• The identifier can only be changed if the communication module does not send any sync
telegrams (bit 30 = "0").
• How to change the identifier:
• Deactivate identifier (set bit 30 to "0").
• Change identifier.
• Activate identifier (set bit 30 to "1").

Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
x 0/1 Extended identifier* 11-bit identifier

* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
________________________________________________________________
I-1006
Index: Name:
I-1006 Communication cycle period
0: Communication cycle period 0 μs 0 μs 65535000 rw U32
Setting the sync telegram cycle time.

• The cycle time can be selected as "1000" or as an integer multiple of it.
• If "0 μs" is set (Lenze setting), no sync telegrams are created.
I-100C
Index: Name:
I-100C Guard time
0: Guard time 0 ms 0 ms 65535 rw U16
Monitoring time for node guarding. Node guarding protocol ( 368)

• Time within the NMT slave expects the RTRs from the NMTmaster.
• The "Node Life Time" is the product from "Guard Time" and "Life Time Factor":
Node Life Time = Guard Time (I-100C) x Life Time Factor (I-100D)
• The "Life Guarding Event" occurs in the NMT slave if this has not been triggered from the NMT
master trough an RTR within the "Node Life Time".
• With "0 ms" (Lenze setting) monitoring is not supported by the slave.
I-100D
Index: Name:
I-100D Life time factor
0: Life time factor 0 0 255 rw U8
Life Time Factor for node guarding. Node guarding protocol ( 368)
• The "Node Life Time" is the product from "Guard Time" and "Life Time Factor":
Node Life Time = Guard Time (I-100C) x Life Time Factor (I-100D)
• The "Life Guarding Event" occurs in the NMT slave if this has not been triggered from the NMT
master trough an RTR within the "Node Life Time".
• With "0" (Lenze setting) monitoring is not supported by the slave.
________________________________________________________________
I-1010
Index: Name:
I-1010 Store parameters
0: highest subindex supported 1 - (read access only) ro U32
1: Save all parameters - 0 4294967295 rw U32
Save parameters with mains failure protection.

• Corresponds to device command C00002 = "11: Save start parameters".
• This command serves to save the current parameter settings of the active application with
mains failure protection in the memory module of the controller.
Subindex Meaning
Read Write
0 Max. supported subindex: 1 -
(a write attempt triggers the error
message 0x06010002.)
1 Reading memory functions of all Save parameters with mains failure
parameters. protection.
Read subindex 1

Bit 31 ... bit 2 Bit 1 Bit 0
0 0/1 0/1
[10-13] Assignment of the data telegram (read access)
Bit Meaning
Bit 0 0 No saving of parameters on command.
1 Saving of parameters on command (Lenze).
Bit 1 0 No automatic saving of parameters (Lenze).
1 Automatic saving of parameters.
Write subindex 1
In addition to the index and subindex, the telegram data must also include the "save" signature
(ASCII characters; ISO 8859) so that the parameters are stored.
• A response according to the DS301 V4.02 specification occurs while writing with a wrong
identifier.

"e" = 0x65 "v" = 0x76 "a" = 0x61 "s" = 0x73
[10-14] Assignment of the data telegram (write access)
________________________________________________________________
I-1011
Index: Name:
I-1011 Restore default parameters
0: highest subindex supported 1 - (read access only) ro U32
1: restore all default parameters - 0 4294967295 rw U32
Load Lenze setting.

• Corresponds to the device command C00002 = "0: Load Lenze setting".
• This command serves to reset the parameters of the active application to the Lenze setting
which is stored in the firmware.
Subindex Meaning
Read Write
0 Max. supported subindex: 1 -
(a write attempt triggers the error
message 0x06010002.)
1 Loading of all parameters possible. Load Lenze setting.
Read subindex 1

Bit 31 ... bit 1 Bit 0
0 0/1
[10-15] Assignment of the data telegram (read )
Bit Setting
Bit 0 0 Parameters cannot be loaded.
1 Parameters can be loaded (Lenze).
Write subindex 1
In addition to the index and subindex, the telegram data must include the "load" signature (ASCII
characters; ISO 8859) so that the Lenze setting can be loaded.
• A response according to the DS301 V4.02 specification occurs while writing with a wrong
identifier.

"d" = 0x64 "a" = 0x61 "o" = 0x6F "l" = 0x6C
[10-16] Assignment of the data telegram (write)
________________________________________________________________
I-1014
Index: Name:
I-1014 COB-ID EMCY
0: COB-ID EMCY 0x80 + node ID 0 4294967295 rw U32
If a communication error or an internal error of the communication module or the controller occurs
or is acknowledged (e. g. "trouble"), an error message is sent via the system bus. For each error, the
telegram is interrupted once. By means of bit 31 this function can be activated or deactivated.

0/1 0 Extended identifier* 11-bit identifier

Bit Setting
Bit 31 0 Emergency object is valid.
1 Emergency object is invalid.
 Note!
The identifier can only be changed in the "emergency object invalid" status (bit 31 = 1).
I-1015
Index: Name:
I-1015 Inhibit time EMCY
0: inhibit time EMCY 0 0 0.1 ms 65535 rw U32
Time which must elapse after an error message (I-1014) has been transmitted before further error
messages can be sent via the bus.
• The entered value multiplied by "0.1" gives the delay time in [ms]. The values are automatically
rounded up to whole values in [ms].
________________________________________________________________
I-1016
Index: Name:
I-1016 Consumer heartbeat time
0: Highest subindex supported 32 - (read access only) ro U32
1 ... 32: consumer heartbeat time 0 0 4294967295 rw U32
Monitoring time for the nodes 1 ... 32 to be monitored via heartbeat. Heartbeat protocol ( 374)
• The parameterised time is rounded down to an integer multiple of 5 ms and must have a greater
value than the heartbeat producer time of the node to be monitored.
Subindex Meaning Lenze code

0 Number of nodes to be monitored
1 ... 32 Node-ID and heartbeat time of the node 1 ... 32 to be C00385/1...32
monitored

0 Node ID Heartbeat time
(Reserved) in [ms]
I-1017
Index: Name:
I-1017 Producer heartbeat time
0: Producer heartbeat time 0 0 ms 65535 rw U32
Time interval for the transmission of the heartbeat telegram to one or several
consumers.Heartbeat protocol ( 374)
• The parameterised time is rounded down to an integer multiple of 5 ms.
• The heartbeat telegram is automatically sent as soon as a time > 0 ms is entered. In this case,
the "node guarding" monitoring function is deactivated.
________________________________________________________________
I-1018
Index: Name:
I-1018 Identity object
0: Highest subindex supported see below 0 4294967295 ro U32
1: Vendor ID
2: Product code
3: Revision number
4: Serial number
Subindex Meaning
1 Manufacturer's identification number
• The identification number allocated to Lenze by the organisation "CAN in
Automation e. V." is "0x0000003B".
2 Product code
0x94001 9400 StateLine
0x94002 9400 HighLine / ServoPLC
0x94004 9400 regenerative power supply module
3 Main and subversion of firmware
4 Serial number
I-1029
Index: Name:
I-1029 Error behaviour
1: Communication error 0 0 2 rw U8
This object serves to set the communication status to which the controller is to change after a bus
off, a node/life guarding event or a heartbeat event.

1 Status change after bus off, node/life guarding event or C00625
heartbeat event:
0 State change from "Operational" to "Pre-
operational"
1 No state change
2 State change to "Stopped"
________________________________________________________________
I-1200
Index: Name:
0: Highest subindex supported 2 2 2 ro U8
1: COB-ID client -> server (rx) node ID + 0x600 0 4294967295 ro U32
2: COB-ID server -> client (tx) node ID + 0x580 0 4294967295 ro U32
Identifiers for SDO server channel 1 (basic SDO channel).

• According to DS301 V4.02, the basic SDO channel can neither be changed nor deactivated.
Subindex Meaning
1 Specification of receive identifier
• For SDO server channel 1: node address (C00350) + 0x600
2 Specification of send identifier
• For SDO server channel 1: node address (C00350) + 0x580

0 0 Extended identifier* 11-bit identifier

________________________________________________________________
I-1201
Index: Name:
1: COB-ID client -> server (rx) 0x80000000 0 4294967295 rw U32
2: COB-ID server -> client (tx) 0x80000000 0 4294967295 rw U32
3: Node-ID of the SDO client 1 ... 127 - (read access only) ro U32
Identifiers for SDO server channel 2.

• The SDO server parameter is only valid, if bit 31 is set to "0" for both transmission directions
(subindex 1 and 2).
• In the Lenze setting, the SDO server channels 2 ... 10 are deactivated (bit 31 = "1").
• The identifier can only be changed if the SDO is invalid (bit 31 = "1").
Subindex Meaning
1 Specification of receive identifier
2 Specification of send identifier
3 Node address of the client

0/1 0 Extended identifier* 11-bit identifier

Bit Setting
Bit 31 0 SDO is valid.
1 SDO is invalid.
How to change the identifier:

1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
________________________________________________________________
Example
Parameter data channel 2 of the controller with node address 4 shall be activated.
• For this purpose, bit 31 must be set to "0" (≡ "SDO is valid") in subindices 1 and 2 of the object I-
1201.
• The master must send the two "write request" commands to the nodes via the basic SDO
channel.
Identifier calculation
• Identifier (COB-ID) = basic identifier + node address (node ID)
• Basic identifier SDO2 from master to drive: 1600 (0x640)
 Identifier = 0x640 + 0x4 = 0x644
• Basic identifier SDO2 from drive to master: 1472 (0x5C0)
 Identifier = 0x5C0 + 0x4 = 0x5C4
Resulting data (data 1 ... data 4)

0 0 Extended identifier = 0 11-bit identifier = 0x644

0x00 0x00 0x06 0x44
[10-21] Data telegram assignment for subindex 1

0 0 Extended identifier = 0 11-bit identifier = 0x5C4

0x00 0x00 0x05 0xC4
[10-22] Data telegram assignment for subindex 2
User data assignment
0x23 0x01 0x12 0x01 0x44 0x06 0x00 0x00
[10-23] User data assignment for writing to subindex 1
0x23 0x01 0x12 0x02 0xC4 0x05 0x00 0x00
[10-24] User data assignment for writing to subindex 2
________________________________________________________________
I-1202
Index: Name:
Setting of the identifiers for the SDO server channel 3. For description see object I-1201.
I-1203
Index: Name:
I-1204
Index: Name:
I-1205
Index: Name:
________________________________________________________________
I-1206
Index: Name:
I-1207
Index: Name:
I-1208
Index: Name:
I-1209
Index: Name:
________________________________________________________________
I-1400
Index: Name:
I-1400 RPDO1 communication parameter
1: COB-ID used by RPDO 0x200 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time - - (not used for RPDOs) rw U16
4: Compatibility entry - - (reserved, read or write access leads to error message rw U8
0x06090011)
5: Event timer - - (not used for RPDOs) rw U16
Communication parameter for receiving process data via RPDO1

1 RPDO1 identifier C00321/1
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x200 + node ID
2 RPDO Transmission type according to DS301 V4.02 C00323/1

0/1 0/1 Extended identifier* 11-bit identifier

Bit Setting
Bit 30 0 RTR to this PDO possible (cannot be set).
1 RTR to this PDO not possible (Lenze).
Bit 31 0 PDO active
1 PDO inactive

________________________________________________________________
I-1401
Index: Name:
0x06090011)

• For assignment of the data telegram see object I-1400.
I-1402
Index: Name:
0x06090011)

________________________________________________________________
I-1403
Index: Name:
0x06090011)
Communication parameter for the reception of process data via RPDO4

1 Identifier RPDO4 C00321/4
I-1600
Index: Name:
I-1600 RPDO1 mapping parameter
0: Number of mapped application 0 0 8 rw U8
objects in PDO
1 ... 8: application object 1 ... 8 0 0 4294967295 rw U32
The object I-1600 serves to receive parameter data as RPDO1.
Subindex Meaning
0 Number of mapped objects
1 ... 8 Mapping entries 1 ... 8 for RPDO1

Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0
Index Subindex Length
IEC 61131 process data words are mapped. Only whole bytes can be mapped (the granularity of the
mapping entries is one byte).
________________________________________________________________
I-1601
Index: Name:
objects in PDO
Subindex Meaning
• For data telegram assignment, see object I-1600.
I-1602
Index: Name:
objects in PDO
Subindex Meaning
I-1603
Index: Name:
objects in PDO
Subindex Meaning
________________________________________________________________
I-1800
Index: Name:
I-1800 TPDO1 communication parameter
1: COB-ID used by TPDO 0x180 + node ID 0 4294967295 rw U32
3: Inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: Reserved - - (reserved, read or write access leads to error message rw U8
0x06090011)
5: Event timer 0 ms 0 ms 65535 rw U16
Communication parameter for sending process data via TPDO1

1 TPDO1 identifier C00320/1
2 TPDO transmission type according to DS301 V4.02 C00322/1
3 Minimum time between sending two identical TPDOs C00324/1
(see DS301 V4.02).
5 Cycle time for PDO transmission with transmission type C00356/1
"254".

0/1 0/1 Extended identifier* 11-bit identifier

Bit Setting
Bit 30 0 RTR to this PDO possible (Lenze).
1 RTR to this PDO not possible (not adjustable)
Bit 31 0 PDO active
1 PDO inactive

________________________________________________________________
Subindex 3 - inhibit time

The delay time can only be changed if the PDO is inactive (subindex 1, bit 31 = 1). The entered value
multiplied by 0.1 results in the delay time in [ms]. The calculated delay time is always rounded down
to an inter value.
Example:
• Entered value: 26
• Calculated time = 26 * 0.1 [ms] = 2.6 [ms]  delay time = 2 [ms}
I-1801
Index: Name:
0x06090011)

(see DS301 V4.02).
"254".
________________________________________________________________
I-1802
Index: Name:
0x06090011)

(see DS301 V4.02).
"254".
I-1803
Index: Name:
0x06090011)
Communication parameter for the transmission of process data via TPDO4

1 Identifier TPDO4 C00320/4
(see DS301 V4.02).
"254".
10.10 Implemented CANopen objects | I-1A00
________________________________________________________________
I-1A00
Index: Name:
I-1A00 TPDO1 mapping parameter
objects in PDO
The object I-1A00 serves to send parameter data as TPDO1.
Subindex Meaning
1 ... 8 Mapping entry 1 ... 8 for TPDO1

Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0
Index Subindex Length
IEC 61131 process data words are mapped. Only whole bytes can be mapped (the granularity of the
mapping entries is one byte).
I-1A01
Index: Name:
objects in PDO
Subindex Meaning
• For data telegram assignment, see object I-1A00.
10.10 Implemented CANopen objects | I-1A02
________________________________________________________________
I-1A02
Index: Name:
objects in PDO
Subindex Meaning
I-1A03
Index: Name:
objects in PDO
The object I-1A03 serves to transmit parameter data as TPDO4.
Subindex Meaning
1 ... 8 Mapping entries 1 ... 8 for TPDO4
10.11 System block "LS_SyncInput"
________________________________________________________________
LS_SyncInput
SYNC_wSyncCycleTime
SYNC_wSource
SYNC SYNC SYNC_nSyncDeviation
SYNC_bSyncInsideWindow
SYNC_bSyncSignalReceived
SYNC_bProcessDataExpected
SYNC_bProcessDataInvalid
Outputs
Data type
SYNC_wSyncCycleTime Sync cycle time in [μs]

WORD • Time after which the internal phase-locking loop (PLL) anticipates the
synchronisation signals. The time must be set in C01121 according to the cycle of
the synchronisation source selected in C01120.
SYNC_wSource Synchronisation source selected in C01120:
WORD
0 Off
1 CAN on board
2 CAN module
4 Module in MXI1
5 Module in MXI2
6 Digital input 1
7 Digital input 2
8 Digital input 3
9 Digital input 4
10 Digital input 5
11 Digital input 6
12 Digital input 7
13 Digital input 8
SYNC_nSyncDeviation Deviation of the synchronisation signal in [increments]
INT • ±16000 increments ≡ ±1 ms
SYNC_bSyncInsideWindow Status signal "Synchronisation signal within time slot"
BOOL Note!
If you use this signal in the application, observe the change in behaviour described
in the following subchapter
Behaviour of the status signal bSyncInsideWindow ( 405)
TRUE The last synchronisation signal has been around the expected value
within the time slot parameterised in C01123.
SYNC_bSyncSignalReceived Status signal "Receive synchronisation signal"
BOOL
TRUE Synchronisation signal has been received.
SYNC_ Status signal "Synchronous PDO expected"
bProcessDataExpected
BOOL
TRUE Synchronous PDO is expected
________________________________________________________________
Data type
SYNC_bProcessDataInvalid Status signal "Synchronous PDO invalid"

BOOL
TRUE Synchronous PDO is invalid.
Synchronisation of PDOs via sync telegram ( 350)
10.11.1 Behaviour of the status signal bSyncInsideWindow
C01123 serves to set a time slot for monitoring the synchronisation signal. If the synchronisation
signal received via the bus is in this time slot (around the expected time of the synchronisation
signal), the bSyncInsideWindow output is set to TRUE.
The faulty inclusion of the phase position set in C01122 into the calculation of the time slot has
been removed. The time slot for monitoring the synchronisation signal only corresponds to the sync
tolerance set in C01123.
Example:
• Sync phase position (C01122) = 400 μs
• Sync tolerance (C01123) = 20 μs
 The time slot for monitoring has a size of 20 μs!
Feedbacks and their remedies

If the bSyncInsideWindow status signal is used in existing systems, this remedy reduces the
monitoring window by the amount of the phase position if it is non-zero. This may cause an
unwanted activation of the monitoring of the synchronisation signal programmed by the user.
Remedy: When the syn tolerance is increased (C01123) by the amount of the phase position set in
C01122, the compatible state is restored.
11 Safety engineering
________________________________________________________________
The controller can be equipped with a safety module. The individual safety module types have a
different range of functions to optimally meet different requirements.
"Integrated safety technology" stands for user-related safety functions that are applicable to the
protection of persons working with machines and the machine protection.
The motion functions are furthermore executed by the controller. The safety modules monitor the
reliable compliance with limit values and provide safe inputs and outputs. If limit values are
exceeded, the safety modules start control functions for the fault scenario in accordance with
EN 60204-1 directly in the controller.
The safety functions are suitable for applications according to IEC 61508, SIL 3 and, depending on
the module, meet the requirements of EN 954, part 1, up to control category 4.
 Note!
For detailed information about the integrated safety technology, please see the manual
for the safety module.
11.1 Integration into the application
________________________________________________________________
11.1 Integration into the application
If a safety function is requested, the safety engineering activates a corresponding safe monitoring
function. The standstill function, however, is only executed directly if the "Safe torque off" function
(STO) is activated. For the other safety functions, an action of the controller is required, which is
safely monitored. The implementation of the corresponding action (e.g. braking, braking to
standstill, holding of the standstill position) must be carried out by the application.
System block "LS_SafetyModuleInterface"

For the transmission of the control and status information from the safety module to the
application, the LS_SafetyModuleInterface system block is provided. ( 408)
"LS_Limiter" system block/basic function "Limiter"

Furthermore, the LS_Limiter system block which contains the basic function "Limiter" is provided for
the connection of safety engineering to the application. ( 536)
For one thing, the basic function "Limiter" provides a parameterisation interface in »Engineer« for a
comfortable setting of limit positions, limited speeds, and limit values, and for another it enables
the drive to be braked specifically after request through the safety module.
Basic workflow
1. Activation of the safety function on the safety module (e. g. SS1 - safe stop 1).
 Monitoring starts.
2. The safety module informs the controller via a control word that the safety function has been
activated.
3. The application evaluates the control word and starts the required motion sequence (e.g.
braking).
 Note!
If communication to the controller is interrupted, e.g. by switching off the controller, the
safety module responds as follows:
• Fault stop with STO is activated.
• "Warning" error message is transmitted.
• The LED "ME" is blinking.
The required error acknowledgement (AIE) is possible via terminal or safety bus.
11.2 Selecting the required safety module
________________________________________________________________
11.2 Selecting the required safety module
The safety module expected by the application and the controller is selected in C00214.
• In »Engineer« this setting is carried out automatically by assigning the device modules to the
controller, i.e. »Engineer« automatically sets C00214 according to the safety module selected.
• If the safety module selected in C00214 does not correspond to the safety module type
connected, an error will be activated.
11.3 System block "LS_SafetyModuleInterface"
LS_SafetyModuleInterface
SMI_dnState
SMI_dnIoState
SMI_dwControl
SMI_bPowerStageEnable
SMI_byModuleId
Safety module
Outputs
Data type
SMI_dnState Bit coded status information from the safety module

DINT Status information ( 409)
SMI_dnIoState Bit coded I/O status information from the safety module
DINT I/O status information ( 410)
SMI_dwControl Bit coded control information from the safety module
DWORD Control information ( 410)
SMI_bPowerStageEnable Status signal "Inverter enable"
BOOL
TRUE Inverter is enabled by the safety module.
SMI_byModuleId ID of the safety module available in the controller
BYTE
________________________________________________________________
11.3.1 Status information
Via the bit-coded status signal SMI_dnState of the LS_SafetyModuleInterface SB, the SM3xx safety
module transmits the status of safety functions to the application.
• Which bits are supported depends on the safety module used.
Bit coding of the status signal SMI_dnState

Bit Name Meaning
0 STO "Safe torque off (STO)" function is active.
• The drive is safely switched to torqueless operation.
3 EC_STO Error stop category 0: "Safe torque off (STO)" function is active.
4 EC_SS1 Error stop category 1: "Safe stop 1 (SS1)" function is active.
5 EC_SS2 Error stop category 2: "Safe stop 2 (SS2)" function is active.
8 SLS1 monitored Safely limited speed 1 is activated and complied with.
12 SDIpos monitored Safe positive direction of rotation (SDIpos) is activated and complied with.
13 SDIneg monitored Safe negative direction of rotation (SDIneg) is activated and complied with.
14 Fault active SM3xx safety module has the error status (trouble or warning).
Bits not listed are reserved for future extensions!
 Tip!
For decoding the status signal into individual boolean status signals, simply connect the
output SMI_dnState to the L_DevSMStateDecoder FB which is available in the function
library from V2.0.
________________________________________________________________
11.3.2 I/O status information
Via the bit coded status signal SMI_dnIoState of the LS_SafetyModuleInterface SB, the SM3xx
safety module transmits the status of the safe inputs and outputs to the application.
Bit coding of the SMI_dnIoState status signal

Bit Name Meaning
0 SD-In1 Sensor input 1 in ON state.
1 SD-In2 Sensor input 2 in ON state.
2 SD-In3 Sensor input 3 in the ON state.
3 SD-In4 Sensor input 4 in the ON state.
5 AIS Restart acknowledgement via terminal effected (negative edge: 10).
6 AIE Error acknowledgement via terminal effected (negative edge: 10).
8 PS_AIS Restart acknowledgement via safety bus effected (positive edge: 01)
9 PS_AIE Error acknowledgement via safety bus effected (positive edge: 01)
12 SD-Out1 Safe output 1 (feedback output) in the ON state.
 Tip!
For decoding the status signal into individual boolean status signals, simply connect the
output SMI_dnIoState to the L_DevSMStateDecoderIO FB which is available in the function
library from V2.0.
11.3.3 Control information
Via the bit coded control signal SMI_dwControl of the LS_SafetyModuleInterface SB, the SM3xx
safety module transmits information on safety functions requested, or on active safety functions to
the application.
• Several safety functions can be requested/active at the same time.
 Note!
The corresponding actions (e.g. braking, braking to standstill, holding of the standstill
position) must be executed by the application, e.g. via the basic function "Limiter".
( 536)
• To integrate the basic function "Limiter", the output SMI_dwControl is to be
connected to the input LIM_dwControl of the LS_Limiter system block.
________________________________________________________________
Bit coding of the control signal SMI_dwControl

Bit Name Meaning
1 SS1 active "Safe stop 1 (SS1)" function is active.
• After the parameterised stopping time has elapsed, bit 0 of the status signal
SMI_dnState (STO active) is set.
2 SS2 active "Safe stop 2 (SS2)" function is active.
• After the parameterised stopping time has elapsed, bit 16 (SOS monitored) is set.
3 SLS1 active "Safely limited speed 1 (SLS1)" function is active.
• After the parameterised braking time has elapsed, bit 8 of the status signal
SMI_dnState (SLS1 monitored) is additionally set.
7 SDIpos active "Safe positive direction of rotation (SDIpos)" function is active.
8 SDIneg active "Safe negative direction of rotation (SDIneg)" function is active.
9 ES active "Confirm button (ES)" function for motion functions in special operation is active.
10 SLI active "Safely limited increment (SLI)" function is active.
11 OMS active "Operation mode selector (OMS)" function for special operation is active.
12 SLP1 active "Safely-limited position 1 (SLP1)" function is active.
16 SOS active "Safe operating stop (SOS)" function is active.
• The safe operating stop is monitored.
• The function becomes active after the "Safe stop 2 (SS2)" function has been
executed.
23 SSE active Emergency stop function (SSE) is active.
• At the end of the function, bit 1 (SS1 active) or bit 0 of the status signal
SMI_dnState (STO active) is set according to the emergency stop function
parameterised.
 Tip!
For decoding the control signal into individual boolean control signals, simply connect the
output SMI_dwControl to the L_DevSMControlDecoder FB which is available in the
function library from V2.0.
12 Basic drive functions
________________________________________________________________

In this chapter the basic (drive) functions of the "Servo Drives 9400" are described, to which the
active application can access via defined, internal interfaces, and which can be carried out in the
following way, depending on the controller type (StateLine or HighLine) and the Motion Control
licence available:
Parameter setting by means of »Engineer« or keypad

In each licence level the basic functions can be parameterised in »Engineer« via a
corresponding dialog or alternatively via the keypad.
In the case of the 9400 StateLine (licence level Motion Control StateLevel), the
interconnection of the internal interfaces is defined by the technology application
selected.
Configuration
»Engineer« additionally provides the graphic function block editor for the 9400
HighLine which can be used to reconfigure and extend the application
interconnection by individual functions using the function library.
Programming according to IEC 61131-3 in »PLC Designer«*

For the 9400 HighLine with the licence level Motion Control PLC the basic functions
are also provided as separate system blocks in »PLC Designer«, which, if required,
can be integrated in the control configuration, and which then can be accessed from
the IEC 61131-3 program via the corresponding system variables.
* In preparation!
________________________________________________________________
12.1.1 Internal state machine
The execution of the different basic functions is internally controlled by a state machine which can
adopt the following "function states":
Controller not ready Initialisation Error

Drive has no torque Drive does nothing, Drive does nothing
(no error). basic functions are being due to an error.
initialised.
3 1 2
Manual jog active Drive in standstill Position follower active

On operator input request, Drive holds position. Drive continuously follows
the drive travels at a position setpoint.
constant speed.
6 9
Homing active Drive is stopped Speed follower active

Drive travels to home Drive stops as defined. Drive continuously follows
target position. a speed setpoint.
7 5 10
Positioning active Quick stop active Torque follower active

Drive executes Drive stops as defined Drive continuously follows
a positioning command. and holds the position. a torque setpoint.
8 4 11
Optional limitation Optional additional braking
by basic Limiter function. by basic Brake control
function.
x = Priority
[12-1] Function states of the state machine "Basic functions"
The state machine ensures that:

• one basic function at a time adopts the control of the drive.
• only the basic function with the highest priority (= smallest number) is executed if several basic
functions are activated at the same time.Priorities ( 418)
• the drive always has a defined state both in case of error and in normal operation.
________________________________________________________________
 Note!
The basic functions "Limiter" and "Brake control" run autonomously, but are able to
control the state machine to a certain function state, if required.
The function states are not to be confused with the device states ("Operation", "Fault
active", "Device is switched on", etc.) of the controller. Device states ( 146)
The basic functions "Manual job, encoderless" and "Pole position identification" are additionally
available for the setting-up operation. Both basic function can only be requested when the
controller is inhibited and with the "Controller not ready" function state:
Controller not ready

Controller enable
requested
Manual jog yes Manual jog

open loop open loop
requested?
no
yes Pole position yes Pole position

Pole position
identification identification
unknown?
requested?
no no
Standstill
[12-2] Sequence diagram for basic functions "Manual job, encoderless" and "Pole position identification"
________________________________________________________________
12.1.2 Function states
 Tip!
In C02530 the currently active function state is displayed.
State "Initialisation"
If the controller has completed the device initialisation, the function state "Initialisation" is passed
through automatically.
• In the "Initialisation" function state, the process data required for processing the basic functions
are initialised.
• The monitoring functions are not active yet.
• The basic functions are not yet processed (e.g. brake control) and cannot yet be parameterised
or activated either.
• If the initialisation of the basic functions is completed and no fault is available, a change-over
to the basic state "Drive at standstill" is automatically effected.
State "Controller not ready"

In this function state the pulse inhibit is set in the controller, which means that the power output
stages are high-resistance and the drive cannot be controlled.
State "Manual jog, encoderless active"

The drive can be controlled without feedback (encoderless) e.g. for a setting-up operation or in the
event of service when the feedback system fails. Manual job, encoderless ( 446)
State "Identification of pole position active"

An identification of pole position can be executed in this function state in order to detect the pole
position for the motor encoder that is currently activated in C00495. Pole position identification
( 602)
State "Drive at standstill"

This "basic state" is automatically adopted if no other state is active.
• The setpoints for speed and acceleration are set to "0".
• The drive is position-controlled.
• No error has occurred and quick stop is not active.
• Every basic function can be activated out of this state.
________________________________________________________________
State "Drive is stopped"

This function state is automatically passed through when a basic function is deactivated.
• If the drive is not yet in the standstill state, it is decelerated to standstill via a parameterisable
deceleration ramp.
• If a basic function is activated during the "stopping" process, this basic function takes over the
control of the drive from the current speed on and the function state "Drive is stopped" is
abandoned.
• If the drive is at standstill, a change-over to the basic state "Drive at standstill" is automatically
effected.
State "Manual jog active"

In this function state, the drive can be operated manually clockwise or anti-clockwise ("Manual jog,
encoderless"). Manual jog ( 435)
• If the home position is known to the controller, the software limit positions set and a potentially
connected travel range limit switch are monitored.
• "Retracting" from an activated travel range limit switch is also possible.
State "Homing active"

In this function state the home position and the machine measuring system for the drive can be
determined. Homing ( 455)
• The home position can be specified by an active homing or by reference setting.
• A redetermination of the home position is only required in case of recommissioning or in case
of service (e.g. when drive components are exchanged) or after travel commands have been
executed which reset the reference.
State "Positioning active"

In this function state all positioning types (absolute, relative, modulo, continuous, touch probe etc.)
can be executed. Positioning ( 509)
• In the position-controlled mode, the drive executes a time-controlled point-to-point setpoint
generation based on the defined motion profile.
State "Setpoint follower active"

In this function state the drive directly follows the defined setpoint.
• The setpoint can be optionally defined as speed, torque, or position via three separate basic
functions:
• Speed follower ( 526)
• Torque follower ( 531)
• Position follower ( 520)
________________________________________________________________
State "Quick stop active"

This function state is active if quick stop has been activated by the user. Quick stop ( 428)
• The drive is brought to standstill within the deceleration time parameterised, irrespective of the
setpoint defined.
• If the quick stop is cancelled again by the user, a change-over to a setpoint-generating basic
function (e. g. "Speed follower") is effected, if requested.
 Note!
The following applies to the encoderless motor control types :
The "Quick stop active" function state is also activated when DC-injection braking is
executed.
 Tip!
Quick stop can also be set as error response for many monitoring functions ("quick stop by
trouble"). Detailed information can be found in the chapter "Diagnostics & fault analysis".
The source from which the quick stop was activated is shown in a bit coded manner in
C00159.
"Fault" state
This function state is active if a fault has occurred and the controller is in the "Fault active" or "Quick
stop by trouble active" device state.
• The function state can only be abandoned by acknowledging the error if the error is removed.
12.1.3 Interrupting/replacing states
An active function state cannot be interrupted or replaced by the activation of another function
state. However, the following exceptions apply:
• The "Initialisation" state replaces all other states.
• The "Fault" state can replace all other states except "Initialisation".
• The "Controller not ready" state can replace all other states except "Error" and "Initialisation".
• The "Quick stop active" state can replace all other states except "Initialisation", "Error" and
"Controller not ready".
________________________________________________________________
12.1.4 Priorities
The function states are assigned to priorities so that, if several basic functions are activated at the
same time, it is always changed to the function state with the highest priority:
Priority Function state Executable basic function

1 Initialisation -
2 Fault -
3 Controller is not ready -
4 Quick stop active Quick stop ( 428)
5 Manual jog active Manual jog ( 435)
6 Homing active Homing ( 455)
7 Positioning active Positioning ( 509)
8 Setpoint follower (position) active Position follower ( 520)
9 Setpoint follower (speed) active Speed follower ( 526)
10 Setpoint follower (torque) active Torque follower ( 531)
10 Brake check Brake control ( 551)
12 Drive is stopped Stop ( 424)
13 Manual jog, encoderless active Manual job, encoderless ( 446)
14 Pole position identification active Pole position identification ( 602)
1 ≡ highest priority; 14≡ lowest priority
 Note!
The basic state "Drive at standstill" is automatically adopted if no other state is active.
________________________________________________________________
12.1.5 Requesting control via a basic function
Enable input "bEnable"

The basic functions "Manual jog", "Homing" and "Positioning" and the three setpoint followers each
possess an bEnable enable input, via which the control of the corresponding basic function can be
requested.
• If no other basic function and no error status is active, a change-over to the corresponding
function state is effected, and the basic function can be controlled now.
• If several enable inputs are set to TRUE at the same time, the change-over to the function state
is effected with the highest priority.
Status outputs "bEnabled", "bActive" and "bDone"

If the basic function is enabled, the bEnabled status output of the basic function is set to TRUE and
the corresponding drive motion can be started via the control inputs of the basic function.
• If the basic function is currently carrying out a drive movement, this is shown by a TRUE signal
at the status output bActive.
• The basic functions "Speed follower", "Torque follower", and "Position follower" are only
provided with the status output bEnabled, as the drive directly follows the setpoint selection
after being enabled.
• The basic functions "Homing" and "Positioning" are furthermore provided with a status output
bDone showing that the drive movement started (Homing or positioning) has been completed.
Priority Basic function Status outputs

bEnabled bActive bDone
1 Manual jog  
2 Homing   
3 Positioning   
4 Speed follower 
5 Torque follower 
6 Position follower 
Re-deactivating the enable of a basic function

When the bEnable enable input of the active basic function is reset to FALSE, the control inputs of
the basic function are inhibited and the status outputs bEnabled, bActive and bDone are reset to
FALSE.
• If the drive is not at standstill, it is brought to standstill within the deceleration time for Stop if
no other basic function takes over the control of the drive. Here a change-over from the active
function state via the function state "Drive is stopped" back to the basic state "Drive at
standstill" is effected.
• When the enable input of another basic function is set to TRUE, this basic function adopts the
control of the drive immediately.
________________________________________________________________
12.1.6 Start acceleration/acceleration reduction when the basic function changes
In order to make the transitions during the changeover between the single basic functions as jerk-
free as possible, i.e. preventing acceleration steps, the current setpoint acceleration is used as
starting value for the new basic function (see the following table).
to
Position, speed Manual jog Homing Positioning Error/controller Stop Quick stop*
or torque not ready
follower
from
Position follower 0 A A A 0 A 0
Speed follower 0 A A A 0 A 0
Torque follower 0 0 0 0 0 0 0
Manual jog 0 - B B 0 B 0
Homing 0 B - B 0 B 0
Positioning 0 B B - 0 B 0
Error/controller 0 0 0 0 - 0 0
not ready
Stop 0 B B B 0 - 0
Quick stop* 0 A A A 0 A -
Legend:
0 The start acceleration is defined with "0", thus no acceleration reduction is required.
A • Acceleration value is generated from the differentiation and filtering (C02562) of the active
setpoint speed.
• Jerk = Maximum value from transition jerk (defined via C02545) and jerk of the "new" profile
data.
B • Acceleration value is taken from the setpoint generator (e.g. profile generator).
• Jerk = maximum value from the jerk of the "old" and "new" profile data.
* Also quick stop by trouble
Reduction of the start acceleration

Depending on the acceleration and S-ramp time parameterised in the basic function, the start
acceleration is reduced.
 Note!
Very low jerks cause very high speeds!
See also the following chapter "Setting the S-ramp time". ( 422)
Since this behaviour is mostly not wanted or expected, the acceleration is reduced as
described in the following section.
• The start acceleration is reduced with the maximum jerk of the old or new basic function.
________________________________________________________________
Transition of a profile-generating to a profile-generating basic function

The corresponding jerk results from the profile data:
Profile acceleration/deceleration
Jerk = -------------------------------------------------------------------------------------
Verschliffzeit
Transition of a non-profile-generating to a profile-generating basic function

• The jerk of the profile-generating basic function results from the profile data:
Profile acceleration/deceleration
Jerk = -------------------------------------------------------------------------------------
Verschliffzeit
• Since a non-profile-generating basic function has no defined jerk, a "transition jerk" is used
which results from the reference acceleration and the reference S-ramp time parameterised in
C02545.
Bezugsacceleration C00011 / 1 ms
Transition jerk = ---------------------------------------------------------- = -------------------------------------
Bezugsverschliffzeit C02545
• With a Lenze setting C02545 = 0.001 s, a maximum jerk occurs, i.g. the start acceleration is
reduced in one cycle (1 ms).
 Tip!
Profile-generating basic functions are:
"Stop", "Manual jog", "Homing", "Positioning"
Non-profile-generating basic functions are:
"Quick stop", "Position follower", "Speed follower", "Torque follower"
________________________________________________________________
12.1.7 Setting the S-ramp time
For path planning, various basic functions serve to build up or reduce the acceleration linearly. The
motion profile causes less structural vibrations and the gearboxes are protected.
The smoothening (jerk) is calculated via the S-ramp time and the maximum acceleration permitted
in the profile:
maximum acceleration
Jerk = ------------------------------------------------------------
S-ramp time
[12-3] Formula for calculating the jerk for acceleration and deceleration phases
S-ramp times can be set in the given parameters for the following basic functions:
Basic function Parameter for S-ramp time

Stop C02611
Quick stop C00106
Manual jog C02624
Homing C02648
Positioning The S-ramp time is defined via FB L_PosPositionerTable or FB L_PosProfileTable.
 Stop!
When it is switched to another basic function, the start acceleration is reduced with the
jerk of the new basic function. A small jerk causes very high speeds!
Remedy: Avoid unnecessarily long S-ramp times. Set the profile parameters of the
different basic functions so that the jerk is roughly the same for all basic functions.
________________________________________________________________
Examples
20
Pos. [rev]
Pos
Pos0
10
Pos
end
0
500
Speed [rpm]
Vel
Vel
0
0
Velend
Vel
min,max
-500
1000
Acc. [rpm/s]
Acc
0 Accmin,max
-1000
0 500 1000 1500 2000 2500 3000
Time [ms]
[12-4] Example 1: Point-to-point positioning from standstill without start acceleration
100
Pos [rev]
Pos
Pos
50 0
Pos
end
0
2000
Speed [rpm]
Vel
1000 Vel0
Vel
end
0 Vel
min,max
-1000
2000
Acc. [rpm/s]
1000
Acc
Acc
min,max
0
-1000
0 2000 4000 6000 8000 10000 12000 14000
Time [ms]
[12-5] Example 2: Point-to-point positioning from standstill with start acceleration
In the example 2, the slow reduction of the start acceleration results in very high speeds!
12.2 Stop
________________________________________________________________
12.2 Stop
The standard stop (in the following called "stop") of the drive will be automatically activated by the
internal state machine if a basic function is deactivated and the drive is not yet at standstill.
• The drive is decelerated to standstill along a parameterised deceleration ramp
• While the drive is braked to standstill, the state machine is in the "Drive is stopped" function
state.
• If meanwhile another basic function is activated, this basic function takes over the control of
the drive from the current speed on and the function state "Drive is stopped" is abandoned.
• If the drive is at standstill, a change-over to the basic state "Drive at standstill" is
automatically effected.
• An acceleration phase active at the time of activated stopping process is considered by the
normal stop, i.e. the current acceleration is first lead to "0" with the parameterised S-ramp time
before the real deceleration process starts.
• If the controller is enabled with the shaft coasting (controller inhibit and pulse inhibit are
deactivated), the drive is lead to standstill from the current speed.
 Stop!
The basic functions "Speed follower", "Torque follower", and "Position follower" do not
take over the control of the from the current speed, but immediately with the setpoint
defined, which may cause a jerk!
 Note!
• As the stop function takes into account the acceleration active at the moment of
activation, the deceleration of the stop function should always be set greater than the
deceleration of the active process in order to avoid a possible overshoot.
• If the stop function is activated while the basic function "Torque follower" or the
states "Controller inhibited" or "Error" are active, the drive is braked to standstill
starting from the current speed and without taking into account the current
acceleration.
Start acceleration/acceleration reduction when the basic function changes ( 420)
12.2 Stop
________________________________________________________________
12.2.1 Internal interfaces | "LS_Stop" system block
LS_Stop
STP_dnState
Activate stopping
(internal status machine) STP_bStopActive
n
 Note!
Ensure that the system block is called in a cyclic application task.
Basically, projects which only contain an unsolicited task and no cyclic task are not
permissible!
Outputs
STP_dnState Status (bit coded)

C02616 | DINT • When the basic function is not active, all bits are set to "0".
• Bits which are not listed are not assigned with a status (always "0").
Bit 1 Drive is braked to standstill.
• The internal state machine is in the "Drive is stopped" function
state.
Bit 2 Drive is at standstill.
• The internal state machine is in the "Drive at standstill" function
state.
Bit 3 Deceleration phase is active.
Bit 5 CCW rotation is active.
STP_bStopActive Status signal "Stop is active"
C02617 | BOOL
TRUE The drive is braked to standstill or is at standstill.
• The internal state machine is in the "Drive is stopped" or "Drive at
standstill" function state.
12.2 Stop
________________________________________________________________
• Parameterisation dialog in »Engineer«: Tab Application parameter  Dialog level Overview 

All basic functions  Stop
• Short overview of parameters for standard stop :
Parameter Info
C02610 Deceleration time for stop
C02611 S-ramp time for stop
C02612 Ref. for decel. time of stop
Parameter setting of stop
C02610 • The deceleration time for stop set in

n
C00011
C02610 refers to a speed variation from
the motor reference speed (C00011) to
standstill, i. e. the deceleration is constant.
[12-6] Deceleration time referred to the motor reference speed
C02610 • When C02612 is set = "1", the deceleration

n
C00011
time refers to the current speed, i. e. the
braking time is constant.
[12-7] Deceleration time referred to the current speed
C02610 + C02611 • By entering an S-ramp time in C02611, the

n
C00011
deceleration ramp can be set in an S-
C02612 = 0
shaped manner for purposes of jerk
limitation; the total time until standstill is
then extended by the S-ramp time
set.Setting the S-ramp time ( 422)
t
• Braking time at motor reference speed or
n
C00011
C02612 = "1":
C02612 = 1
C02610 [s] + C02611 [s]
[12-8] S-shaped deceleration ramp through selection of a relative S-ramp time
12.2 Stop
________________________________________________________________
12.2.3 Behaviour of the function (example)
In the following example the enable of manual jog is deactivated during an active manual jog. Then
the drive is braked to standstill within the deceleration time  set for stop.
State ManualJog Stopping Standstill ManualJog

t
MAN_bJogPositive
TRUE
FALSE
t
MAN_bEnable
TRUE
FALSE
t
STP_bStopActive
TRUE
FALSE
t
 C02610: Deceleration time for stop function
 C02622: Manual jog: Acceleration
 C02623: Manual jog: Deceleration
[12-9] Example: Stop with reaching standstill
If the basic function "Manual Jog" is reactivated within the deceleration time , this basic function
takes over the control of the drive from the current speed and the function state "Drive is stopped"
is abandoned immediately:
Stopping
State ManualJog ManualJog

t
MAN_bJogPositive
TRUE
FALSE
t
MAN_bEnable
TRUE
FALSE
t
STP_bStopActive
TRUE
FALSE
t
 C02610: Deceleration time for stop function
[12-10] Example: Stop without reaching standstill
12.3 Quick stop
________________________________________________________________
12.3 Quick stop
In contrast to Stop, the purpose of quick stop (QSP) is a stop in case of error. If quick stop is activated,
the drive is brought to standstill within the deceleration time set irrespective of the setpoint that is
preselected.
 Note!
Through this, superimposed controls (e.g. synchronous or position control) may produce
following errors. If several drives execute a coordinated motion, the quick stop function
should only be used for the motion master (master drive) in order to maintain the
coordination.
When the basic function is activated, a start acceleration is considered. Start
acceleration/acceleration reduction when the basic function changes ( 420)
 Tip!
Quick stop can also be set as error response for many monitoring functions ("quick stop by
trouble"). Detailed information can be found in the chapter "Diagnostics & fault analysis".
( 630)
The source from which the quick stop was activated is shown in a bit coded manner in
C00159.
12.3.1 Internal interfaces | "LS_Quickstop" system block"
LS_Quickstop
QSP_bActivate1 QSP_bActive
QSP_bActivate2 ³1 n
QSP_bActivate3
t
STOP
QSP_bActivateDCBrake
 Note!
permissible!
12.3 Quick stop
________________________________________________________________
Inputs

QSP_bActivate1 Activate quick stop

C02619/1 | BOOL • The three inputs are linked via a logic OR gate.
QSP_bActivate2
C02619/2 | BOOL TRUE If one of the three inputs is set to TRUE, a change-over to the "Quick
QSP_bActivate3 stop active" function state is effected and the drive is brought to
C02619/3 | BOOL standstill within the deceleration time set for quick stop.
TRUEFALSE If all three inputs are reset to FALSE, a change-over to a setpoint-
generating basic function (e. g. "Speed follower") via the "Drive is
stopped" function state is effected.
QSP_bActivateDCBrake Activate DC-injection braking. ( 432)
C02619/5 | BOOL • Only possible if V/f control or sensorless vector control is selected as motor
control type in C00006!
• This input has a higher priority than the three inputs QSP_bActivate1 ... 3.
TRUE A change-over to the "Quick stop active" function state is effected
and the drive is decelerated with the braking current set in C00974.
TRUEFALSE DC-injection braking is activated again.
• If flying restart is activated in C00990, a flying restart process is
automatically started to determine the current motor speed.
Outputs
QSP_bActive Status signal "Quick stop by application active"

C02619/4 | BOOL • QSP_bActive is not set to TRUE if quick stop has been activated by another source,
e. g. via device command or as an error response ("Quick stop by trouble").
TRUE Quick stop has been requested via one of the three inputs
QSP_bActivate1 ... 3 and is active.
- or -
DC-injection braking has been requested via QSP_bActivateDCBrake
and is active (only for motor control mode without encoder).
• Parameterisation dialog in »Engineer«: Tab Application parameter  Dialog level Overview 

All basic functions  Quick stop
• Short overview of the parameters for quick stop:
Parameter Info
C00105 Decel. time - quick stop
C00106 Quick stop S-ramp time
C00107 Reference for quick stop deceleration time
12.3 Quick stop
________________________________________________________________
Parameter setting of quick stop
C00105 • The deceleration time for the quick stop

n
C00011
function set in C00105 refers to a speed
variation from the motor reference speed
(C00011) to standstill.
t
bActivate1...3
TRUE
FALSE
t
[12-11] Deceleration time referred to the motor reference speed
C00105 • When C00107 is set = "1", the deceleration

n
C00011
time refers to the current speed.
[12-12] Deceleration time referred to the current speed
C00105 × C00106 • By entering a relative S-ramp time in

n
C00105 +
100 % C00106, the deceleration ramp can be set
C00011 in an S-shaped manner for purposes of jerk
C00107 = 0 limitation; the total time until standstill is
then extended by the S-ramp time
set.Setting the S-ramp time ( 422)
t • Braking time at motor reference speed or
n C00107 = "1":
C00011 C00105 ⋅ C00106 [%]
C00105 + ------------------------------------------------------
C00107 = 1 100 %
[12-13] S-shaped deceleration ramp through selection of a relative S-ramp time
 Tip!
After reaching standstill, the standstill position can be maintained while a torque is
applied.
• For this purpose, select the phase controller gain in C00254 > "0".
• With C00254 > "0" the phase control is automatically activated after the standstill is
reached.
12.3 Quick stop
________________________________________________________________
12.3.3 Activate/deactivate quick stop
For activation/deactivation of quick stop by the application, the three inputs QSP_bActivate1...3 are
provided. ( 428)
• The three control inputs are linked via a logic OR gate, i.e. in order to activate quick stop, only
one of the three inputs must be set to TRUE. To deactivate quick stop, though, all three inputs
must be reset to FALSE.
• The control inputs can be linked with terminals (digital inputs) and/or process data.
 Note!
In the standard technology applications the control input QSP_bActivate1 is linked with
the digital input DI1 in the Lenze setting.
Further options for activating quick stop

• Via device command "Activate quick stop" (C00002 = "45"), e.g. via a corresponding SDO of a
higher-level control, an HMI or »Engineer«.
• Via the  key at the keypad, unless the Lenze setting of C00469 (assignment of the key) has
been changed.
• Through the response "quick stop by trouble" parameterised for monitoring.
12.3 Quick stop
________________________________________________________________
12.3.4 DC-injection braking
 Note!
DC-injection braking is only possible if V/f control or sensorless vector control is selected
as motor control type in C00006!
Activate DC-injection braking

To activate DC-injection braking through the application, the bActivateDCBrake control input must
be set to TRUE.
• A change-over to the "Quick stop active" function state is effected and DC-injection braking with
the braking current set in C00974 is carried out.
Flying restart process after cancelling DC injection braking

If the flying restart mode is activated in C00990 and DC-injection braking is cancelled, a flying
restart process is automatically started to determine the current motor speed if the following
conditions are met:
• V/f control or sensorless vector control are selected as motor control in C00006.
• The position control structure is set to "Phase controller is active" in C02570.
• The MI_bFlyingSyncBlocked control input of the motor interface is not assigned or set to FALSE.
• The holding brake, if available, is not applied.
12.3.4.1 DC-injection braking and flying restart process
0
Enable speed follower
t
bActivateDCBrake
TRUE
1 3
FALSE
t
Quick stop active Speed follower active

t
Speed setpoint
Act
2
ual
spe
e d
t
4
DC brake active
DC brake current

t
 C00974: Braking current
[12-14] Process example: speed follower is active  QSP_bActivateDCBrake is active  speed follower is active
12.3 Quick stop
________________________________________________________________
A. Initial situation: basic function "Speed follower" is enabled and active.

B. QSP_bActivateDCBrake control input is set to TRUE through the application to activate DC-
injection braking.
C. DC-injection braking is executed with the braking current set in C00974.
D. QSP_bActivateDCBrake control input is reset to FALSE through the application to deactivate DC-
injection braking.
E. The flying restart process starts, i.e. the controller calculates the output frequency required for
the momentary motor speed, then connects to the system, and accelerates the motor to the
defined setpoint again.
12.3 Quick stop
________________________________________________________________
12.3.4.2 DC-injection braking when quick stop is activated

If DC-injection braking is activated in C00976 instead of quick stop, DC-injection braking is executed
automatically when quick stop is activated.
• After activating quick stop, a change-over to the "Quick stop active" function state is effected,
and for the quick stop deceleration time set in C00105 a DC-injection braking process with the
braking current set in C00975 is carried out.
• After this time has elapsed, a change-over to the braking current parameterised in C00974 is
carried out and DC-injection braking is continued with this braking current.
• The DC-injection braking in this case is also carried out when the "Quick stop by trouble" error
response is actuated; however, instead of the "Quick stop active" function state, the "Fault"
function state is active, and the controller is in the "Quick stop by trouble active" device state.

t

t
Speed setpoint
0 1
t
DC brake active
DC brake current

t
 Actual speed value
 Actual speed value if the quick stop braking current is parameterised too low (C00975)
 C00105: Quick stop decel. time
 C00975: Quick stop braking current
 C00974: Braking current
[12-15] Process example: speed follower is active  quick stop activation  speed follower is active
 Note!
The quick stop braking current in C00975 has to be set so that the drive can be
decelerated from the maximum operating speed to standstill within the deceleration
time for quick stop set in C00105!
12.4 Manual jog
________________________________________________________________
12.4 Manual jog
The basic function "Manual jog" serves to traverse the drive manually, e.g. to clean or exchange the
tool.
• As an option, it is possible to change over to a second speed during traversing.
• "Retraction" of operated (travel range) limit switches is also supported. Only traversing in the
corresponding retracting direction is then possible.
 Danger!
During manual jogging, specially assigned profile parameters are active. If they have not
been set correctly, the drive can engage in uncontrolled movement!
 Stop!
In manual mode a travel range monitoring via limit switches and software limit
positions is carried out via the basic function "Limiter". ( 536)
If no limit switches are connected and no software limit positions are set, and the
reference is not known, the drive can travel into a mechanical barrier during manual
mode and machine parts can be destroyed or damaged!
 Note!
For manual jog setpoint speeds greater than 30000 rpm are not possible. The speeds
defined for these basic function are internally limited to 30000 rpm.
If no position controller has been selected for position control in case of V/f control or
sensorless vector control (C02570 = "1: Phase controller is active"), the manual jog is only
executed via the speed profile resulting from the manual jog parameters.
12.4 Manual jog
________________________________________________________________
12.4.1 Internal interfaces | "LS_ManualJog" system block"
LS_ManualJog
MAN_bEnable MAN_dnState
MAN_bJogPositive n MAN_bEnabled
MAN_bJogNegative MAN_bActive
MAN_bActivateJogSpeed2 t
MAN_bReleaseLimitSwitch
MAN_dnSpeedOverride_n ç è
MAN_bStepMode
MAN_bIntermediateStopMode
MAN_FBData
 Note!
permissible!
Inputs

MAN_bEnable Requesting control via the basic function

C02639/1 | BOOL
TRUE If no other basic function is active, a change-over to the "Manual jog
active" function state is effected and manual jog can be carried out
via the control inputs.
TRUEFALSE Active manual jog is stopped, i. e. a change-over from the active
"Manual jog active" function state via the "Drive is stopped" function
state back to the basic state "Drive at standstill" is carried out.
MAN_bJogPositive Manual jog in positive/negative direction ( 441)
C02639/2 | BOOL
MAN_bJogNegative
C02639/3 | BOOL
MAN_bActivateJogSpeed2 Change over to speed 2 for manual jog

C02639/4 | BOOL
FALSE Speed 1 (C02620) active.
TRUE Speed 2 (C02621) active.
MAN_bReleaseLimitSwitch Retracting of an activated limit switch
C02639/5 | BOOL
TRUE Retracting of the accordingly operated limit switch in the
corresponding retracting direction until the limit switch is cleared
again (no longer operated) and the drive is within the software limit
positions again.
Afterwards the drive is braked to standstill with the deceleration set
unless the control input MAN_bJogPositive or MAN_bJogNegative is
activated for the corresponding retracting direction.
12.4 Manual jog
________________________________________________________________

MAN_dnSpeedOverride_n Value for speed override

C02637 | DINT • Percentage multiplier for the currently active speed (C02620 or C02621).
• In the case of active manual jog, the speed override is always active and does not
have to be activated separately.
• Changes are accepted in each cycle.
• 230 ≡ 100 % of the speed parameterised in C02620 or C02621.
• For values ≤ 1 % the status bit 19 is set.
• Values ≤ 0 % are set to 0 % internally and lead to the standstill of the drive.
MAN_bStepMode Manual jog with step limitation ( 442)
C02639/8 | BOOL • Only possible if the "Manual jog with intermediate stop" mode is not active.
TRUE Manual jog with step limitation active.
MAN_ Manual jog with intermediate stop ( 443)
bIntermediateStopMode • This mode has a higher priority than the "Manual jog with step limitation" mode.
C02639/9 | BOOL
TRUE Manual jog with intermediate stop active.
MAN_FBData Interface for the transfer of the function block instance data for determining the
positions for intermediate stop
• Connect this input to the output FBData of the function block instance of type
L_PosPositionerTable or L_PosProfileTable.
12.4 Manual jog
________________________________________________________________
Outputs
MAN_dnState Status (bit coded)

C02638 | DINT • When the basic function is not enabled, all bits are set to "0".
Bit 1 Manual jog is active.
Bit 2 Manual jog is completed.
Bit 3 Acceleration/deceleration phase is active.
Bit 15 Fault in basic function active (group signal).
Bit 16 Stop by simultaneous selection of negative direction and retraction
of limit switch.
Bit 17 Stop by simultaneous selection of positive and negative direction.
Bit 18 Stop by simultaneous selection of positive direction and retraction of
limit switch.
Bit 19 Speed override ≤1 %
Bit 20 Speed 2 (C02621) active.
Bit 21 Speed 1 (C02620) active.
Bit 22 Stop by selection of positive direction and simultaneous activation
of the positive software limit position or the positive limit switch.
Bit 23 Stop by selection of negative direction and simultaneous activation
of the negative software limit position or the negative limit switch.
Bit 24 General abort process (ramp down of the speed setpoint)
• Takes place e.g. when a manual direction initiator is released or
due to an impermissible state (see bit 16, 17, 18, 22, 23).
Bit 25 Stopping is active.
• Basic function enabled for the first time but no manual jog has
been requested/is active yet or current speed is higher than the
manual jog speed.
Bit 26 Home position is not known.
Bit 27 No intermediate stop position available.
Bit 30 Profile generation error.
MAN_bEnabled Status signal "Basic function is enabled"
C02639/6 | BOOL
TRUE Manual jog via the control inputs is possible.
• The MAN_bEnable enable input is set to TRUE and the controller
is in the "Manual jog active" function state.
MAN_bActive Status signal "Basic function is active"
C02639/7 | BOOL
TRUE Manual jog is active (the drive axis is moving).
12.4 Manual jog
________________________________________________________________
• Parameterisation dialog in »Engineer«: Tab Application parameters  Dialog level Overview 

All basic functions  Manual jog
• Short overview of the parameters for manual jog:
Parameter Info
C02620 Manual jog: Speed 1
C02621 Manual jog: Speed 2
C02622 Manual jog: Acceleration
C02623 Manual jog: Deceleration
C02624 Manual jog: S-ramp time
C02625 Manual jog: Step distance
C02626/1...16 Manual jog: Index stop position
C02627/1...16 Manual jog: Selected stop position
12.4.2.1 Smooth start and quick stop of the drive
n • Different values for acceleration and

deceleration can be set in C02622/
C02623 in order to implement a
smooth start and a quick stop of the
drive.

t • By entering a relative S-ramp time in
bJogPositive C02624 both ramps can be set in S-
TRUE
shape for jerk reduction.Setting the
FALSE
S-ramp time ( 422)
t
 C02620: Manual jog: Speed 1
 C02624: Manual jog: S-ramp time
[12-16] Example: Smooth start and quick stop
 Tip!
A quick deceleration (C02623) reduces the time from letting go of the "Jog key" to the
actual stop of the drive, so that the drive can thus be better positioned "by eye" and the
desired stop position is not overtravelled.
12.4 Manual jog
________________________________________________________________
12.4.2.2 Second speed
n • By setting the input

MAN_bActivateJogSpeed2 to TRUE, a
change-over to a second speed
(C02621) can be carried out during the
traversing process.
t
bJogPositive
TRUE
FALSE
t
bActivateJogSpeed2
TRUE
FALSE
t
 C02620: Manual jog: Speed 1
 C02621: Manual jog: Speed 2
[12-17] Example: Change-over to second speed
12.4.3 Executing manual jogging
Preconditions
• The controller is in the "Operation" device state.
• The basic function "manual jog" is part of the active application.
• No other basic function is active.
Activation
To request the control via the basic function, the MAN_bEnable enable input in the application must
be set to TRUE.
• If no other basic function is active, a change-over to the "Manual jog active" function state is
effected and manual jog can be carried out via the control inputs.
• A successful change to the function state "Manual jog active" is displayed by a TRUE signal at
the MAN_bEnabled status output.
Deactivation
If the MAN_bEnable enable input is reset to FALSE, an active manual jog is reset, i.e. the control
inputs for manual jog are inhibited and the drive is braked to standstill within the deceleration time
for Stop. ( 424)
• The status output MAN_bEnabled is reset to FALSE and a change-over from the active "Manual
jog active" function state via the "Drive is stopped" function state back to the basic state "Drive
at standstill" is carried out.
12.4 Manual jog
________________________________________________________________
12.4.3.1 Manual jog in positive/negative direction

In the "Manual jog active" function state the drive can be traversed manually according to the
following truth table via the control inputs:
MAN_bJogNegative MAN_bJogPositive MAN_bActivateJogSpeed2 Function

FALSE FALSE - Stop
• The drive is braked to standstill with the
deceleration set.
FALSE TRUE FALSE Manual jog
• In positive direction
• Using speed 1 (C02620)
TRUE Manual jog
• In positive direction
TRUE FALSE FALSE Manual jog
• In negative direction
TRUE Manual jog
• In negative direction
TRUE TRUE - When both inputs are set to TRUE at the
same time:
• The drive is braked to standstill with the
deceleration set.
If not both inputs are set to TRUE at the same
time:
• The drive continues to traverse in the
direction that was selected first.
 Note!
In the standard technology applications "Actuating drive – speed" and "Actuating drive
– torque", in the Lenze setting the control inputs are linked to the following digital
inputs:
• DI6: Activate manual mode
• DI7: Manual jog in positive direction
• DI8: Manual jog in negative direction
12.4 Manual jog
________________________________________________________________
12.4.3.2 Manual jog with step limitation

This mode can be activated via the control input MAN_bStepMode.
In the "Manual jog with step limitation" mode the drive traverses by the "step distance"
parameterised in C02625 if a direction is requested via the control inputs MAN_bJogPositive/
MAN_bJogNegative. After traversing this distance, the drive stops.
• A new positive edge for the routing request causes a restart of the function or a reset of the
distance counter, even if the drive is not at standstill yet.
• If the routing request is reset before the distance is reached, the drive stops immediately (with
the deceleration set).
 Note!
The two modes "Manual jog with step limitation" and "Manual jog with intermediate
stop" cannot be active at the same time.
If there is a simultaneous request via the control inputs MAN_bStepMode and
MAN_bIntermediateStopMode, only the "Manual jog with intermediate stop" mode is
active.Manual jog with intermediate stop ( 443)
12.4 Manual jog
________________________________________________________________
12.4.3.3 Manual jog with intermediate stop

This mode can be activated via the control input MAN_bIntermediateStopMode.
In the "Manual jog with intermediate stop" mode, in the case of a routing request via the control
inputs MAN_bJogPositive/MAN_bJogNegative the drive traverses to the defined "Intermediate stop
position" that is next in the corresponding direction.
MAN_bJogNegative MAN_bJogPositive Function

FALSE TRUE Drive traverses from the current position to the next target in
positive direction of the intermediate positions defined.
TRUE FALSE Drive traverses from the current position to the next target in
negative direction of the intermediate positions defined.
• The drive stops on the intermediate position that is approached.

• If the routing request is reset before the intermediate position is reached, the drive stops
immediately (with the deceleration set).
• After the drive has stopped on the intermediate position, it can only continue after a new
positive edge for the routing request.
• If the drive is in the outmost intermediate position defined and a new routing request is
effected, the drive stops.
 Note!
Requirements for manual jog with intermediate stop:
• The home position is known (otherwise status bit 26 is set).
• At least one intermediate stop position is defined (otherwise status bit 27 is set).
Selection of the intermediate stop positions

The max. 16 intermediate stop positions are selected/defined via a function block instance of type
L_PosPositionerTable or L_PosProfileTable.
• For the transfer of the intermediate stop positions the output FBData of the respective function
block instance is to be connected to the input MAN_FBData of the LS_ManualJog SB.
• The positions defined by the function block instance, which are to be used as intermediate stop
positions are selected via C02626/1...16.
• In connection with a function block instance of type L_PosPositionerTable:
In C02626/x the index [1...75] of the table position in the VTPOS table has to be specified,
which contains the intermediate stop position x that is to be used.
• In connection with a function block instance of type L_PosProfileTable:
In C02626/x the index [1...4] of the profile data set has to be specified, which contains the
intermediate stop position x that is to be used.
• The positions selected are shown in C02627/1...16.
12.4 Manual jog
________________________________________________________________
12.4.3.4 Manual jog to limit position
 Note!
Detailed information on travel range monitoring via limit switches and software limit
positions can be found in the description of the basic function "Limiter". ( 536)
Manual jog to software limit position
• If the reference is known and the

software limit positions are set, a
positioning to the corresponding
software limit position is carried out, if
manual jog was not exited manually
n
before by resetting MAN_bJogNegative
or MAN_bJogPositive.
• The drive brakes with the deceleration
set (C02623) to the position of the
t
corresponding software limit position.
bJogPositive
TRUE
FALSE
t
 Positive software limit position
[12-18] Example: Manual jog to positive software limit position
Manual jog to hardware limit position (limit switch)
• When a limit switch is approached

during manual jog, the drive is braked
to standstill within the deceleration
time set for the quick stop function.
t
bJogPositive
TRUE
FALSE
t
 Positive limit switch
 Deceleration ramp of the quick stop function
[12-19] Example: Manual jog to positive limit switch
See also: Software limit positions ( 542)

Hardware limit positions (limit switch) ( 545)
12.4 Manual jog
________________________________________________________________
12.4.3.5 Retracting of an activated limit switch

By setting MAN_bReleaseLimitSwitch to TRUE, retracting from an operated limit switch is possible.
The traversing process in the corresponding retracting direction is carried out until the limit switch
is no longer activated.
• If, while retracting, a direction is selected additionally via the control inputs MAN_bJogPositive
or MAN_bJogNegative towards the retracting direction, the travel is continued even after the
limit switch has been abandoned until MAN_bJogPositive or MAN_bJogNegative are reset to
FALSE.
• If the direction opposite to the retracting direction is preselected instead, the drive stops, and a
corresponding status is shown via the status output MAN_dnState.
 Note!
Retracting from a limit switch is only possible if it is still activated, i. e. if the
corresponding limit switch input of the limiter is still activated. Therefore ensure that if
a limit switch is approached, its trigger mechanics is not "overtravelled", for instance by
a too great mass or drive, so that by this the limit switch is no longer activated.
 Tip!
An activated limit switch can also be exited again by manual jog in the retracting direction
via the control input MAN_bJogPositive or MAN_bJogNegative.
See also: Hardware limit positions (limit switch) ( 545)
12.5 Manual job, encoderless
________________________________________________________________
 Danger!
In this basic function, the extent of the useable operating modes of the holding brake is
restricted. Only the following operating modes function:
• Directly with brake module (C02580, selection 1) and
• Direct switching externally (C02580, selection 11)
The basic function "Manual jog (OL)", which is implemented in the motor control system of the drive
controller, enables the user to operate the drive without control (i.e. "open loop", encoderless) and
independently of the selected operating mode:
• If the motor is asynchronous, the speed depends on the load.
• A synchronous motor turns with a prescribed field frequency.
 Stop!
It is only permissible to activate controlled operation of synchronous machines if the
following parameters have been set correctly, in addition to correct assignment of the
encoder image and the motor's rotating field:
• Motor control SC, "Servo control of sync motor" (C00006, selection 1)
• Pole position of the motor encoder (C00058)
• Motor data (C00081 ... C00091)
• Active resolver feedback or encoder feedback as motor encoder (C00420 ... C00422)
The basic function "Manual jog (OL)"

• is based on the I-rotation test mode and is especially suitable for the operation of synchronous
motors. There is a corresponding dialog box in »Engineer«
• is not identical with sensorless operation of synchronous machines. In the basic function
"Manual jog (OL)", neither parameters relevant to the motor model nor parameters relevant to
the motor type are used
• can be activated and controlled by means of process data (system block inputs) or by accessing
codes (e.g. via keypad).
Uses of "Manual job, encoderless"

• Test of hardware (e.g. connection system, rotating field and motor cables) during initial
commissioning and during servicing
• Movement of the drive or machine to a service position in the event of defective encoder
feedback
• Functional test of the discretely structured feedback system of a torque or linear motor.
• Support for Pole position identification ( 176) in the case of torque and linear motors by means
of
• movement to a machine position in which pole position identification can be carried out in a
reproducible manner and
• setting of the pole position angle with the "PL touch probe signal"
________________________________________________________________
• Parameterising dialog box in»Engineer«: Tab Application parameters  Dialog level Overview 
All basic functions  Manual jog (OL)
• Short overview of the parameters for manual jog, encoderless:

Value Unit
C02770/1 EnableManualMode 0: Deactivate

C02770/2 JogPositive 0: Deactivate
C02770/3 JogNegative 0: Deactivate
C02770/4 ActivateDataBit1 0: Deactivate
C02770/5 ActivateDataBit2 0: Deactivate
C02771/1...4 Frequency 1.0 Hz
• Field frequency fd with which the current vector
rotates.
C02772/1...4 Start angle 0.0 °
C02773/1...4 Current 10.00 %
• R.m.s. value of the current vector which is injected
with the parameterised frequency/starting angle.
• 100 % ≡ Imax_device (C00022)
C02774/1...4 Acceleration time 1.000 s
C02775/1...4 Deceleration time 1.000 s
C02776/1...4 Max. activation time 1.000 s
C02779 Mol_SetpointCurrent - A
C02780 Mol_dnState -
C02781 ManualJogOpenLoop: Dig. signals -
 Stop!
At the frequency fd = 0 Hz, the r.m.s. value increases to 141 % of the current
parameterised in C02773/x. As a result, the connected motor can be destroyed!
Remedy: Activation of a derating curve in i2xt monitoring or limitation of the
parameterised current in C02773/x to 71 % of the rated motor current. Motor
monitoring (I2xt) ( 263)
________________________________________________________________
12.5.2 Carrying out encoderless manual jogging
The procedure for using this basic function is described with reference to the signal characteristic
shown below.
Please refer to the following chapters for more information
Preconditions
Activation / Deactivation
Selection and contents of the profile parameter set
Encoderless manual jogging in a positive/negative direction
0 1
CINH
? t
MOL_bEnable
MOL_bActivateDataBit1 t
MOL_bActivateDataBit2 t
MOL_bJogNegative t
MOL_bJogPositive t
IMotor IPS3 t
IPS1 IPS1
fd_Motor t
fd_PS1 t
fd_PS3
 Resetting of MOL_bEnable is not permissible here

 On activation:
1. MOL_bEnable = Low  High
2. CINH = High  Low
 On deactivation:
1. CINH = Low  High
2. MOL_bEnable = High  Low
[12-20] Signal characteristic: activation/deactivation of basic function "manual jog (OL)"
________________________________________________________________
12.5.2.1 Preconditions
• Check and, if necessary, adjust the basic parameterisation:
• Optimisation of the current controller in the case of non-Lenze motors or motors that are not
included in the »Engineer« motor catalogue. Optimise current controller ( 226)
• Parameterisation of motor monitoring corresponding to the existing motor with the
monitoring response "Fault". Motor monitoring (I2xt) ( 263)
• This function is especially important for monitoring the permissible r.m.s. current load on
motors at fd = 0 Hz.
• Activation of maximum current monitoring with the monitoring response "Fault" in the case
of non-Lenze motors or motor that are not included in the »Engineer« motor catalogue.
• Activation of motor temperature monitoring via PTC and/or KTY. Motor temperature
monitoring ( 270)
• The controller inhibit is active.
• The controller is in the "Controller not ready" stateDevice states ( 146).
• The basic function "Manual jog (OL)" is part of the active application; see Internal interfaces
| "LS_ManualJogOpenLoop" system block ( 453).
12.5.2.2 Activation
In order to request the control via the basic function, the MOL_bEnable enable input in the
application must be set to TRUE or C02770/1 to "1".
• If no other basic function is active, a changeover to the function state "Manual jog, encoderless
active" takes place and controlled traversing can be carried out by means of the control inputs
or by writing values into C02770/2...5.
• A successful changeover to the function state"Manual jog, encoderless active" is indicated by a
TRUE signal at the status output MOL_bEnabled.
________________________________________________________________
12.5.2.3 Deactivation
 Stop!
Before the basic function is deactivated, the controller inhibit must be set. Otherwise,
unsteady drive behaviour can occur when a changeover is made from the basic function
"Manual jog, encoderless" to the basic function "Stop".
The basic function is deactivated by

• setting the input "MOL_bEnable" to FALSE or
• removing the checkmark (if there is one) in the »Engineer« dialog box entitled Manual control
(parameter set 1).
[12-21] Deactivation of the basic function "Manual jog, encoderless"
________________________________________________________________
12.5.2.4 Selection and contents of the profile parameter set

For controlled traversing, four different profiles can be parameterised. The profile parameter set to
be used is selected by means of the control inputs MOL_bActivateDataBit1 C02781/4 and
MOL_bActivateDataBit2 C02781/5 or alternatively by means of the parameters C02770/4
(ActivateDataBit1) and C02770/5 (ActivateDataBit2):
MOL_bActivateData MOL_bActivateData Selected profile parameter set

Bit2 Bit1
C02781/5 C02781/4
FALSE FALSE Profile parameter set 1
FALSE TRUE Profile parameter set 2
TRUE FALSE Profile parameter set 3
TRUE TRUE Profile parameter set 4
Setpoint Profile parameter set Profile parameter set Profile parameter set Profile parameter set
1 2 3 4
Frequency C02771/1 C02771/2 C02771/3 C02771/4
Start angle C02772/1 C02772/2 C02772/3 C02772/4
Current C02773/1 C02773/2 C02773/3 C02773/4
Acceleration time C02774/1 C02774/2 C02774/3 C02774/4
Deceleration time C02775/1 C02775/2 C02775/3 C02775/4
Max. activation time C02776/1 C02776/2 C02776/3 C02776/4
 Note!
The four profile parameter sets must be dealt with sequentially, i.e. a selected profile
parameter set must first be completed with fd = 0 Hz before a further profile parameter
set can be activated.
• The signal characteristic in Fig. [12-20] ( 448) shows that the drive must ramp down
completely in the case of each parameter set before the next parameter set can be
started.
• Lenze recommends to control the basic function in accordance with this signal
characteristic.
________________________________________________________________
12.5.2.5 Encoderless manual jogging in a positive/negative direction

In the function state"Manual jog, encoderless active", the drive can be traversed manually in
accordance with the following truth table by means of the indicated control inputs:
MOL_bJogNegative MOL_bJogPositive Function

C02770/3 C02770/2
FALSE FALSE Stop
• The drive is braked to standstill with the deceleration time in
(C02775/x) set for the selected profile.
FALSE TRUE Controlled traversing in positive direction
• The drive is led to the setpoint frequency with the acceleration
time (C02774/x) set for the selected profile (C02771/x).
TRUE FALSE Controlled traversing in negative direction
• The drive is led to the setpoint frequency with the acceleration
time (C02774/x) set for the selected profile (C02771/x).
TRUE TRUE When both inputs are set to TRUE at the same time:
• The drive is braked to standstill with the deceleration time in
(C02775/x) set for the selected profile.
If not both inputs are set to TRUE at the same time:
• The drive continues to traverse in the direction that was selected
first.
x = number (1...4) of the selected profile parameter set
________________________________________________________________
12.5.3 Internal interfaces | "LS_ManualJogOpenLoop" system block
In the function block editor, the system block LS_ManualJogOpenLoop makes the internal
interfaces to the basic function "Manual jog, encoderless" available.
LS_ManualJogOpenLoop
MOL_bEnable MOL_dnState
MOL_bJogPositive MOL_bEnabled
MOL_bJogNegative
ç è MOL_bActive
n
MOL_bActivateDataBit1 MOL_bDone
MOL_bActivateDataBit2
t
 Note!
For the basic function "Manual jog, encoderless", the system block must be integrated
into the application task. When the FB editor is activated, the basic dialog boxes of the
corresponding technology application in »Engineer« change.
In the dialog box entitled "All basic functions", the "Manual jog, encoderless" button is
not shown until the project has been updated.
Inputs

MOL_bEnable Requesting control via the basic function.

C02781/1 | BOOL • Request is also possible via C02770/1.
TRUE If no other basic function is active, a changeover to the function state
"Manual jog, encoderless active" takes place and controlled
traversing of the drive can be carried out by means of the control
inputs
TRUEFALSE Actively controlled traversing is ended, i.e. a changeover from the
active function state "Manual jog, encoderless active" back to the
basic state "Controller not ready" takes place.
MOL_bJogPositive Encoderless manual jogging in a positive/negative direction ( 452)
C02781/2 | BOOL • Control is also possible via C02770/2 and C02770/3.
MOL_bJogNegative
C02781/3 | BOOL
MOL_bActivateDataBit1 Selection and contents of the profile parameter set ( 451)

C02781/4 | BOOL • Selection is also possible via C02770/4 and C02770/5.
MOL_bActivateDataBit2
C02781/5 | BOOL
________________________________________________________________
Outputs
Mol_dnState Status (bit coded)

Bit 1 Manual jog, encoderless active.
Bit 2 Profile executed.
Bit 16 Request for "Quick stop" (QSP) active
MOL_bEnabled Status signal "Basic function is enabled"
C02781/6 | BOOL
TRUE Controlled traversing via the control inputs is possible.
• The enable input MOL_bEnable has been set to TRUE and the
controller is in the function state "Manual job, encoderless
active".
MOL_bActive Status signal "Basic function is active"
C02781/7 | BOOL
TRUE Controlled traversing is active (the drive axis moves according to the
defined profile).
MOL_bDone Status signal "Max. activation time reached"
C02781/8 | BOOL • The status signal indicates that the respective parameterised max. activation
time has been reached.
• The counter of the max. activation time is reset every time there is a TRUE-FALSE
edge at MOL_bJogPositive/MOL_bJogNegative.
• The setpoint frequency and therefore the rotating field at the motor terminals is
generated within the acceleration time parameterised in C02774/1...4 for the
selected profile and the drive movement starts accordingly.
• At the instant of "Max. activation time reached", the drive is still moving and
ramping down within the deceleration time parameterised in C02775/1...4 for
the selected profile is initiated.
TRUE Controlled manual jogging is active
• The max. activation time parameterised for the selected profile in
C02776/1...4 has expired.
• MOL_bJogPositive or MOL_bJogNegative is TRUE
• The setpoint frequency still corresponds to the setpoint
frequency parameterised in C02771/1...4 for the selected profile.
12.6 Homing
________________________________________________________________
12.6 Homing
With the basic function "Homing" the measuring system of the machine is transmitted to the
controller within the travel range that is physically possible.
• The reference (e.g. zero position of the drive axis in the machine measuring system) can be
defined by reference search or reference setting.
• In case of reference search, the drive travels according to the defined homing mode to detect
the reference in the measuring system independently.
• In the reference point, the home position parameterised in C02642 is set as the current
position. Afterwards, an absolute positioning to the target position parameterised in C02643
takes place (if C02641 = "0").
• If the reference is set in the homing mode "100: Set reference directly" or via the control input
HM_bLoadHomePos, the drive can also be referenced manually if the motor is at standstill. The
measuring system is set by means of the home position parameterised in C02642 or applied at
the input HM_dnHomePos_p.
 Danger!
During homing, specially assigned profile parameters are active. If they have not been
set correctly, the drive can engage in uncontrolled movement!
 Note!
Normally homing is only required once during commissioning of systems for which the
machine cycle can be represented in the display area of the encoder, e. g. if multiturn
absolute value encoders or singleturn absolute value encoders/resolvers are used during
the machine cycle on one motor revolution.
• The encoder position is stored safe against mains failure in the memory module and
is therefore known to the drive control even after the mains has been
switched.Behaviour of the home position after mains switching ( 460)
• A renewed reference setting is only required in case of a renewed commissioning or
in case of service (e.g. when drive components are exchanged).
• When multipole resolvers (C00080 > 1) are used, a renewed homing is required after
mains switching due to the ambiguity of the evaluated position.
12.6 Homing
________________________________________________________________
 Note!
For homing, setpoint speeds greater than 30000 rpm are not possible. The speeds
If the V/f control or sensorless vector control is selected, the basic function "Homing" can
be activated, irrespective of the use of the position controller.
• If no position controller has been selected for the position control in case of V/f
control or sensorless vector control (C02570 = "1: Phase controller is active"), homing
is only carried out via the speed profile resulting from the homing parameters.
Because of this, the target positions set will only "roughly" be reached.
12.6 Homing
________________________________________________________________
12.6.1 Internal interfaces | "LS_Homing" system block
LS_Homing
HM_bEnable HM_dnState
HM_bActivateHoming HM_bEnabled
HM_bHomingMark HM_bActive
HM_bLoadHomePos HM_bDone
HM_dnHomePos_p HM_bHomePosAvailable
HM_bResetHomePos -100 0 100 200
HM_dnSpeedOverride_n
 Note!
permissible!
Inputs

HM_bEnable Requesting control via the basic function.

C02659/1 | BOOL
TRUE If no other basic function is active, a change-over to the "Homing
active" function state is effected and homing can be carried out via
the control inputs.
TRUEFALSE An active reference search is stopped, i. e. a change-over from the
active "Homing active" function state via the "Drive is stopped"
function state back to the basic state "Drive at standstill" is carried
out.
HM_bActivateHoming Starting homing/directly setting reference
C02659/2 | BOOL
TRUE Reference search is started in the homing mode selected (C02640).
In the homing mode "100: Set reference directly" no reference search
is started, but the home position set in C02642 is directly accepted.
TRUEFALSE Active reference search is completed/cancelled.
HM_bHomingMark Input for reference switch
C02659/3 | BOOL
TRUE Reference switch is activated.
HM_bLoadHomePos Loading home position
C02659/4 | BOOL
FALSETRUE The position applied to input HM_dnHomePos_p is accepted as
home position.
HM_dnHomePos_p Home position in [increments] for acceptance with HM_bLoadHomePos
C02658 | DINT
12.6 Homing
________________________________________________________________

HM_bResetHomePos Reset the "Reference known" status

C02659/5 | BOOL
FALSETRUE The internal status "reference known" is reset.
• The status outputs HM_bDone and HM_bHomePosAvailable are
reset to FALSE.
HM_dnSpeedOverride_n Value for speed override
C02655 | DINT • Percentage multiplier for the currently active speed (C02644 or C02646).
• In the case of active homing, the speed override is always active and does not
have to be activated separately.
• 230 ≡ 100 % of the speed parameterised in C02644 or C02646.
Outputs
HM_dnState Status (bit coded)

Bit 1 Reference search is active.
Bit 2 Reference search is completed.
Bit 7 Reference known.
Bit 16 Pre-switch-off (reference switch) has been detected.
Bit 17 Touch probe/zero pulse has been detected.
Bit 21 Profile data are limited by basic function "Limiter".
Bit 22 Traversing direction is inhibited by basic function "Limiter".
Bit 23 Abort by basic function "Limiter".
• Basic function is enabled for the first time but no referencing has
been requested / is active yet or speed ≠ 0.
HM_bEnabled Status signal "Basic function is enabled"
C02659/6 | BOOL
TRUE Homing via the control inputs is possible.
• The HM_bEnable enable input is set to TRUE and the controller is
in the "Homing active" function state.
HM_bActive Status signal "Basic function is active"
C02659/7 | BOOL
TRUE Reference search is active (the drive axis is moving).
HM_bDone Status signal "Basic function is ready"
C02659/8 | BOOL
TRUE Reference search is completed.
• Output is reset to FALSE when input HM_bActivateHoming is
reset to FALSE.
HM_bHomePosAvailable Status signal "Reference is known"
C02659/9 | BOOL
TRUE The drive knows the home position.
12.6 Homing
________________________________________________________________

All basic functions  Homing
• Short overview of the parameters for homing:
Parameter Info
C02528 Traversing range
C02640 Homing mode
C02641 Action after detect Home position
C02642 Home position
C02643 Homing: Target position
C02644 Homing: Speed 1
C02645 Homing: Acceleration 1
C02646 Homing: Speed 2
C02647 Homing: Acceleration 2
C02648 Homing: S-ramp time
C02649 Homing: Torque limit
C02650 Homing: Blocking time
C02651 Homing: TP configuration
C02652 Ref. pos. after mains switching
C02653 Max. rot. ang. aft. mns. swtch.
C02656 Actual position (homing)
12.6 Homing
________________________________________________________________
12.6.2.1 Behaviour of the home position after mains switching

If the home position/information is also to be available after mains switching, the setting
C02652 = "1: Received" is required.
Another condition for keeping the home position/information after mains switching is the
compliance with the maximum permissible angle of rotation of the encoder.
• The maximally permissible angle of rotation can be set in C02653 in angular degree [°] with
regard to the encoder shaft (360° ≡ one encoder shaft rotation).
 Note!
Due to the internal numerical format and the resolution of one encoder revolution
according to C00100, the position may not be reconstructed over the complete encoder
range!
• The possible number of revolutions can be calculated as follows:
Number of revolutions = 2(31 - C00100)
• Example: For a standard multiturn absolute value encoder with an absolute display
area of 4096 revolutions (±2048), a maximum position resolution of 20 bits per
revolution can be used!
When resolvers or single-turn absolute value encoders are used and the mains is
switched off (24 V supply off), the encoder may only be moved by ½ revolution since
otherwise the home position will get lost due to the ambiguity of the encoder
information.
When multipole resolvers (C00080 > 1) are used, a renewed homing is required after
mains switching due to the ambiguity of the evaluated position.
12.6 Homing
________________________________________________________________
12.6.2.2 Homing mode

The zero position, also called reference, can be defined by a reference search or reference setting:
• In case of a reference search the drive travels according to a defined mode to detect the
reference independently.
• In case of reference setting the reference is manually set when the drive has stopped.
 Tip!
A reference search is mainly used in the case of continuously running systems, or if the
traversing range or machine cycle of the drive cannot be represented in the display area of
the encoder, e. g. if incremental encoders are used at the motor, or singleturn absolute
value encoders or resolvers are used at the gearbox.
A reference is mainly set in systems/machines that bear the risk of collisions, or every time
no homing can be executed (e.g. in case of a cross cutter having material in the machine).
• For reference setting, select the homing mode "100" in C02640.

• For a reference search the homing modes 0"..."15" are provided in C02640.
• For process descriptions see the chapter "Overview of the Lenze homing modes". ( 466)
• According to the DS402 device profile, additionally the homing modes "1001"..."1035" are
provided in C02640. Process descriptions for these homing modes can be found in the
chapter "Overview of DS402 homing modes". ( 466)
 Note!
Profile data set change-over
For the reference search, two profile data sets with different speeds and accelerations
can be parameterised. In this way, the homing time can be reduced and at the same time
the accuracy can be increased.
Profile data set change-over ( 463)
The process descriptions in the following chapters provide information on the time the
change-over to the profile data set 2 takes place in the corresponding homing mode.
Overview of the Lenze homing modes ( 466)
Overview of DS402 homing modes ( 478)
If the speed 2 (C02646) is set to "0" (Lenze setting), no change-over to the profile data set
2 takes place and the reference search and positioning to the target position is only
executed with the profile parameters of the profile data set 1.
 Note!
Drive behaviour after setting the reference
C02641 can be used to parameterise the drive behaviour after setting the home position.
Drive behaviour after setting the home position ( 462)
In the Lenze setting (C02641 = "0"), the drive traverses to the absolute target position set
in C02643 similarly to the behaviour known from the previous versions.
12.6 Homing
________________________________________________________________
12.6.2.3 Home position & target position

When the home position is set during the reference search, the position detected in the machine
measuring system corresponds to the value set in C02642.
• The subsequent drive behaviour is determined by the mode parameterised in C02641. See the
below chapter "Drive behaviour after setting the home position".
12.6.2.4 Drive behaviour after setting the home position

C02641 can be used to select the drive behaviour after setting the home position.
Selection "0: Move absolute on Target position"

After setting the home position (C02642), the drive moves to the absolute target position set in
C02643.
This selection is the Lenze setting and corresponds to the behaviour known from the previous
versions.
Selection "1: Move relative by Target position"

After setting the home position (C02642), the drive moves relatively by the target position set in
C02643.
Selection "2: Stop immediately"

After setting the home position (C02642), the drive stops immediately.
12.6 Homing
________________________________________________________________
12.6.2.5 Profile data set change-over

For the reference search two profile data sets can be parameterised to reduce the homing time and
increase the accuracy:
Profile data set 1 Profile data set 2

C02644 Speed 1 C02646 Speed 2
C02645 Acceleration 1 C02647 Acceleration 2
(and deceleration 1) (and deceleration 2)
C02648 S-ramp time C02648 S-ramp time
(identical in the two profile data sets) (identical in the two profile data sets)
Setting the S-ramp time ( 422) Setting the S-ramp time ( 422)
• With the profile data set 1 first the limit switch/reference switch (depending on the mode
selected) is quickly approached.
• After reversing on the limit switch/reference switch, the slower – but more accurate – approach
of the encoder zero pulse/touch probe sensor and the positioning to the target position
(C02643) are effected with profile data set 2.
 Note!
The change-over to profile data set 2 is only effected if speed 2 (C02646) is set > "0"!
In the Lenze setting (C02646 = "0") no change-over to the profile data set 2 takes place
and the reference search and positioning to the target position is only executed with the
profile parameters of the profile data set 1.
The process descriptions of the homing modes provide information about when the
change-over to profile data set 2 takes place in the respective homing mode. Overview
of the Lenze homing modes ( 466)
12.6 Homing
________________________________________________________________
n Example: Procedure of mode 2:

A. Movement in positive direction with

profile data set 1.
t
B. Reversing to positive travel range

limit switch.
bActivate 0 C. Positive edge at HM_bHomingMark
TRUE
activates profile data set 2 for the
FALSE
t further reference search.
bLimitSwitchPos 1 D. Negative edge at HM_bHomingMark
enables home position detection.
TRUE
FALSE
t
E. The following positive edge of the
bHomingMark 23 encoder zero pulse (MP) sets the
TRUE
reference.
FALSE
t
F. Drive has reached defined target
TP/MP 4 position.
TRUE
FALSE
t
bBusy 5
TRUE
FALSE
t
bHomePosAvailable
TRUE
FALSE
t
bDone
TRUE
FALSE
t
 C02644: Speed 1
 C02646: Speed 2
 C02645: Acceleration 1 (and deceleration 1)
 C02647: Acceleration 2 (and deceleration 2)
 C02648: S-ramp time
 C02643: Target position
12.6 Homing
________________________________________________________________
12.6.2.6 Homing to end stop

By selecting the homing modes 14 & 15, homing to end stop can be executed as follows:
1. The drive travels with reduced torque in positive direction (mode 14) or negative direction
(mode 15).
2. When the drive hits an end stop so that the torque limit set in C02649 is exceeded for the
blocking time defined in C02650, the reference is set.
• If a reference offset is set, traversing takes place around this offset in a correctly signed
manner.
Mode 14: positive direction to torque limit ( 477)
Mode 15: negative direction to torque limit ( 477)
12.6.2.7 Connection of reference switch

For the homing modes with reference switch, the HM_bHomingMark control input must be
connected to the digital input which is connected to the reference switch.
12.6.2.8 Touch probe interface configuration

The touch probe channel to be used for homing with touch probe detection in »Engineer« is selected
on the Application parameters tab in the dialog level Overview  All basic functions  Homing  TP
interface.
• The setting carried out in this parameterisation dialog directly affects the setting of C02651
("Homing: TP configuration") and vice versa.
• For directly setting C02651 (e. g. by means of the keypad) the corresponding decimal values are
listed for all configuration options in the following table:
Selection Touch probe response

Touch probe channel Positive edge Negative edge Both edges
Digital input 1 1 2 3
Digital input 7 4096 8192 12288
Digital input 8 16384 32768 49152
Motor encoder zero pulse 65536
Position encoder zero pulse 262144
• Example: For selecting the touch probe channel "Digital input 1" and a response only to a
negative edge, the decimal value "2" has to be set in C02651.
12.6 Homing
________________________________________________________________
12.6.3 Overview of the Lenze homing modes
In the following subchapters the procedures of homing modes 0 ... 15 are described, which can be
selected in C02640.
Homing mode Evaluated signals/sensors

C02640 Touch probe sensor/ Travel range limit switch Reference switch at
encoder zero pulse HM_bHomingMark
Negative limit switch Positive limit switch
0  
1  
2   
3   
4  
5  
8 
9 
10  
11  
12 
13 
14 Positive direction of rotation to torque limit.
15 Negative direction of rotation to torque limit.
100 Set reference directly.
The switches/sensors are evaluated via the following internal interfaces:
Switch/sensor Internal interface for digital input signal

Touch probe sensor DIGIN_bIn1 ... DIGIN_bIn8
• Alternatively the motor encoder or position encoder zero pulse
can be evaluated.
Touch probe interface configuration ( 465)
Positive travel range limit switch LIM_bLimitSwitchPositive (basic function "Limiter")
Negative travel range limit switch LIM_bLimitSwitchNegative (basic function "Limiter")
Reference switch HM_bHomingMark (basic function "Homing")
 Note!
The following process descriptions give information about the time the change-over to
the profile data set 2 takes place in the corresponding homing mode.
12.6 Homing
________________________________________________________________
 Note!
Mode 0: pos. direction - via home mark - to TP
1
 Touch probe/zero pulse
 Reference switch
Procedure:
1. Movement in positive direction with profile data set 1.
2. Positive edge at HM_bHomingMark activates profile data set 2 for the further reference search.
3. Negative edge at HM_bHomingMark enables home position detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the reference.
5. Absolute positioning to target position (C02643) with profile data set 2 (if C02641 = "0").
12.6 Homing
________________________________________________________________
Mode 1: neg. direction - via home mark - to TP
1
Procedure:
1. Movement in negative direction with profile data set 1.
Mode 2: pos. direction - reversing to limit switch - via home mark - to TP
2
 Positive travel range limit switch
Procedure:
2. Reversing to positive travel range limit switch.
12.6 Homing
________________________________________________________________
Mode 3: neg. direction - reversing to limit switch - via home mark - to TP
2
 Negative travel range limit switch
Procedure:
2. Reversing to negative travel range limit switch.
12.6 Homing
________________________________________________________________
Mode 4: pos. direction - reversing to home mark - to TP
1
2
1
Procedures:
Case 1: Axis has not yet activated the reference switch:

2. Reversing with positive edge at HM_bHomingMark and simultaneous activation of the profile
data set 2 for further reference search.
Case 2: Axis already stands on the reference switch:

12.6 Homing
________________________________________________________________
Mode 5: neg. direction - reversing to home mark - to TP
1
2
1
Procedures:

2. Reversing with positive edge at HM_bHomingMark and simultaneous activation of the profile
data set 2 for further reference search.

12.6 Homing
________________________________________________________________
Mode 8: positive direction to touch probe
0
Procedure:
2. The following positive edge of the touch probe sensor sets the reference.
Mode 9: negative direction to touch probe
0
Procedure:
12.6 Homing
________________________________________________________________
Mode 10: pos. direction - reversing to limit switch - to TP
1
 Positive travel range limit switch
Procedure:
2. Reversing when the edge of the positive travel range limit switch is positive and, at the same
time, activation of profile data set 2 for continued reference searching.
3. The touch probe signal is evaluated while reserving the limit switch.
 Note!
The touch probe detection is already activated after reversing to the travel range limit
switch, i.e. the home position may be set to the travel range limit switch.
• We therefore recommend to set a target position (C02643) unequal to the home
position (C02642), in order to reenable the activated limit switch. Otherwise, the
positioning process to the target position may be aborted by the basic function
"Limiter" (see status signal HM_dnState).
• We recommend the use of the DS402 homing methods 1 and 2 if the touch probe
detection (especially the one of the motor zero pulse) is to be activated after the travel
range switch has been left. Overview of DS402 homing modes ( 478)
12.6 Homing
________________________________________________________________
Mode 11: neg. direction - reversing to limit switch - to TP
1
 Negative travel range limit switch
Procedure:
2. Reversing when the edge of the negative travel range limit switch is positive and, at the same
time, activation of profile data set 2 for continued reference searching.
3. The touch probe signal is evaluated while reserving the limit switch.
 Note!
The touch probe detection is already activated after reversing to the travel range limit
switch, i.e. the home position may be set to the travel range limit switch.
• We therefore recommend to set a target position (C02643) unequal to the home
position (C02642), in order to reenable the activated limit switch. Otherwise, the
positioning process to the target position may be aborted by the basic function
"Limiter" (see status signal HM_dnState).
• We recommend the use of the DS402 homing methods 1 and 2 if the touch probe
detection (especially the one of the motor zero pulse) is to be activated after the travel
range switch has been left. Overview of DS402 homing modes ( 478)
12.6 Homing
________________________________________________________________
Mode 12: positive direction to limit switch
0
 Positive travel range limit switch
Procedure:
2. Positive edge of the travel range limit switch sets reference.
 Note!
The load machine can also leave the travel range limit switch. There follows a return to
the home position that was set with the positive edge of the travel range limit switch.
• It is possible that, as a result, the machine will remain on an operated limit switch.
• Therefore it is recommended to set a target position (C02643) that is unequal to the
home position (C02642) to release the activated limit switch again.
12.6 Homing
________________________________________________________________
Mode 13: negative direction to limit switch
0
 Negative travel range limit switch
Procedure:
2. Positive edge of the travel range limit switch sets reference.
 Note!
The load machine can also leave the travel range limit switch. There follows a return to
the home position that was set with the positive edge of the travel range limit switch.
• It is possible that, as a result, the machine will remain on an operated limit switch.
• Therefore it is recommended to set a target position (C02643) that is unequal to the
home position (C02642) to release the activated limit switch again.
12.6 Homing
________________________________________________________________
Mode 14: positive direction to torque limit
Procedure:
1. Movement in a positive direction with reduced torque and profile data set 1.
2. The reference is set if the two following conditions for the time set in C02650 are fulfilled at the
same time:
• The current speed is lower than the threshold for standstill detection set in C00019.
• Current torque is greater than the torque limit set in C02649 ("Homing to end stop").
Mode 15: negative direction to torque limit
Procedure:
1. Movement in a negative direction with reduced torque and profile data set 1.
2. The reference is set if the two following conditions for the time set in C02650 are fulfilled at the
same time:
• The current speed is lower than the threshold for standstill detection set in C00019.
• Current torque is greater than the torque limit set in C02649 ("Homing to end stop").
Mode 100: Set reference directly
During the drive is at standstill, the measuring system is set by means of the home position
parameterised in C02642.
12.6 Homing
________________________________________________________________
12.6.4 Overview of DS402 homing modes
In addition to the homing modes described in the previous subchapter "Overview of the Lenze
homing modes", also the homing modes described in the following can be selected for a homing in
C02640 according to the DS402 device profile.
DS402 Evaluated signals/sensors

homing method Touch probe sensor/ Travel range limit switch Reference switch at
encoder zero pulse HM_bHomingMark
Negative limit switch Positive limit switch
01  
02  
03  
04  
05  
06  
07   
08   
09   
10   
11   
12   
13   
14   
15 Reserved: no homing is executed.
17 
18 
19 
20 
21 
22 
23  
24  
25  
26  
27  
28  
29  
30  
33 
34 
35 Direct reference setting.
The switches/sensors are evaluated via the following internal interfaces:
12.6 Homing
________________________________________________________________
Switch/sensor Internal interface for digital input signal

Touch probe sensor DIGIN_bIn1 ... DIGIN_bIn8
• Alternatively the motor encoder or position encoder zero pulse
can be evaluated.
Touch probe interface configuration ( 465)
Positive travel range limit switch LIM_bLimitSwitchPositive (basic function "Limiter")
Negative travel range limit switch LIM_bLimitSwitchNegative (basic function "Limiter")
Reference switch HM_bHomingMark (basic function "Homing")
 Note!
The following process descriptions give information about the time the change-over to
the profile data set 2 takes place in the corresponding homing mode.
 Note!
12.6 Homing
________________________________________________________________
Mode 1001: DS402 homing method 01
1
Procedure:
2. Reversing to negative travel range limit switch and change to profile data set 2.
3. Negative edge of the travel range limit switch activates touch probe detection.
1
Procedure:
2. Reversing to positive travel range limit switch and change to profile data set 2.
3. Negative edge of the travel range limit switch activates touch probe detection.
12.6 Homing
________________________________________________________________
1
2
1
Procedures:

2. Reversing with positive edge of the reference switch and change to profile data set 2.
3. Negative edge of the reference switch activates touch probe detection.

12.6 Homing
________________________________________________________________
1
Procedures:

2. Positive edge of the reference switch activates touch probe detection and change to profile data
set 2.

2. Reversing with negative edge of the reference switch.
3. Positive edge of the reference switch activates touch probe detection.
12.6 Homing
________________________________________________________________
1
2
1
Procedures:


12.6 Homing
________________________________________________________________
1
Procedures:

set 2.

12.6 Homing
________________________________________________________________
2
3
2
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
3. Positive edge of the reference switch activates profile data set 2.
Case 2: Axis first activates the reference switch while moving towards the limit switch:

12.6 Homing
________________________________________________________________
1
2
2
Procedures:
set 2.

12.6 Homing
________________________________________________________________
2
Procedures:
set 2.

12.6 Homing
________________________________________________________________
1
2
3
2
Procedures:

12.6 Homing
________________________________________________________________
2
3
2
Procedures:

12.6 Homing
________________________________________________________________
1
2
2
Procedures:
set 2.

12.6 Homing
________________________________________________________________
2
Procedures:
set 2.

12.6 Homing
________________________________________________________________
1
2
3
2
Procedures:

12.6 Homing
________________________________________________________________
Reserved: no homing is executed.
0
 Negative travel range limit switch
Procedure:
2. Reversing to negative travel range limit switch and change to profile data set 2.
3. The following negative edge of the travel range limit switch sets the reference.
0
 Positive travel range limit switch
Procedure:
2. Reversing to positive travel range limit switch and change to profile data set 2.
3. The following negative edge of the travel range limit switch sets the reference.
12.6 Homing
________________________________________________________________
1
2
0
 Reference switch
Procedures:

3. The following negative edge of the reference switch sets the reference.

12.6 Homing
________________________________________________________________
0
Procedures:

2. The following positive edge of the reference switch sets the reference.

12.6 Homing
________________________________________________________________
1
2
0
Procedures:


12.6 Homing
________________________________________________________________
0
Procedures:


12.6 Homing
________________________________________________________________
2
3
1
Procedures:

12.6 Homing
________________________________________________________________
1
2
1
Procedures:

12.6 Homing
________________________________________________________________
1
Procedures:

12.6 Homing
________________________________________________________________
1
2
3
1
Procedures:

12.6 Homing
________________________________________________________________
2
3
1
Procedures:

12.6 Homing
________________________________________________________________
1
2
1
Procedures:

12.6 Homing
________________________________________________________________
1
Procedures:

12.6 Homing
________________________________________________________________
1
2
3
1
Procedures:

12.6 Homing
________________________________________________________________
0
Procedure:
1. Movement in negative direction with profile data set 1 and activation of the touch probe
detection.
0
Procedure:
1. Movement in positive direction with profile data set 1 and activation of the touch probe
detection.
12.6 Homing
________________________________________________________________
Direct reference setting.
12.6.5 Execute homing
Preconditions
• The basic function "Homing" is part of the active application.
Activation
To request the control via the basic function, the HM_bEnable enable input in the application must
be set to TRUE.
• If no other basic function is active, a change-over to the "Homing active" function state is
effected and homing can be carried out via the control inputs.
• A successful change to the "Homing active" function state is displayed by a TRUE signal at the
HM_bEnabled status output.
Deactivation
When the HM_bEnable enable input is reset to FALSE, an active homing is stopped, i.e. the control
inputs for homing are inhibited and the drive is braked to standstill within the deceleration time for
stop.
• The status output HM_bEnabled is reset to FALSE and a change-over from the active "Homing
active" function state via the "Drive is stopped" function state back to the basic state "Drive at
standstill" is carried out.
12.6 Homing
________________________________________________________________
12.6.5.1 Starting reference search/setting the reference directly

By setting the HM_bActivateHoming control input to TRUE, the reference search in the selected
homing mode is started.
• During reference search, the HM_bActive status output is set to TRUE.
• By setting the status output HM_bHomePosAvailable to TRUE, it is already signalised during the
reference search that the home position has been found. Depending on the homing mode
selected, the drive traverses further on to the target position set in C02643.
• When the reference search is completed, the HM_bActive status output is reset to FALSE and the
HM_bDone status output is set to TRUE.
 Note!
In the homing mode "100: Set reference directly" no reference search is started, but the
home position set in C02642 is directly accepted.
12.6.5.2 Loading home position via input

By setting the control input HM_bLoadHomePos to TRUE, the "Tool position" that is pending at input
HM_dnHomePos_p is manually accepted as home position during the drive is at standstill. This is
also possible if the controller is inhibited.
• The HM_bDone status output is set to TRUE for one cycle.
• The HM_bHomePosAvailable status output is set to TRUE.
 Note!
If the V/f control or sensorless vector control is selected, this function can be activated
irrespective of the use of the position controller.
12.6.5.3 Resetting home position

By setting the control input HM_bResetHomePos to TRUE, the "Home position known" status can be
reset.
• The status outputs HM_bDone and HM_bHomePosAvailable are reset to FALSE.
 Note!
If the V/f control or sensorless vector control is selected, this function can be activated
irrespective of the use of the position controller.
12.7 Positioning
________________________________________________________________
12.7 Positioning
The basic function "Positioning" provides the functions for executing the (travel) profiles and
supports an "override" of speed and acceleration.
• A profile describes a motion request which can be implemented by this basic function into a
rotary motion.
• A profile is described via the following profile parameters: Mode (type of positioning), position,
speed, acceleration, deceleration, S-ramp time, final speed, standard sequence profile, TP
sequence profile, TP window starting and end position and touch probe signal source(s).
 Note!
For positioning, setpoint speeds greater than 30000 rpm are not possible. The speeds
If the basic function is activated for a speed greater than 30000 rpm (e. g. if the basic
function "Speed follower" is replaced), the internal limitation of the speed setpoint
causes a speed step.
If no position controller has been selected for the position control in case of V/f control
or sensorless vector control (C02570 = "1: Phase controller is active"), positioning is only
executed via the speed profile resulting from the profile parameters. Because of this, the
target positions set will only "roughly" be reached.
12.7 Positioning
________________________________________________________________
12.7.1 Internal interfaces | "LS_Positioner" system block
LS_Positioner
POS_bEnable POS_dnState
POS_bStart POS_bEnabled
n
POS_bAbort POS_bActive
POS_bRestart POS_bDone
t
POS_ProfileData POS_bInTarget
POS_bEnableOverride POS_bActPosInTarget
POS_dnSpeedOverride_n POS_bDriveInTarget
POS_dnAccOverride_n POS_dnSetPos_p
POS_dnDecOverride_n POS_dnProfileTarget_p
POS_bDisableTP POS_dnProfileSpeed_s
POS_dwActualProfileNumber
POS_dnSetPosRelative_p
POS_dnActPosRelative_p
 Note!
permissible!
Inputs

POS_bEnable Requesting control via the basic function

C02679/1 | BOOL
TRUE If no other basic function is active, a change-over to the "Positioning
active" function state is effected and positioning can be carried out
via the control inputs.
TRUEFALSE Active positioning is stopped, i. e. a change-over from the active
"Positioning active" function state via the "Drive is stopped" function
POS_bStart Starting positioning
C02679/2 | BOOL
FALSETRUE The profile POS_ProfileData is executed.
FALSETRUE "Restart"
(once again) • During an active positioning process, another profile can be
specified via the input POS_ProfileData which is executed after
restart.
• Distances of a relative positioning that have already been covered
are not taken into consideration.
POS_bAbort Aborting or interrupting positioning
C02679/3 | BOOL
FALSETRUE The current profile is not completed but braked to standstill with the
deceleration defined in the profile data.
TRUE A restart via POS_bStart or the continuation of an interrupted
positioning via POS_bRestart is inhibited.
FALSE A restart via POS_bStart or the continuation of an interrupted
positioning via POS_bRestart is possible again.
• If the restart signal POS_bRestart is already effected during the
deceleration phase, positioning is continued immediately.
12.7 Positioning
________________________________________________________________

POS_bRestart Continue interrupted positioning

C02679/4 | BOOL • Only possible if POS_bAbort has been reset from TRUE to FALSE.
TRUE The positioning interrupted before via POS_bAbort is completed.
are taken into consideration.
FALSETRUE "Restart"
(once again) • During an active positioning process, another profile can be
specified via the input POS_ProfileData which is executed after
restart.
are taken into consideration.
POS_ProfileData Pointer to the profile to be executed in internal units (increments)
• A profile linkage results from the fact that a pointer to the sequence profile is
contained within the profile.
POS_bEnableOverride Activating override
C02679/5 | BOOL
TRUE Override of the speed, acceleration, and deceleration is active.
POS_dnSpeedOverride_n Value for speed override
C02677/1 | DINT • Percentage multiplier for the current profile parameter "Speed".
• 230 ≡ 100 % of the speed defined in the profile.
POS_dnAccOverride_n Value for acceleration override
C02677/2 | DINT • Percentage multiplier for the current profile parameter "Acceleration".
• 230 ≡ 100 % of the acceleration defined in the profile.
• Values ≤ 0 % are internally set to 0 % ("no acceleration").
POS_dnDecOverride_n Value for deceleration override
C02677/3 | DINT • Percentage multiplier for the current profile parameter "Deceleration".
• 230 ≡ 100 % of the acceleration defined in the profile.
• Values ≤ 0 % are internally set to 0 % ("no deceleration").
POS_bDisableTP Deactivating touch probe positioning
C02679/6 | BOOL
TRUE Detected touch probes are ignored. There is no automatic change-
over to the TP sequence profile defined in the profile data.
12.7 Positioning
________________________________________________________________
Outputs
POS_dnState Status (bit coded)

Bit 1 Positioning is active.
Bit 2 Positioning is completed (all profiles have been executed).
Bit 4 Actual position in the target
• The actual position value of the drive has reached the target of
the last profile to be traversed within the tolerance window set in
C02670.
Bit 6 Set position reached (in case of sequence profiles the drive continues
to travel).
Bit 10 Zero crossing in the positioning mode "modulo".
Bit 11 Positioning cannot be continued.
Bit 12 Drive in the target (actual position and set position in the target).
Bit 16 Positioning is aborted.
Bit 17 Reversing phase is active.
Bit 19 Acceleration or deceleration override ≤ 1 %
Bit 20 Position is limited by basic function "Limiter".
Bit 21 Profile data are limited by basic function "Limiter".
Bit 22 Direction is inhibited by basic function "Limiter".
Bit 23 Abort by basic function "Limiter".
Bit 24 Home position is not known.
• Basic function is enabled for the first time but no positioning has
been requested / is active yet.
Bit 26 Cycle is not known.
Bit 27 Invalid positioning mode.
Bit 28 Invalid change of the positioning mode.
Bit 29 Profile data are not plausible or incorrect.
POS_bEnabled Status signal "Basic function is enabled"
C02679/7 | BOOL
TRUE Positioning via the control inputs is possible.
• The POS_bEnable enable input is set to TRUE and the controller is
in the "Positioning active" function state.
POS_bActive Status signal "Basic function is active"
C02679/8 | BOOL
TRUE Positioning is active (the drive axis is moving).
POS_bDone Status signal "Basic function is ready"
C02679/9 | BOOL
TRUE Positioning is completed.
• The profile is executed and no sequence profile is defined.
POS_bInTarget Status signal "Setpoint has reached target position"
C02679/10 | BOOL
FALSE Positioning is still active or has been aborted.
TRUE The current position setpoint has reached the target position.
12.7 Positioning
________________________________________________________________
POS_bActPosInTarget Status signal "Actual position in the target"

C02679/11 | BOOL • In case of sequence profiles: the target position of the last profile to be traversed.
Actual value-based evaluation "Target position reached" ( 515)
TRUE The current actual position value of the drive has reached the target
of the last profile to be traversed within the tolerance window set in
C02670.
POS_bDriveInTarget Status signal "Drive in the target"
C02679/12 | BOOL • In case of sequence profiles: the target position of the last profile to be traversed.
• The status is also output if the basic function "Positioning" is deactivated.
Actual value- and setpoint-based evaluation "Drive in the target" ( 516)
FALSETRUE The current actual position value of the drive has reached the target
position within the profile to be traversed last within the tolerance
window set in C02671. At this time, the current position setpoint has
already reached the target position.
• In the case of positioning processes with sequence profiles, the
output is only set to TRUE after the last profile to be traversed.
TRUEFALSE The current actual position value of the drive has exited the
tolerance and hysteresis window set in C02671 and C02672 again
after a positioning process has been completed.
FALSETRUE If C02673 = "1", a modulo evaluation is carried out in all cycles (Lenze
(once again) setting):
• The output is set to TRUE again if the current actual position value
of the drive enters the tolerance and hysteresis window in an
optional modulo cycle again.
If C02673 = "0", a modulo evaluation is only carried out in the
modulo cycle of the target setpoint:
• The output is set to TRUE again if the current actual position value
of the drive enters the tolerance and hysteresis window in the
same modulo cycle again.
POS_dnSetPos_p Current position setpoint in [increments]
C02678/1 | DINT • Reference point is the home position.
POS_dnProfileTarget_p Target position of the current profile in [increments]
C02678/2 | DINT • Reference point is the home position.
POS_dnProfileSpeed_s Current setpoint speed of the current profile as speed in [rpm]
C02676 | DINT • Taking a speed override into consideration.
POS_ Profile number (1 .... 100) of the current profile
dwActualProfileNumber
C02674 | DWORD
POS_dnSetPosRelative_p Current relative position setpoint of the current positioning in [increments]

C02678/3 | DINT • The value is also output if the basic function "Positioning" is deactivated.
• Reference point is the starting position of the current profile.
• After a positioning process has been completed, the output keeps the last relative
value of the setpoint profile.
• The output is reset when a new positioning is started, or when the home position
is set.
POS_dnActPosRelative_p Current relative actual position value of the current positioning in [increments]
C02678/4 | DINT • The value is also output if the basic function "Positioning" is deactivated.
• Reference point is the starting position of the current profile.
• The output follows the current position even if the basic function "Positioning" is
no longer active.
• The output is reset when a new positioning is started, or when the home position
is set.
12.7 Positioning
________________________________________________________________
12.7.1.1 Possibilities for the selection of the profile

For specifying as well as storing and managing (travel) profiles, the following function blocks are
available:
Function block Function

L_PosPositionerTable ...serves to store and manage up to 100 (travel) profiles and to "Teach"
positions, speeds, accelerations/decelerations and S-ramp times.
• A further important task of this FB is the conversion of the table values
according to the preselected scaling in the LS_DriveInterface SB.
L_PosProfileTable ...serves to store and manage up to four (travel) profiles and allows the
"teaching" of target positions.
• In contrast to the FB L_PosPositionerTable this FB does not use any
variable tables but the data of the profile parameters are entered directly
into the assigned codes.
• The position at the input dnExtPos_p is used as target position as a
further specific feature for the selection of profile no. 1.
L_PosProfileInterface ...provides a profile data set for the LS_Positioner SB.
Related topics:
Setting the S-ramp time ( 422)
12.7 Positioning
________________________________________________________________
Setting parameters is not required for the basic function "Positioning".

• After activating the function, the profile is executed which has been transferred from the
application to the basic function via the input POS_ProfileData.
• For profiles with touch probe positioning mode (residual path positioning) touch probe is
detected implicitly.
Related topics:
Setting the S-ramp time ( 422)
12.7.2.1 Actual value-based evaluation "Target position reached"

An actual value-based evaluation on whether the drive has reached the target position can be
carried out by means of the output POS_bActPosInTarget and parameterisation of C02670.
• The output POS_bActPosInTarget is set to TRUE if the current actual position value of the drive
has reached the target position of the profile to be traversed last within the tolerance window
set in C02670.
• Hence, for sequence profiles the evaluation is only valid for the target position of the last
profile.
• If C02670 is set to "0" (Lenze setting), the evaluation is setpoint-based and the signal at the
POS_bActPosInTarget output corresponds to the POS_bDone signal.
 Tip!
In many cases the signal POS_bActPosInTarget only has to be evaluated if the setpoint has
also reached the target position.
Via the output POS_bDriveInTarget, it is displayed whether the setpoint position and the
actual position are in the target. Actual value- and setpoint-based evaluation "Drive in
the target" ( 516)
12.7 Positioning
________________________________________________________________
12.7.2.2 Actual value- and setpoint-based evaluation "Drive in the target"

An actual value- and setpoint-based evaluation on whether the drive is in the target can be carried
out by means of the output POS_bDriveInTarget and parameterisation of C02671, C02672, and
C02673.
• The output POS_bDriveInTarget is set to TRUE if the current actual position value of the drive has
reached the target position of the profile to be traversed last within the tolerance window set
in C02671.
• At this time, the current setpoint value has already reached the target position, i. e. the actual
position and set position are in the target.
• In the case of positioning processes with sequence profiles, the output is only set to TRUE
after the last profile to be traversed.
• The output POS_bDriveInTarget is reset to FALSE if the current actual position value of the drive
has exited the tolerance and hysteresis window set in C02671 and C02672 again after a
positioning process has been completed.
• How the modulo evaluation is to be carried out if the actual position value enters the tolerance
and hysteresis window again can be set in C02673:
• Modulo evaluation in all cycles (Lenze setting):
The output POS_bDriveInTarget is set to TRUE again if the current actual position value of the
drive enters the tolerance window again in an optional modulo cycle.
• Modulo evaluation only in the modulo cycle of the target setpoint:
The output POS_bDriveInTarget is set to TRUE again if the current actual position value of the
drive enters the tolerance window again in the same modulo cycle.
• A new FALSETRUE edge at the output POS_bDriveInTarget after a positioning process has been
completed can for instance occur when the basic function is deactivated afterwards, and if the
drive axis is skewed so that the tolerance and hysteresis window is exited and then the
tolerance range is entered again.
Short overview of the parameters for the actual value- and setpoint-based evaluation:

Value Unit
C02671 Tolerance for target position 2.0000 Unit

C02672 Hysteresis for target position 1.0000 Unit
C02673 Activate DriveInTarget Modulo All cycles
12.7 Positioning
________________________________________________________________
12.7.3 Carrying out positioning
Preconditions
• The basic function "Positioning" is part of the active application.
Activation
To request the control via the basic function, the POS_bEnable enable input in the application must
be set to TRUE.
• If no other basic function is active, a change-over to the "Positioning active" function state is
effected and positioning can be carried out via the control inputs.
• A successful change to the function state "Positioning active" is displayed by a TRUE signal at the
POS_bEnabled status output.
Deactivation
When the POS_bEnable enable input is reset to FALSE, an active positioning is stopped, i.e. the
control inputs for positioning are inhibited and the drive is braked to standstill within the
deceleration time for stop.
• The status output POS_bEnabled is reset to FALSE and a change-over from the active
"Positioning active" function state via the "Drive is stopped" function state back to the basic
state "Drive at standstill" is carried out.
12.7.3.1 Starting positioning

By setting the control input POS_bStart to TRUE, the positioning process is started.
• The (travel) profile that has been transferred to the basic function via the input POS_ProfileData
is traversed.
12.7.3.2 Aborting/interrupting positioning

By setting the control input POS_bAbort to TRUE, the active positioning can be aborted or
interrupted.
• The current profile is not completed but braked to standstill with the deceleration defined in the
profile data.
• If the control input POS_bAbort remains on TRUE, a restart or the continuation of an interrupted
positioning is inhibited.
• After resetting the control input POS_bAbort to FALSE, a restart or the continuation of an
interrupted positioning process is possible again.
12.7 Positioning
________________________________________________________________
12.7.3.3 Continue interrupted positioning

By setting the control input POS_bRestart to TRUE, an interrupted positioning process can be
continued if the control input POS_bAbort has been reset to FALSE before.
• Distances of a relative positioning that have already been covered are taken into consideration.
• If the continuation of a positioning process via the input POS_bRestart is not possible, this is
displayed via bit 11 of the status output POS_dnState.
• If during an active or cancelled positioning process a change-over is effected (e. g. by activating
a quick stop or inhibiting the controller), it is also possible to continue a positioning process via
POS_bRestart, taking the distance that has already been covered into consideration.
• However, after a homing has been carried out again, or after the following machine parameters
have been changed, a continuation of an interrupted positioning process via the control input
POS_bRestart is no longer possible:
• Encoder resolution (C00100)
• Position encoder selection (C00490), motor encoder selection (C00495)
• Gearbox factors (C02520, C02521, C02522, C02523)
• Feed constant (C02524)
• Motor mounting direction (C02527), position encoder mounting direction (C02529)
• Traversing range (C02528)
• Cycle (C02536) for modulo traversing range
• Position control structure (C02570)
12.7 Positioning
________________________________________________________________
12.7.3.4 Activating override

An "Override" is the change of profile parameters and their acceptance during the positioning
process.
• When the input POS_bEnableOverride is set to TRUE, a speed and acceleration override occurs
according to the override values applied to the inputs POS_dnSpeedOverride_n and
POS_dnAccOverride_n.
• The override values represent percentage multipliers with regard to the current profile
parameters for speed and acceleration.
• For override values ≤ 1 % a status bit is set.
• Override values ≤ 0 % are internally set to 0 %.
• Changes of the override values are accepted in each cycle.
 Note!
The online change of speed and acceleration is in effect from the start of the profile until
the deceleration phase begins. Changing the deceleration phase by means of an override
is therefore not possible!
• In the case of an override value of 0 % for the speed, the drive is brought to a standstill.
• In the case of an override value of 0 % for the acceleration, acceleration does not take
place any longer.
• A deceleration override via the input POS_dnDecOverride_n can also be carried out if the input
POS_bEnableOverride is set to TRUE.
The deceleration override is effective:
• During the deceleration phase of a profile
• During an abort process
• In the case of a speed change-over from a high to a low speed within a profile (e. g. if the
speed override is used)
 Note!
If the override value for deceleration is 0 %, there is no deceleration, i. e. the drive does
not come to a standstill!
• If the input POS_bEnableOverride is reset to FALSE again, the speeds, accelerations, and
decelerations are run again, which have been defined via the profile parameters. There is an
immediate acceleration from the override speed to the speed set in the profile.
12.8 Position follower
________________________________________________________________
This basic function is used as setpoint interface for position-controlled drives.

• The specified position setpoint can either refer to the encoder on the motor side or to the
(position) encoder used additionally to detect the machine position. The selection of the
encoder configuration serves to adapt the internal control structure accordingly.
• Instead of a position setpoint alternatively also a speed setpoint can be specified by an
according selection in C02680; the set position is then calculated by the integration of the speed
setpoint on the basis of the current actual position (relative positioning).
• If the direction of rotation of the motor has to be inverted due to the mounting position of the
motor or the gearbox ratio available, the use of the control signals can be accordingly changed
over by means of parameterisation.
• The speed feedforward control can also be executed with the position setpoint by a
corresponding selection in C02681. Then, the speed is calculated by differentiation of the
position setpoint.
 Stop!
If a limit switch is approached by means of the basic function "Position follower" and by
this a fault with the "Quick stop by trouble" response is activated, always a set/actual
adjustment of the position has to be carried out before the fault is acknowledged, as
otherwise an uncontrolled motor movement may result after the fault is acknowledged!
Hardware limit positions (limit switch) ( 545)
 Note!
The basic function "Position follower" can only be activated for V/f control or sensorless
vector control if the position controller has been selected for the position control
(C02570 = "2: position controller active").
________________________________________________________________
12.8.1 Internal interfaces | "LS_PositionFollower" system block
LS_PositionFollower
PF_bEnable PF_bEnabled
PF_dnPositionSet_p
PF_dnSpeedAdd1_s Position
setpoint
PF_dnSpeedAdd2_n
PF_dnAccAdd_x
M
PF_dnTorqueAdd_n
 Note!
permissible!
Inputs

PF_bEnable Requesting control via the basic function

C02689/1 | BOOL
TRUE If no other basic function is active, a change-over to the "Position
follower active" function state is carried out, and the setpoints
defined are accepted.
TRUEFALSE If no other basic function takes over the control of the drive, the drive
is brought to standstill, i. e. a change-over from the active function
state "Position follower active" via the "Drive is stopped" function
PF_dnPositionSet_p Position setpoint in [increments]
C02688/1 | DINT
PF_dnSpeedAdd1_s Speed feedforward control value in [rpm]

C02686 | DINT
PF_dnSpeedAdd2_n Additional speed setpoint in [%]

C02687/1 | DINT • 100 % ≡ Motor reference speed (C00011)
PF_dnAccAdd_x Motor acceleration
C02685 | DINT • For calculating the acceleration torque (for setting C00276 = "0").
• Selection as speed variation/time in [rpm/s]
PF_dnTorqueAdd_n Additive torque feedforward control value in [%]
C02687/2 | DINT • 100 % ≡ motor reference torque (display in C00057/2).
Outputs
PF_bEnabled Status signal "Basic function is enabled"

C02689/2 | BOOL
TRUE The defined setpoints are accepted.
12.8.2 Signal flow
522
________________________________________________________________
12.8
12
C02527
0 C02559/1
Basic drive functions

Position follower
C02568/4 0
1
0
PF_dnTorqueAdd_n
1
0
PF_dnAccAdd_x i
C02531/3 1
C00273 C00276
MI_dnInertiaAdapt_n C02550/3
C02568/8 0
0
PF_dnSpeedAdd2_n 1
(1)
C02681 C00273 2 Interpolator
1
3
0
PF_dnSpeedAdd1_s 0
i
1
C02531/3 1 0
C00273
Interpolator
Position controller C02556 1
C02553 C00275
1
0 0 C00273
i
Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
(3) C02531/3 1
2 C02550/2 MI_dnSpeedSetpoint_n
Speed controller C00050/1
FDB_dnActualPos_p C02570 C00070 Vp
C02570 C00909/1
C00909/2 C00071 Tn
1 Interpolator Phase controller C00072 Td
0
(4) (6) (7) (8) (2)
i 1
0
C02531/3 1 C00776
PF_dnPositionSet_p (5) C00254 0 2 (9)
C02680 C02550/1
MI_bPosCtrlLimited MI_bSpeedCtrlLimited
0 0 MI_dnPosCtrlAdaptMotor_n MI_bSpeedSetpointLimited
MI_dnTorqueLowLimit_n
C02568/5
MI_dnPosCtrlAdaptLoad_n
1 C02559/2
FDB_dnPosOffset_p MI_bResetSpeedCtrlIntegrator
MI_bPosCtrlIntegratorOn MI_dnSpeedCtrlAdapt_n

Actual position value Motor position Motor speed
Encoder evaluation Encoder evaluation Encoder evaluation
C00770 C00772
... Signals from Signal flow - encoder evaluation ( 284) FDB_... = input/output signals of the Encoder evaluation ( 281)
MI_... = input/output signals of the Motor interface ( 163)
[12-22] Signal flow - position follower
________________________________________________________________


(1) Torque.dnTotalTorqueAdd Additive torque feedforward control value
(3) Position.dnActualLoadPos Actual position
(4) Position.dnPositionSetpoint Position setpoint
(5) Position.dnActualMotorPos Current motor position
(6) Position.dnContouringError Following error
(7) Speed.dnOutputPosCtrl Output signal - phase controller
________________________________________________________________

All basic functions  Position follower
• Short overview of the parameters for the position follower:
Parameter Info
C00050/1 Speed setpoint 1 [rpm]
C00072 Speed controller rate time
C00273/1 Motor moment of inertia
C00273/2 Load moment of inertia
C00275 Signal source - speed setpoint
C00276 Signal source - torque setpoint
C00909/1 Upper speed limit value
C00909/2 Lower speed limit value
C02520 Gearbox factor numerator: Motor
C02521 Gearbox factor denom.: Motor
C02522 Gearbox factor num.: Pos. enc.
C02523 Gearbox fac. denom.: Pos. enc.
C02527 Motor mounting direction
C02550/1 Position setpoint interpolat.
C02550/2 Speed setpoint interpolation
C02550/3 Torque setpoint interpolation
C02553 Position controller gain
C02554 Position controller reset time
C02555 D component position controller
C02559 Internal torque limit
C02680 Source position setpoint
C02681 Source add. speed
12.8.3.1 Setpoint interpolation

When the setpoint interpolation is activated, the motor control creates intermediate values to
"smoothly" follow the setpoints which may be transferred from a slower task.
• C02550/1 = "1": The motor control follows the position setpoint in interpolated steps.
• C02550/2 = "1": The motor control follows the speed setpoint in interpolated steps.
• C02550/3 = "1": The motor control follows the torque setpoint in interpolated steps.
12.8.3.2 Inversion of the direction of rotation

Depending on the motor mounting position, if required, the direction of rotation can be inverted:
________________________________________________________________
12.8.4 Activating setpoint interface
Preconditions
• The basic function "Position follower" is part of the active application.
Activation
To request the control via the basic function, the PF_bEnable enable input in the application must
be set to TRUE.
• If no other basic function is active, a change-over to the "Position follower active" function state
is carried out. Setpoints can now be defined via the corresponding inputs.Signal flow
• A successful change to the "Position follower active" function state is displayed by a TRUE signal
at the status output PF_bEnabled.
 Stop!
The basic function does not take over the control of the drive from the current speed, but
immediately with the setpoint defined, which may cause a jerk!
Deactivation
When the PF_bEnable enable input is reset to FALSE, the setpoint inputs are inhibited. If the drive is
not at standstill, it is braked to standstill within the deceleration time set for stop unless another
basic function takes over the control of the drive.
• The status output PF_bEnabled is reset to FALSE and a change-over from the active "Position
follower active" function state via the "Drive is stopped" function state back to the basic state
"Drive at standstill" is carried out.
12.9 Speed follower
________________________________________________________________
12.9 Speed follower
This basic function is used as setpoint interface for speed-controlled drives.

• The motor control is switched over automatically to speed control with torque limitation.
 Note!
12.9.1 Internal interfaces | "LS_SpeedFollower" system block
LS_SpeedFollower
SF_bEnable SF_bEnabled
SF_dnSpeedSet_n
Speed
SF_dnSpeedAdd_s setpoint
SF_dnAccAdd_x M
SF_dnTorqueAdd_n
 Note!
permissible!
Inputs

SF_bEnable Requesting control via the basic function

C02695/1 | BOOL
TRUE If no other basic function is active, a change-over to the "Speed
state "Speed follower active" via the "Drive is stopped" function state
back to the basic state "Drive at standstill" is carried out.
SF_dnSpeedSet_n Speed setpoint in [%]
C02694/1 | DINT • 100 % ≡ Motor reference speed (C00011)
SF_dnSpeedAdd_s Additive speed setpoint in [rpm]
C02693 | DINT • Without position control function.
12.9 Speed follower
________________________________________________________________

SF_dnAccAdd_x Motor acceleration

C02692 | DINT • For calculating the acceleration torque (for setting C00276 = "0").
• Selection as speed variation/time in [rpm/s]
SF_dnTorqueAdd_n Additive torque feedforward control value in [%]
Outputs
SF_bEnabled Status signal "Basic function is enabled"

C02695/2 | BOOL
12.9 Speed follower
________________________________________________________________
12.9.2 Signal flow
C02527
0 C02559/1
C02568/4 0
1
MI_dnInertiaAdapt_n
C02568/8
0
SF_dnTorqueAdd_n
1 C00276 C02550/3
0
C00273
0
SF_dnAccAdd_x i C00692 1
(1)
C02531/3 1 2 Interpolator
C00273 3
C00273
MI_dnSpeedSetpoint_n
C02550/2 C00909/1 C00050/1
C00909/2
Speed Controller
SF_dnSpeedSet_n 0
(3) (4) (2)
1
(5) C00776
Interpolator C00070 Vp
0
C00071 Tn MI_bTorqueSetpointLimited
SF_dnSpeedAdd_s i C00072 Td
MI_bSpeedCtrlLimited
C02531/3 1 Motor speed MI_bSpeedSetpointLimited
Encoder evaluation
C00576 MI_bSpeedFollowingError
C00772 C00579
0 0
MI_dnTorqueLowLimit_n
C02568/5
1 C02559/2 MI_dnSpeedCtrlAdapt_n
MI_bResetSpeedCtrlIntegrator
 Signal from Signal flow - encoder evaluation ( 284)

[12-23] Signal flow - speed follower


(1) Torque.dnTotalTorqueAdd Additive torque feedforward control value
(3) Speed.dnTotalSpeedAdd Additive speed setpoint
12.9 Speed follower
________________________________________________________________

All basic functions  Speed follower
• Short overview of the parameters for the speed follower:
Parameter Info
C00050/1 Speed setpoint 1
C00072 Speed controller rate time
C00273/1 Motor moment of inertia
C00273/2 Load moment of inertia
C00276 Signal source - torque setpoint
C00576 Speed monitoring window
C00579 Resp. to speed monitoring
C02520 Gearbox factor numerator: Motor
C02521 Gearbox factor denom.: Motor
C02522 Gearbox factor num.: Pos. enc.
C02523 Gearbox fac. denom.: Pos. enc.
C02531/3 Effective gearbox factor (dec.)
C02570 Position control structure

"smoothly" follow the speed and/or torque setpoints which may be transferred from a slower task.

12.9 Speed follower
________________________________________________________________
Preconditions
• The basic function "Speed follower" is part of the active application.
Activation
To request the control via the basic function, the SF_bEnable enable input in the application must
be set to TRUE.
• If no other basic function is active, a change-over to the "Speed follower active" function state
is carried out, and the motor control is automatically switched over to speed control with torque
limitation. Setpoints can now be defined via the corresponding inputs.Signal flow
• A successful change to the function state "Speed follower active" is displayed by a TRUE signal
at the SF_bEnabled status output.
 Stop!
Deactivation
When the SF_bEnable enable input is reset to FALSE, the setpoint inputs are inhibited. If the drive is
• The status output SF_bEnabled is reset to FALSE and a change-over from the active "Speed
12.10 Torque follower
________________________________________________________________
This basic function is used as setpoint interface for torque-controlled drives.

• The motor control is switched over automatically to torque control with speed limitation.
• A stable speed limitation requires a minimum difference of the speed limit values of 50 rpm. If
the defined speed limit values fall below this minimum difference, the internal lower speed
limit value is lowered accordingly. The upper speed limit value remains unchanged. Signal
flow - torque follower ( 533)
 Note!
The basic function "Torque follower" cannot be activated when the V/f control has been
selected.
________________________________________________________________
12.10.1 Internal interfaces | "LS_TorqueFollower" system block
LS_TorqueFollower
TF_bEnable TF_bEnabled
TF_dnTorqueSet_n Torque
setpoint
TF_dnSpeedHighLimit_n
TF_dnSpeedLowLimit_n
M
 Note!
permissible!
Inputs

TF_bEnable Requesting control via the basic function

C02699/1 | BOOL
TRUE If no other basic function is active, a change-over to the "Torque
state "Torque follower active" via the "Drive is stopped" function
TF_dnTorqueSet_n Torque setpoint in [%]
TF_dnSpeedHighLimit_n Upper speed limit value in [%] for speed limitation
C02698/2 | DINT • For positive direction of motion.
• 100 % ≡ Motor reference speed (C00011).
• Negative values are limited internally to the value "0".
TF_dnSpeedLowLimit_n Lower speed limit value in [%] for speed limitation
C02698/3 | DINT • For negative direction of motion.
• 100 % ≡ Motor reference speed (C00011).
• Positive values are limited internally to the value "0".
Outputs
TF_bEnabled Status signal "Basic function is enabled"

C02699/2 | BOOL
________________________________________________________________
12.10.2 Signal flow
C02527
0 C02559/1
C02568/4 0
1 C00909/1
C02550/2 C00909/2 C00070 Vp
Interpolator C00071 Tn
0
TF_dnSpeedHighLimit_n (1) Speed controller 1
0
C02698/2 1 LS_MotorInterface
50 rpm C02550/3 MI_bSpeedSetpointLimited
Interpolator C02569/5
0
TF_dnTorqueSet_n
C02698/1 1 C00696
C02550/2 C00776
0 0
Interpolator MI_bTorqueSetpointLimited
TF_dnSpeedLowLimit_n
C02569/7
C02598/3 1 Speed controller 2
C00909/1 (2) C00070 Vp
C00909/2 C00071 Tn
0 0
MI_dnTorqueLowLimit_n MI_dnSpeedCtrlAdapt_n
C02568/5
C02559/2

1
Motor speed
Encoder evaluation
C00772
 Signal from Signal flow - encoder evaluation ( 284)

[12-24] Signal flow - torque follower


________________________________________________________________

All basic functions  Torque follower
• Short overview of the parameters for the torque follower:
Parameter Info

"smoothly" follow the speed and/or torque setpoints which may be transferred from a slower task.

________________________________________________________________
Preconditions
• The basic function "Torque follower" is part of the active application.
Activation
To request the control via the basic function, the TF_bEnable enable input in the application must
be set to TRUE.
• If no other basic function is active, a change-over to the "Torque follower active" function state
is carried out, and the motor control is automatically switched over to torque control with speed
limitation. Setpoints can now be defined via the corresponding inputs.Signal flow
• A successful change to the function state "Torque follower active" is displayed by a TRUE signal
at the TF_bEnabled status output.
 Stop!
Deactivation
When the TF_bEnable enable input is reset to FALSE, the setpoint inputs are inhibited. If the drive is
• The status output TF_bEnabled is reset to FALSE and a change-over from the active "Torque
12.11 Limiter
________________________________________________________________
12.11 Limiter
The basic function "Limiter" monitors the travel range limits via limit switches and parameterised
software limit positions and can lead the drive to defined limit ranges when being requested
accordingly by the safety module.
 Danger!
The safety is exclusively ensured by the safety module!
When the request for the safety function is cancelled, the drive can restarts
automatically.
Ensure by external measures that the drive only starts after a confirmation (EN 60204).
 Note!
In order to make it possible for the basic function "Limiter" to lead the drive to the limit
ranges defined after a corresponding request by the safety module, before the limits set
for the safety module have been reached and it shuts down the drive, the limits for the
basic function "Limiter" have to be set lower than the limits of the safety module!
See also: Safety engineering ( 406)
12.11.1 Internal interfaces | "LS_Limiter" system block
LS_Limiter
LIM_dwControl LIM_dnState
n
LIM_bLimitSwitchPositive LIM_bLimitationActive
LIM_bLimitSwitchNegative
LIM_bActivateLimitedSpeed1
t
 Note!
permissible!
12.11 Limiter
________________________________________________________________
Inputs

LIM_dwControl Interface to the safety module (bit coded)

C02717 | DWORD • For a simple connection of the safety module to the application, the transmission
of the currently valid safety requirement(s) is effected via this bit coded control
signal.
• It is also possible to make several requirements at the same time via the control
signal, e.g. manual jog with limited increment and limited speed 2.
• Bits not listed are reserved for future extensions!
Bit 0 Switched-off torque: request controller inhibit.
• This bit is no longer supported by the control signal of the
LS_SafetyModuleInterface system block.
Bit 1 Stop 1: request quick stop with subsequent controller inhibit.
Bit 2 Stop 2: request quick stop.
• If the automatic brake operation is activated, the brake remains
open at standstill.
Bit 3 Request limited speed 1.
• Change of the traversing profile according to the parameters set
for the limited speed 1 (C02708/1, C02710/1, C02711/1).
• Only effective for the basic functions "Manual jog", "Homing" and
"Positioning".
"Positioning".
"Positioning".
"Positioning".
Bit 7 Only permit positive direction of rotation.
"Positioning".
Bit 8 Only permit negative direction of rotation.
"Positioning".
Bit 10 Limited increment
• Activate maximum distance set in C02713 as limited increment
for the basic function "Manual jog".
Bit 12 Defined limit positions
• Activate software limit positions set in C02701/1 and C02701/2.
12.11 Limiter
________________________________________________________________

LIM_bLimitSwitchPositive Input for positive travel range limit switch

C02719/1 | BOOL
TRUE Limit switch is activated.
LIM_bLimitSwitchNegative Input for negative travel range limit switch
C02719/2 | BOOL
TRUE Limit switch is activated.
LIM_bActivateLimitedSpeed Request limited speed 1
1 • If a setpoint follower is active, no limitation takes place, but an exceeding of the
C02719/3 | BOOL limit values is displayed via the output LIM_dnState.
TRUE Request limited speed 1.
12.11 Limiter
________________________________________________________________
Outputs
LIM_dnState Status word (bit coded)

C02718 | DINT • Bits which are not listed are not assigned with a status (always "0").
Bit 0 Controller inhibit is initiated.
(Safe torque off is requested;
bit 0 of the LIM_dwControl control signal is set to "1".)
Bit 1 Quick stop is initiated.
(Safe stop 1 is requested;
Bit 2 Quick stop is initiated.
(Safe stop 2 is requested;
Bit 3 Profile change due to speed limitation.
(Limited speed 1 is requested;
Bit 7 Only positive direction of rotation is permissible.
• When the direction of rotation is negative while requesting "Only
positive direction of rotation", the drive is braked to standstill.
Bit 8 Only negative direction of rotation is permissible.
• When the direction of rotation is positive while requesting "Only
negative direction of rotation", the drive is braked to standstill.
Bit 10 Increment in manual jog mode is limited.
Bit 12 Limitation of the set position is active.
Bit 16 Positive limit switch inhibits travel in positive direction.
Bit 17 Negative limit switch inhibits travel in negative direction.
Bit 18 Positive software limit position inhibits travel in positive direction.
Bit 19 Negative software limit position inhibits travel in negative direction.
Bit 20 Limitation of speed is active.
Bit 21 Limitation of acceleration is active.
Bit 22 Limitation of deceleration is active.
Bit 23 Limitation of jerk is active (S-ramp time is increased).
LIM_bLimitationActive Status signal "Limitation is active" (group signal)
C02715 | BOOL
TRUE A limitation is active.
12.11 Limiter
________________________________________________________________
12.11.1.1 Interface to the safety module

For the simple connection of the safety module to the application, the transmission of the currently
valid safety requirement(s) is effected in the form of a bit coded control signal via the following
interface:
LS_SafetyModuleInterface LS_Limiter
SMI_dwControl LIM_dwControl
[12-25] Interface to connect the safety module to the basic function "Limiter"
• It is also possible to make several requirements at the same time via the control signal, e.g.
manual jog with limited increment and limited speed 2.
• If no safety module is connected, the control signal can also be generated by means of a
converter block (FB L_DevSMControlEncoder).
12.11 Limiter
________________________________________________________________

All basic functions  Limiter
• Short overview of the parameters for the limiter:
Parameter Info
C02700 Software limits pos. effective
C02701/1 Positive software limit position
C02701/2 Negative software limit position
C02702 Limitations effective
C02703 Max. speed
C02704 Max. speed [rpm]
C02705 Max. acceleration
C02706 Min. S-ramp time
C02707 Permissible direction of rotation
C02708/1...4 Limited speed 1 .... 4
C02709/1...4 Limited speed 1 .... 4 (display in [rpm])
C02710/1...4 Dec. limited speed 1 .... 4
C02711/1...4 S-ramp time limited speed 1 .... 4
C02712/1...4 Dec. time limited speed 1 .... 4
C02713 Max. manual jog distance
C02714 Max. dist. manual control (display in [increments])
C02715 Limitation active (status display)
C02716/1 Resp. to rotation limitation
C02716/2 Resp. to SW lim. pos. exceeded
C02716/3 Resp. to max. value exceeded
C02720 Observation software limit positions
 Note!
The safety module has its own parameters.
Relevant to the basic function "Limiter" are the parameters of the safety modules for
setting "Limited direction of rotation", "Speed with time limit" and "Limited increment
(position)".
However, several other parameters of the safety module have no significance for the
basic function "Limiter", e. g. the parameters for the configuration of the inputs of the
safety module.
In the case of the basic functions Manual job, encoderless ( 446) and Pole position
identification ( 602), the number of available operating modes of the holding brake is
limited. Please refer to the danger notes in the chapters indicated.
12.11 Limiter
________________________________________________________________
12.11.2.1 Software limit positions

The parameterisable limit positions are used by the software to limit the traversing range.
 Note!
Software limit positions are only evaluated and monitored if the drive knows the home
position and the software limit positions are active (C02700 = "1").
• When the traversing range is limited (C02528 = "1") and the software limit positions
are not active, the range is limited by the software to the internal value range that can
be maximally displayed (±231 increments).
• For the "Modulo" traversing range (C02528 = "2") the software limit positions are
generally not effective.
• If the error response that can be set in C02716/2 is deactivated or is only set to
"Warning" or "Information", the software limit positions are not effective in an active
manner for the basic functions "Speed follower", "Torque follower", and "Position
follower"!
• After the software limit positions have been exceeded, it must be ensured before
acknowledging a pending error that the setpoint applied to the SB
LS_PositionFollower is not beyond the software limit positions.
The triggering behaviour of the software limit position monitoring can be parameterised
in C02720.
• If you want to maintain the device behaviour known from the previous versions,
select "1: Based on set and actual value" in C02720.
Triggering behaviour of software limit position monitoring ( 544)
• The positive software limit position is set in C02701/1, and the negative software limit position
is set in C02701/2.
• If the software limit positions are active, travelling commands that would result in exiting from
the permissible travel range can no longer be executed:

ü
C02701/2 C02701/1

 C02701/2: Negative software limit position

 C02701/1: Positive software limit position
 Travel command possible
 Travel command not possible since the target position is outside the permissible traversing range.
[12-26] Example: Traversing range limitation by means of software limit positions
12.11 Limiter
________________________________________________________________
• If the drive is already outside the permissible travel range and the software limit positions have
been activated, only travel commands that result in the drive moving back into the permissible
travel range can be executed:

C02701/2 C02701/1

ü
dnState
Bit 4
1
 C02701/2: Negative software limit position

 C02701/1: Positive software limit position
 Traversing in "retracting direction" possible
 Traversing opposite to "retracting direction" not possible
[12-27] Example: Permissible traversing direction if software limit positions active
• If the software limit positions are active and a software limit position is passed ("overtravel"):
• The error response "quick stop by trouble" is carried out in the Lenze setting, i.e. the drive is
braked to standstill within the deceleration time set for the quick stop function irrespective
of the setpoint selection. The error response can be parameterised in C02716/2.
• The fault message "Pos. SW limit switch overtravelled" or "Neg. SW limit overtravelled" is
entered in the logbook of the controller.
• A corresponding status is output via the LIM_dnState output.
• Depending on the parameterised fault response, the drive cannot traverse until the error has
been acknowledged.
See also: Manual jog to limit position ( 444)
12.11 Limiter
________________________________________________________________
12.11.2.2 Triggering behaviour of software limit position monitoring

C02720 can be used to select the triggering behaviour of the software limit position monitoring of
non-positon-controlled basic functions:
Selection "0: Based on set value"

• If the basic functions "Speed follower" and "Torque follower" are used, the monitoring responds
if the drive is outside the software limit positions and a command to travel in the "forbidden"
direction is given (depending on the speed setpoint of the application).
• For all other non-position-controlled basic functions, the monitoring does not respond if a
software limit position is exceeded.
Selection "1: Based on set and actual value"

• For all non-position-controlled basic functions, the monitoring responds if the actual position
exceeds a software limit position.
• The monitoring also responds in the function states "Controller not ready" and "Error". This
may cause the monitoring to trigger permanently if the drive traverses to a software limit
position and controller inhibit is set subsequently because the actual position slightly
changes around the software limit position.
• If the basic functions "Speed follower" and "Torque follower" are used, the monitoring also
responds if the drive is outside the software limit positions and a command to travel in the
"forbidden" direction is given (depending on the speed setpoint of the application).
 Note!
If the position-controlled basic functions "Manual jog", "Positioning" and "Position
follower" are used, the monitoring responds independently of the triggering behaviour
parameterised in C02720 if one of the following cases occurs:
• The setpoint position exceeds a software limit position.
• A travel command is given which would cause the drive to leave the permissible travel
range.
• The drive is outside the software limit positions and a command to travel in the
"forbidden" direction is given.
If the software limit position monitoring is triggered, the error response parameterised
in C02716/2 is carried out.
12.11 Limiter
________________________________________________________________
12.11.2.3 Hardware limit positions (limit switch)

Monitoring of the travel range limit by means of limit switches is effected via the inputs
LIM_bLimitSwitchPositive and LIM_bLimitSwitchNegative of the LS_Limiter SB.
• The two inputs respond to the TRUE state and are to be connected to the corresponding digital
inputs to which the limit switches are connected:
X5
LS_DigitalInput LS_Limiter
DIGIN_bIn3 LIM_bLimitSwitchPositive
DIGIN_bIn4 LIM_bLimitSwitchNegative
[12-28] Example: Connection of the travel range limit switches to the digital inputs DI3 & DI4
• If the limit switches are connected to decentralised terminals, the two inputs
LIM_bLimitSwitchPositive and LIM_bLimitSwitchNegative can be connected to the decentralised
terminal via a bus system (e. g. system bus).
 Note!
If the digital inputs used for the connection of the limit switches are to be designed in a
fail-safe manner (activation at LOW level), you simply change the terminal polarity of
the corresponding digital inputs in C00114.
• If one of the two monitoring inputs is set to TRUE:

• The error response "quick stop by trouble" is carried out, i.e. the drive is braked to standstill
within the deceleration time set for the quick stop function irrespective of the setpoint
selection.
• The fault message "Pos. SW limit switch has tripped" or "Neg. SW limit has tripped" is entered
in the logbook of the controller.
• The drive can only be traversed again after the error has been acknowledged.
 Stop!
If a limit switch is approached by means of the basic function Position follower and by
this a fault with the "Quick stop by trouble" response is activated, always a set/actual
adjustment of the position has to be carried out before the fault is acknowledged, as
otherwise an uncontrolled motor movement may result after the fault is acknowledged!
12.11 Limiter
________________________________________________________________
 Tip!
An activated limit switch can be retracted using the function "Retracting the limit
switch".Retracting of an activated limit switch ( 445)
See also: Manual jog to limit position ( 444)
12.11 Limiter
________________________________________________________________
12.11.2.4 Limitations
Limit values for the basic functions "Manual jog", "Homing" and "Positioning" can be set via the
following parameters:
Parameter Info
C02703 Max. speed
• Max. permissible speed that can be driven by the system.
• This parameter depends, among other things, on the max. motor speed.
C02705 Max. acceleration
• Max. permissible acceleration or deceleration for positioning processes.
• This parameter depends, among other things, on the motor torque and moment of
inertia of the entire mechanics which is driven during the positioning process.
C02706 Min. S-ramp time
• The parameters depend on the mechanics (e.g. the tool used).

• Usually the parameters must be changed when a tool is exchanged, e.g. by means of a recipe
management of a superimposed control or via an HMI ("Human Machine Interface").
 Note!
In order that the set limit values are effective, "1" must be selected in C02702.
• Irrespective of this setting, basically, the speed setpoint is limited to the motor
reference speed (C00011)!
The limitations are not effective for the basic functions "Speed follower", "Torque
follower" and "Position follower"!
• In case of these basic functions only speed and acceleration are monitored.
• If the limit values for speed and acceleration are exceeded, the response
parameterised in C02716/3 is activated (Lenze setting: no response).
• Background: In the case of technology applications which are synchronised via an
electrical shaft, the setpoint followers may not be limited, since synchronism would
be lost by this. A possible consequence would be a collision of tools.
• If the limit values are switched effectively and a limit value that is set is exceeded:
• The setpoints of the active basic function ("Manual jog", "Homing" or "Positioning") are
changed (limited).
• The response parameterised in C02716/3 (Lenze setting: "No response") is activated.
• A corresponding error message is entered into the logbook of the controller.
• The display parameter "Limitation active" (C02715) is set to "1: Activated".
12.11 Limiter
________________________________________________________________
12.11.2.5 Permissible direction of rotation

Via C02707, or alternatively via the input LIM_dwControl (generally by the control word of the
safety module) the permissible direction of rotation for the basic functions "Manual jog", "Homing",
and "Positioning" can be restricted.
 Note!
The restriction of the permissible direction of rotation is not actively effective for the
basic functions "Speed follower", "Torque follower" and "Position follower"!
• Only the response parameterised in C02716/1 is executed.
(Lenze setting: "No response")
• If the permissible direction of rotation is restricted and a travel command in the inhibited
direction of rotation is requested:
• The movement of the active basic function ("Manual jog", "Homing" or "Positioning") is
cancelled.
• The fault message "Pos. direction of rotation was limited" or "Neg. direction of rotation was
limited" is entered in the logbook of the controller.
12.11 Limiter
________________________________________________________________
12.11.2.6 Limited speed

"Limited speeds" for the basic functions "Manual jog", "Homing" and "Positioning" can be set via the
following parameters:
Parameter Info
C02708/1...4 Limited speed 1 .... 4
C02710/1...4 Dec. limited speed 1 .... 4
C02711/1...4 S-ramp time limited speed 1 .... 4
C02712/1...4 Dec. time limited speed 1 .... 4
 Note!
The limited speeds are not effective for the basic functions "Speed follower", "Torque
follower" and Position follower"!
• The request "Limited speed 1 ... 4" is effected via the input LIM_dwControl, generally by the
control word of the safety module. If no safety module is available, the control word for the
input LIM_dwControl can also be generated by means of an inverter.
• By means of the input LIM_bActivateLimitedSpeed1 additionally the request of "Limited
speed 1" can be effected, e. g. via a digital input that is connected to this input.
• If a limited speed is requested and the current speed exceeds the limited speed:
• The setpoints of the active basic function ("Manual jog", "Homing" or "Positioning") are
changed (limited).
• The error message "Speed has been limited" is entered into the logbook of the controller.
• The display parameter "Limitation active" (C02715) is set to "1: Activated".
Process example: "Manual jog"

1. Manual jog in positive direction is active and the manual speed is greater than the "Limited
speed 1" set.
2. Via the control word of the safety module the "Limited speed 1" is requested.
3. The drive is decelerated to the "Limited speed 1" with the deceleration and S-ramp time set for
the "Limited speed 1".
4. At the same time, a corresponding status is output via the LIM_dnState output.
12.11 Limiter
________________________________________________________________
Priorisation of the limited speeds

• If several limited speeds are requested at the same time, the lowest speed with the greatest
deceleration and the lowest S-ramp time is approached from the parameters of the requested
limited speeds.
12.11.2.7 Limited increment for manual jog

Via C02713 the maximum permissible distance (limited increment) for the basic function "Manual
jog" can be set.
• The request "Limited increment" is effected via the input LIM_dwControl, generally by the
control word of the safety module. If no safety module is available, the control word for the
input LIM_dwControl can also be generated by means of an inverter.
• In C02714 the maximum permissible distance in [increments] is displayed.
12.12 Brake control
________________________________________________________________
12.12 Brake control
This basic function is used for a wear free control and monitoring of a motor holding brake which in
the simplest case is connected to the optionally available motor brake control module.
Alternatively, the motor holding brake can be controlled via a digital output and monitored via a
digital input.
Intended use
Motor holding brakes are used to hold axes in the case of controller inhibit or pulse inhibit and in
the "Mains OFF" system state. This is not only important for vertical axes, but for instance also for
horizontal axes for which an uncontrolled movement can bring about diverse problems.
Examples:
• Loss of the reference information after mains OFF and further spinning of the drive.
• Collision with other moving machine parts.
 Danger!
Please bear in mind that the motor holding brake is an important element of the safety
concept of the entire machine. Thus maintain this system component with special care!
 Stop!
Motor holding brakes at Lenze motors are not designed for braking during operation.
The increased wear resulting from braking during operation may lead to an early
destruction of the motor holding brake!
 Please observe the notes in the hardware manual for mounting and electrical
installation of the motor holding brake!
 Note!
For the operation with the motor brake control module:
• For single-axis controllers (Single Drive) the control (release) of the motor holding
brake is only possible if both the DC-bus voltage and a 24-V supply voltage are
available for the motor brake control!
• For multi-axis controllers (Multi Drive) the motor holding brake can also be released
without a DC-bus voltage.
The operation of vertical drives/hoists is
• only supported up to 55 kW by the V/f control!
• not supported by the sensorless vector control!
When the V/f control or sensorless vector control are selected, standstill monitoring is
always switched off.
12.12 Brake control
________________________________________________________________
12.12.1 Internal interfaces | "LS_Brake" system block
LS_Brake
BRK_bReleaseBrake BRK_dnState
BRK_bStartingTorque2 BRK_bReleaseBrakeOut
BRK_bDisableStop BRK_bBrakeReleased
BRK_dnTorqueAdd_n BRK_bError
BRK_bBrakeApplied BRK_bCInhActive
BRK_bBrakeTest
BRK_bBrakeGrindIn
 Note!
permissible!
Inputs

BRK_bReleaseBrake Releasing/applying the brake in connection with the selected operating mode
C02609/1 | BOOL
FALSE Apply brake.
• During automatic operation, the internal brake logic controls the
brake.
TRUE Release brake.
• During automatic operation, the internal brake logic is
deactivated and the brake is released. If the brake control has
inhibited the controller, this inhibit is deactivated again.
BRK_bStartingTorque2 Selection of the torque feedforward control value
C02609/2 | BOOL • For the general use of the parameterisable starting torque as a feedforward
control value, the setting C02588 = 0 is required.
Torque feedforward control ( 564)
FALSE Starting torque 1 (C02586) is active.
TRUE Starting torque 2 (C02587) is active.
BRK_bDisableStop Prevent the brake from being applied in automatic operation
C02609/10 | BOOL • By this the drive remains position-controlled in the function states "Quick stop
active", "Drive is stopped", and "Drive at standstill".
• The input has no effect when the controller is inhibited.
TRUE The application of the brake in automatic operation is prevented.
BRK_dnTorqueAdd_n Additive torque value in [%] for torque feedforward control during start
C02608 | DINT • 100 % ≡ C00057/2
Torque feedforward control ( 564)
BRK_bBrakeApplied Input for status detection via switching contacts at the brake
C02609/3 | BOOL • Activation of the input by setting C02583 = 1.
Signal configuration ( 555)
FALSE Status "Brake is released".
TRUE Status "Brake is applied".
12.12 Brake control
________________________________________________________________

BRK_bBrakeTest Start/abort of the brake test

C02609/4 | BOOL Carrying out brake test ( 581)
TRUE Carry out brake test
TRUEFALSE Abort brake test (deactivate mode).
BRK_bBrakeGrindIn Start/abort of the brake grinding process
C02609/5 | BOOL Grinding the brake ( 579)
TRUE Brake grinding.
TRUEFALSE Abort grinding process (deactivate mode).
Outputs
BRK_dnState Status (bit coded)

C02607 | DINT • Bits which are not listed are not assigned with a status (always "0").
Bit 1 Brake control is active.
Bit 4 Motor brake control module is used.
Bit 8 Brake status (internal status signal).
Bit 9 Torque feedforward control is active.
Bit 10 Controller inhibit by brake is active or set.
Bit 15 Fault is active (collective message).
Bit 16 State "Grinding the brake".
Bit 17 State "Brake test".
Bit 18 State "Direct control".
Bit 19 State "Automatic control".
Bit 20 Fault: External feedback.
Bit 21 Fault: Position drift when brake is applied/checked.
Bit 22 Error: Monitoring of motor brake control module
Bit 23 Information: Brake activation via waiting time.
Bit 24 Information: Brake grinding process completed.
Bit 25 Information: Brake test completed.
Bit 26 Fault: Feedforward control torque could not be established within
one second.
Bit 27 Information: Current speed has fallen below the threshold for brake
activation set in C02581.
BRK_bReleaseBrakeOut Control signal for triggering an external brake/status signal for control state
C02609/6 | BOOL
FALSE Apply brake.
TRUE Release brake.
BRK_bBrakeReleased Status signal of the brake control considering the closing and opening time of the
C02609/7 | BOOL brake
FALSE Brake applied (after the brake application time has expired).
TRUE Brake released (after the brake release time has expired).
BRK_bError Status signal "Brake error"
C02609/8 | BOOL
TRUE An error has been detected.
BRK_bCInhActive Status signal "Controller inhibit"
C02609/9 | BOOL
TRUE Controller inhibit has been set by brake control.
12.12 Brake control
________________________________________________________________
 Danger!
A faultless brake control function requires a correct setting of the different deceleration
times in the following parameters!
If the delay times are set incorrectly, a faulty control of the motor holding brake may be
caused!
In the case of the basic functions Manual job, encoderless ( 446) and Pole position
identification ( 602), the number of available operating modes of the holding brake is
limited. Please refer to the danger notes in the chapters indicated.

All basic functions  Brake control
• Short overview of parameters for brake control:
Parameter Info
C02580 Operating mode brake
C02581 Threshold - brake activation
C02582 Brake resp. to pulse inhibit
C02583 Status input monitoring
C02585 Brake control polarity
C02586 Starting torque 1
C02587 Starting torque 2
C02588 Source of starting torque
C02589 Brake closing time
C02590 Brake opening time
C02591 Waiting time - status monitoring
C02593 Waiting time - brake activation
C02594 Test torque
C02595 Permissible angle of rotation
C02596 Grinding speed
C02597 Accel./decel. time - grinding
C02598 Grinding ON time
C02599 Grinding OFF time
C02600 Acceleration time feedf. control
C02601 Reference for acceleration time of brake
C02602 Source for feedf. control brake
C02603 Threshold 1 for opening brake
C02604 Threshold 2 for opening brake
12.12 Brake control
________________________________________________________________
12.12.2.1 Modes of operation

Various operating modes are available in C02580 for different applications and tasks:
• Mode 0: Brake control is switched off ( 569)
• Mode 1/11: Direct control of the brake ( 570)
• Without a specific logic or automatic system, can for instance be used to carry out a simple
check on whether the brake switches correctly.
• Mode 2/12: Automatic control of the brake ( 571)
• The normal mode for the control of mech. holding brakes with and without holding torque
precontrol.
• Mode 22: Automatic DC-injection braking ( 576)
• DC-injection braking for V/f control and sensorless vector control.
12.12.2.2 Signal configuration

The signal configuration of the control and status signals for the brake logic and monitoring
function is executed via the parameters shown in the following signal flows.
Direct brake control

This triggering of the holding brake does not need the motor brake control module:
bReleaseBrake bReleaseBrakeOut
Brake logic
?
0
bBrakeApplied Monitoring
1
Digital I/O Digital I/O
DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI DO4 DO3 DO2 DO1 24O GO
0
1
M
 C02583: Status input monitoring
 Brake control via relay/contactor at digital output
 Feedback by "Brake function test"
[12-29] Direct control of the motor holding brake
12.12 Brake control
________________________________________________________________
Triggering the brake via the motor brake control module E94AZHA0051
The design of the motor brake control module E94AZHA0051 enables the external control of the
holding brake via an additional 3-pole terminal (X121).
Brake logic
?
0
1
E94AZHA0051
Digital I/O Digital I/O
DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI DO4 DO3 DO2 DO1 24O GO
4 3
X107/BDx
2 DO DI
X121
M
 Energising the brake via motor brake control module (E94AZHA0051)
 Triggering the motor brake control module
 Feedback via feedback connection X121/DO
[12-30] Signal configuration of the control and status signal with the motor brake control module E94AZHA0051
12.12 Brake control
________________________________________________________________
Triggering the brake via the motor brake control module E94AZHX0051
The motor brake control module E94AZHX0051 does not include an additional 3-pole terminal for
the external control of the holding brake.
Brake logic
?
0 0
1 1
5
Digital I/O
E94AZHX0051
X107/BDx
1 2
M
 C02585: Brake control polarity (for motor brake control module)
 Feedback by "Brake function test"
 Energising the brake via motor brake control module (E94AZHX0051)
 Feedback by "Motor brake control module status"
[12-31] Signal configuration of the control and status signal with the motor brake control module E84AZHX0051
 Note!
If an electrically holding (self-releasing) motor holding brake is to be controlled instead
of an electrically releasing (self-holding) motor holding brake, the corresponding control
and status signals must be inverted!
 Please observe the notes in the hardware manual for mounting and electrical
installation of the motor holding brake!
Status monitoring by "Motor brake control module status"

(See signal path  in fig. [12-30])
• Indirect status detection of the brake function.
• Monitoring of the motor brake control module and the electrical brake circuit.
Status monitoring by "Brake function test"

(See signal path  in fig. [12-29] or [12-31]
• Direct function test of the complete brake circuit by microswitches at the brake.
• Wear control of the brake rotor.
12.12 Brake control
________________________________________________________________
12.12.2.3 Standstill monitoring

After the brake closing time and the waiting time for the status monitoring have elapsed, the
standstill monitoring becomes active, i. e. the holding position is noted and compared to the
permissible angle of rotation set in C02595 (Lenze setting: 5°) when the brake is applied.
• If the stop position of the motor axis has

Stopping/Standstill
changed by more than the permissible
t
angle of rotation set in C02595, although
CINH Controller enabled the brake is engaged:
t • The error message "Motor brake:
0 Angular drift with closed brake too
j
high" is entered into the logbook.
• "Quick stop by trouble" is activated as

t
error response to avoid a further
1 rotation/acceleration of the drive.
• The error output BRK_bError is set to
BRK_bError
TRUE for one task cycle.
t
 Normal behaviour
• The status "position drift when brake is
 Error behaviour applied" is displayed at the BRK_dnState
 C02591: Waiting time - status monit. status output via bit 21 for one task
 C02595: Permissible angle of rotation cycle.
CINH = controller inhibit
[12-32] Automatic monitoring of the holding position
 Note!
The standstill monitoring can be switched off by the setting C02595 = "0°".
If the V/f control or the sensorless vector control is selected, the standstill monitoring is
generally switched off, irrespective of the setting in C02595.
12.12 Brake control
________________________________________________________________
12.12.2.4 Brake activation in automatic operation
Brake activation through N < Nmin
• If the motor speed falls below the

Stopping
threshold for brake activation set in
t
C02581, the function "Close brake" is
activated in the automatic operation
Standstill (mode 2/12).
t • Here only the absolute value of the motor
speed is considered, the direction of
n
rotation remains unconsidered.
0 1 • In manual operation (mode 1/11) C02581

has no function.
t
BRK_bReleaseBrakeOut
t
 Speed setpoint
 Actual speed value
 C02581: Brake activation threshold
[12-33] Process of brake activation through N < Nmin
 Tip!
The value in C02581 should be set to approx. 5 ... 20 % of the maximum speed to minimise
the wear of the brake and also provide for an optimum braking behaviour by a low grinding
of the brake.
12.12 Brake control
________________________________________________________________
Brake activation through time-out

If a waiting time for the brake activation > 0 s is set in C02593, the time monitoring is active, i. e. the
brake at the latest is activated for application after the waiting time has elapsed, even if the actual
speed value is still above the threshold for the brake activation set in C02581.
 Note!
In the Lenze setting the time monitoring is not active (C02593 = "0 s").
• The waiting time starts to elapse if the

Stopping
speed setpoint has reached the threshold
t
for the brake activation.
• If the speed setpoint is still above the
Standstill threshold after the waiting time has
t elapsed:
• The brake is automatically triggered to
n
close in automatic operation (mode 2/
12).
0 1
• The "brake activation via waiting time"
t
status is displayed at the BRK_dnState

status output via bit 23.
BRK_bReleaseBrakeOut • The information "Motor brake:
t Automatically activated after waiting
 Speed setpoint time has elapsed" is entered in the
 Actual speed value logbook.
 C02593: Waiting time for brake activation
[12-34] Process of brake activation through time-out
12.12 Brake control
________________________________________________________________
12.12.2.5 Brake time response
Application and release time
 Danger!
A wrong setting of the closing and opening time can cause a wrong activation of the
motor holding brake!
• When the closing time is set too low, the controller is inhibited and the drive gets
torqueless before the motor holding brake is closed completely.
• Every mechanical motor holding brake has

Stopping/Standstill
a construction-conditioned application
t
and opening time which has to be taken
into consideration by the brake control and
which for this purpose has to be set in
t
C02589 and in C02590.
I BRK • The information on the application and
opening time of a Lenze-motor holding
brake can be found in the corresponding
t Operating Instructions in the chapter
"Technical data".
CINH
• If the application and release times are too
t
long, this is uncritical in respect of safety
 C02589: Brake closing time
but leads to unnecessarily long delays
 C02590: Brake opening time during cyclical braking processes.
[12-35] Definition of the application and release time with the example of the PM brake
 Tip!
The application and release times do not only vary between the brake types but also
depend on the basic conditions in the plant:
• Parameters of the hardware (cable length, temperature, level of supply voltage etc.)
• Contact elements used (motor brake control module or contactor at the digital output)
• Type of overvoltage limitation/suppressor circuit
For optimisation purposes, detect in individual cases the response times by measurement.
12.12 Brake control
________________________________________________________________
Motor magnetising time (only with asynchronous motor)
• When an asynchronous motor is used, first

Stopping/Standstill
the magnetic field required for the holding
t
torque is created (which is already
available when a synchronous motor is
used) after the controller inhibit is
t
deactivated.
I BRK • The brake is only released if the actual
torque has reached 90 % of the
feedforward control torque.
t
CINH
t
 Motor magnetising time
[12-36] Considering the motor magnetising time taking the PM brake as an example
12.12 Brake control
________________________________________________________________
Waiting time for status monitoring

Every time the brake status changes, the waiting time set in C02591 is awaited after the brake
opening or brake closing time has elapsed, before the monitoring of the motor brake control
module and the status input BRK_bBrakeApplied (if activated via C02583) and the standstill
monitoring function are switched active again.
• During the "Closing the brake" process, a mechanical contact must signal the "brake closed"
state after the waiting time has elapsed.
• During the "Releasing the brake" process, a mechanical contact must signal the "brake released"
state after the waiting time has elapsed.
 Tip!
The additional waiting time is based on the fact that during the state change of the brake
also state changes with regard to the monitored signals within the brake logic can occur,
e. g. by bouncing the microswitch on the brake, or activation of the short circuit threshold
within the motor brake control module due to discharge current peaks when the brake
voltage is switched on. These state changes result in the activation of the monitoring
function, although no stationary fault is pending.
• The waiting time in C02591 must be set so

Stopping/Standstill
that bouncing of a feedback contact and
t
the transient response of the brake current
monitoring will be suppressed completely.
t • If no corresponding feedback takes place
after the waiting time has elapsed:
I BRK • The error output BRK_bError is set to
TRUE until the next trigger attempt
starts.
t • The error response "Quick stop by
trouble" is activated.
• The error message "Brake status error" is
0
t entered into the logbook.

1
t
 Brake status (with bouncing or transient response)
 Active status monitoring
 C02589: Brake closing time
 C02590: Brake opening time
 C02591: Waiting time - status monit.
[12-37] Definition of the waiting time for status monitoring
12.12 Brake control
________________________________________________________________
12.12.2.6 Torque feedforward control

In automatic operation (mode 2/12) the brake control offers the possibility of precontrolling the
required torque of the drive when the brake is released.
 Note!
The torque is precontrolled for one second. During this time, the actual torque must have
reached 90 % of the set torque, otherwise a fault is tripped!
The torque feedforward control is also supported for the V/f control.
Via C02588 first the basic selection on whether a parameterised starting torque or the torque
memorised during the last application process is to be used for the feedforward control.
Feedforward control with parameterised starting torque
BRK_bStartingTorque2 • When C02588 = 0, a change-over between

Speed controller two starting torques is possible via input
C02586 0
C02588 = 0 BRK_bStartingTorque2:
0 • BRK_bStartingTorque2 = FALSE: Starting
C02587 1
CTRL torque 1 (C02586) is used.
• BRK_bStartingTorque2 = TRUE: Starting
1
S&H
 C02586: Starting torque 1 torque 2 (C02587) is used.

 C02587: Starting torque 2
 C02588: Source of starting torque
[12-38] Feedforward control with parameterised starting torque
12.12 Brake control
________________________________________________________________
Application example:
A hoist drive is to be operated with different loads. Unfortunately we do not know when the load is
available, but the starting direction (lifting or lowering) is known.
• In a no-load condition, the hoist drive needs a torque of 10 Nm. For holding the maximum load
it needs a torque of 50 Nm.
• The change-over between lifting and lowering at start-up is done via the input
BRK_bStartingTorque2.
• To ensure the correct direction at start-up, the speed controller is loaded with the following
starting torques:
Lifting Lowering
Starting torque: C02586 = 50 Nm C02587 = 10 Nm
• This results in the following behaviour depending on load and direction:
Lifting Lowering
Behaviour at max. load: Optimum behaviour Start-up a bit fast, but correct direction
(non-critical).
Behaviour without load: Start-up a bit fast, but correct direction Optimum behaviour
(non-critical).
Feedforward control with memorised torque
Speed controller
• When C02588 = 1, the starting torque is
C02588 = 1 the setpoint which has been automatically
0
memorised during the last closing process
1
0
CTRL
(falling below the speed threshold set in
S&H 1 C02581).
 C02588: Source of starting torque
 Note!
The greater the threshold for the brake activation set in C02581, the greater the dynamic
portion (e. g. the speed-dependent friction torque) in the memorised torque.
For the specific case that the load is altered while the motor holding brake is closed, a
correction value for the torque feedforward control can be defined via the input
BRK_dnTorqueAdd_n that is added to the memorised torque.
12.12 Brake control
________________________________________________________________
Further torque feedforward control options
Speed controller
• Via the input BRK_dnTorqueAdd_n an
additional feedforward control value can
be defined.
0
CTRL
1
BRK_dnTorqueAdd_n
Application example:
In the case of a hoist drive, the load is always known. For an optimum behaviour a torque
proportional to the load and additionally 10 Nm as a constant feedforward control value should be
loaded into the speed controller.
• As a constant feedforward control value the starting torque 1 is used (C02586 ="10 Nm",
C02588 = "0", and BRK_bStartingTorque2 = FALSE).
• Via the input BRK_dnTorqueAdd_n the torque is specified proportional to the load.
12.12 Brake control
________________________________________________________________
12.12.2.7 Torque feedforward control via ramp function

The brake control additionally offers the possibility of establishing the required torque of the drive
when the brake is released via a parameterisable ramp function.
Settings
1. Go to C02600 and set the acceleration time for the feedforward control.
2. Go to C02601 and select the reference for the acceleration time:
• Selection "0: Motor reference value":
The acceleration time refers to the generation of the motor reference torque (C00057/2), i.e.
the acceleration is constant.
• Selection "1: Starting current value":
The acceleration time refers to the torque requested, i. e. the acceleration time is constant.
Process
0
t
Torque
1
t
2
t
3
Speed follower active
t
Speed
t
 Request of basic function "Speed follower"  open brake
 Torque is generated up to the setpoint via ramp function
 Brake is triggered for being opened
 After brake opening time has elapsed, the basic function "Speed follower" is activated
 C02590: Brake opening time
[12-41] Sequence of torque feedforward control via ramp function
12.12 Brake control
________________________________________________________________
12.12.2.8 Speed feedforward control via ramp function for V/f control
For the V/f control there is the possibility of carrying out a feedforward control by means of a speed
which is generated via a parameterisable ramp.
 Note!
The operation of vertical drives/hoists is only supported up to 55 kW by the V/f control!
Settings:
1. Go to C02602 and set the selection "1: Speed" as source for the feedforward control.
2. Go to C02603 to set the speed threshold from which on the brake is to be opened.
• C02604 can be used to parameterise a second speed threshold which can be activated by
setting BRK_bStartingTorque2 to TRUE.
3. Go to C02600 and set the acceleration time for the feedforward control.
4. Go to C02601 and set the reference for the acceleration time
(0: Motor reference value, 1: Starting current value).
12.12 Brake control
________________________________________________________________
12.12.3 Mode 0: Brake control is switched off
If the mode 0 is selected in C02580, the brake control is switched off.

• If a motor brake control module is available, it will not be triggered.
• The brake monitoring function is not active.
• A potential fault reported by the brake control is reset automatically.
• The output signals of the system block LS_Brake are reset:
• BRK_dnState = 0
• BRK_bReleaseBrakeOut = FALSE
• BRK_bBrakeReleased = FALSE
• BRK_bError = FALSE
 Note!
In the Lenze setting, the mode 0 is preset to get into a safe state after the mains is
switched on.
12.12 Brake control
________________________________________________________________
12.12.4 Mode 1/11: Direct control of the brake
If the mode 1 or 11 has been selected in C02580, the brake is directly controlled via the input
BRK_bReleaseBrake.
 Tip!
Mode 1/11 can be used to easily check if the brake switches correctly.
• By the selection of the mode it is also defined in which way the brake is to be controlled:
• Mode 1: Direct brake control via a motor brake control module.
• Mode 11: Direct brake control via a digital output.
 Note!
The digital outputs are not suitable for the "direct" control of a motor holding brake!
• The digital output used must be connected to a relay or power contactor which
switches the brake supply.
• If a power contactor is used, the response and release time of the contactor contact is
also added to the response and release time of the brake.
• Setting the pulse inhibit or controller inhibit does not influence the output signal.
• After the brake has been activated and the brake closing time has elapsed, the controller inhibit
is set automatically by the basic function "brake control".
• For the operation with a motor brake control module (mode 1) the desired polarity for
controlling the brake can be set in C02585.
12.12 Brake control
________________________________________________________________
12.12.5 Mode 2/12: Automatic control of the brake
If mode 2 or mode 12 is selected in C02580, the brake is controlled automatically, i. e. if another

basic function is activated, which results in a traversing of the drive, the brake is automatically
opened and operation is enabled. If the corresponding basic function is deactivated again, the drive
is stopped via the basic function "Stop" and the brake is automatically closed again if the speed
setpoint and the actual speed value are below the speed threshold set in C02581.
 Tip!
The 2/12 mode is the usual mode to control the brake.
In this mode, the BRK_bReleaseBrake input should be set permanently to FALSE unless a
manual release is required.
If BRK_bReleaseBrake = TRUE, the brake is released permanently and the automatic control
cannot close the brake.
• By the selection of the mode it is also defined in which way the brake is to be controlled:
• Mode 2: Current monitoring active, brake is automatically controlled via motor brake control
module.
• Mode 12: Current monitoring deactivated, brake is controlled via digital output. If a motor
brake control module is installed, this will also be controlled.
 Note!
The digital outputs are not suitable for the "direct" control of a motor holding brake!
• The digital output used must be connected to a relay or power contactor which
switches the brake supply.
• If a power contactor is used, the response and release time of the contactor contact is
also added to the response and release time of the brake.
• The brake is also activated automatically if a quick stop is activated in the drive, e.g. via the basic
function "Quick stop" or as a response to a fault and also in case of a controller inhibit and pulse
inhibit. Behaviour in case of pulse inhibit ( 572)
• By setting the input BRK_bDisableStop to TRUE, an application of the brake at standstill or
during quick stop can be avoided; by this the drive remains position-controlled.
• After the brake has been activated automatically and the brake closing time has elapsed, the
controller inhibit is set automatically by the basic function "brake control".
• For the operation with a motor brake control module (mode 2) the desired polarity for
controlling the brake can be set in C02585.
12.12 Brake control
________________________________________________________________
12.12.5.1 Behaviour in case of pulse inhibit

In case of pulse inhibit the brake is applied. This occurs according to the parameter setting in
C02582 either immediately (default setting) or delayed when the threshold set for brake activation
is fallen below, which can be selected to protect the brake if high centrifugal masses occur.
 Note!
Setting the pulse inhibit results causes the motor to coast down in a load-controlled
manner until pulse enable is carried out again.
Pulse inhibit can be set in the enabled controller, e.g. due to a DC overvoltage, DC
undervoltage or the "Safe torque off" request.
 Stop!
Before setting the parameters of C02582 it is important to assess the energy conditions
of the machine.
The amount of energy stored in the machine can exceed the permissible switching
energy of a motor holding brake at the time of pulse inhibit and can thus destroy the
brake when being applied!
Activate the brake in any case

When C02582 = "0", the brake is immediately triggered to close to prevent the mechanics from
being damaged.
12.12 Brake control
________________________________________________________________
Only activate brake below threshold for brake activation

When C02582 = "1", the brake remains released until the threshold set in C02581 for brake
activation has been reached to protect the brake from excessive wear.
• The braking action only takes places due to the friction in the load mechanics.
• Only when the motor speed has reached the threshold for brake activation, the brake will be
closed.
 Stop!
Do not set the threshold for brake activation in C02581 too high to protect the motor
holding brake from wear!
 Note!
If V/f control without encoder or sensorless vector control is selected, there is no speed
information for the controller in the case of pulse inhibit, therefore the threshold set in
C02581 for the brake activation is not effective in this case.
In order to avoid that the motor holding brake is closed in case of pulse inhibit, a waiting
time for the brake activation can be parameterised in C02593. In case of pulse inhibit,
the motor holding brake is then only triggered to close after this application time has
elapsed. Brake activation in automatic operation ( 559)
12.12 Brake control
________________________________________________________________
12.12.5.2 Process when brake is released

The following process occurs when a basic function is requested which causes the drive to traverse:
1. The controller inhibit is deactivated.
2. The magnetic field required for the holding torque is created in the motor (is already available
when a synchronous machine is used).
3. The feedforward control torque is loaded into the speed controller.
4. If the actual torque has reached 90 % of the feedforward control torque:
• The output BRK_bReleaseBrakeOut is set to TRUE for releasing the brake.
• Monitoring of the motor brake control module is deactivated temporarily.
• Monitoring of the status input is deactivated temporarily (if switched active via C02583).
• The brake opening time starts to elapse.
5. After the brake opening time has elapsed:
• The output BRK_bBrakeReleased is set to TRUE.
• The requested basic function is enabled.
6. After the additional waiting time set for the status monitoring in C02591 has elapsed:
• Monitoring of the motor brake control module is active again.
• Monitoring of the status input is active again (if switched active via C02583).
12.12 Brake control
________________________________________________________________
12.12.5.3 Process when brake is closed

The following process occurs if the enable of the requested basic function for traversing the drive is
deactivated again:
1. The drive is brought to standstill via the basic function "Stop", or, where required, also via the
basic function "Quick stop".
2. When speed setpoint and actual speed value have fallen below the speed threshold set in
C02581:
• The output BRK_bReleaseBrakeOut is set to FALSE for closing the brake.
• The current torque is saved, so that, if necessary, it can be used for feedforward control
during the next start.
• Monitoring of the motor brake control module is deactivated temporarily.
• Monitoring of the status input is deactivated temporarily (if switched active via C02583).
• The brake application time starts to expire.
3. After the brake closing time has elapsed and the corresponding state change of the status
signal:
• The output BRK_bBrakeReleased is reset to FALSE.
• The controller inhibit is activated.
4. After the additional waiting time set for the status monitoring in C02591 has elapsed:
• Monitoring of the motor brake control module is active again.
• Monitoring of the status input is active again (if switched active via C02583).
• Standstill monitoring is activated.Standstill monitoring ( 558)
12.12 Brake control
________________________________________________________________
12.12.6 Mode 22: Automatic DC-injection braking
 Note!
Automatic DC-injection braking is only possible if V/f control or sensorless vector control
is selected as motor control type in C00006!
If mode 22 has been selected in C02580, DC-injection braking is executed automatically if the
current speed setpoint falls below the speed threshold set in C02581.
• The automatic is only effective in the function states "Drive is stopped", "Drive at standstill",
"Quick stop active", and "Fault".
• DC-injection braking is executed for the brake closing time set in C02589 with the braking
current set in C00974.
• After the brake closing time has elapsed, the controller inhibit is set automatically by the basic
function "brake control".
 Danger!
If the braking current is set too low, or the application time is too short, controller inhibit
is set and the drive becomes torqueless before being completely braked to standstill by
means of DC-injection braking!

t
Stopping active Speed follower active

t
Speed setpoint

t

DC brake active
CINH
t
 C02589: Brake closing time
[12-42] Example 1: Speed follower active  stopping active (stopping time > brake closing time)  speed follower active
12.12 Brake control
________________________________________________________________
• If a basic function is requested again before the brake closing time has elapsed, DC-injection
braking is interrupted and - if activated in C00990 – the flying restart process is started and the
basic function is activated:

t
Stopping active Speed follower active

t
Speed setpoint

t
DC brake active
t
 C00990: Flying restart (activated here)
[12-43] Example 2: Speed follower active  stopping active (stopping time > brake closing time)  speed follower active
Automatic DC-injection braking when quick stop is activated

DC-injection braking is activated automatically if a quick stop is triggered in the drive, e.g. via the
basic function "Quick stop" or as a response to an error.
• A change-over to the "Quick stop active" function state is effected, and for the quick stop
deceleration time set in C00105 a DC-injection braking process with the braking current set in
C00975 is carried out.
• After this time has elapsed, a change-over to the braking current parameterised in C00974 is
carried out and DC-injection braking is continued with this braking current.
• After the brake closing time set in C02589 has also elapsed, the basic function "Brake control"
automatically sets controller inhibit.
• The DC-injection braking in this case is also carried out when the "Quick stop by trouble" error
response is actuated; however, instead of the "Quick stop active" function state, the "Fault"
function state is active, and the controller is in the "Quick stop by trouble active" device state.
12.12 Brake control
________________________________________________________________

t

t
Speed setpoint
0 1
t

DC brake active
DC brake current

t
CINH
t
 Actual speed value
 Actual speed value if the quick stop braking current is parameterised too low (C00975)
 C00105: Quick stop decel. time
 C00975: Quick stop braking current
 C00974: Braking current
[12-44] Process example: speed follower is active  quick stop activation  speed follower is active
 Note!
The quick stop braking current in C00975 has to be set so that the drive can be
decelerated from the maximum operating speed to standstill within the deceleration
time for quick stop set in C00105!
12.12 Brake control
________________________________________________________________
12.12.7 Grinding the brake
This function may be required after the brake has been replaced. The holding torque specified in the
data sheet is only reached if the friction partners are ground in after mounting.
 Stop!
If this function is activated, the drive is automatically accelerated to the grinding speed
parameterised in C02596.
• The axis must move freely without driving against the travel range limitations.
• The maximally permissible friction energy of the brake must not be exceeded
(observe the specifications of the manufacturer)!
2π –1
W total [ J ] ∼ M K [ Nm ] ⋅ ------ ⋅ N [ min ] ⋅ t total [ s ]
60
[12-45] Formula for estimating the friction energy during grinding process
Preconditions
In order to be able to activate the grinding of the brake, the following conditions must be fulfilled:
• The grinding speed in C02596 is set higher than 0 rpm.
• The brake is activated, i.e. the "brake closing time" (C02589) and the "waiting time for status
monitoring" (C02591) are elapsed.
• No other source for controller inhibit is active so that the controller inhibit can be deactivated
by the brake control.
 Note!
When grinding the brake, ensure that the motor shaft can be kept at speed against the
closed holding brake.
• For this purpose, make sure that the maximum torque of the motor control (C00057/
2) is higher than the holding torque of the brake.
12.12 Brake control
________________________________________________________________
Process
If all requirements mentioned before have been met, the grinding process can be started by setting
the input BRK_bBrakeGrindIn to TRUE.
• After the grinding speed has been reached,

BRK_bBrakeGrindIn
the friction partners in the brake are
t
ground by a pulse-type control.
CINH • After the brake has been closed and
t opened ten times, the direction of rotation
changes and grinding in the opposite
n direction is carried out.
• By resetting the input BRK_bBrakeGrindIn
to FALSE the grinding process can be
t aborted.

10 x 10 x
t

 C02596: Grinding speed
 C02597: Acc./dec. time - grinding
 C02598: Grinding ON time
 C02599: Grinding OFF time
[12-46] Sequence of the grinding operation
12.12 Brake control
________________________________________________________________
12.12.8 Carrying out brake test
This function can be used to check the holding torque of the brake.
 Tip!
You can carry out this test in regular intervals, e. g. to detect a defect or wear of the brake
at an early stage.
 Note!
Due to possible deviations in the torque generation, the test of the holding torque
cannot determine the holding torque exactly!
• The generated motor torque can deviate up to ±15 % from the default value
depending on temperature.
• The test torque is internally limited to the value of the motor reference torque
(C00057/2). A higher parameterisation of C02594 is automatically limited to this
value.
Preconditions
In order to be able to activate the brake test, the following requirements have to be met:
• The test torque in C02594 is set higher than 0 Nm.
• The permissible angle of rotation is set greater 0° in C02595, thus standstill monitoring is
active.Standstill monitoring ( 558)
• The brake is activated, i.e. the "brake closing time" (C02589) and the "waiting time for status
monitoring" (C02591) are elapsed.
• No other source for controller inhibit is active so that the controller inhibit can be deactivated
by the brake control.
12.12 Brake control
________________________________________________________________
Process
If all requirements mentioned before have been met, the brake test can be started by setting the
input BRK_bBrakeTest to TRUE.
• The specified test torque is created via a

BRK_bBrakeTest
ramp generator with an acceleration time
t
of 1 s and held max. 4 s.
CINH
• By this the motor shaft tries to rotate
t
while the brake is applied.
M • By resetting the input BRK_bBrakeTest to

?
0 FALSE the brake test can be aborted.
1
t
1s max. 4 s
j

t
BRK_bError
t
 Normal behaviour
 Error behaviour
 C02594: Test torque
 C02595: Permissible angle of rotation
[12-47] Sequence of the brake test
Error behaviour
If during the brake test the stop position of the motor axis has changed by more than the
permissible angle of rotation set in C02595, although the brake is engaged:
• The brake test is cancelled immediately and "Quick stop by trouble" is activated as error
response to avoid a further rotation/acceleration of the drive.
• The error message "Motor brake: Angular drift with closed brake too high" is entered into the
logbook.
• The status "position drift when brake is applied" is displayed for one cycle at the BRK_dnState
status output via bit 21 and the status "brake error" is displayed via bit 15.
• The BRK_bError output is set to TRUE for one task cycle.
12.12 Brake control
________________________________________________________________
12.12.9 Control of two motor holding brakes
The technical implementation is based on the control of an external relay by a digital output. The
relay contact then switches an external 24-V supply for both motor holding brakes:
Digital I/O 24 V DC

BRK_bReleaseBrakeOut Control
Brake logic
K_BRK
M
[12-48] Interconnection example for controlling two motor holding brakes
 Tip!
Two motor temperature sensors can be evaluated simultaneously via the two encoder
inputs X7 and X8 when two motors are used (e.g. double motor for a storage and retrieval
unit).
Temperature monitoring of a second motor ( 273)
12.13 Cam data management
________________________________________________________________
The basic function "Cam data management" provides different functions for the systemwide
management of the cam data available in the memory module for a cam application.
• Cam data are motion profiles/characteristics, cam tracks, and position marks.
• The cam data required can either be created using the »Cam Editor« and transmitted to the
controller by means of »Engineer«, or they can be directly entered via the parameters of this
basic drive function if cam data have already been downloaded.
 Note!
For the use of cam data in the controller, the licence level Motion Control TopLevel is
required!
________________________________________________________________
12.13.1 "Online" tab for cam data management
After an interconnection has been created via the electrical shaft, it is shown in the Project view with
the axes assigned:
If you select the axis representing the 9400 ServoPLC under the electrical shaft, the Online tab for
cam data management is provided in the Workspace:
Info
 Cam data-able
• This property is set automatically for the controller if the controller supports cam data (licence level
Motion Control TopLevel required).
• Note: The checkmark must not be removed, as otherwise the assignment to the cam data is lost!
 Cam data status
• The first green LED for instance is lit if the cam data file in the project is active.
• When an online connection to the controller has been established, also the status of the cam data
available in the controller is shown.
 Display of the current memory distribution for the cam data.Memory distribution ( 586)
 Configuration of the access protection for the cam data.Access protection ( 587)
 Possibility for quickly updating the cam data in the controller (without having to transfer the complete
application).Regenerating the cam data file and transferring it to the controller ( 589)
________________________________________________________________
12.13.1.1 Memory distribution

There are three different storage modes for the distribution of the cam data memory in the
controller. The specification of the storage mode is effected automatically by »Engineer« when the
cam data file is generated.
 Note!
Storage modes 2 and 3 automatically provide a greater memory for an extensive amount
of cam data, however, in return certain functions are no longer supported (e. g. changing
cam data via parameterisation).
Memory distribution of the cam data Display in Storage mode

[bytes]
1 2 3
Memory module - 262144 bytes 524288 bytes 1048576 bytes
(256 kBytes) (512 kBytes) (1024 kBytes)
Internal RAM for quick download C02901/1 262144 bytes 0 bytes 0 bytes
(256 kBytes)
Internal RAM for online change C02901/2 131072 bytes 262144 bytes 0 bytes
(128 kBytes) (256 kBytes)
Internal RAM for cam data C02901/3 131072 bytes 262144 bytes 524288 bytes
(128 kBytes) (256 kBytes) (512 kBytes)
Functions supported Storage mode

1 2 3
Changing cam data via parameterisation 
Quick download to the RAM 
Online change  
Device command "Load cam data"   
Device command "Save cam data" 
Device command "Calculate cam data"   
Device command "Calculate cam data checksum" 
________________________________________________________________
12.13.1.2 Access protection

If required, the cam data can be protected against unauthorised or unintentional change by means
of a three-stage access protection concept:
Step 1: Access protection deactivated

• There is no access protection for the upload/download of new cam data and the change of cam
data via parameters.
Step 2: Access protection via user password

• The user password must be entered for the upload/download of new cam data and the change
of password-protected cam data via parameters.
Step 3: Linking the cam data to the serial number of the memory module
• The user password must be entered for the upload/download of new cam data and the change
of password-protected cam data via parameters.
• In addition, the serial number of the memory module must comply with the serial number given
in »Engineer« for the cam data.
 Note!
The settings for the access protection are firmly defined for the existing cam data and
cannot be changed.
For a change of the settings the cam data have to be updated in »Engineer« and then
transferred to the controller. These two actions can be carried out on the Online tab via
the buttons Generate cam data file and Transfer cam data to the device.
Regenerating the cam data file and transferring it to the controller ( 589)
 How to define a password for the cam data:

1. Click the lower Password button (for new password).
• The Change password dialog box appears:
2. Enter desired user password.

3. Click OK to accept the entry and close the dialog box.
________________________________________________________________
 How to change an existing password:

1. Click upper Password button (for existing password).
2. Enter the existing user password in the Change password dialog box.
4. Click the lower Password button (for new password).
5. Enter the new user password in the Change password dialog box.
 Tip!
An existing access protection via user password can be cancelled again by carrying out the
steps described before for changing the password and simply leaving blank the input field
for the new password.
 How to link the cam data to the serial number of the memory module:
Go to the Serial number input field and enter the serial number of the memory module.
• When an online connection to the controller has been established, you can read out the
serial number of the memory module in the controller by clicking the Read from device
button.
 Tip!
The linkage of the cam data to the serial number of the memory module can be cancelled
again by carrying out the steps described before and simply leaving blank the Serial
number input field.
________________________________________________________________
12.13.1.3 Regenerating the cam data file and transferring it to the controller
If you transfer the parameter set or the application from »Engineer« to the controller, the cam data
are also transferred automatically to the controller.
To only regenerate the cam data file and transferring it to the controller, after the cam data have
been changed in the »Cam Manager« or the settings have been changed for access protection, carry
out the following steps:
 How to update the cam data:

1. Click on the Generate cam data file button on the Online tab to regenerate the cam data
file for the controller.
• The cam data status shown and the information with regard to the memory distribution
on the Online tab are updated. The green LED behind "In the project" is lit now, which
means that the cam data file in the project is active:
When an online connection has been established to the controller:

2. To transmit the cam data to the controller, click the Download cam data button.
• The new/altered cam data are accepted in the controller according to the online change
mode set. Online change mode ( 594)
• The green LED behind "In the memory module" is now lit as well, which means that the
cam data file in the memory module is also active:
________________________________________________________________
12.13.2 Internal interfaces | "LS_CamInterface" system block
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Inputs

CAM_dnProductNumber Product number

DINT • The basic function manages the product number for all cam FBs within the
application.
• The product number is displayed in the »Cam Manager« in squared brackets after
the product name.
• If the product number is to be defined via parameters instead, a corresponding
user code must be created in the application and connected with this input.
• The highest product number to be created is shown in C02908.
CAM_bActivateProduct Activate product
BOOL • The change-over to another product is caused by an event which is generated
from the application.
TRUE The product with the product number at input
CAM_dnProductNumber is activated.
CAM_bActivateNewData Reload cam data from the backup memory (controlled acceptance)
BOOL • Only possible if the online change mode "10: Manual Activation" is set in C02905.
• If the online change mode "16: Automatic activation with CINH" (Lenze setting)
or "15: Automatic activation" is set in C02905, the new cam data are accepted
immediately after a download and this input has no function.
• The current status of the data acceptance is shown in C02906.
TRUE Reload cam data from the backup memory.
________________________________________________________________
Outputs
CAM_dnActiveProduct Product number of the currently active product

C02909 | DINT
CAM_bDownloadBusy Status signal "Download/data change active"

BOOL • The current status of the data acceptance is shown in C02906.
TRUE Currently the cam data in the RAM of the controller are changed.
• For instance, due to parameter set transfer, device command
C00002 = "501: Load cam data" or change of the cam data via
parameters.
TRUEFALSE Download/data change completed.
• In order to detect if the download/ the data change has been
completed correctly, the CAM_bError error output should also be
evaluated.
CAM_bNewDataAvailable Status signal "New cam data available"
BOOL
TRUE The internal recalculation of the new/changed cam data is
completed and the cam data are ready for acceptance.
• The time when the new/altered cam data are accepted depends
on the online change mode set in C02905. Online change mode
( 594)
• In the Lenze setting the new/altered cam data are accepted
automatically as soon as the controller inhibit is set within the
controller.
• If the online change mode "15: Automatic activation" is set in
C02905, the new/changed cam data are accepted immediately
after the internal recalculation and the TRUE signal is only
pending for one task cycle.
TRUEFALSE The new/changed cam data have been accepted.
CAM_bError Status signal "Fault"
BOOL
TRUE An error has occurred (group signal).
________________________________________________________________
Short overview of the parameters for cam data management:
Parameter Info Effective in storage mode
1 2 3
C00198 Axis number   
C02900 User Password   
C02901 Cam storage capacity   
C02902 Time stamp of cam data   
C02903 GUID cam data   
C02905 Online change mode  
C02906 Online change status   
C02908 Number of products   
C02909 Active Product   
C02910 Product Name   
C02911 Product Choice   
C02912 Number of products 
C02919 Number of curve tracks 
C02920 Cam Track Choice   
C02921 Cam Track Type 
C02922 Number of Cam Data Points 
C02923 Cam Data Point Choice   
C02924 Change Cam Data Point X 
C02925 Change Cam Data Point Y 
C02926 Change Cam Data Point M 
C02927 Auto Inc Cam Data Points   
C02939 Number of Cont Tracks 
C02940 Cont Track Choice   
C02941 Cont Type   
C02942 Number of Cont Data Points 
C02943 Cont Data Point Choice   
C02944 Cont Pos X0 
C02945 Cont Pos X1 
C02946 Cont Time 
C02959 Number of Position Tracks 
C02960 Pos Track Choice   
C02962 Number of Pos Data Points 
C02963 Pos Data Point Choice   
C02964 Change Pos Data Point X 
C02965 Change Pos Data Point Y 
________________________________________________________________
12.13.3.1 Password entry

If a password has been defined for the cam data in »Engineer«, the defined user password must be
entered once to execute the following actions:
• Download of new cam data during operation
 Entry of the existing password in »Engineer«.
• Change of the cam data via parameter setting
 Entry of the existing password in C02900.
• Loading/saving of the cam data
 entry of the existing password in C02900.
 Note!
For saving the cam data, you do not need to enter a possibly existing user password
C02900 anymore.
 Tip!
The access protection for the cam data can be configured on the Online tab. "Online" tab
for cam data management ( 585)
Validity
The user password entered in C02900 is maintained until the next download, mains switching, or
until reset by the user (logout).
• You can "log out" deliberately by entering an invalid password into C02900.
Behaviour in case of invalid entry

If the user password is entered incorrectly three times, the cam data are blocked. A correct entry
resets the number of the failed attempts.
To remove the blocking of the cam data, there are two possibilities:
A. Resetting the parameters to the Lenze setting via device command C00002 = "0: Load Lenze
setting".
• When the Lenze setting is loaded, the cam data are deleted.
• Afterwards the cam data can be transferred to the device again.
B. Transfer complete application to the device again.
• The application available and the cam data are deleted and all data are transferred to the
device again.
________________________________________________________________
12.13.3.2 Online change mode

During running operation, new cam data can be downloaded from »Engineer« to the controller if
the controller is in storage mode 1 or 2.
• If the cam data are provided with an access protection, the user password has to be entered first.
Access protection ( 587)
• The time when the new/altered cam data are accepted depends on the online change mode set
in C02905.
 Note!
If the controller is in storage mode 3, the "Online change" function is deactivated:
• The online change mode set in C02905 is ineffective.
• In C02906 the status "999: Online change deactivated" is displayed.
• For the download of new cam data, controller inhibit is required.
• The cam data are accepted immediately after download.
Memory distribution ( 586)
Mode 16: Automatic activation with CINH

In the Lenze setting, the online change mode "Automatic activation with CINH" is set in C02905, i.e.
the new cam data are accepted automatically as soon as the controller is inhibited.
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 Internal recalculation of cam data active
 Automatic activation with controller inhibit
[12-49] Online change mode "Automatic activation with CINH"
________________________________________________________________
Mode 15: Automatic activation

In the online change mode "Automatic activation", the new cam data are accepted directly after the
internal recalculation of the data from the application unit [unit] into the internal unit [increments]
has been completed.
• The controller does not need to be inhibited for acceptance.
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[12-50] Online change mode "Automatic activation"
Mode 10: Manual activation

In the online change mode "Manual activation", the new cam data are accepted when the
CAM_bActivateNewData control input is set to TRUE.
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[12-51] Online change mode "Manual activation"
________________________________________________________________
12.13.3.3 Changing cam data via parameterisation

If required, the cam data (motion profiles/characteristics, cams, and position markers) can be
changed via corresponding parameters if the controller is in storage mode 1.
• If the cam data are provided with an access protection, the user password has to be entered in
C02900 first. Access protection ( 587)
• The time stamp of the cam data is updated if the cam data are changed by parameter setting.
This enables, for instance, the »Engineer» to recognise that the cam data of »Engineer« project
and those of the controller differ.
 Note!
If the controller is in storage mode 2 or 3, the cam data cannot be changed via
parameterisation. All parameters for change are ineffective and set to zero. Memory
distribution ( 586)
If the cam data of the controller have been changed by parameter setting, the
C00002 = "504: Calculate Cam Checksum" device command has to be executed
afterwards. Calculate cam data checksum ( 141)
Then the cam data can be converted into the internal format with the "503: Calculate
Cam Data" device command or saved on the memory module in a powerfail-proof
manner with the "502: Save Cam Data" device command. Calculate cam data ( 140) /
The changed cam data and the parameters can be saved together on the memory
module in a powerfail-proof manner with the C00002 = "11: "Save start parameters"
drive command. Save start parameters ( 99)
 How to change an interpolation point in a curve (motion profile or characteristic):

1. Go to C02911 and set the product number of the product to be edited.
2. Go to C02920 and set the track number of the curve track to be edited.
Tip!
In C02921 the curve type, and in C02922 the number of interpolation points of the curve
selected is shown.
3. Set the interpolation point to be edited in C02923.
4. Change the desired parameters of the selected grid point:
• C02924: x position
• C02925: y position
• C02926: Torque feedforward control value
(only in case of a motion profile with feedforward control.)
________________________________________________________________
 Tip!
C02927 serves to activate a grid point auto increment if several successive grid points are
to be changed.
• When the grid point auto increment is activated, it is automatically incremented to the
next grid point every time the y position is written into C02925 so that the specification
of the grid point to be changed in C02923 is only required once.
 How to change several successive grid points (auto increment):

2. Go to C02920 and set the track number of the curve track to be edited.
Tip!
In C02921 the curve type, and in C02922 the number of interpolation points of the curve
selected is shown.
3. Set selection "1: Activate" in C02927 to activate the grid point auto increment.
4. Set the grid point from which on the grid point auto increment is to be started in C02923.
5. Set the following parameters for the grid point set in C02923 in the given order:
After the y position is written into C02925 it is automatically incremented to the next grid
point.
6. Set the parameters for the next grid point in the same order:
7. Repeat step 4 until all grid points are changed.
Note: Do not change more grid points then available (depending on the start grid point).
Changing a non-available grid point causes an error message!
________________________________________________________________
 How to change a cam:

2. Go to C02940 and set the track number of the cam track to be edited.
Tip!
The cam type is displayed in C02941 and the number of cams of the selected cam data is
3. Go to C02943 and set the cam to be edited.
4. Change the desired parameters of the selected cam:
• C02944: Cam position X0
• C02945: Cam position X1
• C02946: Cont Time (for position/time cams)
 How to change a position mark:

2. Go to C02960 and set the track number of the position track to be edited.
Tip!
In C02962 the number of the position marks of the position data selected is shown.
3. Set the position mark to be edited in C02963.
4. Change the desired parameters of the selected position mark:
________________________________________________________________
12.13.4 Product/track change-over
Product change-over
The change-over to another product number is effected for all cam FBs within the application via
the basic function "Cam data management".
• The change-over is effected via the input CAM_bActivateProduct on the basis of an event that is
generated from the application.
• By setting the input CAM_bActivateProduct to TRUE, the product is activated with the product
number at input CAM_dnProductNumber.
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 Activate product change-over
[12-52] Principle: Product change-over
Track change-over
The change-over to another curve track, cam track, or position track, however, is individually
effected via the input dnTrackNumber at the respective cam function block.
• For the two FBs L_CamProfiler and L_CamContactor it can be parameterised whether the track
change-over is to be effected in the next zero crossing of the x axis or immediately (Lenze
setting: in the next zero crossing).
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 Track number of the curve track
 Track number of the cam track
 Track number of the position track
[12-53] Principle: Track change-over
________________________________________________________________
12.13.5 Invalid cam data due to changed machine parameters
If one or more machine parameters affecting the internal scaling of the cam data are changed, the
message "Cam Data: Invalidated due to change of mechanical data" (error number 0x00b80034) is
entered into the logbook and the error response "Warning" occurs.
• The cam data are no longer valid and have to be recalculated.
• The warning is automatically reset if the C00002 = "503: Calculate Cam Data" device command
is executed.Calculate cam data ( 140)
Machine parameters affecting the internal scaling of the cam data:
Parameter Info
C00006 Selection of the motor control
C00100 Resolution of an encoder revolution
C02520 / C02521 Gearbox factor - motor (if motor = reference source)
C02522 / C02523 Gearbox factor - position encoder (if position encoder = reference source)
C02524 Feed constant
C02570 Position control structure
________________________________________________________________
12.13.6 Behaviour after mains switching
After mains switching, the cam data are loaded from the memory module into the controller
between loading and start of the application.
 Note!
During the initialisation no check of the user password takes place, but a check of the
serial number of the memory module is carried out, if this access protection has been
activated by the user in »Cam Designer«. If the serial number specified and the serial
number of the memory module do not match, the cam data are not loaded.
• The "Cam data: serial number" error message is entered in the logbook.
• The "Warning locked" error response occurs.
If a download of cam data that was carried out before mains switching was not
completed correctly, the previous cam data – if available – are loaded by the memory
module.
• The "Cam data restored" error message is entered into the logbook.
• The "Fault" error response occurs.
• After the error is reset (acknowledged), operation with the previous cam data is
possible.
12.14 Pole position identification
________________________________________________________________
 Danger!
In this basic function, the extent of the useable operating modes of the holding brake is
restricted. Only the following operating modes function:
• Directly with brake module (C02580, selection 1) and
• Direct switching externally (C02580, selection 11)
The device commands "Identify pole position (360°)" and "Identify pole position (min. motion)"
serve to execute an identification of pole position to detect the pole position to the motor encoder
currently activated in C00495.
The identification of pole position is additionally available as a basic function in the form of the
LS_PolePositionIdentification system block.
 Note!
An identification of pole position is only required:
• For servo control with synchronous motor and use of incremental encoders (TTL or
sin/cos encoders as well as multi-pole pair resolvers).
Detailed information on the identification of pole position can be found in the
subchapter "Pole position identification" for the motor interface. ( 176)
________________________________________________________________
12.14.1 Internal interfaces | System block "LS_PolePositionIdentification"
LS_PolePositionIdentification
PPI_bEnable PPI_dnState
PPI_bStart PPI_bEnabled
N S
PPI_bLoadPolePosition PPI_bActive
S N
PPI_dnPolePosition PPI_bDone
N S
PPI_bResetPolePosition PPI_bError
S N
PPI_bPolePositionAvailable
 Note!
permissible!
Inputs

PPI_bEnable Requesting control via the basic function.

C02789/1 | BOOL
TRUE If no other basic function is active, a change-over to the
"Identification of pole position active" function state is effected and
an identification of pole position can be carried out via the control
inputs.
TRUEFALSE An active identification of pole position is stopped, i.e. a change-over
from the active "Identification of pole position active" function state
back to the "Controller not ready" basic state is effected.
PPI_bStart Start pole position identification
C02789/2 | BOOL
FALSETRUE Pole position identification is started in the mode selected in
C02786.
PPI_bLoadPolePosition Start pole position identification
C02789/3 | BOOL
FALSETRUE The pole position angle applied at PPI_dnPolePosition is accepted in
C00058/x.
• The subcode to be described of C00058 depends on the motor
encoder selected in C00495.
PPI_dnPolePosition Pole position angle in [°] with one decimal position
C02788 | DINT • Value range: -179.9 ... +179.9 °
PPI_bResetPolePosition Reset "Pole position known" status
C02789/4 | BOOL
FALSETRUE The status outputs PPI_bDone and PPI_bPolePositionAvailable are
reset to FALSE.
________________________________________________________________
Outputs
Ppi_dnState Status (bit coded)

Bit 1 Pole position identification active.
Bit 2 Pole position identification completed.
Bit 14 Pole position known.
Bit 15 An error has occurred (group signal).
PPI_bEnabled Status signal "Basic function is enabled"
C02789/5 | BOOL
TRUE Pole position identification vie the control inputs is possible.
• The PPI_bEnable enable input is set to TRUE and the controller is
in the "Pole position identification active" function state.
PPI_bActive Status signal "Basic function is active"
C02789/6 | BOOL
TRUE Pole position identification is active.
• Output is reset to FALSE if the PPI_bStart is reset to FALSE, the
controller enable is deactivated or an error has occurred.
PPI_bDone Status signal "Basic function is ready"
C02789/7 | BOOL
TRUE Pole position identification is completed.
• Output is reset to FALSE when input PPI_bStart is reset to FALSE.
PPI_bError Status signal "Fault"
C02789/8 | BOOL
TRUE An error has occurred (group signal).
PPI_bPolePositionAvailable Status signal "Pole position is known"
BOOL
TRUE The drive knows the pole position.
• The value written into C00058/x corresponds to the pole position
(x depends on the motor encoder selected in C00422).
________________________________________________________________

All basic functions  Pole position identification
• Short overview of parameters for pole position identification:
Parameter Info
C02785 Activation of PPI
C02786 Mode of PPI
C02787 Ppi_dnState
C02788 PolePosition Setpoint
C02789 PolePositionIdentification: Dig. signals
12.14.3 Execute pole position identification
Preconditions
• The controller inhibit is active.
• The controller has the "Controller not ready" function state.
• The basic function "Pole position identification" is part of the active application.
Activate basic function

To request the control via the basic function, the PPI_bEnable enable input in the application must
be set to TRUE.
• If no other basic function is active, a change-over to the "Identification of pole position active"
function state is effected and an identification of pole position can be carried out via the control
inputs.
• A successful change to the function state "Pole position identification" is displayed by a TRUE
signal at the PPI_bEnabled status output.
________________________________________________________________
Start pole position identification
 Danger!
The machine must not be braked or blocked during the pole position identification! For this
reason, the pole position identification is not permitted for hanging loads!
During the pole position identification the rotor aligns itself. The motor shaft moves by
max. one electrical revolution which causes the corresponding movement of the connected
mechanical components!
 Stop!
Check the correct parameterisation of the max. motor current monitoring (C00619 and
C00620) before carrying out the pole position identification to prevent the motor from
being permanently damaged.
By setting the PPI_bStart control input to TRUE, the pole position identification is started in the
mode selected in C02786.
• The procedure starts with controller enable, if
• a synchronous machine is selected,
• If one of the above conditions is not met, the procedure is cancelled and the corresponding
device command status is indicated via PPI_dnState.
 Note!
Detailed information on the identification of pole position can be found in the
subchapter "Pole position identification" for the motor interface. ( 176)
Deactivation
When the PPI_bEnable enable input is reset to FALSE, an active pole position identification is
stopped.
• If the pole position identification is aborted, no change is made in C00058/x.
• The PPI_bEnabled status output is reset to FALSE and a change-over from the active "Pole
position identification active" function state back to the basic "Controller not ready" state is
carried out.
________________________________________________________________
12.14.4 Signal characteristics
PPI_bEnable
PPI_bStart t
PPI_bLoadPolePosition t
PPI_bResetPolePosition
PPI_dnState t
0 2 16388 16384
PPI_bEnabled t
PPI_bActive t
PPI_bDone t
PPI_bPolePositionAvailable t
C00058/x t
[12-54] Signal characteristic 1: Normal procedure of the pole position identification
PPI_bEnable
PPI_bStart t
PPI_dnPolePosition t
90°
PPI_bResetPolePosition t
PPI_dnState t
16384
PPI_bEnabled t
PPI_bActive t
PPI_bDone t
C00058/x t
90°
t
 Time - writing parameters
[12-55] Signal characteristic 2: Load pole position
________________________________________________________________
PPI_bEnable
PPI_bStart t
PPI_dnPolePosition t
PPI_bResetPolePosition t
PPI_dnState t
16384
PPI_bEnabled t
PPI_bActive t
PPI_bDone t
C00058/x t
-90°
t
[12-56] Signal characteristic 3: Reset pole position
________________________________________________________________
12.14.5 Impacts of parameter changes on the signal PPI_bPolePositionAvailable
Changing the type of motor control (C00006)
Initial situation 1 Parameter change Impact

• PPI_bPolePositionAvailable = TRUE In C00006 another motor control is PPI_bPolePositionAvailable remains
• Motor control (C00006) = "1: SC: set. on TRUE since the signal is irrelevant
Servo control sync. motor" for an asynchronous motor.
Initial situation 2 Parameter change Impact

• PPI_bPolePositionAvailable = TRUE In C00006, the motor control "1: SC: PPI_bPolePositionAvailable is reset to
• Motor control (C00006) = Servo control sync. motor" is set. FALSE since the signal is relevant for a
• "2: SC: Servo control async. synchronous motor and apparently a
motor" or new motor has been selected.
• "4: SLVC: Sensorless vector
control" or
• "6: VFCplus: V/f control" or
• "7: VFCplus: V/f control"
Changing relevant motor data
Initial situation Parameter change Impact

PPI_bPolePositionAvailable = TRUE One of the following parameters is PPI_bPolePositionAvailable is reset to
changed: FALSE since it is assumed that the
• Rated motor speed (C00087) connected motor has been changed.
• Rated motor frequency (C00089)
• Rated motor voltage (C00090)
Changing relevant encoder data
Initial situation Parameter change Impact

PPI_bPolePositionAvailable = TRUE One of the following parameters is PPI_bPolePositionAvailable is reset to
changed: FALSE.
• Resolver - number of pole pairs
(C00080)
• Encoder - number of increments
(C00420)
• Encoder type (C00422)
• TTL encoder signal evaluation
(C00427)
• Motor encoder selection (C00495)
________________________________________________________________
Behaviour after mains ON
Initial situation 1 Behaviour after mains ON

• PPI_bPolePositionAvailable = TRUE PPI_bPolePositionAvailable is only reset to FALSE if:
• Motor control (C00006) = "1: SC: Servo control sync. • Motor encoder selection (C00495) = "0: Resolver to
motor" X7"
• Resolver - number of pole pairs (C00080) > 1 AND
• The number of motor pole pairs are (C00059no
integer multiple of the number of resolver pole pairs
(C00080).
Examples:
MSC motor The PPI_bPolePositionAvailable output is not reset to
Motor - number of pole pairs = 4 FALSE.
Resolver - number of pole pairs = 1
Kuka motor
Motor - number of pole pairs = 4
Torque motor
Motor - number of pole pairs = 12
Initial situation 2 Behaviour after mains ON

• PPI_bPolePositionAvailable = TRUE PPI_bPolePositionAvailable is reset to FALSE.
• Motor control (C00006) = "1: SC: Servo control sync.
motor"
• Encoder type (C00422) =
• "0: Incremental encoder (TTL signal)" or
• "1: Sine/Cosine encoder"
• Motor encoder selection (C00495) = "1: Encoder to
X8"
Behaviour after encoder error
Initial situation Behaviour after encoder error

motor"
• Encoder type (C00422) =
• "0: Incremental encoder (TTL signal)" or
• "1: Sine/Cosine encoder" or
• Motor encoder selection (C00495) = "1: Encoder to
X8"
Behaviour after resolver error
Initial situation Behaviour after resolver error

motor"
• The number of motor pole pairs are (C00059no
integer multiple of the number of resolver pole pairs
(C00080).
• Motor encoder selection (C00495) = "0: Resolver to
X7"
13 Oscilloscope
13.1 Technical data
________________________________________________________________
13 Oscilloscope
The oscilloscope function integrated in the controller can be used as support for commissioning,
maintenance, and troubleshooting.
Typical applications
• Graphical representation of any measured values (e.g. speed setpoint, actual speed, and torque)
• Detection of process values without additional measuring instruments (e.g. oscilloscope,
voltmeter and ammeter)
• Convenient documentation for fine tuning of control circuits or parameter changes of the
controller
• Documentation of production quality in the context of product liability and quality assurance
Special features
• Recording and saving measured values in the controller
• Simultaneous measuring on eight independent channels
• Measuring of fast and slow signals by means of adjustable sample rate
• Triggering on channel, variable, or error message
• Detecting of measured values before and after a trigger event (pre-/post-trigger)
• Graphical representation and evaluation of measured values on a PC
• Cursor and zoom function for the measurement analysis
• Saving & loading of oscilloscope configurations
• Export of measured values via the clipboard for further processing
13.1 Technical data
9400 Servo Drives

Memory depth Max. 16384 measured values, depending on the number of channels and the size of
the variables to be recorded.
Memory capacity 32768 bytes
Data width of a channel 1 ... 4 bytes, corresponding to the size of the variables to be recorded
Number of channels 1 ... 8
Trigger level Corresponding to the value range of the variable to be triggered
Trigger selection Immediate triggering, rising/falling edge, signal change
Trigger delay -100 % ... +400 %
Trigger source Channels 1 ... 8, any variable or error message
Max. time base 8 channels 32 bits each ≡ 26 hours
Max. recording time 8 channels 32 bits each ≡ 10 days
13.2 Functional description
With an online connection to the controller, use the oscilloscope user interface of »Engineer« to set
the trigger condition and the sample rate and select the variables to be recorded.
13 Oscilloscope
13.2 Functional description
________________________________________________________________
When the measurement is started, the set parameters are transferred to the controller and checked.
If invalid settings are found, the oscilloscope sends an error. Otherwise, the measurement is started.
With an online connection, the measured controller data are transferred to »Engineer« and
graphically represented on the oscilloscope user interface as soon as the measurement has been
completed.
Recording variable values

The operating system scans the oscilloscope in fixed 1 ms-cycles, i.e. the oscilloscope can record
variable values with a sample rate of max. 1 kHz.
Recording system variable values of the internal motor control

Unlike the variables declared in the application, the system variables of the internal motor control
(MCTRL) can also be recorded with a sample rate higher than 1 kHz.
 Note!
In the servo operating modes, recordings with a time-based resolution of 31.25 μs and
125 μs are not possible!
In comparison to all other variable values, the system variables of the internal motor
control have a cycle offset of 2 ... 3 ms!
If recordings with sampling frequencies of > 1 kHz are carried out, up to a maximum of
three measured values will be missing at the left and right edges of the oscilloscope
screen. This is only noticeable in the case of very small time deviations ≤ 1 ms / div.
Because of the nature of the system, the absence of the measured values is due to
oversampling.
Recording I/O variable values referring to a task

When selecting the variables to be measured, it is possible to indicate a task reference for the
variables. If the behaviour of a certain task is to be examined, you can indicate the task reference to
exactly record the values valid for the task run-time. The variable values are recorded during the
process output mapping of the task.
13 Oscilloscope
13.3 User interface
________________________________________________________________
13.3 User interface
 How to go to the oscilloscope user interface:

1. Select the controller in the Project view.
2. Select the Oscilloscope tab from the Workspace.
The oscilloscope user interface contains the following control and function elements:
 Oscilloscope toolbar  Trigger settings

 Oscillogram  Cursor function: Reading individual measured
values
 Vertical channel settings  Horizontal settings
Selecting the variables to be recorded Selecting the recording time/sample rate
 Status bar  Starting recording
 Oscillogram selection  Input field for comments
13 Oscilloscope
13.4 Operation
________________________________________________________________
Oscilloscope toolbar
Icon Function
Loading the oscillogram ( 624)
Closing the oscillogram ( 625)
Saving the oscillogram ( 623)
Copy to clipboard: Copy as text | Copy as image

• For documentation purposes, it is possible to copy the measured data of a data set as a table or,
alternatively, the oscilloscope user interface as a picture, to the clipboard for use in other
programs.
Printer settings | Print view | Print
Activate zoom function

Adjusting the representation ( 619)
Activate automatic scaling function
Adjusting the representation ( 619)
Load recorded oscillogram from device
• Transfer data from the measured data memory of the controller to the Engineering PC as data
record.
• Only possible when an online connection has been established to the controller.
13.4 Operation
This chapter describes step-by-step how to record the signal characteristics of controller variables
and represent, analyse, document and process them in the oscilloscope.
 Note!
The configuration of the oscilloscope and the start of recording are only possible when
an online connection has been established to the controller.
13.4.1 Selecting the variables to be recorded
The oscilloscope supports up to eight channels, i.e. max. eight variables can be recorded in a data
set.
 How to add a variable for recording::

1. Double-click the line highlighted in grey in the Vertical channel settings list field.
2. Select the desired variable in the Select variable dialog box.
3. Click OK.
• The dialog box is closed and the selection is accepted.
4. Repeat steps 1 ... 3 to select up to seven more variables to be recorded.
The selected variables are displayed in the Vertical channel settings list field. Click into a field to
change the corresponding setting:
13 Oscilloscope
13.4 Operation
________________________________________________________________
Column Name Meaning

1 - Curve colour for representation in the oscillogram
2 Ch Channel number
3 On On/off
4 Inv On/off inversion
5 Name Selection of the variable to be recorded
6 Unit Scaling
7 1/Div Vertical scaling factor
8 Offset Offset value
• The offset value depends on the scaling factor. It is indicated by a dashed
line in the colour of the curve on the left-hand edge of the oscillogram.
9 Position Position value
• The position value is independent of the scaling factor. It is indicated by a
line on the left-hand edge of the oscillogram.
 How to change a selection:

1. Go to the Vertical channel settings list field and double-click the variable to be changed in
the Name column.
2. Select a new variable in the Select variable dialog box.
3. Click OK.
• The dialog box is closed and the selection is accepted.
 How to delete a selection:

1. Go to the Vertical channel settings list field and right-click the variable to be removed to
open the context menu.
2. Select the Delete command from the context menu.
13 Oscilloscope
13.4 Operation
________________________________________________________________
13.4.2 Selecting the recording time/sample rate
 How to select the recording time and the sample rate:

1. Select the desired time base from the Time base list field.
• The current time base setting multiplied by ten results in the recording time.
• Since the measured data memory of the controller has a limited capacity, usually a
compromise is made between sample rate and recording time.
2. Enter the desired sample rate in [ms] in the Sample rate input field.
By pressing the button behind the Sampling rate input field, you open the Sampling
rate dialog box where you can also select the option Increased sampling rate:
 Note!
When the option Increased sampling rate is selected, only integer multiples of 1/
(sampling rate in ms) are detected by the system.
• Since a complete representation in the oscillogram (10 * 1/(sampling rate in ms) *
(horizontal resolution in ms/Div)) requires + 1 measured values, but due to system-
dependent reasons only integer multiples of (1 / (sampling rate in ms)) can be
recorded, 1 ... 3 measured values may be missing at the left or right edges of the
oscillogram. The displayed curve then ends before the end or starts after the start of
the oscillogram.
• The curve that is recorded is not extended or compressed.
13 Oscilloscope
13.4 Operation
________________________________________________________________
13.4.3 Defining the trigger condition
The trigger condition serves to define the starting time of recording in the controller. The
oscilloscope provides various trigger conditions by means of which recording of the measured
values can be controlled.
 If the Cursor tab is selected, click the Trigger tab to show the input fields for configuring the
trigger condition.
Setting Function
Direct trigger Selection of trigger source:
Variable The oscilloscope triggers on any variable of the PLC program.
• Unlike triggering on a channel, triggering on a variable requires no recording channel.
Channel The oscilloscope triggers on a channel configured in the Vertical table.
System event Triggering is started on occurrence of a selectable controller event (e.g. TRIP, trouble or
warning).
• Select a negative trigger delay to record signals prior to occurrence of the event.
Force trigger No trigger condition, recording starts immediately after the start.
Trigger value Value from which on triggering is activated.
• The trigger level is not effective for triggering on Boolean variables.
Delay Delay between recording and trigger event.
Pre-trigger Select a negative delay time to detect signals prior to the trigger event.
Trigger event
Trigger level
Trigger
delay
(negative)
• In the oscillograph, the trigger time is marked by a dotted line.

• When triggering on occurrence of an event, it is thus possible to detect the values that
have caused the event.
Post-trigger Select a positive delay time to detect signals occurring a certain time after the trigger event.
Trigger event
Trigger level
Trigger
delay
(positive)
13 Oscilloscope
13.4 Operation
________________________________________________________________
Setting Function
Edge If the trigger source is a channel or a variable, you can choose between the following trigger
modes:
Positive edge For triggering on a BOOL variable:
• Trigger activation requires a FALSE-TRUE transition.
For triggering on a different variable:
• For trigger activation, the selected trigger value must be exceeded.
Negative edge For triggering on a BOOL variable:
• Trigger activation requires a TRUE-FALSE transition.
• For trigger activation, the selected trigger value must be fallen below.
Change For triggering on a BOOL variable:
• Trigger activation requires a state change.
• For trigger activation, the current value must be different than the last value.
13.4.4 Starting recording
 Note!
Starting the recording mode is only possible when an online connection has been
established to the controller.
 Click Start to start recording.

To obtain a maximum sampling rate when recording the variable values, the data are first stored in
the measured data memory of the controller and then transferred as a data record to the PC. The
current recording status is shown in the status bar.
13 Oscilloscope
13.4 Operation
________________________________________________________________
13.4.5 Adjusting the representation
After the variable values have been recorded and the online data record has been transferred to the
PC, the data record is visualised in the oscillograph. If required, the representation can now be
adjusted by using the zoom or the automatic scaling function.
 Tip!
When the oscillogram does not show the complete measurement, a scrollbar appears
below the time axis. You can use this scrollbar for horizontal scrolling of the visible area.
The labelling of the time axis and the position display are automatically adapted.
Selection of the horizontal display position

The Position input field can be used to change the horizontal display position.
• The position value can be directly entered into the input field or selected using the arrow
buttons.
• When the arrow buttons are used and the <Ctrl> key is pressed, you can increase the step size
to accelerate the shift.
Subsequently changing the time base

Change the time base to stretch or compress measurements that have already been completed.
Zoom function
 Go to the oscilloscope toolbar and click the icon to activate the zoom function.
Zoom function Procedure

Zoom selection Hold down the left mouse button and draw the oscilloscope section to be
zoomed:
• While being drawn, the selection is shown with a frame.

• When the left mouse button is released, the selection is zoomed in the
oscilloscope.
Horizontal/vertical Hold down the left and right mouse button and move the mouse pointer on the
shift of selection horizontal scale to the left or right or on the vertical scale to the top or bottom
to shift the selection accordingly.
• With a three-button mouse, you can use the mouse button in the middle.
Horizontal stretching Hold down the left mouse button and move the mouse pointer on the horizontal
scale to the left to stretch the shown selection from the right edge.
• Moving the mouse pointer in opposite direction continuously reduces the
stretching.
Hold down the right mouse button and move the mouse pointer on the
horizontal scale to the right to stretch the shown selection from the left edge.
stretching.
13 Oscilloscope
13.4 Operation
________________________________________________________________
Zoom function Procedure

Vertical stretching Hold down the left mouse button and move the mouse pointer on the vertical
scale to the bottom to stretch the shown selection from the top.
stretching.
Hold down the right mouse button and move the mouse pointer on the vertical
scale to the top to stretch the shown selection from the bottom.
stretching.
Return to original Click the right mouse button in the oscillograph to return step by step to the
representation original representation.
Automatic scaling function

Use the automatic scaling function to automatically scale and reposition the representation of
selectable signal characteristics in the oscillograph and reset the offset to "0".
 How to carry out automatic scaling:

1. Go to the oscilloscope toolbar and click the icon to activate the automatic scaling
function.
2. Select the channels/variables for automatic scaling in the Select variable dialog box.
3. Click OK.
• The dialog box is closed and the selected channels/variables are scaled automatically.
13 Oscilloscope
13.4 Operation
________________________________________________________________
13.4.6 Cursor function: Reading individual measured values
In addition to the zoom and scaling function, the oscilloscope offers a "cursor function" that can be
used to display individual measured values of a selectable channel or the difference between two
measured values.
 How to use the cursor function:

1. Click the Cursor tab to display it in the foreground and activate the cursor function.
• Now two movable vertical measuring lines are shown in the oscillogram.
2. Select the channel for which individual measured values are to be indicated from the
Channel list field.
3. Hold down the left mouse button and drag the red vertical measuring line to the desired
position.
• The active measuring line is represented by a continuous line, the inactive measuring
line is represented by a dashed line.
• If you position the mouse pointer over the inactive measuring line, the measuring line
automatically becomes active.
• The value measured at the position of the active measuring line is indicated in the Value
group box.
• The difference between the values measured at the two measuring lines is indicated in
the Difference group box.
• Comparing peak values: Several values displayed in the oscillogram can be compared by
means of a horizontal measurement line. This measurement line is automatically
generated based on the current cursor position and thus cannot be moved separately.
13 Oscilloscope
13.5 Managing oscillograms (measured data sets)
________________________________________________________________
If several measured data sets are loaded in the oscilloscope at the same time, the data set to be
displayed is selected via the Oscillogram list field. There are three types of data sets:
Online data record

The ONLINE data set is the only data set which can be used to establish a connection to the target
system to carry out an oscilloscope measurement.
Offline data record

The OFFLINE data set is a data set already stored in the project or a data set imported from a file.
• The configuration of the OFFLINE data set can be reused for future recordings.
• The OFFLINE data set is displayed in the Oscillogram list field with the name assigned to it upon
saving.
Merge data record

The MERGE data set is automatically available in the Oscillogram list field if two or more data sets
are loaded in the oscilloscope at the same time.
• In the merge data record, several characteristics from the currently loaded data records can
overlaid, e.g. to compare signal characteristics from different recordings. Overlay function
( 625)
13.5.1 Commenting the oscillogram
In the Comments text field, you can enter a comment on the oscillogram selected.
• When the Saving the oscillogram command is executed, the comment is saved in the file
together with the data set.
• If you execute the Loading the oscillogram command and then select a data set in the Load
data set dialog box, the corresponding comment is shown in the dialog box.
13 Oscilloscope
________________________________________________________________
13.5.2 Saving the oscillogram
After the variables to be recorded have been selected and the required settings have been entered,
you can save the configuration and recording, if already executed, for future use in the project or
export them to a file.
 Note!
The reuse of a saved configuration is only reasonable for controllers of the same type, as
otherwise due to a scaling of the oscilloscope channels that is not adapted, incorrect
values are displayed!
 How to save the data set in the project:

1. Click on the icon in the Oscilloscope toolbar.
• The Save data record dialog box appears.
2. Enter a name in the Name of the data record to be stored input field.
3. Click Filing in the project.
• The dialog box is closed and the current data set is filed in the project.
 Note!
The data set is only saved if the entire project is saved!
 How to export the data set to a file:

• The Save data record dialog box appears.
2. Enter a name in the Name of the data record to be stored input field.
3. Click the Export to file button.
4. Specify the data record to be stored and the filing folder in the Save as dialog box.
5. Click Save.
• The dialog box is closed and the current data set is saved.
13 Oscilloscope
________________________________________________________________
13.5.3 Loading the oscillogram
Configurations/data sets already stored can be reloaded into the oscilloscope any time, e.g. for the
overlay function.
 Note!
The reuse of a saved configuration is only reasonable for controllers of the same type, as
otherwise due to a scaling of the oscilloscope channels that is not adapted, incorrect
values are displayed!
 How to load a data set from the project:

• The Load data record dialog box appears.
2. Select the data set to be loaded from the upper list field.
3. If the data record is to be used as configuration, select the option as configuration....
4. Click Open.
• The dialog box is closed and the selected data set/configuration is loaded.
• If the configuration to be loaded contains variables that are no longer available in the
controller, these variables are automatically removed from the configuration.
 How to import a data set from a file:

2. Click the Search... button.
3. Select the file to be imported within the desktop environment from the Open dialog box.
4. If the data record is to be used as configuration, select the option as configuration....
5. Click Open.
• The dialog box is closed and the selected data set/configuration is imported.
• If the configuration to be loaded contains variables that are no longer available in the
controller, these variables are automatically removed from the configuration.
13 Oscilloscope
________________________________________________________________
13.5.4 Closing the oscillogram
You can close an open offline data record at any time.

• After a data set is closed, it is no longer available in the Oscillogram list field. The oscilloscope
automatically displays the ONLINE data set.
• If the closed data set was included in the MERGE data set, its channels will be removed from the
MERGE data set.
 Go to the Oscilloscope toolbar and click the symbol to close the currently displayed
offline data record.
13.5.5 Overlay function
The overlay function serves to lay several characteristics from the currently loaded data sets on top
of each other, e.g. to compare signal characteristics from different recordings.
• If two or more data sets are loaded in the oscilloscope, e.g. the ONLINE data set and a data set
saved before in the project, a "MERGE" data set is automatically provided in the Oscillogram list
field.
• If the merge data record is selected, the desired characteristics to be overlaid or compared can
be selected from the loaded data records in the Vertical channel settings group field.
• If an online data record is used in the merge data record, an update is carried out in the merge
data record in case of a renewed recording.
• Removing variables from an offline or online data record causes the characteristics in the merge
data record to be deleted.
13 Oscilloscope
________________________________________________________________
13.5.6 Deleting a data set saved in the project
 How to delete a data set saved in the project:

2. In the upper list field, click the data set to be deleted using the right mouse button to open
the Context menu.
3. In the Context menu, select the Delete data set command to delete the data set in the
project.
4. Click Cancel to close the Load data set dialog box again.
13 Oscilloscope
13.6 Variables of the motor control (oscilloscope signals)
________________________________________________________________
The system variables of the internal motor control listed in the following table can be recorded with
the oscilloscope for diagnostic and documentation purposes.
 Note!
In comparison to all other variable values, the system variables of the internal motor
control have a cycle offset of 2 ... 3 ms!
 Tip!
The exact position of a variable in the motor control can be obtained from the
corresponding signal flow.
Variable of the motor control Meaning

Signal flow - servo control for synchronous motor ( 207)
Signal flow - servo control for asynchronous motor ( 209)
Common.dnActualFlux Actual flux value
Common.dnFluxSet Flux setpoint
Current.dnActualCurrentPhaseU Actual motor current (phase U)
Current.dnActualCurrentPhaseV Actual motor current (phase V)
Current.dnActualCurrentPhaseW Actual motor current (phase W)
Current.dnActualDirectCurrent Actual D current
Current.dnActualQuadratureCurrent Actual Q current
Current.dnDirectCurrentSet D current setpoint
Current.dnQuadratureCurrentSet Q current setpoint
Torque.dnActualMotorTorque Actual torque
Torque.dnFilteredTorqueSetpoint Filtered torque setpoint
Torque.dnInputNotchFilter1 Torque setpoint at the band-stop filter input 1
Torque.dnInputNotchFilter2 Torque setpoint at the band-stop filter 2 input
Voltage.dnActualDCBusVoltage Actual DC-bus voltage
Voltage.dnActualMotorVoltage Current motor voltage
Voltage.dnOutputQuadratureCurrentCtrl Q-output voltage of the current controller
Voltage.dnOutputDirectCurrentCtrl D-output voltage of the current controller
Voltage.dnDirectVoltage D voltage
Voltage.dnQuadratureVoltage Q voltage
13 Oscilloscope
________________________________________________________________

Signal flow - sensorless vector control ( 228)
Common.dnActualFlux Actual flux value
Current.dnActualDirectCurrent Actual D current
Current.dnDirectCurrentSet D current setpoint
Current.dnQuadratureCurrentSet Q current setpoint
Frequency.dnActualRotatingFieldFrequency Current field frequency
Frequency.dnActualSlipFrequency Actual slip frequency
Speed.dnActualMotorSpeed Actual speed value
Torque.dnTorqueSetpoint Torque setpoint
Voltage.dnDirectVoltage D voltage
Voltage.dnQuadratureVoltage Q voltage
Signal flow - V/f control ( 244)
Signal flow for closed loop V/f control ( 246)
Current.Current.dnActualMotorCurrent Actual motor current
Frequency.dnActualRotatingFieldFrequency Current field frequency
Frequency.dnActualSlipFrequency Actual slip frequency
Speed.dnActualMotorSpeed Current motor speed
Speed.dnSpeedSetpoint Speed setpoint
Voltage.dnOutputDirectCurrentCtrl D voltage
Voltage.dnOutputQuadratureVoltage Q voltage
Signal flow - encoder evaluation ( 284)
Position.dnActualLoadPos Actual position
Position.dnActualMotorPos Current motor position
Speed.dnActualEncoderSpeed Current encoder speed
Speed.dnActualResolverSpeed Current resolver speed
Position.dnActualLoadPos Actual position
Position.dnActualMotorPos Current motor position
Position.dnContouringError Following error
Position.dnPositionSetpoint Position setpoint
Speed.dnOutputPosCtrl Output signal - phase controller
Torque.dnTotalTorqueAdd Additive torque feedforward control value
13 Oscilloscope
________________________________________________________________

Speed.dnTotalSpeedAdd Additive speed setpoint
Torque.dnTotalTorqueAdd Additive torque feedforward control value
14 Diagnostics & fault analysis
14.1 LED status displays
________________________________________________________________
Information on some operating statuses can quickly be obtained via LED displays:
CAN-RUN CAN-ERR
DRIVE READY DRIVE ERROR
24 V USER
[14-1] LED display on the controller front panel
Labelling Colour Description

CAN-RUN green CAN bus ok LED status displays for
the system bus ( 338)
CAN-ERR red CAN bus error
DRIVE READY green Standard device ready for operation LED status displays for
the device state ( 631)
DRIVE ERROR red Warning/trouble/fault
24 V green 24-V supply voltage ok
USER yellow Message parameterised by the application
________________________________________________________________
14.1.1 LED status displays for the device state
The control of the two LEDs "DRIVE READY" and "DRIVE ERROR" in the middle of the controller's front
panel depends on the device state. Device states ( 146)
DRIVE READY DRIVE ERROR
[14-2] DRIVE READY and DRIVE ERROR LED status displays
The meaning can be seen from the table below:
DRIVE READY DRIVE ERROR Meaning

OFF OFF "Initialisation active" state
OFF "Safe torque off active" state
Observe LED on the safety module!
OFF "Device is ready to switch on" state
OFF "Device is switched on" state
OFF "Operation" state
"Warning active" or "Warning locked active"

The controller is ready to switch on, switched on or the operation is
enabled and a warning is indicated.
"Quick stop by trouble active" state
OFF "Trouble active" state
OFF "Fault active" state
OFF "System fault active" state
Legend
Meaning of the symbols used to describe the LED states:
LED is flashing once approx. every 3 seconds (slow flash)
LED is flashing once approx. every 1.25 seconds (flash)
LED is flashing twice approx. every 1.25 seconds (double flash)
LED is blinking every second
LED is permanently on
14.2 Drive diagnostics with the »Engineer«
________________________________________________________________
14.2 Drive diagnostics with the »Engineer«
When an online connection to the controller has been established, the connected controller can be
diagnosed and relevant actual controller states can be displayed in a clearly arranged visualisation
using the »Engineer«.
 How to diagnose a drive with the »Engineer«:

1. Select the 9400 Servo PLC controller to be diagnosed in the Project view.
2. Click the icon or select the OnlineGo online command to build up an online
connection with the controller.
3. Select the Diagnostics tab.
With an online connection, the Diagnostics tab displays current status information about the
controller:
Button Function
Acknowledge error message (if the error cause has been eliminated).
Reading out logbook entries ( 637)
 Display details of the current error.

 Display all active sources of a controller inhibit.
 Display all active sources of a quick stop.
14.3 Drive diagnostics via keypad/bus system
________________________________________________________________
Keypad display of the controller status
• If the keypad on the front of the controller is connected to the

diagnostic interface X6, the status of the controller is shown
via different icons on the LCD display in the area .
Icon Meaning Notes

 Controller is ready for operation.
 Controller is enabled.
 Application in the controller is stopped.
 Quick stop active
 Controller is inhibited. The power outputs are inhibited.
 Controller is ready to start.
 Speed controller 1 at the limit. The drive is torque-controlled.
 Set current limit has been exceeded in motor
or generator mode.
 Pulse inhibit active The power outputs are inhibited.
 System fault active
 Fault active
 Trouble is active
 Quick stop by trouble active
 Warning is active
Display parameters
The parameters listed in the following tables serve to query current states and actual values of the
controller for diagnostic purposes, e.g. by using the keypad, a bus system or the »Engineer« (with an
online connection to the controller).
• These parameters are listed in the »Engineer« parameter list and the keypad in the Diagnostics
category.
• A detailed description of these parameters can be found in the chapter "Parameter reference".
( 738)
Parameter Display
C00183 Device status
C00166 Error description
C00168 Error number
C00051 Actual speed [rpm]
C00054 Motor current
________________________________________________________________
Parameter Display
C00057/1 Maximum torque
C00057/2 Motor reference torque
C00059 Motor - number of pole pairs
C00060 Rotor position
C00061 Heatsink temperature
C00062 Interior temperature
C00063 Motor temperature
C00064 Device utilisation (Ixt) during the last 180 seconds
C00065 Ext. 24-V voltage
C00066 Thermal motor load (I2xt)
C00068 Capacitor temperature
C00069 CPU temperature
C00178 Time the controller was enabled (elapsed-hour meter)
C00179 Power-up time (power-on time meter)
C00186 ENP: Identified motor type
Identification data
The parameters listed in the following table, which in the »Engineer« parameter list and in the
keypad are classified in the category Identification  Controller, serve to display the identification
data of the controller:
Parameter Display
C00099 Firmware version
C00200 Firmware product type
C00201 Firmware compilation date
C00203/1...9 HW product types
C00204/1...9 HW serial numbers
C00205/1...6 HW descriptions
C00206/1...6 HW manufacturing data
C00208/1...6 HW manufacturer
C00209/1...6 HW countries of origin
C00210/1...6 HW versions
C02113 Program name
14.4 Logbook
________________________________________________________________
14.4 Logbook
The integrated logbook function of the controller chronologically logs important events within the
system and plays an important role for troubleshooting and controller diagnostics.
Events that can be logged

The following events can be logged in the logbook:
• Error messages of the operating system ( 642)
• Error messages generated by the application
• Controller enable
• Starting / stopping the application
• Loading/saving of parameter sets, loading of the Lenze setting
• Transmitting an application or firmware to the controller
• Switching the controller on/off
• Formatting the file system
 Tip!
Use a parameterisable filter to exclude certain events from logbook entry. Filtering
logbook entries ( 636)
Information saved
For each event, the following information is saved in the logbook:
• Type of response to the event (e.g. fault, warning or information)
• Event
• Value of power-on time meter
• Date/time (for memory module with real-time clock)
• Module that activated the event (A = application; S = system).
Memory depth
The number of possible logbook entries depends on the memory module used:
• MM1xx, MM2xx: 7 entries
• MM3xx, MM4xx: 439 entries
14.4 Logbook
________________________________________________________________
14.4.1 Functional description
The structure of the logbook corresponds to a ring buffer:
• As long as free logbook memory is available, the entry is placed in

the next free position within the memory ().
Q
• If all memory units are assigned, the oldest entry () is deleted for
Q Q[
a new entry.
Q
• The newest entries will always remain available.
Q
Q
[14-3] Ring buffer structure
14.4.2 Filtering logbook entries
The logbook enters new entries in the ring buffer after they have passed through a parameterisable
filter. By means of this filter you can exclude events with a specific error response (trouble, warning,
information, etc.) from being entered in the logbook.
 Note!
Events with the "No response" setting are not entered into the logbook.
The filter is parameterised in C00169 by means of a bit mask. A set bit inhibits the entry of the
corresponding event in the logbook.
• The option that identical consecutive entries ("multiple entries") into the logbook are
suppressed can be additionally activated via bit 0. Then only the time stamp of the last (latest)
entry and the number of times the same event has occurred successively are saved.
Bit Filters Lenze setting

0 No multiple entries 0 ≡ filter inactive
1 Fault 0 ≡ filter inactive
2 Trouble 0 ≡ filter inactive
3 Quick stop by trouble 0 ≡ filter inactive
4 Warning locked 0 ≡ filter inactive
5 Warning 0 ≡ filter inactive
6 Information 0 ≡ filter inactive
14.4 Logbook
________________________________________________________________
14.4.3 Reading out logbook entries
With an online connection, the existing logbook entries can easily be displayed in the »Engineer«.
Alternatively, the logbook entries can also be read out via the corresponding parameters (e.g. using
the keypad).
 How to display logbook entries in the »Engineer«:

1. Go to the Project view and select the 9400 Servo PLC controller the logbook entries of which
are to be read out.
2. Click the icon or select the OnlineGo online command to build up an online
connection with the controller.
3. Select the Diagnostics tab from the Workspace.
4. Click the symbol in the diagnostics toolbar to open the Logbook dialog box.
The Logbook dialog box displays all logbook entries available in the device. You can filter the entries
displayed systematically by selecting or defining filter criteria.
Button Function
Export... Exporting logbook entries to a file ( 638)
File in project Storing logbook entries in the project. Logbook entries stored in the project are also
displayed if there is no online connection to the controller (e.g. for service and
documentation purposes).
Deleting in the device Delete all logbook entries available in the device.
14.4 Logbook
________________________________________________________________
14.4.4 Exporting logbook entries to a file
 How to export the logbook entries to a file:

1. Click Export... in the Logbook dialog box.
• The Export logbook dialog box is displayed.
2. Specify the folder, file name, and file type for the file.
3. Click the Save button to export the logbook entries into the given file.
• Hidden logbook entries are not exported, i.e. the filter criteria specified are accounted for
during the export.
• The logbook entries are written to the file in the form of a semicolon separated list.
Example
Type;event;error number;number;power-on time meter;internal clock;module

Fault;motor:overtemperature;611778563;1;16243:36:56;01.01.1970 00:00;temperature monitoring
Fault;motor:thermal detector is defective;611778572;1;16243:36:56;01.01.1970 00:00;temperature
monitoring
Fault;resolver: open circuit;612040728;1;16243:36:55;01.01.1970 00:00;motor control
14.5 Monitoring
________________________________________________________________
14.5 Monitoring
The controller is provided with various monitoring functions which protect the drive against
impermissible operating conditions.
• If a monitoring function responds,
• an entry will be made into the Logbook of the controller,
• the response (quick stop by trouble, warning, fault, etc.) selected for this monitoring function
is activated,
• the status of the internal device control changes according to the selected response,
controller inhibit is set, and the "DRIVE ERROR" LED on the front of the controller goes on:
Response Logbook entry Display in C00168 Disable voltage Disable drive Acknowledgeme LED
function nt required "DRIVE ERROR"
None OFF
Information  OFF
Warning  
Warning locked   
Quick stop by   
trouble
Trouble    
(after 0.5 s)
Fault     
System fault     Mains

switching
is required!
 Danger!
Automatic restart after mains connection/trouble... ( 153)
See also: Device states ( 146)

LED status displays for the device state ( 631)
14.5 Monitoring
________________________________________________________________
14.5.1 Setting the error response
If a monitoring function responds, the response set for this monitoring function (quick stop by
trouble, warning, fault, etc.) is triggered.
• For many monitoring functions the response can be individually parameterised via parameters.
 Tip!
The table in the chapter "Short overview (A-Z)" contains the error messages for which the
response can be set. ( 647)
Warning thresholds
Some of the monitoring functions are activated if a defined warning threshold (e.g. temperature)
has been exceeded.
• The corresponding preset threshold values can be changed via the following parameters:
Parameter Info
C00120 Motor overload protection (I²xt)
C00121 Motor temp. warning threshold
C00122 Heatsink temp. warn. threshold
C00123 Device utilisation warning threshold
C00126 CPU temp. warning threshold
C00127 Mot. overload warning threshold
C00128 Thermal time constant of motor
C00174 Undervoltage (LU) threshold
C00570 Warning thres. brake transistor
C00572 Warning thres. brake resistor
C00576 Speed monitoring tolerance
C00596 Threshold max. speed reached
C00599 Motor phase failure threshold
C00620 Max. motor current threshold
14.6 Maloperation of the drive
________________________________________________________________
14.6 Maloperation of the drive
The motor does not rotate.
Cause Remedy
DC-bus voltage is too low. Check mains voltage.

Controller is inhibited. Deactivate controller inhibit (can be set by several
sources).
Motor holding brake is not released. Release motor holding brake.
Quick stop is active Deactivate quick stop
Setpoint = 0 Select setpoint.
With a positive speed setpoint selection, the motor rotates counter-clockwise instead of clockwise
(when looking at the motor shaft).
Cause Remedy
Feedback system is not connected in correct phase Connect feedback system in correct phase relation.
relation.
The maximum current (C00022) flows and the motor does not rotate according to the defined
speed setpoint.
Cause Remedy
Two motor phases are interchanged, i.e. an anti- Carry out the following steps for verification:
clockwise rotating field is applied to the motor. 1. Ensure that the motor shaft is not blocked and can
rotate freely without damaging the system.
2. Activate the "U-rotation test mode" for the motor
control (C00398 = "1").
• In this test mode a voltage phasor with the
frequency set in C00399/1 and the amplitude from
the linear characteristic of rated voltage and rated
frequency is applied to the machine, which
corresponds to a clockwise rotating field.
•  Danger!
When the test mode is active, the parameterisable
error response "Quick stop by trouble" has no
effect!
If the test mode is active and a monitoring function
responds with this error response, no quick stop is
executed but the motor continues to rotate with
the frequency set for the test mode!
3. Increase the frequency step by step for the test mode
in C00399/1 until the motor shaft starts to rotate.
• If the motor shaft does not rotate, check the
electrical connection.
4. While the motor shaft is rotating, check whether it
rotates clockwise when looking at the A end shield. If
not, two motor phases are interchanged.
5. Additionally check whether the actual speed value
shown in C00051 is positive and whether it
corresponds to the defined frequency, taking the
number of pole pairs of the machine into
consideration (C00059). If this is not the case, the
connection and the parameter setting of the
feedback system are to be checked.
6. Deactivate the test mode for the motor control again
(C00398 = "0").
14.7 Error messages of the operating system
________________________________________________________________
This chapter describes all error messages of the controller operating system and possible causes &
remedies.
 Tip!
Each error message is also saved to the logbook in chronological order. Logbook ( 635)
14.7.1 Structure of the error number (bit coding)
If an error occurs in the controller, a 32-bit value will be saved in decimal format in the internal
history buffer (C00168), which contains the following information:
 Response
0 1 2 3  Instance ID
Bit 31 29 28 26 25 16 15 0
 Module ID
 Error ID
[14-4] Structure of the error number
 Tip!
If you go to the Diagnostics tab and click the button to the right of the Error
description display parameter, you will be shown all details on the current error in a
separate dialog box.
________________________________________________________________
14.7.1.1 Response
Bit 31 29 28 26 25 16 15 0
Bit 31 Bit 30 Bit 29 Response

0 0 0 0: No response
0 0 1 1: Fault
0 1 0 2: Trouble
0 1 1 3: Quick stop by trouble
1 0 0 4: Warning locked
1 0 1 5: Warning
1 1 0 6: Information
1 1 1 7: System fault
The state of the internal device control changes according to the selected response to an error,
controller inhibit is set, and the "DRIVE ERROR" LED on the front of the controller goes on:
Response Logbook entry Display in C00168 Disable voltage Disable drive Acknowledgeme LED
function nt required "DRIVE ERROR"
None OFF
Information  OFF
Warning  
Warning locked   
Quick stop by   
trouble
Trouble    
(after 0.5 s)
Fault     
System fault     Mains

switching
is required!
14.7.1.2 Instance ID
Bit 31 29 28 26 25 16 15 0
The instance ID is dynamically assigned by the operating system.
Bit 28 Bit 27 Bit 26 Meaning

0 0 0 Instance ID 0
0 0 1 Instance ID 1
0 1 0 Instance ID 2
0 1 1 Instance ID 3
1 0 0 Instance ID 4
1 0 1 Instance ID 5
1 1 0 Instance ID 6
1 1 1 Instance ID 7
________________________________________________________________
14.7.1.3 Module ID
Bit 31 29 28 26 25 16 15 0
Use the module ID to identify the module in which the error has occurred.
Module ID Module
hex decimal
0x0065 101 Logbook module

0x0068 104 Module identification
0x0069 105 Error check of the program memory during runtime
0x006a 106 Runtime environment for IEC 61131-3 programs
0x006e 110 Supply voltage monitoring
0x006f 111 24-V supply voltage monitoring
0x0072 114 Service register
0x0075 117 Device control
0x0077 119 Temperature monitoring
0x0078 120 Analog signal monitoring
0x0079 121 Motor data interface
0x007a 122 Processing of digital inputs/outputs
0x007b 123 Motor control
0x007c 124 Device command module (C00002)
0x007d 125 Processing of analog inputs/outputs
0x007f 127 Interface to the intelligent communication module
0x0083 131 "CAN on board": CAN-Dispatcher
0x0084 132 "CAN on board": CAN-NMT-Handler
0x0085 133 "CAN on board": CAN-Emergency-Handler
0x0086 134 "CAN on board": CAN-NMT-Master
0x0087 135 "CAN on board": CAN-PDO-Handler
0x0088 136 "CAN on board": CAN-SDO-Server
0x0089 137 "CAN on board": CAN-SDO-Client
0x008c 140 Application project manager
0x008e 142 Communication interface for internal communication
0x0090 144 Parameter manager
0x0091 145 Lenze runtime system
0x0092 146 Interface for safety module
0x0093 147 Sync signal generation
0x0099 153 Extension module - digital frequency in MXI1
0x009d 157 CAN module in MXI1: CAN-Dispatcher
0x009e 158 CAN module in MXI1: CAN-NMT-Handler
0x009f 159 CAN module in MXI1: CAN-Emergency-Handler
0x00a0 160 CAN module in MXI1: CAN-NMT-Master
0x00a1 161 CAN module in MXI1: CAN-PDO-Handler
0x00a2 162 CAN module in MXI1: CAN-SDO-Server
0x00a3 163 CAN module in MXI1: CAN-SDO-Client
0x00aa 170 Extension module - digital frequency in MXI2
________________________________________________________________
Module ID Module
hex decimal
0x00ac 172 CAN module in MXI2: CAN-Dispatcher

0x00ad 173 CAN module in MXI2: CAN-NMT-Handler
0x00ae 174 CAN module in MXI2: CAN-Emergency-Handler
0x00af 175 CAN module in MXI2: CAN-NMT-Master
0x00b0 176 CAN module in MXI2: CAN-PDO-Handler
0x00b1 177 CAN module in MXI2: CAN-SDO-Server
0x00b2 178 CAN module in MXI2: CAN-SDO-Client
0x00b8 184 Basic drive functions
0x00c8 200 Intelligent communication module
0x012f 303 Safety module SM300/SM301
14.7.1.4 Error ID
Bit 31 29 28 26 25 16 15 0
16-bit value (0 ... 65535dec) for error identification.
14.7.1.5 Example for bit coding of the error number

C00168 displays the error number "1148911631".
• This decimal value corresponds to the following bit sequence:
Bit 31 29 28 26 25 16 15 0
01000100011110110000000000001111
Assignment Information Meaning in the example

Response 2: Trouble
010
Instance ID 1: Instance ID 1
001
Module ID Module ID 123 (0x007b): Motor control

0001111011
Error ID Error ID 15 (0x000f) for motor control:

0000000000001111 Undervoltage in the DC bus
• Error number "1148911631" thus means:

The "DC-bus undervoltage" error with the response "Trouble" occurred in the "motor control"
module with the instance ID 1.
________________________________________________________________
14.7.2 Reset error message
An error message with the response "Fault", "Quick stop by trouble", or "Warning locked" must be
reset (acknowledged) explicitly after the cause of error has been eliminated.
 To reset (acknowledge) a pending error message, execute the device command

C00002 = "43: Reset error".
 Tip!
When an online connection to the controller has been established, use the Diagnostics tab
of »Engineer« and click Reset error to reset a pending error message.
________________________________________________________________
14.7.3 Short overview (A-Z)
The following table contains all error messages of the controller operating system in alphabetical
order with the preset error response and - if available – the parameter for setting the error response.
 Tip!
If you click on the cross-reference in the first column, you get to the detailed description of
the corresponding error response in the following chapter "Cause & possible remedies".
( 655)
 Note!
Error message "Unknown error"
If the "Unknown error xxxx" error message is indicated in the logbook or in C00166, the
reason for the missing plain text is that the error texts required have not been
downloaded to the controller during the application download.
• This, for instance, is the case if a device module plugged into the controller has not
been included in the Engineer project.
• Remedy: Include the device module, recompile and download the project.
hex dec Error message Response (Lenze setting) can be set in

0x007b003f 8060991 A mains phase has failed Fault -
0x007b001a 8060954 Absolute value encoder: Communication error Fault -
0x00b8000c 12058636 Acceleration has been limited Information C02716/3
0x007b0012 8060946 Actual speed value outside tolerance (C00576) No response C00579
0x007d0000 8192000 Analog input 1: master current < 4 mA Fault C00598
0x008c000c 9175052 Application and device are incompatible Fault -
0x006a0013 6946835 Application has started Information -
0x006a000e 6946830 Application has stopped Information -
0x006a0014 6946836 Application has stopped Information -
0x00910012 9502738 Block function in wrong MEC task Fault -
0x007b0040 8060992 Brake chopper: Ixt > C00570 Warning C00569
0x007b0041 8060993 Brake resistor: I2t > C00572 Warning C00571
0x007b001d 8060957 Brake resistor: I²xt overload Information -
0x007b001c 8060956 Brake transistor: Ixt overload No response C00573
0x007b0021 8060961 Brake transistor: Overcurrent Fault -
0x006a000f 6946831 Breakpoint reached Information -
0x00b80014 12058644 Cam Data is corrupted Warning locked -
0x00b80016 12058646 Cam Data locked due to wrong password Warning locked -
0x00b80017 12058647 Cam Data locked due to wrong security key Warning locked -
0x00b80015 12058645 Cam Data restored Fault -
0x00b80035 12058677 Cam Data: Invalid product number Information -
0x00b80034 12058676 Cam Data: Invalidated (due to change of mechanical data) Warning -
0x00b80013 12058643 Cam data: serial number MM does not match Warning locked -
0x00a10008 10551304 CAN module (MXI1) PDO manager: Faulty configuration Warning locked -
0x00a10000 10551296 CAN module (MXI1) RPDO1: Telegram not received or faulty No response C13591/1
________________________________________________________________

0x00a30000 10682368 CAN module (MXI1) SDO client: faulty configuration Warning locked -
0x00a20000 10616832 CAN module (MXI1) SDO server: faulty configuration Warning locked -
0x009d0002 10289154 CAN module (MXI1): Basic configuration invalid Warning locked -
0x009d0000 10289152 CAN module (MXI1): Bus off Information C13595
0x009f0000 10420224 CAN module (MXI1): Faulty emergency configuration Warning locked -
0x00a00020 10485792 CAN module (MXI1): Faulty NMT master configuration Warning locked -
0x009e0021 10354721 CAN module (MXI1): Faulty NMT slave configuration Warning locked -
0x009e0000 10354688 CAN module (MXI1): Heartbeat error index 1 ... 32 No response C13613/1...32
0x009d0001 10289153 CAN module (MXI1): Invalid node address 0 Warning -
0x009e0020 10354720 CAN module (MXI1): Lifeguarding error No response C13614
0x00a00000 10485760 CAN module (MXI1): node guarding error 1 ... 32 No response C13612/1...32
0x00b00008 11534344 CAN module (MXI2) PDO manager: Faulty configuration Warning locked -
0x00b00000 11534336 CAN module (MXI2) RPDO1: Telegram not received or faulty No response C14591/1
0x00b20000 11665408 CAN module (MXI2) SDO client: faulty configuration Warning locked -
0x00b10000 11599872 CAN module (MXI2) SDO server: faulty configuration Warning locked -
0x00ac0002 11272194 CAN module (MXI2): Basic configuration invalid Warning locked -
0x00ac0000 11272192 CAN module (MXI2): Bus off Information C14595
0x00ae0000 11403264 CAN module (MXI2): Faulty emergency configuration Warning locked -
0x00af0020 11468832 CAN module (MXI2): Faulty NMT master configuration Warning locked -
0x00ad0021 11337761 CAN module (MXI2): Faulty NMT slave configuration Warning locked -
0x00ad0000 11337728 CAN module (MXI2): Heartbeat error index 1 ... 32 No response C14613/1...32
0x00ac0001 11272193 CAN module (MXI2): Invalid node address 0 Warning -
0x00ad0020 11337760 CAN module (MXI2): Lifeguarding error No response C14614
0x00af0000 11468800 CAN module (MXI2): Node guarding error 1 ... 32 No response C14612/1...32
0x00870008 8847368 CAN on board PDO manager: faulty configuration Warning locked -
0x00870000 8847360 CAN on board RPDO1: Telegram not received or faulty No response C00591/1
0x00890000 8978432 CAN on board SDO client: Faulty configuration Warning locked -
0x00880000 8912896 CAN on board SDO server: Faulty configuration Warning locked -
0x00830002 8585218 CAN on board: Basic configuration invalid Warning locked -
0x00830000 8585216 CAN on board: Bus off No response C00595
0x00850000 8716288 CAN on board: Faulty emergency configuration Warning locked -
0x00860020 8781856 CAN on board: Faulty NMT master configuration Warning locked -
0x00840021 8650785 CAN on board: Faulty NMT slave configuration Warning locked -
0x00840000 8650752 CAN on board: Heartbeat error index 1 ... 32 No response C00613/1...32
0x00830001 8585217 CAN on board: Invalid node address 0 Warning -
0x00840020 8650784 CAN on board: Lifeguarding error No response C00614
0x00860000 8781824 CAN on board: Node guarding error 1 ... 32 No response C00612/1...32
0x00900008 9437192 Code number duplicated Warning locked -
0x00690000 6881280 Code refresh System fault -
________________________________________________________________

0x00680019 6815769 Combination MXI1/MXI2 not possible System fault -
0x0068001f 6815775 Combination of memory module/device not possible System fault -
0x00680020 6815776 Combination of module in MXI1/device not possible System fault -
0x00680021 6815777 Combination of module in MXI2/device not possible System fault -
0x007f0002 8323074 Communication error between device and device module No response C01501
0x0091000e 9502734 Communication task: standstill > 3 s Fault C01230
0x007f0003 8323075 Communication with module in MXI1 interrupted Information -
0x007f0004 8323076 Communication with module in MXI2 interrupted Information -
0x00920001 9568257 Communication with safety module interrupted Information -
0x008c001a 9175066 ConnectTable active Information -
0x0068000e 6815758 Control card incompatible System fault -
0x00680000 6815744 Control card is defective System fault -
0x00680008 6815752 Control card is defective System fault -
0x00780008 7864328 Control card is defective (UB18 neg.) System fault -
0x00780004 7864324 Control card is defective (UB24) System fault -
0x00780006 7864326 Control card is defective (UB8) System fault -
0x00780007 7864327 Control card is defective (VCC15 neg.) System fault -
0x00780005 7864325 Control card is defective (VCC15) System fault -
0x00780009 7864329 Control card is defective (VCC5) System fault -
0x006f0000 7274496 Control card: Supply voltage (24 V DC) too low Trouble -
0x00750001 7667713 Controller enabled Information -
0x00750003 7667715 Controller in STO state Information -
0x007b0047 8060999 Controller: Clamp operation Information -
0x007b0035 8060981 Controller: Overload during acceleration phases Fault -
0x00750005 7667717 Controller: Pulse inhibit is active Information -
0x00770009 7798793 CPU: Overtemperature Warning -
0x00770008 7798792 CPU: Temperature > C00126 No response C00589
0x0077000e 7798798 CPU: thermal detector is defective Fault C00588
0x0091000f 9502735 Cyclical task: standstill > 60 s Information -
0x0077000d 7798797 DC-bus capacitor: thermal detector is defective Fault C00588
0x007b000e 8060942 DC-bus overvoltage Trouble C00600
0x007b000f 8060943 DC-bus undervoltage Trouble -
0x00b8000d 12058637 Deceleration has been limited Information C02716/3
0x00780001 7864321 Device utilisation Ixt > 100 % Fault -
0x00780000 7864320 Device utilisation Ixt > C00123 Warning C00604
0x00990003 10027011 DFIN (MXI1): Signal error enable/lamp control Warning C13041
0x00990004 10027012 DFIN (MXI1): Supply cannot be corrected anymore Warning C13042
0x00990000 10027008 DFIN (MXI1): Track error A-/A Fault C13040
0x00990001 10027009 DFIN (MXI1): Track error B-/B Fault C13040
0x00990002 10027010 DFIN (MXI1): Track error Z-/Z Fault C13040
0x00aa0003 11141123 DFIN (MXI2): Signal error enable/lamp control Warning C14041
0x00aa0004 11141124 DFIN (MXI2): Supply cannot be corrected anymore Warning C14042
0x00aa0000 11141120 DFIN (MXI2): Track error A-/A Fault C14040
0x00aa0001 11141121 DFIN (MXI2): Track error B-/B Fault C14040
0x00aa0002 11141122 DFIN (MXI2): Track error Z-/Z Fault C14040
0x00990005 10027013 DFOUT (MXI1): Maximum frequency reached Warning C13080
0x00aa0005 11141125 DFOUT (MXI2): Maximum frequency reached Warning C14080
0x0090000c 9437196 Disconnection in the case of par. storage Fault -
0x006a0011 6946833 Division by zero Fault -
0x007b0011 8060945 Earth fault detected Fault -
0x0068001d 6815773 Electronic nameplate: Checksum error Warning -
0x0068001b 6815771 Electronic nameplate: Communication error Warning -
________________________________________________________________

0x0078000a 7864330 Electronic nameplate: Data are incompatible Information -
0x007b0030 8060976 Electronic nameplate: Data loaded Information -
0x007b0039 8060985 Electronic nameplate: Data outside parameter limits Information -
0x007b0032 8060978 Electronic nameplate: Encoder protocol unknown Information -
0x007b0033 8060979 Electronic nameplate: Encoder signal unknown Information -
0x007b0031 8060977 Electronic nameplate: Not found Information -
0x007b003e 8060990 Encoder monitoring: Pulse deviation detected No response C00621
0x007b001b 8060955 Encoder: Open circuit Fault C00580
0x007b002c 8060972 EnDat encoder: Battery empty Information -
0x007b004f 8061007 EnDat encoder: Command error Information -
0x007b0050 8061008 EnDat encoder: Initial position error Information -
0x007b0026 8060966 EnDat encoder: Lamp error Information -
0x007b002b 8060971 EnDat encoder: Overcurrent Information -
0x007b0029 8060969 EnDat encoder: Overvoltage Information -
0x007b0028 8060968 EnDat encoder: Position error Information -
0x007b0027 8060967 EnDat encoder: Signal error Information -
0x007b004e 8061006 EnDat encoder: Transmission error Information -
0x007b002a 8060970 EnDat encoder: Undervoltage Information -
0x00910011 9502737 Error during initialisation System fault -
0x006a0002 6946818 Error during the update of inputs and outputs Fault -
0x006a0017 6946839 Error in control configuration System fault -
0x00750000 7667712 External error Fault C00581
0x007b002d 8060973 Failure of motor phase U No response C00597
0x007b002e 8060974 Failure of motor phase V No response C00597
0x007b002f 8060975 Failure of motor phase W No response C00597
0x006a0010 6946832 Faulty application parameter Fault -
0x006a0001 6946817 Faulty program download Fault -
0x008c0002 9175042 File DeviceCFG.dat is defective Fault -
0x008c0008 9175048 File DeviceCFG.dat is invalid Fault -
0x008c0005 9175045 File DeviceCFG.dat is missing Fault -
0x008c0001 9175041 File ProjectList.dat is defective Fault -
0x008c0007 9175047 File ProjectList.dat is invalid Fault -
0x008c0004 9175044 File ProjectList.dat is missing Fault -
0x008c0000 9175040 File ProjectSelection.dat is defective Fault -
0x008c0006 9175046 File ProjectSelection.dat is invalid Fault -
0x008c0003 9175043 File ProjectSelection.dat is missing Fault -
0x0068001a 6815770 Firmware has been changed Information -
0x0068001e 6815774 Firmware incompatible to control card System fault -
0x006a0000 6946816 General error in the application Fault -
0x00910003 9502723 Heartbeat not periodic System fault -
0x00770010 7798800 Heatsink: fan is defective Fault C00610
0x00770001 7798785 Heatsink: Overtemperature Fault -
0x00770000 7798784 Heatsink: temperature > C00122 Warning C00582
0x0077000a 7798794 Heatsink: thermal detector is defective Fault C00588
0x007b003b 8060987 Hiperface encoder: Command error Information -
0x007b003d 8060989 Hiperface encoder: Initial position error Information -
0x007b003a 8060986 Hiperface encoder: Transmission error Information -
0x007b003c 8060988 Hiperface encoder: Unknown encoder Information -
0x00b80019 12058649 Homing mode not allowed Fault -
0x00790000 7929856 Incorrect device command transfer System fault -
0x00680012 6815762 Incorrect memory module System fault -
0x00680013 6815763 Incorrect safety module System fault -
________________________________________________________________

0x00770011 7798801 Inside the device: fan is defective Fault C00611
0x0077000b 7798795 Inside the device: thermal detector is defective Fault C00588
0x007b0034 8060980 Internal communication error (DMA) System fault -
0x007b0014 8060948 Internal communication error (host MCTRL) System fault -
0x007b0036 8060982 Internal communication error (MCTRL host) System fault -
0x008c001d 9175069 Internal error (CRC application) Fault -
0x00690009 6881289 Internal error (event mechanism) System fault -
0x0069000a 6881290 Internal error (event mechanism) System fault -
0x0069000d 6881293 Internal error (file system lifetime) Warning -
0x00690002 6881282 Internal error (LDS instance data) System fault -
0x00690003 6881283 Internal error (LDS tasks) System fault -
0x00690001 6881281 Internal error (memory area - logbook) System fault -
0x00690004 6881284 Internal error (memory blocks) System fault -
0x00690006 6881286 Internal error (message memory) System fault -
0x00690007 6881287 Internal error (message queue) System fault -
0x00690008 6881288 Internal error (name database) System fault -
0x0069000b 6881291 Internal error (semaphores) System fault -
0x0069000c 6881292 Internal error (semaphores) System fault -
0x00690005 6881285 Internal error (task queue) System fault -
0x00910004 9502724 Internal error: See C00180 System fault -
0x00910008 9502728 Internal error: See C00180 Fault -
0x00910009 9502729 Internal error: See C00180 Fault -
0x00b8000e 12058638 Jerk has been limited Information C02716/3
0x00900001 9437185 Lenze setting loaded Information -
0x007b0023 8060963 Load encoder: Module selected in C00490 is not available Fault -
0x00900004 9437188 Loading of Lenze setting failed Fault -
0x00650000 6619136 Logbook: Overflow Information -
0x00650001 6619137 Logbook: Reset (read error) Information -
0x00650002 6619138 Logbook: Reset (version error) Information -
0x00910001 9502721 Mains voltage is switched off Information -
0x00910000 9502720 Mains voltage is switched on Information -
0x00b80011 12058641 Maximum acceleration exceeded Information C02716/3
0x00b80010 12058640 Maximum speed exceeded Information C02716/3
0x00680017 6815767 Memory module has been changed Information or warning locked if -
the hardware type has also
changed.
0x00680006 6815750 Memory module has been removed System fault -
0x00680002 6815746 Memory module is defective or missing Fault -
0x0068000c 6815756 Memory module is defective or missing System fault -
0x00650003 6619139 Memory module is missing Information -
0x0068001c 6815772 Memory module: Faulty file system Fault -
0x007c0000 8126464 Memory module: file system has been formatted Information -
0x007c0001 8126465 Memory module: File system has been restored Information -
0x00b80003 12058627 Motor brake: Angular drift with closed brake too high Quick stop by trouble -
0x00b80004 12058628 Motor brake: Autom. activated after waiting time has elapsed Information -
0x00b80005 12058629 Motor brake: Status monitoring error Quick stop by trouble -
0x007b0013 8060947 Motor control: Task overflow System fault -
0x007b0003 8060931 Motor data are inconsistent Information -
0x007b0017 8060951 Motor data are inconsistent Information -
0x007b004c 8061004 Motor disconnected No response C00597
0x007b0024 8060964 Motor encoder: Module selected in C00495 is not available Fault -
________________________________________________________________

0x00780003 7864323 Motor load I²xt > C00120 Fault -
0x00780002 7864322 Motor load I²xt > C00127 Warning C00606
0x007b0038 8060984 Motor parameter identification cancelled Fault -
0x007b0025 8060965 Motor temperature: Module selected in C01193 is not available Fault -
0x007b001e 8060958 Motor: actual current > C00620 Fault C00619
0x007b0020 8060960 Motor: actual speed > C00596 Fault C00607
0x007b000b 8060939 Motor: Calculated e.m.f. factor unrealistic Information -
0x007b000d 8060941 Motor: Calculated flux factor unrealistic Information -
0x007b0019 8060953 Motor: Calculated leakage inductance unrealistic Information -
0x007b0001 8060929 Motor: Calculated motor impedance unrealistic Information -
0x007b0002 8060930 Motor: Calculated mutual inductance unrealistic Information -
0x007b000a 8060938 Motor: Calculated mutual inductance unrealistic Information -
0x007b0009 8060937 Motor: Calculated rotor resistance unrealistic Information -
0x007b000c 8060940 Motor: Calculated rotor time constant unrealistic Information -
0x007b0006 8060934 Motor: Device current too low for rated magnetisation Information -
0x00770003 7798787 Motor: Overtemperature Fault C00583
0x007b0004 8060932 Motor: Phase resistance too high Information -
0x0077000f 7798799 Motor: PTC has triggered No response C00585
0x007b0007 8060935 Motor: rated current < rated magnetisation current Information -
0x00770002 7798786 Motor: temperature > C00121 Warning C00584
0x0077000c 7798796 Motor: thermal detector is defective Fault C00594
0x008c0017 9175063 MXI1: CAN module is missing or incompatible Fault C00615/2
0x008c0013 9175059 MXI1: Digital frequency module is missing or incompatible Fault C00615/2
0x008c0011 9175057 MXI1: Ethernet module is missing or incompatible Fault C00615/2
0x008c0015 9175061 MXI1: ICM module is missing or incompatible Fault C00615/2
0x00680004 6815748 MXI1: Module changed during operation Warning locked -
0x00680015 6815765 MXI1: Module has been changed Information or warning locked if -
changed.
0x0068000a 6815754 MXI1: Module is defective or missing Fault -
0x008c000d 9175053 MXI1: Module is missing or incompatible Fault -
0x008c000f 9175055 MXI1: PROFIBUS module is missing or incompatible Fault C00615/2
0x00680010 6815760 MXI1: Wrong module System fault -
0x008c0018 9175064 MXI2: CAN module is missing or incompatible Fault C00615/3
0x008c0014 9175060 MXI2: Digital frequency module is missing or incompatible Fault C00615/3
0x008c0012 9175058 MXI2: Ethernet module is missing or incompatible Fault C00615/3
0x008c0016 9175062 MXI2: ICM module is missing or incompatible Fault C00615/3
0x00680005 6815749 MXI2: Module changed during operation Warning locked -
0x00680016 6815766 MXI2: Module has been changed Information or warning locked if -
changed.
0x0068000b 6815755 MXI2: Module is defective or missing System fault -
0x008c000e 9175054 MXI2: Module is missing or incompatible Fault -
0x008c0010 9175056 MXI2: PROFIBUS module is missing or incompatible Fault C00615/3
0x00680011 6815761 MXI2: Wrong module System fault -
0x00b8000a 12058634 Negative direction of rotation limited Information C02716/1
0x00b80002 12058626 Negative limit switch has triggered Quick stop by trouble -
0x00b80008 12058632 Negative software limit switch overtravelled Quick stop by trouble C02716/2
0x006a0003 6946819 New applications loaded Information -
0x00910002 9502722 No heartbeat signal detected System fault -
0x0090000a 9437194 No parameters for module in MXI1 Fault C00615/2
0x0090000b 9437195 No parameters for module in MXI2 Fault C00615/3
0x007b0010 8060944 Overcurrent detected Fault -
________________________________________________________________

0x00900000 9437184 Parameter set faulty Fault -
0x00900003 9437187 Parameter set loaded Information -
0x00900005 9437189 Parameter set restored Fault -
0x00900002 9437186 Parameter set saved Information -
0x00900009 9437193 Parameter set: type of standard device has been changed Information -
0x00900007 9437191 Parameter set: Version conflict Fault -
0x006a0015 6946837 PDO mapping (MXI1): Faulty configuration Fault -
0x006a0016 6946838 PDO mapping (MXI2): Faulty configuration Fault -
0x00b80000 12058624 PLC configuration invalid Fault -
0x007d0001 8192001 PLC configuration invalid Fault -
0x007b0037 8060983 PLC configuration invalid Fault -
0x00750006 7667718 PLC configuration invalid Fault -
0x006a0012 6946834 Pointer access in impermissible memory area Fault -
0x007b004a 8061002 Pole position identification cancelled Fault C00640
0x00b8000f 12058639 Position target outside the software limit positions Quick stop by trouble C02716/2
0x00910010 9502736 Position value faulty Fault -
0x00b80009 12058633 Positive direction of rotation limited Information C02716/1
0x00b80001 12058625 Positive limit switch has triggered Quick stop by trouble -
0x00b80007 12058631 Positive software limit switch overtravelled Quick stop by trouble C02716/2
0x00680014 6815764 Power section has been changed Information or warning locked if -
changed.
0x0068000f 6815759 Power section incompatible System fault -
0x00680001 6815745 Power section is defective System fault -
0x00680009 6815753 Power section is defective System fault -
0x007b0042 8060994 Power section is defective System fault -
0x008c000a 9175050 Project not available Fault -
0x008c0009 9175049 Project not loaded Fault -
0x00720000 7471104 Read error service register Fault -
0x00680022 6815778 Real-time clock is defective Warning locked -
0x00680023 6815779 Real-time clock: Change battery Warning locked -
0x00680024 6815780 Real-time clock: No battery, time lost Warning locked -
0x008c000b 9175051 Required license missing Fault -
0x007b001f 8060959 Resolver: Calculated acceleration unrealistic Information -
0x007b0018 8060952 Resolver: Open circuit Fault -
0x006a001a 6946842 Retain memory of the application faulty Fault -
0x006a000d 6946829 Run-time error Fault -
0x00680018 6815768 Safety module has been changed Information or warning locked if -
changed.
0x00680007 6815751 Safety module has been removed System fault -
0x00680003 6815747 Safety module is defective or missing System fault -
0x0068000d 6815757 Safety module is defective or missing System fault -
0x00920000 9568256 Safety module: Incompatible with setting in C00214 System fault -
0x00900006 9437190 Saving of parameters failed Fault -
0x00b8000b 12058635 Speed has been limited Information C02716/3
0x008c001e 9175070 Storage capacity for user parameters exceeded Fault -
0x0091000a 9502730 System task 1: Task overflow System fault -
0x0091000b 9502731 System task 2: Task overflow Information -
0x0091000c 9502732 System task 3: Task overflow System fault -
0x0091000d 9502733 System task: Task overflow Fault -
0x00790001 7929857 Time error - controller interface System fault -
0x00b80012 12058642 Time-out torque feedforward control brake Quick stop by trouble -
________________________________________________________________

0x006a0004 6946820 User task 1: overflow Fault -
0x006a000a 6946826 User task 7: overflow Fault -
0x006a000b 6946827 User task 8: overflow Fault -
0x006a000c 6946828 User task 9: overflow Fault -
0x00790002 7929858 Violation of time slice Fault -
0x006a001b 6946843 Watchdog cycle is greater than task cycle Fault -
________________________________________________________________
14.7.4 Cause & possible remedies
This chapter contains all error messages of the controller operating system in numerical order of the
error numbers. The list provides detailed information on the response to the error message as well
as information on the cause & possible remedies.
 Tip!
A list of all error messages of the controller operating system in alphabetical order can be
found in the previous chapter "Short overview (A-Z)". ( 647)
 Note!
Error message "Unknown error"
If the "Unknown error xxxx" error message is indicated in the logbook or in C00166, the
reason for the missing plain text is that the error texts required have not been
downloaded to the controller during the application download.
• This, for instance, is the case if a device module plugged into the controller has not
been included in the Engineer project.
• Remedy: Include the device module, recompile and download the project.
Logbook: Overflow [0x00650000]
Module ID (decimal) Error ID (decimal)

101: Logbook module 0
Response (Lenze setting printed in bold)

 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Too many events/faults have occurred in a very short Check whether application generates too many error
time. It was therefore not possible to list all of them in messages.
the logbook.
Logbook: Reset (read error) [0x00650001]


Cause Remedy
The logbook has been reset due to a read error.. - (is irreversible)
Logbook: Reset (version error) [0x00650002]


Cause Remedy
The logbook has been reset due to a version conflict. - (is irreversible)
________________________________________________________________
Memory module is missing [0x00650003]


Cause Remedy
Memory module is defective or not available. Use a different memory module.
Control card is defect [0x00680000]

104: Module identification 0

 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Operating system could not identify the control card. Mains switching
• Please contact Lenze if the error occurs again.
Power section is defect [0x00680001]


Cause Remedy
Operating system could not identify the power section. Mains switching
• Please contact Lenze if the error occurs again.
Memory module is defect or missing [0x00680002]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Operating system could not identify the memory Mains switching

module. • If the error occurs again: Switch off the controller,
remove memory module and plug in again, switch on
• If the error still occurs: Switch off controller and use a
different memory module.
________________________________________________________________
Safety module is defect or missing [0x00680003]


Cause Remedy
Operating system could not identify the safety module. Mains switching
• If the error occurs again: Switch off the controller,
remove safety module and plug in again, switch on
• If the error still occurs: Switch off controller and use a
different safety module.
MXI1: Module changed during operation [0x00680004]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
It was tried to plug an extension module into module slot Plug in valid module and switch on mains.
MXI1, which is not "Hot-plug"-able. • Through mains switching, the system accepts
modules without "hot plug" capability in the
following switch-on phase.
MXI2: Module changed during operation [0x00680005]


Cause Remedy
It was tried to plug an extension module into module slot Plug in valid module and switch on mains.
MXI2, which is not "Hot-plug"-able. • Through mains switching, the system accepts
modules without "hot plug" capability in the
following switch-on phase.
Memory module has been removed [0x00680006]


Cause Remedy
You have tried to remove or change the memory module Switch off the controller, plug in memory module and
during operation. switch on the controller again.
• If the error occurs again, the memory module is
defective and must be replaced.
________________________________________________________________
Safety module has been removed [0x00680007]


Cause Remedy
You have tried to remove or change the safety module Switch off the controller, plug in safety module and
during operation. switch on the controller again.
• If the error occurs again, the safety module is
defective and must be replaced.
Control card is defect [0x00680008]


Cause Remedy
Operating system could not identify the control card. Consultation with Lenze required.
Power section is defect [0x00680009]


Cause Remedy
Operating system could not identify the power section. Consultation with Lenze required.
MXI1: Module is defect or missing [0x0068000a]


Cause Remedy
Operating system could not identify the extension • Use a different extension module.
module in module slot MXI1. • Please contact Lenze.
MXI2: Module is defect or missing [0x0068000b]


Cause Remedy
Operating system could not identify the extension • Use a different extension module.
module in module slot MXI2. • Please contact Lenze.
________________________________________________________________
Memory module is defect or missing [0x0068000c]


Cause Remedy
Operating system could not identify the memory • Use a different memory module.
module. • Please contact Lenze.
Safety module is defect or missing [0x0068000d]


Cause Remedy
Operating system could not identify the safety module. • Use a different safety module.
• Please contact Lenze.
Control card incompatible [0x0068000e]


Cause Remedy
The control card is not supported by the operating Consultation with Lenze required.
system.
Power section incompatible [0x0068000f]


Cause Remedy
The power section is not supported by the operating Consultation with Lenze required.
system.
MXI1: Wrong module [0x00680010]


Cause Remedy
The extension module in module slot MXI1 is not • Use a different module.
supported by the operating system. • Please contact Lenze.
________________________________________________________________
MXI2: Wrong module [0x00680011]


Cause Remedy
The extension module in module slot MXI2 is not • Use a different module.
supported by the operating system. • Please contact Lenze.
Incorrect memory module [0x00680012]


Cause Remedy
The memory module is not supported by the operating • Use a different module.
system. • Please contact Lenze.
Incorrect safety module [0x00680013]


Cause Remedy
The safety module is not supported by the operating • Use a different module.
system. • Please contact Lenze.
Power section was changed [0x00680014]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
The power section has been changed since the last mains (Only information or warning locked if the hardware
switching. type has also changed.)
MXI1: Module has been changed [0x00680015]


Cause Remedy
The extension module in module slot MXI1 has been (Only information or warning locked if the hardware
changed since the last mains switching. type has also changed.)
________________________________________________________________
MXI2: Module has been changed [0x00680016]


Cause Remedy
The extension module in module slot MXI2 has been (Only information or warning locked if the hardware
changed since the last mains switching. type has also changed.)
Memory module has been changed [0x00680017]


Cause Remedy
The memory module has been changed since the last (Only information or warning locked if the hardware
mains switching. type has also changed.)
Safety module has been changed [0x00680018]


Cause Remedy
The safety module has been changed since the last (Only information or warning locked if the hardware
mains switching. type has also changed.)
Combination MXI1/MXI2 not possible [0x00680019]


Cause Remedy
Extension modules which are not supported in this Create permitted module combination.
combination are plugged into module slots MXI1 &
MXI2.
Firmware has been changed [0x0068001a]


Cause Remedy
The firmware of the operating system has been updated. - (Information only)
________________________________________________________________
Electronic nameplate: Communication error [0x0068001b]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Communication with the electronic nameplate is Check correct connection of the encoder cable.
interrupted, the data could not be read.
Memory module: Faulty file system [0x0068001c]


Cause Remedy
Memory module is plugged in incorrectly or is defective. • Plug in the memory module correctly.
• Exchange defective memory module.
Electronic nameplate: Checksum error [0x0068001d]


Cause Remedy
The checksum of the electronic nameplate is defective. Consultation with Lenze required.
Firmware is incompatible with control card [0x0068001e]


Cause Remedy
Firmware is not compatible with the hardware. Import the compatible firmware.
Combination memory module/device not possible [0x0068001f]


Cause Remedy
The memory module used is not supported by the Plug in supported module and switch the mains.
controller according to the license model. • The 9400 PLC supports the MM340 and MM440
memory modules (licence: Motion Control PLC).
________________________________________________________________
Combination of module in MXI1/device not possible [0x00680020]


Cause Remedy
The extension module in module slot MXI1 is not • Remove the extension module and switch the mains.
supported by the controller. • Plug in supported extension module and switch the
mains.
Combination of module in MXI2/device not possible [0x00680021]


Cause Remedy
The extension module in module slot MXI2 is not • Remove the extension module and switch the mains.
supported by the controller. • Plug in supported extension module and switch the
mains.
Real-time clock is defective [0x00680022]


Cause Remedy
Device error: The clock integrated in the MM440 memory • Replace memory module.
module is defective. • Please contact Lenze.
Real-time clock: Change battery [0x00680023]


Cause Remedy
The battery in the clock integrated in the MM440 Replace memory module.
memory module is low. The clock is expected to fail soon.
________________________________________________________________
Real-time clock: Battery empty, time lost [0x00680024]


Cause Remedy
The battery integrated in the clock in the MM440 • If the memory module is used for the first time,
memory module is empty. The clock has been reset to its restart the controller to initialise the memory
initial value (01.01.1970 - 00:00:00 o'clock). module.
• If the problem occurs again, replace the memory
module.
Code refresh [0x00690000]

105: Error check of the program memory during runtime 0

Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
Internal error (memory area - logbook) [0x00690001]


Cause Remedy
Internal error (LDS instance data) [0x00690002]


Cause Remedy
________________________________________________________________
Internal error (LDS tasks) [0x00690003]


Cause Remedy
Internal error (storage blocks) [0x00690004]


Cause Remedy
Internal error (task queue) [0x00690005]


Cause Remedy
Internal error (message memory) [0x00690006]


Cause Remedy
Internal error (message queue) [0x00690007]


Cause Remedy
________________________________________________________________
Internal error (name data base) [0x00690008]


Cause Remedy
Internal error (event mechanism) [0x00690009]


Cause Remedy
Internal error (event mechanism) [0x0069000a]


Cause Remedy
Internal error (semaphores) [0x0069000b]


Cause Remedy
Internal error (semaphores) [0x0069000c]


Cause Remedy
________________________________________________________________
Internal error (file system lifetime) [0x0069000d]


Cause Remedy
The maximum number of permissible writing cycles has Replace memory module, otherwise data may get lost.
been reached for the memory module.
General error in the application [0x006a0000]

106: Runtime environment for IEC 61131-3 programs 0

Cause Remedy
General application error. Mains switching. Transmit the application to the

controller again.
Faulty program download [0x006a0001]


Cause Remedy
Faulty transmission of the application to the controller Repeat transmission.

(checksum error).
Fault during the update of the inputs and outputs [0x006a0002]


Cause Remedy
Internal error Mains switching. Transmit the application to the

controller again.
________________________________________________________________
New application loaded [0x006a0003]


Cause Remedy
Application has been changed by transmission from - (Information only)

Engineer or loading from the memory module.
User task 1: Overflow [0x006a0004]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Program runtime in user task 1 is too high. Reduce program runtime by means of:
• Omitting functions (e.g. by reducing the number of
active FBs).
• Optimisation of functions to the calculating time.


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Program runtime in user task 2 is too high. See remedy for "User task 1: Overflow".


Cause Remedy


Cause Remedy
________________________________________________________________


Cause Remedy


Cause Remedy
User task 7: Overflow [0x006a000a]


Cause Remedy
User task 8: Overflow [0x006a000b]


Cause Remedy
User task 9: Overflow [0x006a000c]


Cause Remedy
________________________________________________________________
Runtime error [0x006a000d]


Cause Remedy
A runtime error has occurred in the application. The Remove runtime error in the application and retransfer
application processing has been interrupted. application to controller.
Application has stopped [0x006a000e]


Cause Remedy
The application has been stopped using the device Restart application with device command C00002="31".
command C00002="32". All user tasks are stopped.
Breakpoint reached [0x006a000f]


Cause Remedy
The application has reached a set breakpoint and the Delete breakpoint and restart application.
user task with the breakpoint has stopped.
Faulty application parameter [0x006a0010]


Cause Remedy
An invalid parameter description is available. Transmit application and parameter set to the controller
again.
Division by zero [0x006a0011]


Cause Remedy
An impermissible division by zero occurred in the Replace application.

application. The division has been intercepted and the
divisor was replaced by the value "1".
________________________________________________________________
Pointer access in impermissible memory area [0x006a0012]


Cause Remedy
An invalid pointer access to a protected area occurred in Replace application.

the application.
Application has started [0x006a0013]


Cause Remedy
The application in the controller has been started. - (Information only)
Application has stopped [0x006a0014]


Cause Remedy
The application in the controller has been stopped. - (Information only)
PDO mapping (MXI1): Faulty configuration [0x006a0015]


Cause Remedy
CANopen communication module in MXI1: Incorrectly • Integrate suitable communication module for
configured process data mapping. module slot MXI1 in the Engineer project.
• The corresponding PDO channel is not installed, e. g. • Check the configuration of the network. Then
because no communication module was selected for recompile the project and transmit it to the controller.
module slot MXI1 in the Engineer project.
• The communication module selected for module slot
MXI1 in the Engineer project does not support PDO
mapping.
• The mapping information downloaded to the
controller is faulty.
________________________________________________________________
PDO mapping (MXI2): Faulty configuration [0x006a0016]


Cause Remedy
CANopen communication module in MXI2: Incorrectly • Integrate suitable communication module for
configured process data mapping. module slot MXI2 in the Engineer project.
• The corresponding PDO channel is not installed, e. g. • Check the configuration of the network. Then
because no communication module was selected for recompile the project and transmit it to the controller.
module slot MXI2 in the Engineer project.
• The communication module selected for module slot
MXI2 in the Engineer project does not support PDO
mapping.
• The mapping information downloaded to the
controller is faulty.
Fault in the control configuration [0x006a0017]


Cause Remedy
An invalid control configuration has occurred. Load a different application.
Retain memory of the application faulty [0x006a001a]


Cause Remedy
During reading or saving the retain memory of the Check whether the memory module suitable for the
application a fault has occurred. application is plugged in.
Mains switching.
(C00002) = 33 (reset program).
Carry out project download again.
________________________________________________________________
Watchdog cycle is greater than task cycle [0x006a001b]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
An application has been downloaded You can acknowledge the error if you follow the below
• with the highest priority task having a smaller cycle procedure:
than the parameterised watchdog cycle 1. Activate watchdog
or 2. Set a watchdog cycle that is smaller than or equal to
• with the watchdog of the highest priority task being the task cycle
deactivated. 3. Recreate the application and download it again
• From software version V5.0: If the device boots with
an application without an activated watchdog or with
a watchdog set incorrectly, only an information is
entered in the logbook.
Control card: Supply voltage (24 V DC) too low [0x006f0000]

111: Monitoring of the 24V supply voltage 0

 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
External 24 V supply voltage of the control card is lower Check external supply voltage.
than 18 V. • If the external supply voltage is available and the
error message does not disappear, please contact
Lenze.
Read error service register [0x00720000]

114: Service register 0

Cause Remedy
During reading or writing the service register a fault has Mains switching
occurred. • Please contact Lenze if the problem occurs again.
External error [0x00750000]

117: Device control 0
Response (Lenze setting printed in bold) Setting: C00581 ( Adjustable response)

 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
The drive interface has activated the error message • Check external device to be monitored.
"External error". • Check assignment of the input DI_bSetExternError in
• The input DI_bSetExternError of the system block the application.
LS_DriveInterface has been set to TRUE.
________________________________________________________________
Controller enabled [0x00750001]


Cause Remedy
The controller is enabled and has the "Operation" state. - (Information only)
Controller in STO state [0x00750003]


Cause Remedy
The controller has received the "Safe torque off (STO)" - (Information only)
request by the safety module and is now in the "Safe
torque off active" device state.
Controller: Pulse inhibit is active [0x00750005]


Cause Remedy
The pulse inhibit is active in the controller. - (Information only)
PLC configuration invalid [0x00750006]


Cause Remedy
Heatsink: Temperature > C00122 [0x00770000]

119: Temperature monitoring 0

 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Heatsink temperature higher than variable temperature • Check control cabinet temperature.
limit (C00122). • Clean filter.
• Ambient controller temperature too high. • Clean controller.
• Dirty fan or ventilation slots. • Set a higher value in C00122.
• Value set under C00122 is too low.
________________________________________________________________
Heatsink: Overtemperature [0x00770001]


Cause Remedy
Heatsink temperature higher than fixed temperature • Check control cabinet temperature.
limit (90 °C). • Clean filter.
• Dirty fan or ventilation slots.
Motor: Temperature > C00121 [0x00770002]


Cause Remedy
Motor temperature higher than variable temperature • Check drive dimensioning.

limit (C00121). • Connect PTC or switch off monitoring (C00584="0").
• Motor too hot due to impermissibly high currents or • Set a higher value in C00121.
frequent and too long acceleration processes.
• No PTC connected.
Motor: Overtemperature [0x00770003]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Motor temperature higher than fixed temperature limit • Check drive dimensioning.
(150 °C). • Connect PTC or switch off monitoring (C00583="0").
• Motor too hot due to impermissibly high currents or
frequent and too long acceleration processes.
• No PTC connected.
CPU: Temperature > C00126 [0x00770008]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
CPU temperature higher than variable temperature limit • Check control cabinet temperature.
(C00126). • Clean filter.
• Dirty fan or ventilation slots. • Set a higher value in C00126.
________________________________________________________________
CPU: Overtemperature [0x00770009]


Cause Remedy
CPU temperature higher than fixed limit temperature • Check control cabinet temperature.
(85 °C). • Clean filter.
• Dirty fan or ventilation slots.
Heatsink: Thermal detector is defect [0x0077000a]


Cause Remedy
Encoder for heatsink temperature supplies undefined Check control cabinet temperature, maybe it is too low.
values.
Inside the device: Thermal detector is defective [0x0077000b]


Cause Remedy
Encoder for interior temperature supplies undefined Check control cabinet temperature, maybe it is too low.
values.
Motor: Thermal detector is defect [0x0077000c]


Cause Remedy
The signals of the connected encoder for the motor • Check contacts of the encoder cable at the motor and
temperature detection (resolver at X7 or encoder at X8) controller.
are outside the defined operating range of the detection. • Check selection of the motor temperature sensor in
C01190 and make sure that it complies with the
assembly in the motor.
• Possibly switch off temperature sensor monitoring
(C00594="0").
• If a PTC is in the motor, activate the monitoring of the
PTC temperature in C00585 instead.
________________________________________________________________
DC-bus capacitor: Thermal detector is defect [0x0077000d]


Cause Remedy
Encoder for capacitor temperature supplies undefined Check control cabinet temperature, maybe it is too low.
values.
CPU: Thermal detector is defect [0x0077000e]


Cause Remedy
Encoder for CPU temperature supplies undefined values. Check control cabinet temperature, maybe it is too low.
Motor: PTC has triggered [0x0077000f]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
The motor temperature detected via the terminals T1/T2 • Check drive dimensioning.
is too high. • Connect PTC or thermal contact to terminals T1/T2.
• Motor is too hot due to an increased effective current • If a motor without integrated temperature
that results from operation with too high/too monitoring is used, switch off the monitoring
frequent acceleration processes. function (C00585="0").
• Motor too hot due to increased ambient conditions.
• Motor too hot due to lacking cooling in the case of
self-ventilation and continuous operation with
speeds lower than the rated speed.
• Terminals T1/T2 are not assigned.
• Open circuit of the supply cables for terminals T1/T2.
Heatsink: Fan is defect [0x00770010]


Cause Remedy
Speed of heatsink fan too low, e.g. due to dirt. Check/clean fan.
________________________________________________________________
Inside the device: Fan is defective [0x00770011]


Cause Remedy
Speed of internal fan is too low, e.g. due to dirt. Check/clean fan.
Device utilisation Ixt > C00123 [0x00780000]

120: Analog signal monitoring 0

Cause Remedy
Frequent and too long acceleration processes with Check drive dimensioning.
overcurrent > C00123.
Device utilisation Ixt > 100 % [0x00780001]


Cause Remedy
Frequent and too long acceleration processes with Check drive dimensioning.
overcurrent.
Motor load I²xt > C00127 [0x00780002]


Cause Remedy
Motor is thermally overloaded, e.g. due to: • Check drive dimensioning.

• impermissible continuous current • Check setting in C00127.
• frequent or too long acceleration processes
Motor load I²xt > C00120 [0x00780003]


Cause Remedy
Motor is thermally overloaded, e.g. due to: • Check drive dimensioning.

• impermissible continuous current • Check setting in C00120.
• frequent or too long acceleration processes
________________________________________________________________
Control card is defect (UB24) [0x00780004]


Cause Remedy
Device error Consultation with Lenze required.
Control card is defect (VCC15) [0x00780005]


Cause Remedy
Control card is defect (UB8) [0x00780006]


Cause Remedy
Control card is defect (VCC15 neg.) [0x00780007]


Cause Remedy
Control card is defect (UB18 neg.) [0x00780008]


Cause Remedy
________________________________________________________________
Control card is defect (VCC5) [0x00780009]


Cause Remedy
Electronic nameplate: Data are incompatible [0x0078000a]


Cause Remedy
The connected motor with feedback is not supported by Check drive dimensioning.
the controller firmware.
Device command transferred incorrectly [0x00790000]

121: Motor data interface 0

Cause Remedy
Internal error If the error occurs frequently, please contact Lenze.
Time error - controller interface [0x00790001]


Cause Remedy
Violation of time slice [0x00790002]


Cause Remedy
________________________________________________________________
Motor: Calculated motor impedance unrealistic [0x007b0001]

123: Motor control 1

Cause Remedy
Faulty motor parameterisation. Check motor parameters.
Motor: Calculated mutual inductance unrealistic [0x007b0002]


Cause Remedy
Motor data are inconsistent [0x007b0003]


Cause Remedy
Motor: Phase resistance too high [0x007b0004]


Cause Remedy
Motor: Device current too low for rated magnetisation [0x007b0006]


Cause Remedy
Controller current is too low for rated magnetisation, i.e. Check drive dimensioning.
the controller cannot energise the motor sufficiently.
________________________________________________________________
Motor: Rated current < rated magnetising current [0x007b0007]


Cause Remedy
Faulty motor parameterisation. Check motor parameters and setting of C00022.
Motor: Calculated rotor resistance unrealistic [0x007b0009]


Cause Remedy
Motor: Calculated mutual inductance unrealistic [0x007b000a]


Cause Remedy
Motor: Calculated e. m. f. factor unrealistic [0x007b000b]


Cause Remedy
Motor: Calculated rotor time constant unrealistic [0x007b000c]


Cause Remedy
________________________________________________________________
Motor: Calculated flux factor unrealistic [0x007b000d]


Cause Remedy
DC bus overvoltage [0x007b000e]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Due to a too high braking energy, the DC-bus voltage • Use brake resistor or regenerative module.
exceeds the overvoltage threshold which results from • Check setting in C00173.
the mains voltage setting in C00173.
DC bus undervoltage [0x007b000f]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
DC bus voltage is lower than the undervoltage threshold • Check mains voltage.
resulting from the mains setting under C00173. • Check setting in C00173.
Overcurrent detected [0x007b0010]


Cause Remedy
• Short circuit/earth fault in motor cable. • Check motor cable.

• Excessive capacitive charging current in the motor • Use motor cable that is shorter or has a lower
cable. capacitance.
________________________________________________________________
Earth fault detected [0x007b0011]


Cause Remedy
• Earth fault in motor cable. • Check motor cable.

• Excessive capacitive charging current in the motor • Use motor cable that is shorter or has a lower
cable. capacitance.
Actual speed value outside the tolerance (C00576) [0x007b0012]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Difference between actual and setpoint speed is too big. • Increase speed tolerance margin under C00576.
• Check drive dimensioning.
Motor control: Task overflow [0x007b0013]


Cause Remedy
Internal error (motor control). Consultation with Lenze required.
Internal communication error (host MCTRL) [0x007b0014]


Cause Remedy
Internal error (motor control). Consultation with Lenze required.
Motor data are inconsistent [0x007b0017]


Cause Remedy
________________________________________________________________
Resolver: Open circuit [0x007b0018]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
• Resolver cable interrupted. • Check resolver cable.

• Resolver defective. • Check resolver.
• Switch off the monitoring function (C00586="3") if no
resolver is used.
Motor: Calculated leakage inductance unrealistic [0x007b0019]


Cause Remedy
Absolute value encoder: Communication error [0x007b001a]


Cause Remedy
Absolute value encoder does not send any data or a • Check supply cable.
digital readout has been activated while the machine is • Check encoder.
coasting down. • Check voltage supply (C00421).
• For Hiperface absolute value encoders: Check the
initialisation time (C00412).
________________________________________________________________
Encoder: Open circuit [0x007b001b]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
• Encoder cable interrupted. • Check encoder cable.

• Encoder defective. • Check encoder.
• Faulty parameter setting of the encoder. • Check parameter setting (C00422).
• Interruption of the light path of laser measuring • Switch off the monitoring function (C00580="3") if no
systems. encoder is used.
• Insufficient reflection of the light of laser measuring • Correct the light path (for laser measuring systems).
systems. • Improve the reflection (for laser measuring systems).
Note:
The encoder open-circuit monitoring for incremental
encoders (C00422 = "0: Incremental encoder (TTL
signal)") requires a signal amplitude > 3.5 V!
If the signal amplitude is lower than 3.0 V, the error
response parameterised in C00580 is triggered.
Brake transistor: Ixt overload [0x007b001c]


Cause Remedy
Too frequent and too long braking processes. Check drive dimensioning.
Brake resistor: I²xt overload [0x007b001d]


Cause Remedy
Too frequent and too long braking processes. • Check drive dimensioning.
• Check parameter setting (C00129, C00130, C00131).
Motor: Actual current value > C00620 [0x007b001e]


Cause Remedy
The instantaneous value of the motor current has • Set a higher value in C00620.
exceeded the value set in C00620. • Reduce maximum current (C00022).
• Change response (C00619).
________________________________________________________________
Resolver: Calculated acceleration unrealistic [0x007b001f]


Cause Remedy
Resolver evaluation faulty (implausible acceleration at Check structure.

the resolver).
Motor: Actual speed value > C00596 [0x007b0020]


Cause Remedy
Threshold for speed monitoring set in C00596 has been Check drive dimensioning.
exceeded.
Brake transistor: Overcurrent [0x007b0021]


Cause Remedy
Brake chopper short circuit/earth fault detected. Check brake chopper cable and brake resistor.
Position encoder: Module selected in C00490 not available [0x007b0023]


Cause Remedy
The position encode selected under C00490 has not been • Check position encoder.
recognised. • Check parameter setting (C00490).
Motor encoder: Module selected in C00495 not available [0x007b0024]


Cause Remedy
The motor encoder selected under C00495 has not been • Check motor encoder.
recognised. • Check parameter setting (C00495).
________________________________________________________________
Motor temperature: Module selected in C01193 not available [0x007b0025]


Cause Remedy
The module for temperature feedback selected in • Check feedback module.

C01193 has not been recognised. • Check parameter setting (C01193).
EnDat encoder: Lamp error [0x007b0026]


Cause Remedy
EnDat encoder defective. Check EnDat encoder.
EnDat encoder: Signal error [0x007b0027]


Cause Remedy
EnDat encoder: Position error [0x007b0028]


Cause Remedy
EnDat encoder: Overvoltage [0x007b0029]


Cause Remedy
________________________________________________________________
EnDat encoder: Undervoltage [0x007b002a]


Cause Remedy
EnDat encoder: Overcurrent [0x007b002b]


Cause Remedy
EnDat encoder: Battery empty [0x007b002c]


Cause Remedy
Failure of motor phase U [0x007b002d]


Cause Remedy
U phase interruption of motor cable. • Check cabling between the controller and motor.
• Check parameter setting (C00599).
Failure of motor phase V [0x007b002e]


Cause Remedy
V phase interruption of the motor cable. • Check cabling between the controller and motor.
________________________________________________________________
Failure of motor phase W [0x007b002f]


Cause Remedy
W phase interruption of the motor cable. • Check cabling between the controller and motor.
Electronic nameplate: Data loaded [0x007b0030]


Cause Remedy
New electronic nameplate (ENP) has been found. - (Information only)
Electronic nameplate: Not found [0x007b0031]


Cause Remedy
Electronic nameplate (ENP) is not available. - (Information only)
Electronic nameplate: Encoder protocol unknown [0x007b0032]


Cause Remedy
Electronic nameplate: Encoder signal unknown [0x007b0033]


Cause Remedy
________________________________________________________________
Internal communication error (DMA) [0x007b0034]


Cause Remedy
Internal error. Please contact Lenze.
Controller: Overload during acceleration phases [0x007b0035]


Cause Remedy
Frequent or too long acceleration processes. • Check drive dimensioning.

• Reduce steepness of acceleration ramps.
Internal communication error (host MCTRL) [0x007b0036]


Cause Remedy
Internal error. Please contact Lenze.
PLC configuration invalid [0x007b0037]


Cause Remedy
Motor parameter identification was cancelled [0x007b0038]


Cause Remedy
The motor current during identification was too high. • The motor must not move during identification.
• Check motor parameters.
________________________________________________________________
Electronic nameplate: Data outside the parameter limits [0x007b0039]


Cause Remedy
The motor parameters of the electronic nameplate are Consultation with Lenze required.
outside of the limit values of the controller and therefore
cannot be accepted.
Hiperface encoder: Transmission error [0x007b003a]


Cause Remedy
• Encoder signal interferences (EMC). • Check encoder cable, use shorter encoder cable if
• Encoder cable interrupted. required.
• Faulty parameter setting of the encoder. • Check parameter setting (C00420, C00421, C00422).
Note: This information is always supplied together with
the "I/O error - encoder communication" error message
and is entered in the logbook even if the encoder
monitoring is deactivated (C00580).
Hiperface encoder: Command error [0x007b003b]


Cause Remedy
________________________________________________________________
Hiperface encoder: Unknown encoder [0x007b003c]


Cause Remedy
Encoder is not supported by the controller firmware. • Exchange encoder for known type.
• Parameterise the unknown encoder using the codes
C00414 (TypeCode) and C00415 (number of
revolutions).
Hiperface encoder: Position initialisation error [0x007b003d]


Cause Remedy
A digital readout of the absolute encoder is only possible Prevent coasting of the machine while the absolute
at standstill. encoder is read out.
The readout is activated by the following actions:
• Mains switching
• Change of C00420, C00422 and C00427
• To "Absolute value encoder: Communication error"
• To "Encoder: Open circuit"
Encoder monitoring: Pulse deviation detected [0x007b003e]


Cause Remedy
• Faulty parameter setting of the encoder. • Check parameter setting (C00422).
• Possibly switch off monitoring (C00621).
________________________________________________________________
Failure of a mains phase [0x007b003f]


Cause Remedy
Missing mains phase. Check mains connection.

Note: This monitoring is only available for devices
≥ 75 kW (type 8S and bigger).
Brake chopper: Ixt > C00570 [0x007b0040]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Frequent and too long braking. • Check drive dimensioning.

• Check setting in C00570.
Brake resistor: I2t > C00572 [0x007b0041]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Frequent and too long braking. • Check drive dimensioning.

• Check setting in C00572.
• Check settings for brake resistor (C00129, C00130,
C00131).
Power section is defect [0x007b0042]


Cause Remedy
Device error Mains switching

________________________________________________________________
Controller: Clamp operation [0x007b0047]


Cause Remedy
Actual motor current is higher than the maximum device • Increase speed setpoint ramps.
current (C00789). • Optimise Imax controller.
Pole position recognition cancelled [0x007b004a]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
An error occurred during the pole position identification. • Check whether all requirements for an identification
The pole position identification could not be completed of the pole position are fulfilled.
successfully. • Ensure that the machine is not braked or blocked
during the pole position identification.
• Repeat the pole position identification.
Motor switched off [0x007b004c]


Cause Remedy
From software version V2.0 Check cabling between the controller and motor.
Interruption of several motor cable phases.
EnDat encoder: Transmission error [0x007b004e]


Cause Remedy
________________________________________________________________
EnDat encoder: Command error [0x007b004f]


Cause Remedy
EnDat encoder: Position initialisation error [0x007b0050]


Cause Remedy
A digital readout of the absolute encoder is only possible Prevent coasting of the machine while the absolute
at standstill. encoder is read out.
The readout is activated by the following actions:
• Mains switching
• Change of C00420, C00422 and C00427
• To "Absolute value encoder: Communication error"
• To "Encoder: Open circuit"
Memory module: File system has been formatted [0x007c0000]

124: Device command module (C00002) 0

Cause Remedy
File system of the memory module has been formatted. - (Information only)
Memory module: File system has been restored [0x007c0001]

124: Device command module (C00002) 1

Cause Remedy
File system of the memory module has been restored. - (Information only)
________________________________________________________________
Analog input 1: Master current < 4 mA [0x007d0000]

125: Processing of analog inputs/outputs 0

Cause Remedy
Master current is in the impermissible range -4 ... +4 mA, Remove cable break.
e. g. due to a cable break or a defective master current
value encoder.
• Only for parameterisation as master current input
(see C00034).
PLC configuration invalid [0x007d0001]

125: Processing of analog inputs/outputs 1

Cause Remedy
Communication error between device and device module [0x007f0002]

127: Interface to the intelligent communication module 2

 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Communication between the controller and extension • Eliminate EMC interference.

module is interrupted, e.g. due to disturbances in the • Switch off controller, correctly plug in the module,
ambience (EMC), defective hardware, or loose contact. switch on the controller again.
• This monitoring is designed for safe process data • Mains switching or restart of the controller,
communication. respectively.
• Replace module/controller.
Communication with module in MXI1 interrupted [0x007f0003]


Cause Remedy
Communication between the controller and the • Switch off controller, plug module correctly in module
extension module in module slot MXI1 cannot be slot MXI1, switch on controller again.
established. • If the problem occurs again, replace the module.
________________________________________________________________
Communication with module in MXI2 interrupted [0x007f0004]


Cause Remedy
Communication between the controller and the • Switch off controller, plug module correctly in module
extension module in module slot MXI2 cannot be slot MXI2, switch on controller again.
established. • If the problem occurs again, replace the module.
CAN on board: Bus off [0x00830000]

131: "CAN on board": CAN dispatcher 0

 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
CAN on board: "Bus-Off" state • Remove fault (e.g. EMC).

• Received too many faulty telegrams. • Remove loose contact, screw down adapter.
• Defective cable (e.g. loose contact). • Assign different IDs to nodes.
• Two nodes with the same ID.
CAN on board: Invalid node address 0 [0x00830001]


Cause Remedy
CAN on board: initialisation error • Set a non-zero node address by means of the DIP
• The hardware allocation of the node address was switches and then switch mains.
selected via DIP switches, and the DIP switches of the • Activation of the software allocation of the node
node address are all on zero. number by switching over DIP switch 2, then switch
Note: Instead of the impermissible node address 0, node mains.
address 1 is used.
CAN on board: Basic configuration invalid [0x00830002]


Cause Remedy
CAN on board: configuration error • Repeat download

• Faulty download of an Engineer or PLC Designer • Correct CAN settings in the project and regenerate
project project.
• Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
________________________________________________________________
CAN on board: Heartbeat error index 1 ... 32 [0x00840000 ... 0x0084001f]

132: "CAN on board": CAN-NMT handler 0 ... 31
Response (Lenze setting printed in bold) Setting: C00613/1...32 ( Adjustable response)

Cause Remedy
CAN on board: Cyclic node monitoring • Reactivate CAN node by mains switching, restart of
• Node station has not received a heartbeat telegram the controller (C00002="11000") or CAN reset node.
from node 1 ... 32 within the defined time. • Select a different heartbeat producer monitoring
time or switch off monitoring and reset locked error
status, if necessary.
Tip: Save the current parameter set before mains
switching and restart of the controller (C00002="11").
CAN on board: Lifeguarding error [0x00840020]

132: "CAN on board": CAN-NMT handler 32

Cause Remedy
CAN on board: Cyclic node monitoring Select a different Lifeguarding monitoring time or switch
• Slave response: Maximum time between two node off monitoring.
guarding telegrams (remote transmission request
telegram) from the master has been exceeded.
CAN on board: Faulty NMT slave configuration [0x00840021]

132: "CAN on board": CAN-NMT handler 33

Cause Remedy
CAN on board: A configuration error has occurred in the • Repeat download

network management of the CAN slave. • Correct CAN settings in the project and regenerate
• Faulty download of an Engineer or PLC Designer project.
project
• Incorrect parameterisation of node guarding or
heartbeat.
________________________________________________________________
CAN on board: Faulty emergency configuration [0x00850000]

133: "CAN on board": CAN emergency handler 0

Cause Remedy
CAN on board: CAN emergency configuration is faulty. • Repeat download

• Faulty download of an Engineer or PLC Designer • Correct CAN settings in the project and regenerate
project project.
• Invalid CAN emergency settings according to
DS301V402 in the Engineer or PLC Designer.
CAN on board: Node guarding error 1 ... 32 [0x00860000 ... 0x0086001f]

134: "CAN on board": CAN-NMT master 0 ... 31

Cause Remedy
CAN on board: Cyclic node monitoring • Reactivate CAN node by mains switching, restart of
• CAN master has not received a response to a node the controller (C00002="11000") or CAN reset node.
guarding telegram (remote transmission request • Select a different node guarding monitoring time or
telegram) from node 1 ... 32 within the defined time. switch off monitoring.
• Reset potentially caught error status.
CAN on board: Faulty NMT master configuration [0x00860020]

134: "CAN on board": CAN-NMT master 32

Cause Remedy

network management of the CAN master. • Correct CAN settings in the project and regenerate
project.
• Invalid CAN master settings according to DS301V402
and DS405 in the Engineer or PLC Designer.
heartbeat.
________________________________________________________________
CAN on board RPDO1: Telegram not received or faulty [0x00870000]

135: "CAN on board": CAN-PDO handler 0
Response (Lenze setting printed in bold) Setting: C00591/1 ( Adjustable response)

Cause Remedy
CAN on board: CAN-IN 1 error • Set correct telegram length for CAN master
• Incorrect PDO telegram length. (transmitter).
• Transmission error. • Eliminate trouble in the environment (e. g. EMC).
• Time monitoring of the PDOs has tripped. • Select a different time monitoring or switch off time
monitoring.


Cause Remedy
monitoring.


Cause Remedy
monitoring.


Cause Remedy
monitoring.
________________________________________________________________
CAN on board PDO manager: Faulty configuration [0x00870008]


Cause Remedy
CAN on board: CAN-PDO configuration error • Repeat download.

• Faulty project download. • Correct CAN settings in the project and regenerate
• Invalid CAN settings according to DS301V402 in the project.
• Mapping variables have incorrect CANopen indices
according to DS405.
CAN on board SDO server: Faulty configuration [0x00880000]

136: "CAN on board": CAN-SDO server 0

Cause Remedy
CAN on board: A configuration error has occurred in the • Repeat download.

CAN SDO server. • Correct CAN settings in the project and regenerate
• Faulty project download. project.
• Invalid SDO server settings according to DS301V402
in the Engineer or PLC Designer.
CAN on board SDO client: Faulty configuration [0x00890000]

137: "CAN on board": CAN-SDO client 0

Cause Remedy

CAN SDO client. • Correct CAN settings in the project and regenerate
• Invalid SDO client settings according to DS301V402 in
the Engineer or PLC Designer.
File ProjectSelection.dat defect [0x008c0000]

140: Application project manager 0

Cause Remedy
Internal error Reformat memory module (C00002="1030") and repeat

project download.
________________________________________________________________
File ProjectList.dat defect [0x008c0001]


Cause Remedy

project download.
File DeviceCFG.dat defect [0x008c0002]


Cause Remedy

project download.
File ProjectSelection.dat is missing [0x008c0003]


Cause Remedy

project download.
File ProjectList.dat is missing [0x008c0004]


Cause Remedy

project download.
File DeviceCFG.dat is missing [0x008c0005]


Cause Remedy

project download.
________________________________________________________________
File ProjectSelection.dat invalid [0x008c0006]


Cause Remedy

project download.
File ProjectList.dat invalid [0x008c0007]


Cause Remedy

project download.
File DeviceCFG.dat invalid [0x008c0008]


Cause Remedy

project download.
Project is not loaded [0x008c0009]


Cause Remedy
Application could not be loaded because of a file error. Load new or different application.
Project is not available [0x008c000a]


Cause Remedy
Application not available. • Download application with Engineer

• Switch off controller and use a different memory
module with an existing application.
________________________________________________________________
Required licence missing [0x008c000b]


Cause Remedy
Memory module could not be initialised. Two possibilities:

• Use Engineer to download and activate an application
suitable for the memory module.
• Switch off controller and use memory module
suitable for the application.
Application and device are incompatible [0x008c000c]


Cause Remedy
Application is incompatible with the controller. • Download of an application suitable for the controller
using Engineer.
• Switch off controller and use a different memory
module with suitable application.
MXI1: Module is missing or incompatible [0x008c000d]


Cause Remedy
Extension module in module slot MXI1 is incompatible Use extension module supported by the application.
with the application.
MXI2: Module is missing or incompatible [0x008c000e]


Cause Remedy
Extension module in module slot MXI2 is incompatible Use extension module supported by the application.
with the application.
________________________________________________________________
MXI1: PROFIBUS module is missing or incompatible [0x008c000f]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
E94AYCPM communication module (PROFIBUS) in Use communication module supported by the

module slot MXI1 is incompatible with the application. application.
MXI2: PROFIBUS module is missing or incompatible [0x008c0010]


Cause Remedy
E94AYCPM communication module (PROFIBUS) in Use communication module supported by the

module slot MXI2 is incompatible with the application. application.
MXI1: Ethernet module is missing or incompatible [0x008c0011]


Cause Remedy
E94AYCEN communication module (Ethernet) in module Use communication module supported by the
slot MXI1 is incompatible with the application. application.
MXI2: Ethernet module is missing or incompatible [0x008c0012]


Cause Remedy
E94AYCEN communication module (Ethernet) in module Use communication module supported by the
slot MXI2 is incompatible with the application. application.
MXI1: Digital frequency module is missing or incompatible [0x008c0013]


Cause Remedy
Digital frequency extension module in module slot MXI1 Use extension module supported by the application.
is incompatible with the application.
________________________________________________________________
MXI2: Digital frequency module is missing or incompatible [0x008c0014]


Cause Remedy
Digital frequency extension module in module slot MXI2 Use extension module supported by the application.
is incompatible with the application.
MXI1: ICM module is missing or incompatible [0x008c0015]


Cause Remedy
ICM extension module in module slot MXI1 is Use extension module supported by the application.
incompatible with the application.
MXI2: ICM module is missing or incompatible [0x008c0016]


Cause Remedy
ICM extension module in module slot MXI2 is Use extension module supported by the application.
incompatible with the application.
MXI1: CAN module is missing or incompatible [0x008c0017]


Cause Remedy
CANopen communication module in module slot MXI1 is Use communication module supported by the
incompatible with the application. application.
MXI2: CAN module is missing or incompatible [0x008c0018]


Cause Remedy
CANopen communication module in module slot MXI2 is Use communication module supported by the
incompatible with the application. application.
________________________________________________________________
ConnectTable active [0x008c001a]


Cause Remedy
The application is provided with a so-called connection - (Information only)

table, i. e. connections can be altered "online" in the
function block editor without having to carry out a new
complete download.
Internal error (CRC application) [0x008c001d]


Cause Remedy
• The checksum of the application is faulty. Transmit the application to the controller again.
• Files required to run the application are missing.
• The supply voltage failed before the entire parameter
set could be saved.
Storage capacity for user parameters exceeded [0x008c001e]


Cause Remedy
Due to the creation of too many user parameters within • Use an MM4xx memory module instead of the
the application, the storage capacity available on the MM3xx type (approx. twice the storage capacity).
memory module has been exceeded. User parameters • Remove unnecessary, manually created user
are produced directly by manual creation or indirectly by parameters from the application.
the insertion of function blocks. • Remove unnecessary function blocks from the
application.
• Recompile the application and download it again.
• Acknowledge the error.
Then the current utilisation of the memory can be
assessed using code C02112. If 100 % is displayed, this
corresponds to the maximum utilisation for an
executable application.
Parameter set faulty [0x00900000]

144: Parameter manager 0

Cause Remedy
Parameter set is invalid. Transfer parameter set from Engineer to the controller
and save with C00002="11".
________________________________________________________________
Lenze setting loaded [0x00900001]


Cause Remedy
Lenze setting has been loaded. - (Information only)
Parameter set saved [0x00900002]


Cause Remedy
Parameter set has been saved. - (Information only)
Parameter set loaded [0x00900003]


Cause Remedy
Parameter set has been loaded. - (Information only)
Loading of Lenze setting failed [0x00900004]


Cause Remedy
Lenze setting of a parameter is not within the valid Eliminate error in the application and retransfer
limits. application to controller.
Parameter set restored [0x00900005]


Cause Remedy
An error has occurred while loading the selected Transfer parameter set from Engineer to the controller
parameter set. and save with C00002="11".
________________________________________________________________
Saving of parameters failed [0x00900006]


Cause Remedy
An error has occurred while saving the current Use a different memory module.
parameter set.
Parameter set: Version conflict [0x00900007]


Cause Remedy
The parameter set version on the memory module is not Transfer parameter set from Engineer to the controller
compatible with the firmware of the controller. and save with C00002="11".
Code number duplicated [0x00900008]


Cause Remedy
Code number of the operating system has been assigned Eliminate error in the application and retransfer
to the application. application to controller.
Parameter set: Type of standard device has been changed [0x00900009]


Cause Remedy
The firmware has loaded a parameter set the type code Load a suitable parameter set.
of which does not correspond to the type code of the
controller.
________________________________________________________________
No parameters for module in MXI1 [0x0090000a]


Cause Remedy
The parameter set contains no parameters for the Integrate the module inserted in MXI1 into the Engineer
module inserted in MXI1. project and then retransmit the parameter set to the
controller.
No parameters for module in MXI2 [0x0090000b]


Cause Remedy
The parameter set contains no parameters for the Integrate the module inserted in MXI2 into the Engineer
module inserted in MXI2. project and then retransmit the parameter set to the
controller.
Disconnection in the case of par. storage [0x0090000c]


Cause Remedy
The supply voltage has failed before the saving of the Save the start parameters again, and in doing this,
parameter set could be completed. In the case of a device ensure that the supply voltage is applied until the saving
replacement/firmware update, the parameter set can no process has been completed. Afterwards acknowledge
longer be established automatically. the error message with "Reset error".
Mains voltage is switched on [0x00910000]

145: Lenze runtime system 0

Cause Remedy
Mains voltage has been switched on. - (Information only)
________________________________________________________________
Mains voltage is switched off [0x00910001]


Cause Remedy
Mains voltage has been switched off. - (Information only)
No heartbeat signal detected [0x00910002]


Cause Remedy
Heartbeat not periodic [0x00910003]


Cause Remedy
Internal error: see C00180 [0x00910004]


Cause Remedy


Cause Remedy
Internal error Consultation with Lenze required.
________________________________________________________________


Cause Remedy
Divisor of division was "0". Replace application.


Cause Remedy


Cause Remedy
System task 1: Task overflow [0x0091000a]


Cause Remedy
System overload. Consultation with Lenze required.
System task 2: Task overflow [0x0091000b]


Cause Remedy
________________________________________________________________
System task 3: Task overflow [0x0091000c]


Cause Remedy
System task: Task overflow [0x0091000d]


Cause Remedy
Communication task: Standstill > 3 s [0x0091000e]


Cause Remedy
Service data communication within the system (SDO Reduce system load.
communication of all bus systems connected) has • Reduce the data and communication volume on the
caused an overload of service data processing. Due to buses. Processing will restart automatically when the
this, the monitoring interval of the processing task has overload has been eliminated.
been violated. PDO communication is not affected by For systems frequently affected by this type of overload,
this overload. the error response can be changed to warning via code
C01230 in order to increase the drive availability.
Cyclic task: Standstill > 60 s [0x0091000f]


Cause Remedy
System overload or CRC check task crash. Reduce system load.

• This is possible in the application or data transfer of
the communication interfaces.
________________________________________________________________
Position value faulty [0x00910010]


Cause Remedy
Error during initialisation [0x00910011]


Cause Remedy
Block function in wrong MEC task [0x00910012]


Cause Remedy
Safety module: Incompatible with setting in C00214 [0x00920000]

146: Interface to the safety module 0

Cause Remedy
The controller has detected a safety module which does Change setting underC00214 or use a suitable safety
not match the setting under C00214. module.
• Afterwards mains switching is required.
Communication with safety module interrupted [0x00920001]

146: Interface to the safety module 1

Cause Remedy
It is not possible to establish communication between • Switch off the controller, plug in safety module
the controller and safety module. correctly and switch on the controller again.
• If the problem occurs again, replace the safety
module.
________________________________________________________________
DFIN (MXI1): Track error A-/A [0x00990000]

153: Extension module - digital frequency in MXI1 0

Cause Remedy
Digital frequency extension module in MXI1: • Check signal cable for track A.
Interruption (open circuit) of the signal cable for track A. • Check encoder.
DFIN (MXI1): Track error B-/B [0x00990001]


Cause Remedy
Digital frequency extension module in MXI1: • Check signal cable for track B.
Interruption (open circuit) of the signal cable for track B. • Check encoder.
DFIN (MXI1): Track error Z-/Z [0x00990002]


Cause Remedy
Digital frequency extension module in MXI1: • Check signal cable for track Z.
Interruption (open circuit) of the signal cable for track Z. • Check encoder.
DFIN (MXI1): Signal error enable/lamp control [0x00990003]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
Digital frequency extension module in MXI1: • Check signal cable for "Enable" signal.
Interruption (open circuit) of the signal cable for the • Check encoder.
"Enable" signal or no "Enable" signal available.
________________________________________________________________
DFIN (MXI1): Supply cannot be corrected anymore [0x00990004]


Cause Remedy
Digital frequency extension module in MXI1: The Check encoder.

encoder voltage controlled by the digital frequency input
has reached the voltage limit.
DFOUT (MXI1): Maximum frequency reached [0x00990005]


Cause Remedy
Digital frequency extension module in MXI1: Limit Check limit value set.
frequency at the digital frequency output reached.
• The digital frequency has reached the limit value set
in C013053.
CAN module (MXI1): Bus off [0x009d0000]

157: CAN module in MXI1: CAN dispatcher 0

 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
CANopen communication module in MXI1: "Bus-off" • Remove fault (e.g. EMC).

state • Remove loose contact, screw down adapter.
• Received too many faulty telegrams. • Assign different IDs to nodes.
• Defective cable (e.g. loose contact).
CAN module (MXI1): Invalid node address 0 [0x009d0001]


Cause Remedy
CANopen communication module in MXI1: Initialisation • Set a non-zero node address by means of the DIP
error switches and then switch mains.
• The hardware allocation of the node address was • Activation of the software allocation of the node
selected via DIP switches, and the DIP switches of the number by switching over DIP switch 2, then switch
node address are all on zero. mains.
Note: Instead of the impermissible node address 0, node
address 1 is used.
________________________________________________________________
CAN module (MXI1): Basic configuration invalid [0x009d0002]


Cause Remedy
CANopen communication module in MXI1: • Repeat download

Configuration error • Correct CAN settings in the project and regenerate
project
CAN module (MXI1): Heartbeat error index 1 ... 32 [0x009e0000 ... 0x009e001f]

158: CAN module in MXI1: CAN-NMT handler 0 ... 31

Cause Remedy
CANopen communication module in MXI1: Cyclic node • Reactivate CAN node by mains switching, restart of
monitoring the controller (C00002="11000") or CAN reset node.
• Node station has not received a heartbeat telegram • Select a different heartbeat producer monitoring
from node 1 ... 32 within the defined time. time or switch off monitoring and reset locked error
CAN module (MXI1): Lifeguarding error [0x009e0020]

158: CAN module in MXI1: CAN-NMT handler 32

Cause Remedy
CANopen communication module in MXI1: Cyclic node Select a different Lifeguarding monitoring time or switch
monitoring off monitoring.
• Slave response: Maximum time between two node
________________________________________________________________
CAN module (MXI1): Faulty NMT slave configuration [0x009e0021]


Cause Remedy
CANopen communication module in MXI1: A • Repeat download

configuration error has occurred in the network • Correct CAN settings in the project and regenerate
management of the CAN slave. project.
• Faulty download of an Engineer or PLC Designer
project
heartbeat.
CAN module (MXI1): Faulty emergency configuration [0x009f0000]

159: CAN module in MXI1: CAN emergency handler 0

Cause Remedy
CANopen communication module in MXI1: CAN • Repeat download

emergency configuration is faulty. • Correct CAN settings in the project and regenerate
project
CAN module (MXI1): Node guarding error 1 ... 32 [0x00a00000 ... 0x00a0001f]

160: CAN module in MXI1: CAN-NMT master 0 ... 31

Cause Remedy
• CAN master has not received a response to a node • Select a different node guarding monitoring time or
guarding telegram (remote transmission request switch off monitoring.
telegram) from node 1 ... 32 within the defined time. • Reset potentially caught error status.
________________________________________________________________
CAN module (MXI1): Faulty NMT master configuration [0x00a00020]

160: CAN module in MXI1: CAN-NMT master 32

Cause Remedy

management of the CAN master. project.
project.
heartbeat.
CAN module (MXI1) RPDO1: Telegram not received or faulty [0x00a10000]

161: CAN module in MXI1: CAN-PDO handler 0

Cause Remedy
CANopen communication module in MXI1: CAN-IN 1 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.


Cause Remedy
________________________________________________________________


Cause Remedy


Cause Remedy


Cause Remedy


Cause Remedy
________________________________________________________________


Cause Remedy


Cause Remedy
CAN module (MXI1) PDO manager: Faulty configuration [0x00a10008]


Cause Remedy
CANopen communication module in MXI1: CAN-PDO • Repeat download.

configuration error • Correct CAN settings in the project and regenerate
according to DS405.
CAN module (MXI1) SDO server: Faulty configuration [0x00a20000]

162: CAN module in MXI1: CAN-SDO server 0

Cause Remedy
CANopen communication module in MXI1: In the CAN • Repeat download.

SDO server a configuration error has occurred. • Correct CAN settings in the project and regenerate
________________________________________________________________
CAN module (MXI1) SDO client: Faulty configuration [0x00a30000]

163: CAN module in MXI1: CAN-SDO client 0

Cause Remedy
CANopen communication module in MXI1: In the CAN • Repeat download

SDO client a configuration error has occurred. • Correct CAN settings in the project and regenerate
DFIN (MXI2): Track error A-/A [0x00aa0000]


Cause Remedy
Digital frequency extension module in MXI2: • Check signal cable for track A.
Interruption (open circuit) of the signal cable for track A. • Check encoder.
DFIN (MXI2): Track error B-/B [0x00aa0001]


Cause Remedy
Digital frequency extension module in MXI2: • Check signal cable for track B.
Interruption (open circuit) of the signal cable for track B. • Check encoder.
DFIN (MXI2): Track error Z-/Z [0x00aa0002]


Cause Remedy
Digital frequency extension module in MXI2: • Check signal cable for track Z.
Interruption (open circuit) of the signal cable for track Z. • Check encoder.
________________________________________________________________
DFIN (MXI2): Signal error enable/lamp control [0x00aa0003]


Cause Remedy
Digital frequency extension module in MXI2: • Check signal cable for "Enable" signal.
Interruption (open circuit) of the signal cable for the • Check encoder.
"Enable" signal or no "Enable" signal available.
DFIN (MXI2): Supply cannot be corrected anymore [0x00aa0004]


Cause Remedy
Digital frequency extension module in MXI2: The Check encoder.

encoder voltage controlled by the digital frequency input
has reached the voltage limit.
DFOUT (MXI2): Maximum frequency reached [0x00aa0005]


Cause Remedy
Digital frequency extension module in MXI2: Limit Check limit value set.
frequency at the digital frequency output reached.
• The digital frequency has reached the limit value set
in C014053.
CAN module (MXI2): Bus off [0x00ac0000]


Cause Remedy
CANopen communication module in MXI2: "Bus-off" • Remove fault (e.g. EMC).

state • Remove loose contact, screw down adapter.
• Received too many faulty telegrams. • Assign different IDs to nodes.
• Defective cable (e.g. loose contact).
________________________________________________________________
CAN module (MXI2): Invalid node address 0 [0x00ac0001]


Cause Remedy
CANopen communication module in MXI2: Initialisation • Set a non-zero node address by means of the DIP
error switches and then switch mains.
• The hardware allocation of the node address was • Activation of the software allocation of the node
selected via DIP switches, and the DIP switches of the number by switching over DIP switch 2, then switch
node address are all on zero. mains.
Note: Instead of the impermissible node address 0, node
address 1 is used.
CAN module (MXI2): Basic configuration invalid [0x00ac0002]


Cause Remedy
CANopen communication module in MXI2: • Repeat download

Configuration error • Correct CAN settings in the project and regenerate
project
CAN module (MXI2): Heartbeat error index 1 ... 32 [0x00ad0000 ... 0x00ad001f]

173: CAN module in MXI2: CAN-NMT handler 0 ... 31

Cause Remedy
• Node station has not received a heartbeat telegram • Select a different heartbeat producer monitoring
from node 1 ... 32 within the defined time. time or switch off monitoring and reset locked error
________________________________________________________________
CAN module (MXI2): Lifeguarding error [0x00ad0020]


Cause Remedy
CANopen communication module in MXI2: Cyclic node Select a different Lifeguarding monitoring time or switch
monitoring off monitoring.
• Slave response: Maximum time between two node
CAN module (MXI2): Faulty NMT slave configuration [0x00ad0021]


Cause Remedy

management of the CAN slave. project.
project
heartbeat.
CAN module (MXI2): Faulty emergency configuration [0x00ae0000]

174: CAN module in MXI2: CAN emergency handler 0

Cause Remedy
CANopen communication module in MXI2: CAN • Repeat download

emergency configuration is faulty. • Correct CAN settings in the project and regenerate
project
________________________________________________________________
CAN module (MXI2): Node guarding error 1 ... 32 [0x00af0000 ... 0x00a0001f]

175: CAN module in MXI2: CAN-NMT master 0 ... 31

Cause Remedy
• CAN master has not received a response to a node • Select a different node guarding monitoring time or
guarding telegram (remote transmission request switch off monitoring.
telegram) from node 1 ... 32 within the defined time. • Reset potentially caught error status.
CAN module (MXI2): Faulty NMT master configuration [0x00af0020]

175: CAN module in MXI2: CAN-NMT master 32

Cause Remedy

management of the CAN master. project.
project.
heartbeat.
CAN module (MXI2) RPDO1: Telegram not received or faulty [0x00b00000]


Cause Remedy
________________________________________________________________


Cause Remedy


Cause Remedy


Cause Remedy


Cause Remedy
________________________________________________________________


Cause Remedy


Cause Remedy


Cause Remedy
CAN module (MXI2) PDO manager: Faulty configuration [0x00b00008]


Cause Remedy
CANopen communication module in MXI2: CAN-PDO • Repeat download.

configuration error • Correct CAN settings in the project and regenerate
according to DS405.
________________________________________________________________
CAN module (MXI2) SDO server: Faulty configuration [0x00b10000]

177: CAN module in MXI2: CAN-SDO server 0

Cause Remedy
CANopen communication module in MXI2: In the CAN • Repeat download.

SDO server a configuration error has occurred. • Correct CAN settings in the project and regenerate
CAN module (MXI2) SDO client: Faulty configuration [0x00b20000]

178: CAN module in MXI2: CAN-SDO client 0

Cause Remedy
CANopen communication module in MXI2: In the CAN • Repeat download

SDO client a configuration error has occurred. • Correct CAN settings in the project and regenerate
PLC configuration invalid [0x00b80000]

184: Basic drive functions 0

Cause Remedy
Positive limit switch has triggered [0x00b80001]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
The travel range limit switch in positive traversing Reset fault message and retract limit switch.
direction has tripped.
________________________________________________________________
Negative limit switch has triggered [0x00b80002]


Cause Remedy
The travel range limit switch in negative traversing Reset fault message and retract limit switch.
direction has tripped.
Motor brake: Angular drift with closed brake too high [0x00b80003]


Cause Remedy
The stop position of the motor axis has changed by more • Deactivate standstill monitoring (C02595 = 0).
than the permissible angle of rotation set in C02595, • Increase waiting time for status monitoring (C02591).
although the brake is engaged. The standstill monitoring only starts after this
waiting time has elapsed.
• Increase brake closing time (C02589) since during the
brake closing time the standstill monitoring is not
active.
• Reduce threshold for brake activation (C02581).
Motor brake: Automatically activated after waiting time has elapsed [0x00b80004]


Cause Remedy
This time monitoring will only be active if the speed • Increase waiting time for brake activation (C02593).
setpoint has reached the threshold for brake activation • Reduce threshold for brake activation (C02581).
(C02581).
If the actual speed value does not reach/fall below the
threshold set in C02581within the parameterised
waiting time for brake activation ( C02593), the brake
will be closed due to time-out.
________________________________________________________________
Motor brake: Status monitoring error [0x00b80005]


Cause Remedy
Faulty external feedback of the brake status to the brake • Check brake configuration with regard to the control
control. selection in C02580.
• Check setting for status input monitoring in C02583.
When monitoring is active, the input bBrakeApplied
must be triggered correctly (bBrakeApplied =
bBrakeReleased).
• Check voltage supply of the brake module.
Positive software limit switch overtravelled [0x00b80007]


 None  System fault  Fault  Trouble  Quick stop by trouble  Warning locked  Warning  Information
Cause Remedy
The positive software limit position parameterised in • Position within the software limit positions.
C02702/2 has been overtravelled. • Increase permissible traversing range (change setting
of the software limit positions).
• Deactivate monitoring of the software limit positions
by the basic function "Limiter".
Negative software limit switch overtravelled [0x00b80008]


Cause Remedy
The negative software limit position parameterised in • Position within the software limit positions.
C02702/1 has been overtravelled. • Increase permissible traversing range (change setting
Positive direction of rotation limited [0x00b80009]


Cause Remedy
Due to the setting of C02707 it was tried to traverse in • Only traverse in permissible (negative) direction of
the impermissible positive direction of rotation. rotation.
• Change setting of the permissible direction of
rotation (C02707).
________________________________________________________________
Negative direction of rotation limited [0x00b8000a]


Cause Remedy
Due to the setting of C02707 it was tried to traverse in • Only traverse in permissible (positive) direction of
the impermissible negative direction of rotation. rotation.
• Change setting of the permissible direction of
rotation (C02707).
Speed has been limited [0x00b8000b]


Cause Remedy
• The requested profile speed is higher than the • Reduce speed of the traversing profile of the basic
maximum speed set in C02703 and has been limited function (manual jog, homing, or positioning).
to this speed. • Increase maximum speed (C02703).
• The required profile speed cannot be achieved with • Deactivate monitoring of the limit values by the basic
the motor reference speed set in C00011. function "Limiter".
• Set motor reference speed correctly (C00011).
Acceleration has been limited [0x00b8000c]


Cause Remedy
The requested profile acceleration is higher than the • Reduce acceleration of the traversing profile of the
maximum acceleration set in C02705 and has been basic function (manual jog, homing, or positioning).
limited to this acceleration. • Increase maximum acceleration (C02705).
• Deactivate monitoring of the limit values by the basic
function "Limiter".
Deceleration has been limited [0x00b8000d]


Cause Remedy
The requested profile deceleration is higher than the • Reduce acceleration of the traversing profile of the
maximum acceleration set in C02705 and has been basic function (manual jog, homing, or positioning).
limited to this acceleration. • Increase maximum acceleration (C02705).
function "Limiter".
________________________________________________________________
Jerk has been limited [0x00b8000e]


Cause Remedy
The requested S-ramp time is lower than the minimum • Increase S-ramp time of the traversing profile of the
S-ramp time set in C02706 and has been limited to this S- basic function (manual jog, homing, or positioning).
ramp time. • Reduce minimum S-ramp time (C02706).
function "Limiter".
Position target outside the software limit positions [0x00b8000f]


Cause Remedy
It was tried to position to a target outside the software • Select a target within the software limit positions.
limit positions. • Increase permissible traversing range (change setting
Maximum speed exceeded [0x00b80010]


Cause Remedy
The max. speed parameterised in C02703 or C00011 has • Reduce speed.

been exceeded. • Increase maximum speed (C02703).
function "Limiter".
Maximum acceleration exceeded [0x00b80011]


Cause Remedy
The max. acceleration parameterised in C02705 has • Reduce acceleration.

been exceeded. • Increase maximum acceleration (C02705).
function "Limiter".
________________________________________________________________
Time-out torque feedforward control - brake [0x00b80012]


Cause Remedy
After 1 second the actual torque has not yet reached 90 Check settings for torque feedforward control.
% of the precontrolled setpoint torque for releasing the • Possibly the maximum current (C00022) is not
brake. sufficient for the required torque feedforward
control.
Cam data: Serial number MM does not match [0x00b80013]


Cause Remedy
The cam data are provided with an access protection of Check and, if required, correct the serial number entered
level 3 (linkage to the memory module), and the serial in »Cam Designer«. Afterwards redownload the cam
number contained in the cam data does not correspond data.
to the serial number of the memory module.
Cam data are corrupted [0x00b80014]


Cause Remedy
Checksum error during reading the file, or the password Redownload cam data.
was manipulated.
Cam data restored [0x00b80015]


Cause Remedy
The last download of the cam data was faulty or has not • Redownload cam data.
been completed successfully. • Save cam data within the controller in the memory
The previous cam data – if available – have been module via device command C00002 = "502: Save
downloaded from the backup file. cam data".
________________________________________________________________
Cam data locked due to incorrect password [0x00b80016]


Cause Remedy
The cam data were locked since the user password was Reset parameters to the Lenze setting via device
entered incorrectly for three times. command C00002 = "0: Load Lenze setting". Then
The cam data were not loaded. download cam data again.
Cam data locked due to incorrect safety key [0x00b80017]


Cause Remedy
The cam data were not loaded because the safety key is Reset parameters to the Lenze setting via device
damaged. command C00002 = "0: Load Lenze setting". Then
The password in the cam data or the serial number of the download cam data again.
memory module has been manipulated.
Homing mode not allowed [0x00b80019]


Cause Remedy
The homing mode selected in C02640 is not supported in Select another homing mode in C02640.
the motor control type selected in C00006.
Cam data: Invalidated due to change of mechanical data [0x00b80034]


Cause Remedy
One or several machine parameters which have an Execute device command C00002 = "503: Calculate Cam
influence on the internal scaling of the cam data have Data". This automatically resets the warning.
been changed. The cam data have to be recalculated.
________________________________________________________________
Cam data: invalid product number [0x00b80035]


Cause Remedy
A product number has been created in the system block Check number of products.
LS_CamInterface which is not in the range of product • The product number must be higher than 0 and lower
number of the downloaded cam data. than the value displayed in C02908.
• C02908 displays the highest product number +1 of
the cam data currently being processed.
15 Parameter reference
________________________________________________________________
All parameters for controller parameterising or monitoring are saved as "codes".
• The codes are numbered and indicated by the prefix "C" before the code, e.g. "C00002".
• For the sake of clarity, some codes contain "subcodes" for saving parameters. This Manual uses
a slash "/" as a separator between code and subcode, e.g. C00118/3".
Parameters available in the controller only from a certain software version are marked accordingly
("From software version Vx.x").
The parameter descriptions are based on the software version V6.00.xx.
 Tip!
For quick reference of a parameter with a certain name simply use the index of the online
documentation. The index always contains the corresponding code in parentheses behind
the name.
For general information on how to read and change parameters, please see the online
documentation for the »Engineer«.
15.1 Structure of the parameter descriptions
________________________________________________________________
Each parameter is described in the Parameter list in the form of a table which consists of the
following three areas:
Table header
The table header contains the following general information:
• Parameter number (Cxxxxx)
• Parameter name (display text in the »Engineer» and keypad)
• Data type
• Decimal and hexadecimal parameter index for access via bus systems
Table contents
The table contains further general explanations & notes on the parameter and the possible settings,
which are represented in different ways depending on the parameter type:
• Parameters with read-only access
• Parameters with write access
Table footer
The table footer contains the Parameter attributes.
15.1.1 Data type
The following data types are available for parameters:
Data type Meaning

INTEGER_8 8-bit value with sign
UNSIGNED_8 8-bit value without sign
FLOATING_POINT 32-bit floating point number
VISIBLE_STRING String of characters of printable characters
OCTET_STRING String of characters of any characters
BITFIELD_8 8-bit value bit-coded
________________________________________________________________
15.1.2 Parameters with read-only access
Parameters for which the "write access" attribute has not been set can only be read and not be
changed by the user.
Description structure
Parameter | Name: Data type: _______

Cxxxxx | _____________ Index: _______
Description
Display range (min. value | unit | max. value)
 Read access  Write access  CINH  PLC STOP  No transfer
Representation in the »Engineer«

The »Engineer« displays these parameters with a grey background or, with an online connection,
with a pale-yellow background:
15.1.3 Parameters with write access
Only parameters with a check mark () in front of the "write access" attribute can be changed by
the user. The Lenze setting for these parameters is printed in bold.
• The settings can either be selected from a selection list or the values can be entered directly.
• Values outside the valid setting range are represented in red in the »Engineer«.
________________________________________________________________
15.1.3.1 Parameters with setting range

Cxxxxx | _____________ Index: _______
Description
Setting range (min. value | unit | max. value) Lenze setting
 Read access  Write access  CINH  PLC STOP  No transfer
Parameter setting in the »Engineer«

In the »Engineer«, parameters are set by entering the desired value into the input field:
15.1.3.2 Parameters with selection list

Cxxxxx | _____________ Index: _______
Description
Selection list (Lenze setting printed in bold)
1
2
3

In the »Engineer«, a list field is used for parameter setting:
________________________________________________________________
15.1.3.3 Parameters with bit-coded setting

Cxxxxx | _____________ Index: _______
Description
Value is bit-coded:
Bit 0
...
Bit 31

The »Engineer« uses a dialog box for parameter setting in which the individual bits can be set or
reset. Alternatively, the value can be entered as a decimal or hexadecimal value:
________________________________________________________________
15.1.3.4 Parameters with subcodes

Cxxxxx | _____________ Index: _______
Description
Setting range (min. value | unit | max. value)
Subcodes Lenze setting

Cxxxxx/1
Cxxxxx/2
Cxxxxx/3
Cxxxxx/4

The »Engineer« parameter list displays each subcode individually. The parameters are set as
described in the previous chapters.
________________________________________________________________
15.1.4 Parameter attributes
The table footers contain the parameter attributes:
Meaning of the attributes
Attribute Meaning
 Read access Read access to parameter possible.
 Write access Write access to parameter possible.
• Please also observe the following attributes:
 CINH Parameter value can only be changed when the
controller is inhibited.
 PLC STOP Parameter value can only be changed when the
application is stopped.
 No transfer The parameter is not transferred to the regenerative power supply module when the
command Download parameter set is executed.
Scaling factor
The "scaling factor" is important for the parameter access via a bus system:
Read value (via bus system) = Scaling factor ⋅ Indicated value (Engineer)
15.1.5 Abbreviations used in parameter & selection texts
Since the character length of the parameter and selection texts is limited, the following
abbreviations are used:
Abbreviation Meaning
CAN module CANopen communication module (type E94AYCCA)
ENP Electronic nameplate
Ethernet module Ethernet communication module (type E94AYCEN)
MXI1 Module eXtension Interface 1 - module slot for extension 1
MXI2 Module eXtension Interface 2 - module slot for extension 2
15.2 Parameter list
________________________________________________________________
15.2 Parameter list
This chapter lists all parameters of the operating system in numerically ascending order.
 Note!
The parameter descriptions are based on the software version V6.00.xx.
C00002
Parameter | Name: Data type: UNSIGNED_32

C00002 | Device command Index: 24573d = 5FFDh
Device commands
• C00003 shows the status of the last executed device command.
• Under C00150 you can query the current status of the device control.
Note:
Before switching off the supply voltage after a device command has been executed, check the successful execution
of the device command via the status display in C00003!
The meaning of the status display in C00003 can be obtained from the subchapter for the corresponding device
command in chapter "Device commands".
Selection list (Lenze setting printed in bold) Info
0 Load Lenze setting Resets parameters to Lenze setting.
• Only possible when the application has stopped and
the controller is inhibited.
1 Load start parameters Loads parameters from the memory module.
2 ENP: Load plant data Reads plant data from the electronic motor nameplate.
5 Activate application Activates the application selected under C00005.
• Whether the application is also started, depends on
the auto-start setting selected.
• Only possible when the application has stopped.
7 Save selected application Selects the active application as start application.
11 Save start parameters Saves parameters fail-safe in the memory module.
20 Delete logbook Deletes all logbook entries.
21 Archive logbook Exports logbook entries to file.
27 Device search function ON
28 Device search function OFF
31 Start application
32 Stop application
33 Reset program Carries out a reset.
• The situation corresponds to the start of a new
program loaded into the control (cold start).
34 Delete program Carries out a reset (source).
• The application program is deleted and the controller
is reset to its original state.
15.2 Parameter list
________________________________________________________________

35 Restart program Carries out a reset (warm start).

• All variables except the RETAIN variables are reset to
their initialisation value.
• The situation corresponds to a power failure or
switching the controller off/on (warm start) while the
program is running.
36 Reset runtime measurement Runtime measurement
41 Inhibit controller
42 Enable controller
43 Reset error
45 Activate quick stop Basic function "Quick stop"
46 Reset quick stop Basic function "Quick stop"
47 Internal command 47 For Lenze service only
51 Identify pole position (360°) Executes identification of pole position.
• The function can only be activated when the
• After this, the execution of the command starts
automatically when the controller is enabled.
• During the pole position identification, the motor
carries out one electrical revolution. This leads to a
mechanical rotation of the motor shaft.
• The determined pole position is indicated under code
C00058.
Pole position identification
52 Identify pole position (min. motion) Executes identification of pole position.
• During the pole position identification, the rotor
aligns itself. This is compensated by a position
control.
• The determined pole position is indicated under code
C00058.
Pole position identification
59 Resolver error identification Execute resolver error identification.
 Resolver error compensation
70 Load Lenze inverter characteristic Load type-dependent inverter error characteristic.
• For the case that the determination of the inverter
error characteristic with the device command "71:
Determine inverter characteristic" was not possible or
has supplied incorrect results.
71 Calculate inv. characteristic Determines inverter error characteristic.
Optimise the switching performance of the inverter
72 Determine motor parameters Determines motor parameters automatically.
Determine motor parameters
15.2 Parameter list
________________________________________________________________

77 Calculate current controller From software version V2.0

parameters Calculates the gain and reset time of the current
controller.
• Usually not required for a Lenze motor.
• The device command is no identification procedure
for determining the current controller parameters!
Calculate current controller parameters
78 Calculate speed controller From software version V2.0
parameters Calculates the gain, reset, and rate time of the speed
controller.
• The device command is no identification procedure
for determining the speed controller parameters!
Calculate speed controller parameters
91 CAN on-board: Reset node Reinitialise "CAN on board" interface.
• Required when changing the baud rate, node address,
or identifiers.
"CAN on board" system bus
92 CAN module: Reset node Reinitialises CANopen interface of the CANopen
communication module.
• Required when changing the baud rate, node address,
or identifiers.
93 CAN on-board: Pred.Connect.Set Sets basic identifier for the "CAN on board" interface
according to the "Predefined Connection Set"
(DS301 V4.02).
94 CAN module: Pred.Connect.Set Sets basic identifier for the CANopen interface of the
CANopen communication module according to the
Predefined Connection Set" (DS301 V4.02).
95 CAN on-board: Identify node Detects nodes connected to the "CAN on board"
interface.
• The result of the CAN bus scan is displayed in C00393.
96 CAN module: Identify node Detects the nodes connected to the CANopen interface
of the CANopen communication module.
• The result of the CAN bus scan is displayed in C13393
(for MXI1) or C14393 (for MXI2).
101 Unbind/bind Ethernet module MXI1 Reinitialises the Ethernet interface of the Ethernet
communication module in module slot MXI1.
• Required when a new setting for an IP or gateway
address is to be accepted without mains switching.
102 Unbind/bind Ethernet module MXI2
201 Activate parameter set 1 Loads parameter set 1 from the memory module.
301 Archive parameter set 1 Saves the current parameter set as parameter set 1 in the
memory module.
memory module.
15.2 Parameter list
________________________________________________________________

memory module.
memory module.
501 Load cam data Reloads cam data from the memory module into the
controller.
• If the cam data are provided with an access
protection, the user password has to be entered in
C02900 first.
Basic function "Cam data management"
502 Save cam data Saves the cam data available in the main memory of the
controller in the memory module with mains failure
protection.
• If the cam data are provided with an access
protection, the user password has to be entered in
C02900 first.
503 Calculate cam data Converts the cam data available in the main memory of
the controller into the internal format and provides them
to the application.
504 Calculate cam data checksum Recalculates the checksum of the cam data available in
the main memory of the controller.
• Required if the cam data in the main memory of the
controller have been changed via parameters.
810 Internal command 810
1021 Export parameters to file For Lenze service only
1030 Format file system Formats file system of the memory module.
1040 Restore file system Restores file system of the memory module (low level
formatting).
• The low level formatting of the file system by the user
is only intended for the exceptional case when the
standard formatting is not possible anymore, e.g. due
to damaged internal management information.
10000 Prepare firmware update Sets the controller to the firmware update mode.
11000 Restart controller Restarts controller via parameter setting.
 Read access  Write access  CINH  PLC STOP  No transfer Scaling factor: 1
15.2 Parameter list | C00003
________________________________________________________________
C00003

C00003 | Device command status Index: 24572d = 5FFCh
Display of the number/status of the device command last executed (C00002).

• The number of the command is situated in the upper 16 bits (for the meaning of the number see code C00002).
• The result of the command stands in the lower 16 bits.
Note:
Before switching off the supply voltage after a device command has been executed, check the successful execution
of the device command via the status display in C00003!
The meaning of the status display in C00003 can be obtained from the subchapter for the corresponding device
command in chapter "Device commands".
0 4294967295
 Read access  Write access  CINH  PLC STOP  No transfer Scaling factor: 1
Status Meaning Device command

0 Device command executed successfully 0: Load Lenze setting
1 General error
39424 CAN fault
... ...
39679 CAN fault
65536 Device command executed successfully 1: Load start parameters
65537 General error
99371 Fault while reading the parameter set partition
104960 CAN fault
... ...
105215 CAN fault
131072 Device command executed successfully 2: ETS: Load plant data
327680 Device command executed successfully 5: Activate application
458752 Device command executed successfully 7: Save selected application
________________________________________________________________

720896 Device command executed successfully 11: Save start parameters
754718 Fault while writing into a file
761857 Access to file has been denied since the file is already
accessed from another position
761868 RAM is full
1310720 Device command executed successfully 20: Delete logbook
1376256 Device command executed successfully 21: Archive logbook
2031616 Device command executed successfully 31: Start application
2097152 Device command executed successfully 32: Stop application
2162688 Device command executed successfully 33: Reset program
2228224 Device command executed successfully 34: Delete program
2293760 Device command executed successfully 35: Restart program
2359296 Device command executed successfully 36: Reset runtime measurement
________________________________________________________________

3342336 Device command executed successfully 51: Identify pole position (360°)
3382023 Pole position identification cannot be executed because
of wrong motor type (asynchronous motor).
another identification is already active.
3382026 Identification of pole position cannot be executed
because U-rotation or I-rotation test mode is active.
because current controller optimisation mode is active.
the motor is blocked (e.g. by a mechanical brake), a
motor phase is not connected, or a phase shifter is in the
motor cable.
an error or trouble is active.
either the entire motor or a motor phase is not
connected.
3407872 Device command executed successfully 52: Identify pole position (min.
motion)
of wrong motor type (asynchronous motor).
because U-rotation or I-rotation test mode is active.
because current controller optimisation mode is active.
the motor is blocked (e.g. by a mechanical brake), a
motor phase is not connected, or a phase shifter is in the
motor cable.
an error or trouble is active.
because the rotor has moved too strongly.
either the entire motor or a motor phase is not
connected.
________________________________________________________________

3900674 Device command in process 59: Resolver error identification
3906358 Resolver error identification cannot be executed since
the wrong control type is active (no servo control).
3906359 Resolver error identification cannot be executed since an
error or trouble is active.
3906360 Resolver error identification cannot be executed because
3906361 Resolver error identification cannot be executed because
of too small speed (< 500 rpm).
4587520 Device command executed successfully 70: Load Lenze INV characteristic
4653056 Device command executed successfully 71: Calculate inv. characteristic
4692754 The calculation of the inverter characteristic cannot be
started since the current controller test mode is active.
started since the V/f test mode is active.
started since the pole position identification is active.
4692757 Calculation of the inverter characteristic has been
aborted.
4692758 Calculation of the inverter characteristic has been
interrupted by error.
4692789 Detected inverter error characteristic exceeds internal
limits. This situation can for instance occur if the motor
power is very much lower than the device power.
4718592 Device command executed successfully 72: Determine motor parameters
4758290 Motor identification cannot be started since the current
controller test mode is active.
4758291 Motor identification cannot be started since the V/f test
mode is active.
4758292 Motor identification cannot be started because pole
position identification is active.
4758293 Motor identification has been aborted.
4758294 Motor identification has been aborted by fault.
4758332 Motor identification aborted due to inconsistent motor
parameters.
5046272 Device command executed successfully 77: Calculate current controller
parameters
5086002 At least one calculated value is outside the valid setting
range.
5086003 Stator resistance (C00084) too small (zero).
________________________________________________________________

5111808 Device command executed successfully 78: Calculate speed controller
parameters
5151540 At least one calculated value is outside the valid setting
range.
5963776 Device command executed successfully 91: CAN on board: Reset Node
6003200 CAN fault
... ...
6003455 CAN fault
6029312 Device command executed successfully 92: CAN module: Reset node
6068736 CAN fault
... ...
6068991 CAN fault
6094848 Device command executed successfully 93: CAN on board: Pred.Connect.Set
6160384 Device command executed successfully 94: CAN module: Pred.Connect.Set
6225920 Device command executed successfully 95: CAN on board: Identify node
6291456 Device command executed successfully 96: CAN module: Identify node
6619136 Device command executed successfully 101: Unbind/bind Ethernet module
MXI1
6684672 Device command executed successfully 102: Unbind/bind Ethernet module
MXI2
________________________________________________________________

13172731 General error 201: Activate parameter set 1
13206532 File could not be opened.
13206557 Fault while reading out of a file.
13206558 Fault while writing into a file.
13206559 Invalid file type.
13206560 Unexpected end of file.
13212160 CAN fault
... ...
13212415 CAN fault
13213708 RAM is full
13238272 Device command executed successfully 202: Activate parameter set 2
13277696 CAN fault
... ...
13277951 CAN fault
________________________________________________________________

13343232 CAN fault
... ...
13343487 CAN fault
13408768 CAN fault
... ...
13409023 CAN fault
________________________________________________________________

19726336 Device command executed successfully 301: Archive parameter set 1
________________________________________________________________

32833536 Device command executed successfully 501: Load cam data
32875521 No cam data available on the memory module
32875523 Loading of the cam data failed
32899072 Device command executed successfully 502: Save cam data
32941057 No cam data to be saved are available in the RAM of the
controller
32941060 Saving of the cam data failed
32964608 Device command executed successfully 503: Calculate cam data
33030144 Device command executed successfully 504: Calculate cam data checksum
67502080 Device command executed successfully 1030: Format file system
655360000 Device command executed successfully 10000: Prepare firmware update
720896001 General error 11000: Restart controller
________________________________________________________________
C00004

C00004 | Service password Index: 24571d = 5FFBh
Service code to unlock protected device commands (C00002).

0 4294967295 0
C00005
Parameter | Name: Data type: INTEGER_32

C00005 | Application selection Index: 24570d = 5FFAh
Application selection
• Use the device command C00002="5" to activate the selected application.
-1 16 0
C00006

C00006 | Select motor control Index: 24569d = 5FF9h
Motor interface
1 SC: Servo control sync. motor For synchronous motors with speed sensor
Servo control
2 SC: Servo control async. motor For asynchronous motors with speed sensor
Servo control
4 SLVC: Sensorless vector control Sensorless vector control
6 VFCplus: V/f control open loop  V/f control
7 VFCplus: V/f control closed loop V/f control
 Read access  Write access  CINH  PLC STOP  No transfer Scaling factor: 1
C00007

C00007 | Active application Index: 24568d = 5FF8h

-2147483648 2147483647
C00008

C00008 | Progress of device command Index: 24567d = 5FF7h
From software version V2.0

0 4294967295
________________________________________________________________
C00011

C00011 | Motor reference speed Index: 24564d = 5FF4h
For parameter setting via interface: In case of bigger changes, only change the setting in one step when the
controller is inhibited!
50 rpm 50000 3000 rpm
 Read access  Write access  CINH  PLC STOP  No transfer Scaling factor: 1
C00018

C00018 | Switching frequency Index: 24557d = 5FEDh

2 1 kHz fixed/drive-optimised Note:
3 2 kHz fixed/drive-optimised • The maximum output frequency of the controller is
limited to 1/8 of the switching frequency selected
4 4 kHz fixed/drive-optimised here!
5 8 kHz fixed/drive-optimised • The switching frequencies that can be selected
depend on the device type (see Hardware Manual,
8 2 kHz var./drive-optimised chapter "Rated data").
9 4 kHz var./drive-optimised • In the case of an offline parameter setting or when
exchanging the memory module between different
10 8 kHz var./drive-optimised Servo Drives 9400 PLC device types, always check the
11 16 kHz var./drive-optimised setting of this parameter and adapt it, if required, to
prevent a parameter error after the parameter set
download or module change!
C00019

C00019 | Threshold - standstill recognition Index: 24556d = 5FECh

0 rpm 450 5 rpm
C00022

C00022 | Maximum current Index: 24553d = 5FE9h

0.00 A 21474836.47 0.00 A
C00034

C00034 | Config. analog input 1 Index: 24541d = 5FDDh

0 -10...+10 V
1 -20...-4 mA, +4...+20 mA
2 -20 ... +20 mA
________________________________________________________________
C00050

C00050 | Speed setpoint [rpm] Index: 24525d = 5FCDh

-480000 rpm 480000
Subcodes Info
C00051

C00051 | Actual speed [rpm] Index: 24524d = 5FCCh

-480000 rpm 480000
C00052

C00052 | Motor voltage Index: 24523d = 5FCBh

0 V 2147483647
C00053

C00053 | DC-bus voltage Index: 24522d = 5FCAh

0 V 2147483647
C00054

C00054 | Motor current Index: 24521d = 5FC9h

0.00 A 500.00
________________________________________________________________
C00055

C00055 | Phase currents Index: 24520d = 5FC8h

-500.00 A 500.00
Subcodes Info
C00055/1 Phase zero system
C00055/2 Phase U
C00055/3 Phase V
C00055/4 Phase W
C00056

C00056 | Torque setpoint Index: 24519d = 5FC7h

-21474836.47 Nm 21474836.47
C00057

C00057 | Torque Index: 24518d = 5FC6h

0.000 Nm 2147483.647
Subcodes Info
C00057/1 Maximum torque
• With regard to the selected motor and the max. short-
time output current of the device.
C00057/2 Motor reference torque
• Torque at maximum current (C00022).
C00058

C00058 | Pole position Index: 24517d = 5FC5h

-179.9 ° 179.9
Subcodes Lenze setting Info
C00058/1 -90.0 ° Resolver pole position
C00058/2 0.0 ° Encoder pole position
C00058/3 0.0 ° Module pole position
________________________________________________________________
C00059

C00059 | Motor - number of pole pairs Index: 24516d = 5FC4h

0 200
C00060

C00060 | Rotor position Index: 24515d = 5FC3h

0 2047
C00061

C00061 | Heatsink temperature Index: 24514d = 5FC2h

-200 °C 200
C00062

C00062 | Temperature inside the controller Index: 24513d = 5FC1h

-200 °C 200
C00063

C00063 | Motor temperature Index: 24512d = 5FC0h
Motor temperature monitoring

-200 °C 200
C00064

C00064 | Device utilisation (Ixt) Index: 24511d = 5FBFh
Device utilisation during the last 180 seconds

• C00064 > 100 % activates error (OC5).
• Error reset only possible if C00064 < 95 %.
0 % 250
________________________________________________________________
C00065

C00065 | Ext. 24-V voltage Index: 24510d = 5FBEh

0.0 V 1000.0
C00066

C00066 | Thermal motor load (I²xt) Index: 24509d = 5FBDh
A 100 % load corresponds to a permanently flowing rated motor current

I2xt motor monitoring
0 % 250
C00068

C00068 | Capacitor temperature Index: 24507d = 5FBBh

-200 °C 200
C00069

C00069 | CPU temperature Index: 24506d = 5FBAh

-200 °C 200
C00070

C00070 | Speed controller gain Index: 24505d = 5FB9h

0.00000 Nm/rpm 20000.00000 0.00044 Nm/rpm
C00071

C00071 | Speed contr. reset time Index: 24504d = 5FB8h

1.0 ms 6000.0 14.4 ms
________________________________________________________________
C00072

C00072 | Speed contr.D component Index: 24503d = 5FB7h

0.00 ms 3.00 0.00 ms
C00074

C00074 | Feedfwd. ctrl. - current contr. Index: 24501d = 5FB5h

0 Deactivate feedfwd. ctrl
1 Activate feedfwd. ctrl
C00075

C00075 | Current controller gain Index: 24500d = 5FB4h

0.00 V/A 750.00 105.00 V/A
C00076

C00076 | Current contr. reset time Index: 24499d = 5FB3h

0.01 ms 2000.00 2.00 ms
C00077

C00077 | Field controller gain Index: 24498d = 5FB2h

0.00 A/Vs 50000.00 165.84 A/Vs
C00078

C00078 | Field contr. reset time Index: 24497d = 5FB1h

1.0 ms 6000.0 15.1 ms
________________________________________________________________
C00079

C00079 | Motor - mutual inductance Index: 24496d = 5FB0h

0.0 mH 214748364.7
C00080

C00080 | Resolver - number of pole pairs Index: 24495d = 5FAFh
Adaptation of the resolver evaluation dynamics

Homing
Behaviour of the home position after mains switching
1 10 1
C00081

C00081 | Rated motor power Index: 24494d = 5FAEh

0.01 kW 500.00 0.25 kW
C00082

C00082 | Motor rotor resistance Index: 24493d = 5FADh

0.0000 Ohm 214748.3647
C00083

C00083 | Motor rotor time constant Index: 24492d = 5FACh

0.00 ms 21474836.47
C00084

C00084 | Motor stator resistance Index: 24491d = 5FABh

0.0000 Ohm 125.0000 18.2200 Ohm
________________________________________________________________
C00085

C00085 | Motor stator leakage inductance Index: 24490d = 5FAAh

0.000 mH 500.000 51.000 mH
C00087

C00087 | Rated motor speed Index: 24488d = 5FA8h

50 rpm 50000 4050 rpm
C00088

C00088 | Rated motor current Index: 24487d = 5FA7h

0.01 A 1500.00 1.30 A
C00089

C00089 | Rated motor frequency Index: 24486d = 5FA6h

0.1 Hz 1000.0 270.0 Hz
C00090

C00090 | Rated motor voltage Index: 24485d = 5FA5h

50 V 15000 225 V
C00091

C00091 | Motor cosine phi Index: 24484d = 5FA4h

0.50 1.00 0.80
________________________________________________________________
C00092

C00092 | Motor - magnetising current Index: 24483d = 5FA3h

0.00 A 500.00
C00093

C00093 | Field weakening for SM Index: 24482d = 5FA2h
Field weakening for synchronous machines

0 Field weakening for SM off
1 Field weakening for SM on
C00099
Parameter | Name: Data type: VISIBLE_STRING

C00099 | Firmware version Index: 24476d = 5F9Ch
Format: "xx.xx.xx.xx" (main version, subversion, release version, build number)

 Read access  Write access  RSP  PLC-STOP  No transfer Scaling factor: 1 Character length: 12
C00100

C00100 | Resol. of an encoder revolution Index: 24475d = 5F9Bh

10 24 16
C00105

C00105 | Decel. time - quick stop Index: 24470d = 5F96h
Time between quick stop activation and standstill plus relative S-ramp time (C00106).
Basic function "Quick stop"
0.000 s 999.999 0.000 s
C00106

C00106 | Quick stop S-ramp time Index: 24469d = 5F95h
S-ramp time in [%] relating to the deceleration time set under C00105.
0.00 % 100.00 0.00 %
________________________________________________________________
C00107

C00107 | Ref. for quick stop dec. time Index: 24468d = 5F94h
Reference for the deceleration time set in C00105.

0 Motor reference speed (C00011)
1 Current speed
C00114

C00114 | Dig. input x: Terminal polarity Index: 24461d = 5F8Dh
"0" = positive logic (HIGH level = TRUE, LOW level = FALSE)

"1" = negative logic (HIGH level = FALSE, LOW level = TRUE)
0 1
C00114/1 0 Terminal polarity - digital input 1 ... 8
C00114/...
C00114/8
C00118

C00118 | Dig. output. x: Terminal polarity Index: 24457d = 5F89h
"0" ≡ positive logic (TRUE ≡ HIGH level, FALSE ≡ LOW level)

"1" ≡ negative logic (FALSE ≡ HIGH level, TRUE ≡ LOW level)
0 1
C00118/1 0 Terminal polarity - digital output 1 ... 4
C00118/...
C00118/4
C00120

C00120 | Mot. overload protection (I²xt) Index: 24455d = 5F87h
Threshold for I2 x t disconnection

• Disconnection is carried out if the thermal motor load (C00066) is higher than the set threshold.
• A 100 % thermal motor load corresponds to a permanently flowing rated motor current
Note:
When the value is parameterised to 200 %, the monitoring mode of the motor overload protection is switched off!
0 % 200 105 %
________________________________________________________________
C00121

C00121 | Warning threshold motor temperature Index: 24454d = 5F86h
Temperature threshold for motor temperature advance warning

• The response to reaching the threshold can be selected in C00584.
0 °C 150 120 °C
C00122

C00122 | Heatsink temp. warn. threshold Index: 24453d = 5F85h
Temperature threshold for heatsink temperature advance warning

0 °C 85 85 °C
C00123

C00123 | Warning threshold device util. Index: 24452d = 5F84h
Adjustable threshold for I x t advance warning

• The advance warning is sent if the device utilisation (C00064) is higher than the set threshold.
• The response for reaching the threshold can be selected in C00604.
0 % 100 90 %
C00126

C00126 | CPU temp. warning threshold Index: 24449d = 5F81h
Temperature threshold for advance warning of CPU temperature on the control card
0 °C 85 70 °C
C00127

C00127 | Mot. overload warning threshold Index: 24448d = 5F80h
Adjustable threshold for I2 x t advance warning

• The advance warning is sent if the thermal motor load (C00066) is higher than the set threshold.
• The response for reaching the threshold can be selected in C00606.
0 % 200 100 %
________________________________________________________________
C00128

C00128 | Therm. motor time constant Index: 24447d = 5F7Fh

0.1 min 600.0
C00128/1 1.0 min Therm. time constant coil
C00128/2 5.0 min Therm. time constant plates
C00129

C00129 | Brake resistance value Index: 24446d = 5F7Eh
Required for monitoring of the brake resistor temperature.

Braking operation
0.0 Ohm 500.0 180.0 Ohm
C00130

C00130 | Rated power - brake resistor Index: 24445d = 5F7Dh

0 W 800000 5600 W
C00131

C00131 - Rated quantity of heat for brake res. Index: 24444d = 5F7Ch

0 kWs 100000 485 kWs
C00132

C00132 | Service code Index: 24443d = 5F7Bh
This code is for device-internal use only and must not be written to by the user!
________________________________________________________________
C00133

C00133 | Ref.: Brake chopper utilisation Index: 24442d = 5F7Ah
0 Minimum resistance (C00134)  C00134
1 Resistance in C00129  C00129
C00134

C00134 | Minimum brake resistance Index: 24441d = 5F79h
0.0 Ohm 500.0
C00137

C00137 | Brake transistor utilisation Index: 24438d = 5F76h
0 % 250
C00138

C00138 | Brake resistor utilisation Index: 24437d = 5F75h
0 % 250
________________________________________________________________
C00142

C00142 | Autom. restart after mains ON Index: 24433d = 5F71h
Starting performance of the controller after mains connection and reset of "Trouble", "Fault" or "Safe torque off
active".
 Danger!
• If automatic restart is enabled (C00142 = "1: Enabled"), the drive can restart automatically from the "Trouble"
and "Safe torque off" device states when the trouble or request for "Safe torque off active" has been eliminated!
• The controller enable generated by the application via a connection of the terminal 28 (RFR) with one of the
digital outputs DIGOUT_bOut(x) is not permissible if the following functions are active:
"Auto-start after mains ON" (C00142 = "1") and "Program auto-start after mains switching" (C02104 = "1")
If this is not observed, the controller can start automatically after mains connection!
Automatic restart after mains connection

Activate application
0 Inhibited
1 Enabled
C00150
Parameter | Name: Data type: BITFIELD_16

C00150 | Status word device control 1 Index: 24425d = 5F69h
Status word 1 of the drive interface

Display area
0x0000 0xFFFF
Value is bit-coded: Info
Bit 0 Reserved For the meaning of bits 8 ... 11 see chapter "Device
states".
Bit 1 Pulse inhibit active
Bit 2 Reserved
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Actual speed value = 0
Bit 7 Controller inhibit active
Bit 8 Device state - Bit 1
Bit 12 Warning is active
Bit 13 Trouble is active
Bit 14 Reserved
Bit 15 Reserved
________________________________________________________________
C00155

C00155 | Status word device control 2 Index: 24420d = 5F64h
Status word 2 of the drive interface

Display area
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Error status active
Bit 1 Torque limit reached
Bit 2 Current limit reached
Bit 3 Reserved
Bit 4 Drive switched on/in operation
Bit 5 Drive ready for operation
Bit 6 Fault active
Bit 7 Drive initialisation
Bit 8 Motor CCW rotation active
Bit 9 Quick stop by trouble active
Bit 10 Safe torque off active
Bit 11 Application active
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Quick stop active
Bit 15 Reserved
C00156

C00156 | Status/Control word MCTRL Index: 24419d = 5F63h
Status and control word of the motor interface

0 4294967295
Subcodes Info
C00156/1 Status word motor control
C00156/2 Control word motor control
________________________________________________________________
C00158

C00158 | Controller inhibit by (source) Index: 24417d = 5F61h
Display area
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Terminal
Bit 1 Reserved
Bit 2 Reserved
Bit 3 Reserved
Bit 4 Application
Bit 5 Device command
Bit 6 Error response
Bit 7 Internal PLC
Bit 8 Reserved
Bit 9 Energy saving mode
Bit 10 Operating system
Bit 11 Identification program
Bit 12 Brake
Bit 13 Limiter
Bit 14 PPI
Bit 15 Reserved
________________________________________________________________
C00159

C00159 | Quick stop by (source) Index: 24416d = 5F60h
Display area
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Reserved
Bit 1 Reserved
Bit 2 Reserved
Bit 3 Reserved
Bit 4 Application
Bit 5 Device command
Bit 6 Error response
Bit 7 Internal PLC
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
C00162

C00162 | Masked Error number Index: 24413d = 5F5Dh

Display of the individual components of the error number shown in C00168.
0 4294967295
Subcodes Info
C00162/1 Module ID + error number
• As described in the chapter "Error messages".
C00162/2 Instance number
C00162/3 Error response
C00166

C00166 | Error description Index: 24409d = 5F59h
Error description for error number indicated in C00168

________________________________________________________________
C00167

C00167 | Service code Index: 24408d = 5F58h
C00168

C00168 | Error number Index: 24407d = 5F57h
Display of the error number of the first error with highest priority
0 4294967295
C00169

C00169 | Logbook - event filter Index: 24406d = 5F56h
Bit coded word for filtering system events (trouble, warning, information)
• A set filter bit inhibits entry of the corresponding event into the logbook.
• The option that identical consecutive entries ("multiple entries") into the logbook are suppressed can be
additionally activated via bit 0. Then only the time stamp of the last (latest) entry and the number of times the
same event has occurred successively are saved.
Logbook
Setting range Lenze setting
0x00000000 0xFFFFFFFF 0x00000001 (decimal: 1)
Value is bit-coded: ( = bit set) Info
Bit 0  No multiple entries Bits not listed are reserved for future extensions!
Bit 1  Fault
Bit 2  Trouble
Bit 3  Quick stop by trouble
Bit 4  Warning locked
Bit 5  Warning
Bit 6  Information
C00171

________________________________________________________________
C00173

C00173 | Mains voltage Index: 24402d = 5F52h
Adjustment of the DC bus voltage thresholds

• Check during commissioning and adapt, if necessary.
• All drive components connected via the DC bus must have the same thresholds.
• For selection 0 ... 3, the undervoltage threshold is firmly defined depending on the device type (see "Rated data"
chapter in the Hardware Manual).
Note: Altering this setting also has an impact on the permissible device utilisation!
In the chapter "Rated data" of the hardware manual the device types and their permissible device utilisation at a
certain mains voltage and switching frequency are specified.
0 230 V Operation on 230 V mains
• Threshold for "Undervoltage on" = 200 V
• Threshold for "Undervoltage off" = 225 V
• Overvoltage threshold = 400 V
• Brake chopper threshold = 390 V
1 400/415 V Operation on 400 V mains/415 V mains
• Threshold for "Undervoltage on" = 285 V (BF1 to BF7)
• Threshold for "Undervoltage on" = 400 V (BF8 to BF10)
2 460/480 V Operation on 460 V mains/480 V mains
3 500 V Operation on 500 V mains
4 230 V, LU configurable Operation on 230 V mains
• Undervoltage threshold is defined in C00174.
5 400/415 V, LU configurable Operation on 400 V mains/415 V mains
6 460/480 V, LU configurable Operation on 460 V mains/480 V mains
7 500 V, LU configurable Operation on 500 V mains
________________________________________________________________
C00174

C00174 | Undervoltage (LU) threshold Index: 24401d = 5F51h

15 V 400 285 V
C00175

C00176

C00176 | Service code Index: 24399d = 5F4Fh
C00177

C00177 | Service code Index: 24398d = 5F4Eh
C00178

C00178 | Elapsed-hour meter Index: 24397d = 5F4Dh

0 s 4294967295
C00179

C00179 | Power-on time meter Index: 24396d = 5F4Ch

0 s 4294967295
C00180

C00180 | Service code Index: 24395d = 5F4Bh
For Lenze service only

 Read access  Write access  CINH  PLC STOP  No transfer Character length: 192
________________________________________________________________
C00181

C00181 | Red. brake chopper threshold Index: 24394d = 5F4Ah
0 V 100 0 V
C00182

C00182 | Time for device search function Index: 24393d = 5F49h

0 6000 5
C00183

C00183 | Device status Index: 24392d = 5F48h
Display of the device state for diagnostic purposes

Selection list (read only)
0 Operation
1 Operation/Warning active
2 Operation/warning locked act.
3 Operation/Quick stop active
4 Operation/Application stopped
10 Initialisation active
20 System fault active
90 Device is switched on
91 Device is switched on/QSP trouble
95 Device switched-on/energy saving
mode
101 Safe torque off active
102 Fault active
104 Trouble is active
141 Drive ready to start --> C00142
151 Quick stop by trouble active
C00185

C00185 | Mains recov. detect. threshold Index: 24390d = 5F46h
This code must not be written to by the user!

0 % 100 90 %
________________________________________________________________
C00186

C00186 | ENP: Identified motor type Index: 24389d = 5F45h
Motor type read from the electronic nameplate (ENP)

 Read access  Write access  CINH  PLC-STOP  No transfer Scaling factor: 1 Character length: 19
C00187

C00187 | ENP: Identified serial number Index: 24388d = 5F44h
Serial number read from the electronic nameplate (ENP)

C00188

C00188 | ENP: Status Index: 24387d = 5F43h

0 No ENP found
1 ENP data loaded
2 Known ENP found
3 ENP found but not read
C00198

C00199

C00199 | Device name Index: 24376d = 5F38h
Device name to be defined by the user (e.g. "Cross cutter" or "hoist axis 1") with max. 128 characters
 Read access  Write access  CINH  PLC-STOP  No transfer Scaling factor: 1 Character length: 128
C00200

C00200 | Firmware product type Index: 24375d = 5F37h
C00201

C00201 | Firmware - compiling date Index: 24374d = 5F36h
________________________________________________________________
C00202

C00202 | Autom. ENP data transfer Index: 24373d = 5F35h

0 Off
1 On
C00203

C00203 | HW product types Index: 24372d = 5F34h
Subcodes Info
C00203/1 Type: Control card
C00203/2 Type: Power section
C00203/3 Type: Module in MXI1
C00203/4 Type: Module in MXI2
C00203/5 Type: Memory module
C00203/6 Type: Safety module
C00203/7 Type: Standard device
C00203/8 Type: Complete device
C00203/9 Type: ENP
C00204

C00204 | HW serial numbers Index: 24371d = 5F33h
Subcodes Info
C00204/1 Serial no.: Control card
C00204/2 Serial no.: Power section
C00204/3 Serial no.: Module in MXI1
C00204/4 Serial no.: Module in MXI2
C00204/5 Serial no.: Memory module
C00204/6 Serial no.: Safety module
C00204/7 Serial no.: Standard device
C00204/8 Serial no.: Complete device
C00204/9 Serial no.: ENP
________________________________________________________________
C00205

C00205 | HW descriptions Index: 24370d = 5F32h
Subcodes Info
C00205/1 Info: Control card
C00205/2 Info: Power section
C00205/3 Info: Module in MXI1
C00205/4 Info: Module in MXI2
C00205/5 Info: Memory module
C00205/6 Info: Safety module
C00206

C00206 | HW manufacturing data Index: 24369d = 5F31h
Subcodes Info
C00206/1 Date: Control card
C00206/2 Date: Power section
C00206/3 Date: Module in MXI1
C00206/4 Date: Module in MXI2
C00206/5 Date: Memory module
C00206/6 Date: Safety module
C00206/7 Date: Standard device
C00206/8 Date: Complete device
C00208

C00208 | HW manufacturer Index: 24367d = 5F2Fh
Subcodes Info
C00208/1 Manufacturer: Control card
C00208/2 Manufacturer: Power section
C00208/3 Manufacturer: Module in MXI1
C00208/4 Manufacturer: Module in MXI2
C00208/5 Manufacturer: Memory module
C00208/6 Manufacturer: Safety module
________________________________________________________________
C00209

C00209 | HW countries of origin Index: 24366d = 5F2Eh
Subcodes Info
C00209/1 Country: Control card
C00209/2 Country: Power section
C00209/3 Country: Module in MXI1
C00209/4 Country: Module in MXI2
C00209/5 Country: Memory module
C00209/6 Country: Safety module
C00210

C00210 | HW versions Index: 24365d = 5F2Dh
Subcodes Info
C00210/1 HW version: Control card
C00210/2 HW version: Power section
C00210/3 HW version: Module in MXI1
C00210/4 HW version: Module in MXI2
C00210/5 HW version: Memory module
C00210/6 HW version: Safety module
C00211

C00211 | Application: Version Index: 24364d = 5F2Ch
C00212

C00212 | Application: Type code Index: 24363d = 5F2Bh
C00213

C00213 | Application: Compiler date Index: 24362d = 5F2Ah
________________________________________________________________
C00214

C00214 | Required safety module Index: 24361d = 5F29h
Setting of the expected safety module

• If a different safety module is detected, a fault (trouble) will be activated. The fault can only be reset by mains
switching.
1 SM0
2 SM100
4 SM300
5 SM301
C00217

C00217 | Parameter error information Index: 24358d = 5F26h
C00218

C00218 | Application: ID number Index: 24357d = 5F25h

0 0
C00219

C00219 | CAN/EPL device type Index: 24356d = 5F24h
C00225

C00225 | Check configuration Index: 24350d = 5F1Eh
________________________________________________________________
C00227

C00227 | Behaviour due to change of parameter set Index: 24348d = 5F1Ch

By selecting "1" in the corresponding subcode a module plugged into module slot MXI1 or MXI2 can be excepted
from the parameter set changeover via the device command "Activate parameter set n".
• By this the parameter set changeover, in particular for active modules, is carried out much more quickly.
• An exception from the parameter set changeover for instance is reasonable if different parameter sets are used
(e. g. for different tools within the machine), but if the parameters are always the same for the module (e. g.
communication parameters).
0 Included
1 Excluded
C00227/1 0: Included Change of parameter set: MXI1
C00227/2 0: Included Change of parameter set: MXI2
C00254

C00254 | Phase controller gain Index: 24321d = 5F01h

0.00 1/s 1000.00 20.00 1/s
C00270

C00270 | Freq. - current setpoint filter Index: 24305d = 5EF1h
Set current setpoint filter (band-stop filter)

1.0 Hz 1000.0
C00270/1 200.0 Hz Freq. - current setp. filter 1
C00270/2 400.0 Hz Freq. - current setp. filter 2
C00271

C00271 | Width - current setp. filter Index: 24304d = 5EF0h

0.0 Hz 500.0
C00271/1 20.0 Hz Width current setp. filter 1
C00271/2 40.0 Hz Width current setp. filter 2
________________________________________________________________
C00272

C00272 | Depth - current setp. filter Index: 24303d = 5EEFh
The setting "0 dB" deactivates the current setpoint filter.

0 db 100
C00272/1 0 db Depth current setp. filter 1
C00272/2 0 db Depth current setp. filter 2
C00273

C00273 | Moment of inertia Index: 24302d = 5EEEh
Note:
The load moment of inertia must be set with regard to the motor end (i.e. considering the gearbox factors).
0.00 kg cm² 20000000.00
C00273/1 0.14 kg cm² Motor moment of inertia
C00273/2 0.00 kg cm² Load moment of inertia
C00274

C00274 | Max. acceleration change Index: 24301d = 5EEDh

0.0 %/ms 400.0 400.0 %/ms
C00275

C00275 | Signal source - speed setpoint Index: 24300d = 5EECh

0 SpeedAdd signal
1 Differentiated PosSet signal
________________________________________________________________
C00276

C00276 | Signal source - torque setpoint Index: 24299d = 5EEBh

0 TorqueAdd/AccAdd signal
1 Differentiated SpeedSet signal
2 2x diff. PosSet signal
3 Differentiated SpeedAdd signal This alternative selection to the differentiated SpeedSet
signal is recommended if the position controller works
with a high gain.
By the position controller also troubles within to the
actual position value are detected and like this reach the
speed setpoint. In the following differentiation of the
feedforward control, these troubles in particular in the
case of high position controller gains result in a very
unsettled torque feedforward control value. By means of
this selection the problem can be avoided, because then
only the trouble-free speed feedforward control value is
differentiated.
C00280

C00280 | Filter time const. DC detection Index: 24295d = 5EE7h

1.0 ms 1000.0 25.0 ms
C00281

C00281 | Filter for PWM adjustment Index: 24294d = 5EE6h

The output voltage of the inverter is generated from the DC-bus voltage by a pulse width modulation (PWM). The
product from the DC-bus voltage and the control factor of the PWM corresponds to the height of the output voltage.
If the DC-bus voltage changes due to mains fluctuations or load changes, the control factor of the PWM must be
adapted if the output voltage is to remain constant. This correction is carried out in the control software by
measuring the DC-bus voltage. In order that no response takes place to faults in the DC-bus voltage measurement,
a filter can be activated for the measured signal via this parameter.
• The filter time constant is selected so that a quick correction can be carried out even under bad EMC conditions.
• A disadvantage of this filter is that the responses to real flickers on the DC-bus voltage are too slow. In
positioning tasks, this may cause an extreme increase of the following error.
• Under good EMC conditions, this filter is not required (Lenze setting).
• For devices > BF7 the filter is ineffective.
0 Deactivated
1 Activated
C00308

C00308 | Service code Index: 24267d = 5ECBh
________________________________________________________________
C00309

C00309 | Service code Index: 24266d = 5ECAh
C00310

C00310 | Service code Index: 24265d = 5EC9h
C00311

C00311 | CAN TPDO1 mask byte x Index: 24264d = 5EC8h
A mask can be parameterised for each byte of the TPDO1 in the assigned subcode.
• In case of an event-controlled PDO transmission, only the masked bits will be considered for event control.
Setting range
0x00 0xFF
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
C00311/1 0x00 Mask for byte 1 ... byte 8 of TPDO1
C00311/...
C00311/8
________________________________________________________________
C00312

Setting range
0x00 0xFF
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
C00312/...
C00312/8
C00313

Setting range
0x00 0xFF
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
C00313/...
C00313/8
________________________________________________________________
C00314

Setting range
0x00 0xFF
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
C00314/...
C00314/8
C00320

C00320 | CAN TPDOx identifier Index: 24255d = 5EBFh
Identifier for TPDO1 ... TPDO4

• If bit 31 is set (0x8nnnnnnn), the TPDO is deactivated.
• The basic setting is according to the "Predefined Connection Set".
• Mapping of the CANopen objects I-1800/1 ... I-1803/1 (see DS301 V4.02).
Setting range
0x00000000 0xFFFFFFFF
Bit 0 COB-ID bit 0 • Bit 0 ... 10: COB-ID
... ... • Bit 11 ... 30: Reserved
• Bit 31: PDO invalid
Bit 31 PDO invalid
C00320/1 0x00000181 TPDO1 identifier
• After a node address change and CAN reset node, the
value 0x180 + node address will be set by default.
C00320/4 0x00000481 Identifier TPDO4
________________________________________________________________
C00321

C00321 | CAN RPDOx identifier Index: 24254d = 5EBEh
Identifier for RPDO1 ... RPDO4

• If bit 31 is set (0x8nnnnnnn), the RPDO is deactivated.
• The basic setting is according to the "Predefined Connection Set".
Setting range
... ... • Bit 11 ... 30: Reserved
• Bit 31: PDO invalid
Bit 31 PDO invalid
C00321/1 0x00000201 RPDO1 identifier
C00321/4 0x00000501 Identifier RPDO4
C00322

C00322 | CAN TPDOx Tx mode Index: 24253d = 5EBDh
TPDO transmission type according to DS301 V4.02

• Types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific), 255 (event-controlled
device-profile-specific) are supported.
• The basic PDO setting is "254" (event-controlled).
0 255
C00322/1 254 Transmission mode for TPDO1 ... TPDO4
C00322/...
C00322/4
________________________________________________________________
C00323

C00323 | CAN RPDOx Rx mode Index: 24252d = 5EBCh
RPDO transmission type according to DS301 V4.02

• In the case of the RPDO serves as monitoring setting in the case of sync-controlled PDOs.
• Types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific), 255 (event-controlled
device-profile-specific) are supported.
• The basic PDO setting is "254" (event-controlled).
0 255
C00323/1 254 Transmission mode for RPDO1 ... RPDO4
C00323/...
C00323/4
C00324

C00324 | CAN TPDOx delay time Index: 24251d = 5EBBh
TPDO inhibit time according to DS301 V4.02

• Minimum time between the transmission of two identical TPDOs.
• The delay time is entered in 1/10 ms and automatically rounded to full milliseconds by the code.
0 1/10 ms 65535
C00324/1 0 1/10 ms Delay time for TPDO1 ... TPDO4
C00324/...
C00324/4
C00325

C00325 | Service code Index: 24250d = 5EBAh
C00326

C00326 | Service code Index: 24249d = 5EB9h
C00327

________________________________________________________________
C00328

C00329

C00330

C00335

C00336

C00336 | Service code Index: 24239d = 5EAFh
C00337

C00337 | Service code Index: 24238d = 5EAEh
C00338

C00338 | Service code Index: 24237d = 5EADh
C00343

C00343 | CAN TPDO counter Index: 24232d = 5EA8h

0 4294967295
Subcodes Info
C00343/1 Counter for TPDO1 ... TPDO4
C00343/... "CAN on board" system bus
C00343/4
________________________________________________________________
C00344

C00344 | CAN RPDO counter Index: 24231d = 5EA7h

0 4294967295
Subcodes Info
C00344/1 Counter for RPDO1 ... RPDO4
C00344/... "CAN on board" system bus
C00344/4
C00345

C00345 | CAN error Index: 24230d = 5EA6h

0 No error
1 Guard Event
2 Warning
3 Bus off
4 Sync telegram error
6 CAN controller overflow
C00346

C00346 | CAN heartbeat activity Index: 24229d = 5EA5h
"CAN on board" system bus: heartbeat protocol

Display area
Value is bit-coded:
Bit 0 Heartbeat node 1
... ...
Bit 31 Heartbeat node 32
________________________________________________________________
C00347

C00347 | CAN heartbeat status Index: 24228d = 5EA4h

0 Unknown
4 Stopped
5 Operational
127 Pre-Operational
Subcodes Info
C00347/1 Status node 1 ... 32
C00347/...
C00347/32
C00348

C00348 | CAN status DIP switch Index: 24227d = 5EA3h
• "1" means that the CAN DIP switch has been identified after mains switching and a valid baud rate and node
address have been set.
• "0" means that no CAN DIP switch or no valid setting has been identified or the setting has been overwritten by
writing to code C00350 or C00351.
Selection list (read only) Info
0 Setting not accepted
1 Setting accepted
C00349

C00349 | CAN setting - DIP switch Index: 24226d = 5EA2h
Setting of the CAN DIP switch at the last mains connection

0 255
Subcodes Info
C00349/1 Node address
C00349/2 Baud rate:
0: 500 kbps
1: 250 kbps
2: 125 kbps
3: 50 kbps
4: 1 Mbps
5: 20 kbps
6: 10 kbit/s
14: 800 kbps
255: Automatic recognition
________________________________________________________________
C00350

C00350 | CAN node address Index: 24225d = 5EA1h
• A change in the node address will not be effective until a CAN Reset Node is performed.
• The basic server channel RX/TX is automatically provided by the node address (C00372 and C00373; subcode 1).
• Overwriting the value deactivates a possibly existing node address selection entered by means of hardware.
1 127 1
C00351

C00351 | CAN baud rate Index: 24224d = 5EA0h
• A change in the baud rate will not be effective until a CAN Reset Node is performed.
• Overwriting the value deactivates a possibly existing node address selection entered by means of hardware.
0 500 kbps
1 250 kbps
2 125 kbps
3 50 kbps
4 1 Mbps
5 20 kbps
6 10 kbps
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 800 kbps
15 Reserved
255 Automatic recognition
C00352

C00352 | CAN slave/master Index: 24223d = 5E9Fh
The drive starts as CAN master after mains switching if a value of "1" has been entered and saved here.
0 Slave
1 Master
________________________________________________________________
C00356

C00356 | CAN TPDOx cycle time Index: 24219d = 5E9Bh
TPDO event time according to DS301 V4.02

• If the value is entered that is not "0", the TPDO is transmitted without further consideration of the transport type
after the set time has elapsed.
0 ms 65535
C00356/1 0 ms Cycle time for TPDO1 ... TPDO4
C00356/...
C00356/4
C00357

C00357 | CAN RPDOx monitoring time Index: 24218d = 5E9Ah
Mapping of the RPDO event time (see DS301 V4.02)

• If a value unequal to "0" is entered, the RPDO is not expected before the set time has expired.
• If the RPDO is not received within this time, a parameterisable error message can be activated.
0 ms 65535
C00357/1 3000 ms Monitoring time for RPDO1 ... RPDO4
C00357/...
C00357/4
C00359

C00359 | CAN status Index: 24216d = 5E98h

0 Operational
1 Pre-Operational
4 Boot-up
5 Stopped
7 Reset
8 Initialisation
9 Unknown
10 Baud rate autom. detected
________________________________________________________________
C00360

C00360 | CAN telegram and error counter Index: 24215d = 5E97h
• After mains connection all counters start with "0".

• After the maximum value has been reached, counting restarts with "0".
0 65535
Subcodes Info
C00360/1 Stuffing bit error counter
• More than five identical bits have been detected.
C00360/2 Format error counter
• CAN frame has not been observed.
C00360/3 Acknowledge error counter
• No device has acknowledged the telegram.
C00360/4 Bit1 error counter
• "1" should be sent after bus arbitration, but "0" was
read.
C00360/5 Bit0 error counter
• "0" should be sent after bus arbitration, but "1" was
read.
C00360/6 CRC error counter
• Checksum check has indicated an error.
C00360/7 Tx telegram counter
• Correctly received telegrams.
C00360/8 Rx telegram counters
• Correctly transmitted telegrams.
C00361

C00361 | CAN bus load Index: 24214d = 5E96h
The display of the node peak load (subcodes 4 ... 6) is reset by repeated mains switching or via the "Reset node"
device command (C00002).
0 % 100
Subcodes Info
C00361/1 Current node load in Tx direction
C00361/2 Current node load in Rx direction
C00361/3 Current node load through faulty telegrams
C00361/4 Maximum node load in Tx direction
C00361/5 Maximum node load in Rx direction
C00361/6 Maximum node load through faulty telegrams
________________________________________________________________
C00367

C00367 | CAN SYNC Rx identifier Index: 24208d = 5E90h
Identifier by means of which the sync slave is to receive sync telegrams.

• Mapping of the CANopen object I-1005 (see DS301 V4.02).
"CAN on board" system bus: sync telegram
0 2047 128
C00368

C00368 | CAN SYNC Tx identifier Index: 24207d = 5E8Fh
Identifier by means of which the sync master is to transmit sync telegrams.

0 2047 128
C00369

C00369 | CAN sync transmission cycle time Index: 24206d = 5E8Eh
Cycle during which the sync master is to transmit sync telegrams.

• If "0 ms" is set (Lenze setting), no sync telegrams are generated.
0 ms 65535
C00369/1 0 ms Transmission cycle time for CAN on board
C00369/2 0 ms Transmission cycle time for CAN module in MXI1/MXI2
C00369/3 0 ms - (no meaning)
________________________________________________________________
C00372

C00372 | CAN SDO server Rx identifier Index: 24203d = 5E8Bh
Identifier which serves to reach the assigned SDO server.

• If bit 31 is set (0x8nnnnnnn), the corresponding SDO server is deactivated.
Setting range
... ... • Bit 11 ... 30: Reserved
• Bit 31: SDO invalid
Bit 31 SDO invalid
C00372/1 0x00000601 SDO server channel 1 RX
• Subcode 1 contains the basic SDO channel which can
neither be changed nor deactivated, according to
DS301 V4.02. Writing to the subcode has no effect.
• The value under subcode 1 results from the node
address (C00350) + 0x600.
________________________________________________________________
C00373

C00373 | CAN SDO server Tx identifier Index: 24202d = 5E8Ah
Identifier with which the assigned SDO server is able to transmit.

• If bit 31 is set (0x8nnnnnnn), the corresponding SDO server is deactivated.
Setting range
... ... • Bit 11 ... 30: Reserved
Bit 31 SDO invalid
C00373/1 0x00000581 SDO server channel 1 TX
• Subcode 1 contains the basic SDO channel which can
neither be changed nor deactivated, according to
DS301 V4.02. Writing to the subcode has no effect.
• The value under subcode 1 results from the node
address (C00350) + 0x580.
________________________________________________________________
C00374

C00374 | CAN SDO client node address Index: 24201d = 5E89h
Node address of the client assigned to this server (see DS301 V4.02).
1 127
C00374/1 1 SDO server channel 1 remote client node address
• Subcode 1 contains the basic SDO channel which,
according to DS301 V4.02, does not feature this entry.
Writing to the subcode has no effect.
• The value of subindex 1 results in 0.
C00375

C00375 | CAN SDO client Rx identifier Index: 24200d = 5E88h
Identifier which serves to reach the assigned SDO client.

• If bit 31 is set (0x8nnnnnnn), the corresponding SDO client channel is deactivated (see DS301 V4.02).
• The client channels need not be parameterised right now. Their functionality will only be required when using
the gateway services.
Setting range
... ... • Bit 11 ... 30: Reserved
Bit 31 SDO invalid
C00375/1 0x80000000 SDO client channel 1 RX ... 10 RX
C00375/...
C00375/10
________________________________________________________________
C00376

C00376 | CAN SDO client Tx identifier Index: 24199d = 5E87h
Identifier with which the assigned SDO client is able to transmit.

• If bit 31 is set (0x8nnnnnnn), the corresponding SDO client channel is deactivated (see DS301 V4.02).
• The client channels need not be parameterised right now. Their functionality will only be required when using
the gateway services.
Setting range
... ... • Bit 11 ... 30: Reserved
Bit 31 SDO invalid
C00376/1 0x80000000 SDO client channel 1 TX ... 10 TX
C00376/...
C00376/10
C00377

C00377 | CAN SDO server node address Index: 24198d = 5E86h
Node address of the server with which the SDO client communicates via the selected client channel.
• The client functionality need not be activated.
• The entry is required so that the CAN-SDO client channel can be activated (see DS301 V4.02).
1 127
C00377/1 1 Remote server node address for SDO client channel 1 ...
10
C00377/...
C00377/10
C00378

C00378 | CAN delay boot-up - Operational Index: 24197d = 5E85h
Time that has to elapse after mains switching before the CAN NMT master places the "Start Remote Node" telegram
to the bus.
• This time is only used if the master bit is activated (C00352) and after mains switching.
0 ms 65535 3000 ms
________________________________________________________________
C00379

C00379 | Service code Index: 24196d = 5E84h
C00381

C00381 | CAN Heartbeat producer time Index: 24194d = 5E82h
Time interval for the transmission of the heartbeat telegram to the consumer(s).
• The parameterised time is rounded down to an integer multiple of 5 ms.
• The heartbeat telegram is transmitted automatically as soon as a time > 0 ms is set. The monitoring function
"Node Guarding" is deactivated in this case.
0 ms 65535 0 ms
C00382

C00382 | CAN Guard Time Index: 24193d = 5E81h
After the set guard time multiplied by the life time factor (C00383), a node guarding telegram must have been
received.
• Mapping of the CANopen object I-100C (see DS301 V4.02).
"CAN on board" system bus: node guarding protocol
0 ms 65535 0 ms
C00383

C00383 | CAN Life Time Factor Index: 24192d = 5E80h
The life time factor multiplied by the guard time (C00382) results in the time in which a node guarding telegram
must have been received.
• Mapping of the CANopen object I-100D (see DS301 V4.02).
0 255 0
________________________________________________________________
C00385

C00385 | CAN Heartbeat Consumer Time Index: 24190d = 5E7Eh
The 32 subcodes represent the nodes to be monitored by means of heartbeat.

• Each subcode entry contains the expected "heartbeat" time and the node ID (node address) from which the
heartbeat telegram is expected in the form of a bit code.
• The parameterised time is rounded down to an integer multiple of 5 ms and must have a greater value than the
heartbeat producer time of the node to be monitored.
• The response to a missing heartbeat telegram can be parameterised in C00613.
Setting range
Bit 0 Heartbeat time bit 0 • Bit 0 ... 15: Heartbeat time
... ... • Bit 16 ... 23: Node address
• Bit 24 ... 31: Reserved
Bit 31 Reserved
C00385/1 0x00000000 Monitoring entry 1 ... 32
C00385/...
C00385/32
C00386

C00386 | CAN Node Guarding Index: 24189d = 5E7Dh
The 32 subcodes represent the nodes to be monitored by the master by means of node guarding.
• Each subcode entry contains the guard time, the lifetime factor and the node ID (node address) from which the
heartbeat telegram is expected in the form of a bit code.
• The response to a missing node guarding response can be parameterised in C00612.
Setting range
Bit 0 Guard time bit 0 • Bit 0 ... 15: Guard time
... ... • Bit 16 ... 23: Node address
• Bit 24 ... 31: Lifetime factor
Bit 31 Lifetime factor bit 7
C00386/1 0x00000000 Monitoring entry 1 ... 32
C00386/...
C00386/32
________________________________________________________________
C00387

C00387 | CAN Node Guarding Activity Index: 24188d = 5E7Ch

Display area
Value is bit-coded:
Bit 0 Node guarding of node 1
... ...
Bit 31 Node guarding of node 32
C00388

C00388 | CAN node guarding status Index: 24187d = 5E7Bh

0 Unknown
4 Stopped
5 Operational
127 Pre-Operational
Subcodes Info
C00388/1 Status node 1 ... 32
C00388/...
C00388/32
C00390

C00390 | CAN Error Register (DS301V402) Index: 24185d = 5E79h
Mapping of the CANopen object I-1001 (see DS301 V4.02).

Display area
0x00 0xFF
Bit 0 Generic error Currently only bit 0 and bit 4 contain the corresponding
information.
Bit 1 Current error (not used)
Bit 2 Voltage error (not used)
Bit 3 Temperature error (not used)
Bit 4 Communication error
Bit 5 Dev. prof. spec. err (not used)
Bit 6 Reserved
Bit 7 Manuf. spec. error (not used)
________________________________________________________________
C00391

C00391 | CAN Emergency Object Index: 24184d = 5E78h
Identifier of the emergency telegram

• Setting bit 31 of this code (0x8nnnnnnn) deactivates the generation of emergency telegrams.
0x00000000 0xFFFFFFFF 0x00000081 (decimal: 129)
Bit 0  COB-ID bit 0
Bit 1  COB-ID bit 1
Bit 7  COB-ID bit 7
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Reserved
Bit 15  Reserved
Bit 16  Reserved
Bit 17  Reserved
Bit 18  Reserved
Bit 19  Reserved
Bit 20  Reserved
Bit 21  Reserved
Bit 22  Reserved
Bit 23  Reserved
Bit 24  Reserved
Bit 25  Reserved
Bit 26  Reserved
Bit 27  Reserved
Bit 28  Reserved
Bit 29  Reserved
Bit 30  Reserved
Bit 31  Emergency inactive/active
________________________________________________________________
C00392

C00392 | CAN emergency delay time Index: 24183d = 5E77h
Time which at least has to elapse between two subsequent emergency telegrams.
• Setting "0" deactivates the inhibit time check.
• The inhibit time is entered in 1/10 ms. The code automatically rounds the entries down to the preceding full
millisecond.
0 65535 0
C00393

C00393 | CAN result - bus scan Index: 24182d = 5E76h
Result of CAN bus scanning (see controller commands under C00002).

• Subcode number 1 ... 128 corresponds to CAN node address 1 ... 128.
0 1
Subcodes Info
C00393/1 Result of CAN bus scanning for CAN node address 1 ...
128
C00393/...
• "1" means that a device with the corresponding node
C00393/128 address has been found.
C00394

C00394 | CAN predefined error field (DS301V402) Index: 24181d = 5E75h

0 4294967295
Subcodes
C00394/1
C00394/...
C00394/10
C00395

________________________________________________________________
C00396

C00397

C00398

C00398 | Test mode motor control Index: 24177d = 5E71h
 Danger!
When the test mode is activated, the parameterisable error response "Quick stop by trouble" has no effect!
If the test mode is active and a monitoring function responds with this error response, no quick stop is executed but
the motor continues to rotate with the frequency set for the test mode!
0 Test mode deactivated
1 U rotation test mode
2 I rotation test mode
3 Current controller optimisation After controller enable, the motor is supplied with
mode current as long as the controller is enabled.
4 Current controller optimisation The motor is supplied with voltage for 50 ms after
mode impulse controller enable. Due to this time limit, the load of the
machine is reduced. Afterwards, the controller is
inhibited automatically.
 Read access  Write access  CINH  PLC STOP  No transfer Scaling factor: 1
C00399

C00399 | Settings for test mode Index: 24176d = 5E70h

-1000.0 Hz/1° 1000.0
C00399/1 0.0 Hz/1° Frequency [Hz] for test mode
C00399/2 0.0 Hz/1° Start angle [°] for test mode
C00412

C00412 | Hiperface: Initialisation time Index: 24163d = 5E63h

Parameterisation of a Hiperface encoder with increased initialisation time
150 ms 2000 650 ms
________________________________________________________________
C00413

C00413 | Hiperface: detected TypeCode Index: 24162d = 5E62h
Type code read out of the connected Hiperface encoder

Parameterisation of an unknown Hiperface encoder
0 255
C00414

C00414 | Hiperface: TypeCode Index: 24161d = 5E61h
Setting the type code for a Hiperface encoder unknown to the controller
0 255 0
C00415

C00415 | Hiperface: number of rev. Index: 24160d = 5E60h
Number of displayable revolutions for a multi-turn encoder

0 16384 0
C00416

C00416 | Service code Index: 24159d = 5E5Fh
C00417

C00417 | Dynamic of resolver evaluation Index: 24158d = 5E5Eh

Adaptation of the resolver evaluation dynamics
100 % 1000 100 %
________________________________________________________________
C00418

C00418 | Activate resolver error compensation Index: 24157d = 5E5Dh

Resolver error compensation
0 Deactivated
1 Activated
C00420

C00420 | Number of encoder increments Index: 24155d = 5E5Bh

1 16384 512
C00421

C00421 | Encoder voltage Index: 24154d = 5E5Ah

5.0 V 12.0 5.0 V
C00422

C00422 | Encoder type Index: 24153d = 5E59h

0 Incremental encoder (TTL signal)
1 Sin/cos encoder
2 Absolute value encoder (Hiperface)
3 Absolute value encoder (EnDat)
4 SSI encoder From software version V2.0
Use of an SSI encoder at X8
C00423

C00423 | SSI encoder: Bit rate Index: 24152d = 5E58h

150 kbps 1000 400 kbps
________________________________________________________________
C00424

C00424 | SSI encoder: Data word length Index: 24151d = 5E57h

1 Bit 31 25 bits
C00427

C00427 | TTL encoder signal evaluation Index: 24148d = 5E54h

0 4x evaluation (A, B)
1 A:Increments B:Sign
2 Increments A:pos. B:neg.
C00435

C00435 | SSI encoder: partword start position Index: 24140d = 5E4Ch

0 30
C00435/1 0 SSI enc.: Partword 1 start
C00435/5 0 Ssi-enc.: Partword 5 start
C00435/8 0 Ssi-enc.: Partword 8 start
________________________________________________________________
C00436

C00436 | SSI encoder: partword length Index: 24139d = 5E4Bh

0 31
C00436/1 31 SSI enc.: Partword 1 length
C00437

C00437 | SSI encoder: partword data coding Index: 24138d = 5E4Ah

0 binary coded
1 gray coded
C00437/1 0: binary coded SSI enc.: Partword 1 coding
________________________________________________________________
C00443

C00443 | Status: Digital inputs Index: 24132d = 5E44h

0 1
Subcodes Info
C00443/1 Digital input 1
C00443/9 Controller inhibit (inversion of input X5/RFR)
C00443/10 Internal signal
C00443/11 Feedback input of holding brake
C00443/12 State bus input
C00444

C00444 | Status: Digital outputs Index: 24131d = 5E43h

0 1
Subcodes Info
C00444/1 Digital output 1
C00444/9 User LED
C00444/13 Control output of holding brake
C00444/18 State bus output
________________________________________________________________
C00464

C00464 | Keypad: Mode Index: 24111d = 5E2Fh

Definition of the mode in which the keypad attached is to be activated.
• If both
keypad versions (V1.0 and V2.0) are used, the Lenze setting is to be maintained.
• If only the new keypad V2.0 is used, the initialisation time of the keypad can be reduced by changing over to
mode 2. Furthermore mode 2 supports greater future keypad files.
Note: If mode 2 is selected, the keypad V1.0 can no longer be operated on the controller!
0 Mode 1 For keypad V1.0 and V2.0
1 Mode 2 Only for keypad V2.0
C00465

C00465 | Keypad: Timeout welcome screen Index: 24110d = 5E2Eh

0 Never show welcome screen
5 5 min
15 15 min
30 30 min
60 60 min
C00466

C00466 | Keypad: Default parameter Index: 24109d = 5E2Dh

0 65535 0
C00467

C00467 | Keypad: Default welcome screen Index: 24108d = 5E2Ch

0 Main menu
1 Parameter list
C00468

C00468 | Service code Index: 24107d = 5E2Bh
________________________________________________________________
C00469

C00469 | Keypad: Fct. STOP key Index: 24106d = 5E2Ah

0 No response
1 Inhibit controller
2 Activate quick stop
3 Stop application
C00490

C00490 | Position encoder selection Index: 24085d = 5E15h
Chapter "Controller configuration" provides you with more information on parameter setting.
0 Resolver on X7
1 Encoder on X8
4 Encoder signal on LS_Feedback
10 Motor encoder (C00495)
C00494

C00494 | Motor standstill time constant Index: 24081d = 5E11h

0 ms 100000 0 ms
C00495

C00495 | Motor encoder selection Index: 24080d = 5E10h

0 Resolver on X7
1 Encoder on X8
________________________________________________________________
C00497

C00497 | Speed act. val. time const. Index: 24078d = 5E0Eh
Time constant for actual speed filter

• In order to maximise the dynamics of the speed control loop, the actual speed filter should be operated with a
time constant as low as possible. The lower the time constant the higher the gain of the speed controller. Since
actual value filters have the task to dampen measuring errors or interference components, it must be found a
compromise between filter task and the resulting delay.
• If a Lenze motor is selected from the motor catalogue, a time constant is automatically preset here which serves
to operate the motor even with a faulty detection (e.g. in case of a bad shield connection).
Servo control (SC): Optimise speed controller
Sensorless vector control (SLVC): Optimise speed controller
0.0 ms 50.0 2.0 ms
C00512

C00512 | Service code Index: 24063d = 5DFFh
C00513

C00513 | Service code Index: 24062d = 5DFEh
C00514

C00514 | Service code Index: 24061d = 5DFDh
C00515

C00515 | Service code Index: 24060d = 5DFCh
C00516

C00516 | Service code Index: 24059d = 5DFBh
________________________________________________________________
C00569

C00569 | Resp. brake trans. ixt > C00570 Index: 24006d = 5DC6h
Response if adjustable warning threshold (C00570) of brake chopper monitoring is reached.

1 Fault
2 Trouble
5 Warning
4 Warning locked
3 Quick stop by trouble
0 No response
C00570

C00570 | Warning thres. brake transistor Index: 24005d = 5DC5h
Warning threshold for brake chopper monitoring

0 % 100 90 %
C00571

C00571 | Resp. to brake res. i²xt > C00572 Index: 24004d = 5DC4h
Response if adjustable warning threshold (C00572) of brake resistor monitoring is reached.

1 Fault
2 Trouble
5 Warning
4 Warning locked
0 No response
C00572

C00572 | Warning thres. brake resistor Index: 24003d = 5DC3h
Warning threshold for brake resistor monitoring

0 % 100 90 %
________________________________________________________________
C00573

C00573 | Resp. to overload brake trans. Index: 24002d = 5DC2h
Response to activation of brake chopper monitoring

1 Fault
2 Trouble
5 Warning
4 Warning locked
0 No response
C00574

C00574 | Resp. to brake resist. overtemp. Index: 24001d = 5DC1h
Response to activation of brake resistor monitoring

1 Fault
2 Trouble
5 Warning
4 Warning locked
0 No response
C00576

C00576 | Speed monitoring tolerance Index: 23999d = 5DBFh
Monitoring window for speed control error in [%] of nmax

0 % 100 100 %
C00577

C00577 | Field weakening controller gain Index: 23998d = 5DBEh
At "0" the P component is deactivated, a pure I-controller is used.

0.000 Vs/V 2147483.647 0.000 Vs/V
________________________________________________________________
C00578

C00578 | Field weak. contr. reset time Index: 23997d = 5DBDh
At "240000.0 ms" the I component of the field weakening controller is deactivated.

1.0 ms 240000.0 2000.0 ms
C00579

C00579 | Resp. to speed monitoring Index: 23996d = 5DBCh
Response to activation of speed monitoring

1 Fault
2 Trouble
5 Warning
4 Warning locked
0 No response
C00580

C00580 | Resp. to encoder open circuit Index: 23995d = 5DBBh
Response to open circuit in encoder

 Danger!
If the encoder is used as motor encoder:
In the event of an error, a safe operation of the motor cannot be ensured anymore!
For safety reasons, the "Fault" response should always be set for this case!
1 Fault
2 Trouble
5 Warning
4 Warning locked
13 Quick Stop open loop by trouble
0 No response
________________________________________________________________
C00581

C00581 | Resp. to external fault Index: 23994d = 5DBAh
Response to an external error

Drive interface
1 Fault
2 Trouble
4 Warning locked
5 Warning
6 Information
0 No response
C00582

C00582 | Resp. to heatsink temp. > C00122 Index: 23993d = 5DB9h
Response if heatsink temperature > variable limit temperature (C00122).

1 Fault
5 Warning
0 No response
C00583

C00583 | Resp. to motor KTY overtemp. Index: 23992d = 5DB8h
Response if motor temperature > fixed limit temperature.

1 Fault
5 Warning
0 No response
C00584

C00584 | Resp. to motor temp. > C00121 Index: 23991d = 5DB7h
Response if motor temperature > variable limit temperature (C00121).

1 Fault
5 Warning
0 No response
________________________________________________________________
C00585

C00585 | Resp. to motor overtemp. PTC Index: 23990d = 5DB6h
Response if motor temperature across PTC input T1/T2 too high.

1 Fault
5 Warning
0 No response
C00586

C00586 | Resp. to resolver open circuit Index: 23989d = 5DB5h
Response to open circuit in resolver

 Danger!
If the resolver is used as motor encoder:
In the event of an error, a safe operation of the motor cannot be ensured anymore!
For safety reasons, the "Fault" response should always be set for this case!
1 Fault
2 Trouble
5 Warning
4 Warning locked
0 No response
C00587

C00587 | Fan control status Index: 23988d = 5DB4h
Display area
0x00 0xFF
Value is bit-coded:
Bit 0 Heatsink fan ON
Bit 1 Integral fan ON
Bit 2 Heatsink fan status 1
Bit 3 Heatsink fan status 2
Bit 4 Integral fan status
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
________________________________________________________________
C00588

C00588 | Resp. to failure t. sensor drive Index: 23987d = 5DB3h
Response to error/failure of temperature sensor for heatsink temperature/temperature inside the controller
1 Fault
5 Warning
0 No response
C00589

C00589 | Resp. to CPU temp. > C00126 Index: 23986d = 5DB2h
Response if CPU temperature on the control card > variable limit temperature (C00126).
1 Fault
5 Warning
0 No response
C00591

C00591 | Resp. to CAN-RPDOx error Index: 23984d = 5DB0h
Response if the corresponding CAN RPDO has not been received in the configured time or with the configured sync.
1 Fault
2 Trouble
4 Warning locked
5 Warning
6 Information
0 No response
C00591/1 0: No response Response to non-received RPDO1 ... RPDO4
C00591/...
C00591/4
________________________________________________________________
C00594

C00594 | Resp. temp. sensor motor X7/X8 Index: 23981d = 5DADh
Response to motor temperature sensor error.

• The response to a too high motor temperature via PTC input T1/T2 can be selected in C00585.
1 Fault
5 Warning
0 No response
C00595

C00595 | Resp. to CAN bus OFF Index: 23980d = 5DACh
Response if CAN node switches to the bus off state.

1 Fault
2 Trouble
4 Warning locked
5 Warning
6 Information
0 No response
C00596

C00596 | Threshold max. speed reached Index: 23979d = 5DABh
Threshold for speed monitoring

50 rpm 50000 6500 rpm
________________________________________________________________
C00597

C00597 | Resp. to motor phase failure Index: 23978d = 5DAAh
Response to activation of motor phase failure monitoring

1 Fault
2 Trouble
5 Warning
4 Warning locked
0 No response
C00598

C00598 | Resp. to open circuit AIN1 Index: 23977d = 5DA9h
Response if with master current at AIN1 and "LifeZero" mode (±4...±20mA) the current is in the non-permitted range
(-4 ... +4 mA).
1 Fault
2 Trouble
4 Warning locked
5 Warning
6 Information
0 No response
C00599

C00599 | Motor phase failure threshold Index: 23976d = 5DA8h
Current value for activating the Motor phase failure monitoring

• In [%] relating to the maximum device current (display in C00789).
• The response to be triggered by the monitoring can be selected in C00597.
1.0 % 100.0 5.0 %
C00600

C00600 | Resp. to DC bus overvoltage Index: 23975d = 5DA7h
Response to DC bus overvoltage

1 Fault
2 Trouble
________________________________________________________________
C00601

C00601 | Resp. to encoder comm. error Index: 23974d = 5DA6h
Response to activation of encoder monitoring

• For the use of the encoder as motor encoder: If an error occurs, the safe operation of the motor is no longer
ensured, therefore for safety reasons the "Fault" response should always be set!
1 Fault
2 Trouble
5 Warning
4 Warning locked
0 No response
C00604

C00604 | Resp. to device overload > C00123 Index: 23971d = 5DA3h
Response if adjustable "I x t" warning threshold (C00123) is reached.

1 Fault
5 Warning
0 No response
C00606

C00606 | Resp. to motor overload > C00127 Index: 23969d = 5DA1h

Response if adjustable "I2 x t" warning threshold (C00127) is reached.
1 Fault
5 Warning
0 No response
________________________________________________________________
C00607

C00607 | Resp. to max. speed reached Index: 23968d = 5DA0h
Response if adjustable speed threshold (C00596) is reached.

1 Fault
2 Trouble
5 Warning
4 Warning locked
0 No response
C00610

C00610 | Resp. to failure heatsink fan Index: 23965d = 5D9Dh
Response if fan speed of heatsink fan is too low.

1 Fault
5 Warning
0 No response
C00611

C00611 | Resp. to failure integral fan Index: 23964d = 5D9Ch
Response if fan speed of internal fan is too low.

1 Fault
5 Warning
0 No response
________________________________________________________________
C00612

C00612 | Resp. to CAN node guarding error Index: 23963d = 5D9Bh
Response of master if the corresponding node guarding response is not received.

1 Fault
2 Trouble
4 Warning locked
5 Warning
6 Information
0 No response
C00612/1 0: No response Response to non-received telegram for monitoring entry
1 ... 32
C00612/...
C00612/32
C00613

C00613 | Resp. to CAN heartbeat error Index: 23962d = 5D9Ah
Response if the corresponding heartbeat telegram is not received.

1 Fault
2 Trouble
4 Warning locked
5 Warning
6 Information
0 No response
C00613/1 0: No response Response to non-received telegram for monitoring entry
1 ... 32
C00613/...
C00613/32
________________________________________________________________
C00614

C00614 | Resp. to CAN life guarding error Index: 23961d = 5D99h
Response of slave if node guarding request is not received.

1 Fault
2 Trouble
4 Warning locked
5 Warning
6 Information
0 No response
C00615

C00615 | Resp. to imp. device config. Index: 23960d = 5D98h
Selection list
1 Fault
4 Warning locked
6 Information
0 No response
C00615/1 0: No response Reserved
C00615/2 1: Fault Resp. to imp. module in MXI1
C00615/3 1: Fault Resp. to imp. module in MXI2
C00618

C00618 | No. of CRC cycles Index: 23957d = 5D95h

0 4294967295
________________________________________________________________
C00619

C00619 | Resp. to motor current > C00620 Index: 23956d = 5D94h
Response if the ultimate motor current I_ult parameterised in C00620 is reached.

1 Fault
2 Trouble
5 Warning
4 Warning locked
0 No response
C00620

C00620 | Ultimate motor current I_ult Index: 23955d = 5D93h
Limit value to protect the motor from destruction or influence of the rated data.
• The maximum current parameterisable in C00022 should have a sufficient distance from this limit value.
• If the set limit value is exceeded, the error response parameterised in C00619 is carried out for motor protection.
0.0 A 3000.0 3000.0 A
C00621

C00621 | Resp. to encoder pulse deviation Index: 23954d = 5D92h

1 Fault
2 Trouble
5 Warning
4 Warning locked
0 No response
C00625

C00625 | CAN behaviour in case of fault Index: 23950d = 5D8Eh
Mapping of the CANopen object I-1029 (see DS301 V4.02).

0 Pre-operational state
1 No state change
2 Stopped state
________________________________________________________________
C00635

C00635 | Resp to new firmw. standard dev. Index: 23940d = 5D84h

1 Fault
6 Information
5 Warning
4 Warning locked
0 No response
C00636

C00636 | Resp. to new module in MXI1 Index: 23939d = 5D83h

1 Fault
6 Information
5 Warning
4 Warning locked
0 No response
C00637

C00637 | Resp. to new module in MXI2 Index: 23938d = 5D82h

1 Fault
6 Information
5 Warning
4 Warning locked
0 No response
C00640

C00640 | Resp. to pole pos. id. monit. Index: 23935d = 5D7Fh
Error response for abort of the pole position identification

Adjustment of the pole position identification
1 Fault
4 Warning locked
0 No response
________________________________________________________________
C00641

C00641 | PLI 360° current amplitude Index: 23934d = 5D7Eh
Percentage adjustment of the current amplitude for the pole position identification
Stop!
If there is no temperature monitoring in the motor and/or the I2xt motor monitoring is not parameterised correctly,
the motor may be permanently damaged when the current amplitude is set too high (e.g. to the maximum value)!

1 % 1000 100 %
C00642

C00642 | PolePosId 360° ramp time Index: 23933d = 5D7Dh
Percentage adjustment of the ramp time for the pole position identification
5 % 1000 100 %
C00643

C00643 | PLI 360° traversing direction Index: 23932d = 5D7Ch
Selection of the traversing direction for the pole position identification

0 Right rotating field
1 Left rotating field
C00644

C00644 | PolePosId 360° fault tol. Index: 23931d = 5D7Bh
Fault tolerance for the plausibility check of the pole position identification
-6.0 ° 30.0 0.0 °
________________________________________________________________
C00645

C00645 | PLI 360° absolute current amplitude Index: 23930d = 5D7Ah

0.00 A 1000.00
C00646

C00646 | PLI min.mov. curr. amplitude Index: 23929d = 5D79h
Percentage adjustment of the current amplitude for the pole position identification
Stop!
If there is no temperature monitoring in the motor and/or the I2xt motor monitoring is not parameterised correctly,
the motor may be permanently damaged when the current amplitude is set too high (e.g. to the maximum value)!

1 % 1000 100 %
C00647

C00647 | PolePosId min.mov. cur.rise rate Index: 23928d = 5D78h
Percentage adjustment of the rate of current rise for the pole position identification
5 % 1000 100 %
C00648

C00648 | PolePosId min.mov. gain Index: 23927d = 5D77h
P component of the PI controller for the pole position identification

0.00 10.00 0.00
C00649

C00649 | PLI min. mov. reset time Index: 23926d = 5D76h
I component of the PI controller for the pole position identification

0.01 ms 6000.00 62.50 ms
________________________________________________________________
C00650

C00650 | PolePosId min.mov. max.perm.mov. Index: 23925d = 5D75h
Max. movement permitted during the pole position identification

1 ° 90 20 °
C00651

C00651 | PLI min. motion absolute cur. amp. Index: 23924d = 5D74h

0.00 A 1000.00
C00691

C00691 | Total speed setpoint Index: 23884d = 5D4Ch

-200.00 % 200.00
C00692

C00692 | Speed setpoint [%] Index: 23883d = 5D4Bh

-200.00 % 200.00
C00693

C00693 | Actual speed [%] Index: 23882d = 5D4Ah

-200.00 % 200.00
C00694

C00694 | Speed controller output Index: 23881d = 5D49h

-200.00 % 200.00
________________________________________________________________
C00695

C00695 | Total torque setpoint Index: 23880d = 5D48h

-200.00 % 200.00
C00696

C00696 | Torque setpoint [%] Index: 23879d = 5D47h

-200.00 % 200.00
C00697

C00697 | Filtered torque setpoint Index: 23878d = 5D46h

-200.00 % 200.00
C00698

C00698 | Actual torque [%] Index: 23877d = 5D45h

-200.00 % 200.00
C00730

C00730 | GDO general parameters Index: 23845d = 5D25h
C00731

C00731 | GDO channel 1/trigger 1 Index: 23844d = 5D24h
C00732

C00732 | GDO channel 2/trigger 2 Index: 23843d = 5D23h
________________________________________________________________
C00733

C00733 | GDO channel 3 Index: 23842d = 5D22h
C00734

C00735

C00736

C00736 | GDO channel 6 Index: 23839d = 5D1Fh
C00737

C00737 | GDO channel 7 Index: 23838d = 5D1Eh
C00738

C00738 | GDO channel 8 Index: 23837d = 5D1Dh
C00739

C00739 | GDO status information Index: 23836d = 5D1Ch
C00770

C00770 | MCTRL_dnMotorPosAct Index: 23805d = 5CFDh
Internal motor control (MCTRL) signal

0 Incr. 4294967295
Subcodes Info
C00770/1 LOW word
C00770/2 High word
________________________________________________________________
C00771

C00771 | MCTRL_dnLoadPosAct Index: 23804d = 5CFCh

0 Incr. 4294967295
Subcodes Info
C00771/1 LOW word
C00771/2 High word
C00772

C00772 | MCTRL_dnMotorSpeedAct Index: 23803d = 5CFBh

-480000 rpm 480000
C00773

C00773 | MCTRL_dnLoadSpeedAct Index: 23802d = 5CFAh

-480000 rpm 480000
C00774

C00774 | MCTRL_dnTorqueAct Index: 23801d = 5CF9h

-21474836.47 Nm 21474836.47
C00775

C00775 | MCTRL_dnOutputSpeedCtrl Index: 23800d = 5CF8h

-21474836.47 Nm 21474836.47
________________________________________________________________
C00776

C00776 | MCTRL_dnInputJerkCtrl Index: 23799d = 5CF7h

-21474836.47 Nm 21474836.47
C00777

C00777 | MCTRL_dnInputTorqueCtrl Index: 23798d = 5CF6h

-21474836.47 Nm 21474836.47
C00778

C00778 | MCTRL_dnFluxAct Index: 23797d = 5CF5h

-200.00 % 200.00
C00779

C00779 | MCTRL_dnDCBusVoltage Index: 23796d = 5CF4h

0 V 1000
C00780

C00780 | MCTRL_dnImotAct Index: 23795d = 5CF3h

-500.00 A 500.00
________________________________________________________________
C00781

C00781 | MCTRL_dwMaxMotorSpeed Index: 23794d = 5CF2h

0 rpm 480000
C00782

C00782 | MCTRL_dwMaxMotorTorque Index: 23793d = 5CF1h

0.000 Nm 2147483.647
C00783

C00783 | MCTRL_dwMotorVoltageAct Index: 23792d = 5CF0h

0 V 2000
C00784

C00784 | MCTRL_dnMotorFreqAct Index: 23791d = 5CEFh

-800.0 Hz 800.0
C00786

C00786 | MCTRL_dnIxtLoad Index: 23789d = 5CEDh

-200.00 % 200.00
________________________________________________________________
C00787

C00787 | MCTRL_dnFlyingSpeedAct Index: 23788d = 5CECh

-480000 rpm 480000
C00788

C00788 | MCTRL_dwMaxEffMotorTorque Index: 23787d = 5CEBh

0.000 Nm 2147483.647
C00789

C00789 | MCTRL_dwMaxDeviceCurrent Index: 23786d = 5CEAh

0.00 A 21474836.47
C00790

C00790 | MCTRL_dnI2xtLoad Index: 23785d = 5CE9h

-200.00 % 200.00
C00791

C00791 | MCTRL_dnDeltaMotorPos_p Index: 23784d = 5CE8h

-2147483647 Incr. 2147483647
________________________________________________________________
C00792

C00792 | MCTRL_dnOutputPosCtrlMotor_s Index: 23783d = 5CE7h

-200 % 200
C00800

C00800 | MCTRL_dnPosSet Index: 23775d = 5CDFh

0 Incr. 4294967295
Subcodes Info
C00800/1 LOW word
C00800/2 High word
C00802

C00802 | MCTRL_dnSpeedAdd Index: 23773d = 5CDDh

-480000 rpm 480000
C00803

C00803 | MCTRL_dnTorqueAdd Index: 23772d = 5CDCh

-2147483.647 Nm 2147483.647
C00804

C00804 | MCTRL_dnAccelerationAdd Index: 23771d = 5CDBh

-2147483.647 1/s² 2147483.647
________________________________________________________________
C00805

C00805 | MCTRL_dnSpeedLowLimit Index: 23770d = 5CDAh

-480000 rpm 480000
C00806

C00806 | MCTRL_dnTorqueLowLimit Index: 23769d = 5CD9h

-21474836.47 Nm 21474836.47
C00807

C00807 | MCTRL_dnTorqueHighLimit Index: 23768d = 5CD8h

-21474836.47 Nm 21474836.47
C00808

C00808 | MCTRL_dnPosCtrlOutLimit Index: 23767d = 5CD7h

-480000 rpm 480000
C00809

C00809 | MCTRL_dnTorqueCtrlAdapt Index: 23766d = 5CD6h

-200.00 % 200.00
________________________________________________________________
C00810

C00810 | MCTRL_dnSpeedCtrlAdapt Index: 23765d = 5CD5h

-200.00 % 200.00
C00811

C00811 | MCTRL_dnPosCtrlAdapt Index: 23764d = 5CD4h

-200.00 % 200.00
C00812

C00812 | MCTRL_dnMotorPosRefValue Index: 23763d = 5CD3h

0 Incr. 4294967295
Subcodes Info
C00812/1 LOW word
C00812/2 High word
C00813

C00813 | MCTRL_dnLoadPosRefValue Index: 23762d = 5CD2h

0 Incr. 4294967295
Subcodes Info
C00813/1 LOW word
C00813/2 High word
C00814

C00814 | MCTRL_dnBoost Index: 23761d = 5CD1h

-1000 V 1000
________________________________________________________________
C00815

C00815 | MCTRL_dnSpeedCtrlIntegrator Index: 23760d = 5CD0h

-2147483.647 Nm 2147483.647
C00816

C00816 | MCTRL_dnFieldWeak Index: 23759d = 5CCFh

-200.00 % 200.00
C00817

C00817 | MCTRL_dnSpeedSet_s Index: 23758d = 5CCEh

-480000 rpm 480000
C00818

C00818 | MCTRL_dnMvorAdapt Index: 23757d = 5CCDh

-200.00 % 200.00
C00854

C00854 | ID status Index: 23721d = 5CA9h

0 100
________________________________________________________________
C00878

C00878 | Status DCTRL control input Index: 23697d = 5C91h

0 1
Subcodes Info
C00878/1 Status of control inputs
C00878/...
C00878/5
C00909

C00909 | Speed limitation Index: 23666d = 5C72h
Speed limitation for speed setpoint

• For the upper speed limit value only positive values are permissible (0.0 % ... 175.0 %).
• For the lower speed limit value only negative values are permissible (-175.0 % ... 0.0 %).
-175.0 % 175.0
C00909/1 175.0 % Upper speed limit value
C00909/2 -175.0 % Lower speed limit value
C00950

C00950 | VFC: V/f characteristic shape Index: 23625d = 5C49h
 V/f control
0 Linear (V/f)
1 Quadratic (V/f²)
2 Curve
C00951

C00951 | VFC: V/f base frequency Index: 23624d = 5C48h
 V/f control
1 Hz 5000 50 Hz
________________________________________________________________
C00952

C00952 | VFC: Frequency interpol. point n Index: 23623d = 5C47h
 V/f control
-5000 Hz 5000
C00952/1 -50 Hz
C00952/2 -40 Hz
C00952/3 -30 Hz
C00952/4 -20 Hz
C00952/5 -10 Hz
C00952/6 0 Hz
C00952/7 10 Hz
C00952/8 20 Hz
C00952/9 30 Hz
C00952/10 40 Hz
C00952/11 50 Hz
C00953

C00953 | VFC: Voltage interpol. point n Index: 23622d = 5C46h
 V/f control
0.00 V 1000.00
C00953/1 400.00 V
C00953/2 320.00 V
C00953/3 240.00 V
C00953/4 160.00 V
C00953/5 80.00 V
C00953/6 0.00 V
C00953/7 80.00 V
C00953/8 160.00 V
C00953/9 240.00 V
C00953/10 320.00 V
C00953/11 400.00 V
________________________________________________________________
C00954

C00954 | VFC: Activat. interpol. point n Index: 23621d = 5C45h
 V/f control
Selection list
0 Off
1 On
C00954/1 1: On
C00954/2 1: On
C00954/3 1: On
C00954/4 1: On
C00954/5 1: On
C00954/6 1: On
C00954/7 1: On
C00954/8 1: On
C00954/9 1: On
C00954/10 1: On
C00954/11 1: On
C00955

C00955 | VFC: Vmax reduction Index: 23620d = 5C44h
 V/f control
0 V 500 0 V
C00957

C00957 | VFC: VVC current setpoint Index: 23618d = 5C42h
 V/f control
0.00 A 1500.00 0.00 A
C00958

C00958 | VFC: VVC gain Index: 23617d = 5C41h
 V/f control
0.00 V/A 750.00 0.00 V/A
________________________________________________________________
C00959

C00959 | VFC: VVC reset time Index: 23616d = 5C40h
 V/f control
0.01 ms 2000.00 2000.00 ms
C00960

C00960 | VFC: V/f voltage boost Index: 23615d = 5C3Fh
 V/f control
0 V 1000 0 V
C00961

C00961 | VFC: Load - cw/ccw-operation Index: 23614d = 5C3Eh
 V/f control
0 CW: mot. / CCW: mot.
1 CW: mot. / CCW: regen.
2 CW: regen. / CCW: mot.
C00962

C00962 | VFC: Load adjustment Index: 23613d = 5C3Dh
 V/f control
0.00 % 200.00 20.00 %
C00963

C00963 | VFC: Gain - Imax controller Index: 23612d = 5C3Ch
 V/f control
0.000 Hz/A 1000.000 0.001 Hz/A
________________________________________________________________
C00964

C00964 | VFC: Reset time - Imax contr. Index: 23611d = 5C3Bh
 V/f control
1.0 ms 2000.0 100.0 ms
C00965

C00965 | VFC: Gain - slip compensation Index: 23610d = 5C3Ah
 V/f control
-200.00 % 200.00 0.00 %
C00966

C00966 | VFC: Time const. slip comp. Index: 23609d = 5C39h
 V/f control
1 ms 6000 2000 ms
C00967

C00967 | VFC: Gain - oscillation damping Index: 23608d = 5C38h
 V/f control
-100 % 100 20 %
C00968

C00968 | VFC: Time const. - oscill. damp. Index: 23607d = 5C37h
 V/f control
1 ms 600 5 ms
________________________________________________________________
C00969

C00969 | VFC: Limitation - oscill. damp. Index: 23606d = 5C36h
 V/f control
0.1 Hz 20.0 0.2 Hz
C00970

C00970 | VFC: ramp-end frequ. - oscill. damp. Index: 23605d = 5C35h

 V/f control
0 % 100 0 %
C00971

C00971 | VFC: Influence - speed controller Index: 23604d = 5C34h
 V/f control
0.00 % 100.00 10.00 %
C00972

C00972 | VFC: Gain - speed controller Index: 23603d = 5C33h
 V/f control
0.000 Hz/rpm 1000.000 0.000 Hz/rpm
C00973

C00973 | VFC: Reset time - speed contr. Index: 23602d = 5C32h
 V/f control
1.0 ms 6000.0 6000.0 ms
________________________________________________________________
C00974

C00974 | DC brake: Current Index: 23601d = 5C31h
DC-injection braking
0.00 A 500.00 0.00 A
C00975

C00975 | DC brake: Current for quick stop Index: 23600d = 5C30h
0.00 A 500.00 0.00 A
C00976

C00976 | DC brake: Activat. by quick stop Index: 23599d = 5C2Fh
0 Off
1 On
C00977

C00977 | Min. inh-time aft. overvolt Index: 23598d = 5C2Eh
 V/f control
1 ms 10000 500 ms
C00980

C00980 | VFC: Override point of field weakening Index: 23595d = 5C2Bh

Offset of the override point for field weakening
• In the VFCplus operating mode the pull-out protection function or the maximally permissible current in the field
weakening range can be adapted.
-500 Hz 500 0 Hz
________________________________________________________________
C00985

C00985 | SLVC: Field current controller gain Index: 23590d = 5C26h
Sensorless vector control

0.00 21474836.47 0.00
C00986

C00986 | SLVC: Cross current controller gain Index: 23589d = 5C25h

0.00 21474836.47 0.00
C00987

C00987 | SLVC: Gain - torque controller Index: 23588d = 5C24h

0.0000 Hz/A 1000.0000 0.5000 Hz/A
C00988

C00988 | SLVC: Reset time - torque contr. Index: 23587d = 5C23h

0.01 ms 2000.00 10.00 ms
C00989

C00989 | SLVC: Time const.- Para. adj. Index: 23586d = 5C22h

0 ms 20000
C00989/1 20000 ms SLVC: Time const.- Para.Rs adj.
C00989/2 20000 ms SLVC: Time const.- Para.Lh adj.
________________________________________________________________
C00990

C00990 | Flying restart: Activation Index: 23585d = 5C21h
Note!
Only deactivate the flying restart for the V/f control or sensorless vector control if it is ensured that the drive is
always at standstill in the case of controller enable!
Flying restart fct.

0 Off
1 On
C00991

C00991 | Flying restart: Current Index: 23584d = 5C20h
Flying restart fct.

0 % 100 15 %
C00992

C00992 | Flying restart: Start frequency Index: 23583d = 5C1Fh
Flying restart function

-600.0 Hz 600.0 20.0 Hz
C00993

C00993 | Flying restart: Integration time Index: 23582d = 5C1Eh

1 ms 6000 60 ms
C00994

C00994 | Flying restart: Min. deviation Index: 23581d = 5C1Dh

0.00 ° 90.00 5.00 °
________________________________________________________________
C00995

C00995 | Flying restart: Delay time Index: 23580d = 5C1Ch

0 ms 10000 0 ms
C00998

C00998 | VFC: Frequency setpoint Index: 23577d = 5C19h
 V/f control
-800.0 Hz 800.0
C01120

C01120 | Sync source Index: 23455d = 5B9Fh
Selection of the source for the synchronisation signals.

• The drive can only be synchronised by one source.
Note:
Set the selection "2: CAN module" for the communication module CANopen (E94AYCCA).
0 Off
1 CAN on board
2 CAN module
4 Module in MXI1
5 Module in MXI2
6 Digital input 1
7 Digital input 2
8 Digital input 3
9 Digital input 4
10 Digital input 5
11 Digital input 6
12 Digital input 7
13 Digital input 8
________________________________________________________________
C01121

C01121 | Sync cycle time Index: 23454d = 5B9Eh
Time interval at which the phase control loop (PLL) in the controller expects the synchronisation signals.
• The time interval set must correspond to the cycle of the synchronisation source.
Note: For synchronisation via the system bus (CANopen), only integer multiples of 1000 μs should be set.
Example: For the system bus, the interval between two synchronisation signals is set to 2 ms. If the system bus is to
be used as the synchronisation source, a synchronisation cycle of 2000 μs must be set in C01121.
250 μs 20000 1000 μs
C01122

C01122 | Sync phase position Index: 23453d = 5B9Dh
The phase position defines the zero point of time for the application relating to the synchronisation signal (bus
cycle). Since PDO processing is integrated in the system part of the application, the instant of the PDO acceptance
also changes if the phase position is changed.
• If 0 is set, the application is started together with the synchronisation signal.
• If a value > 0 is set, the application starts by the set time interval before the synchronisation signal arrives (the
phase position acts negatively).
Example: If the phase position is set to 400 μs, the system part of the application starts 400 μs before the
synchronisation signal arrives.
The effect of the sync phase position can be affected by the application cycle set in C01130. For the Lenze setting of
C01130 the behaviour remains as before.
0 μs 64000 400 μs
C01123

C01123 | Sync tolerance Index: 23452d = 5B9Ch
Time slot for monitoring the synchronisation signal via the LS_SyncInput system block
• If the last synchronisation signal amounted to approx. the expected value within this time slot, the
SYNC_bSyncInsideWindow output of the LS_SyncInput system block is set to TRUE.
• This setting does not affect the synchronisation process.
0 μs 1000 0 μs
________________________________________________________________
C01124

C01124 | Sync-PLL increment Index: 23451d = 5B9Bh
When the cycle times of the synchronisation signal and the phase control loop (PLL) differ, this setting defines the
increment to be used to readjust the phase control loop.
• If the system bus (CANopen) is used as the synchronisation source, the recommended value is 109 ns.
1 7 ns
2 15 ns
3 23 ns
4 31 ns
5 39 ns
6 46 ns
7 54 ns
8 62 ns
9 70 ns
10 78 ns
11 85 ns
12 93 ns
13 101 ns
14 109 ns
15 117 ns
16 125 ns
17 132 ns
18 140 ns
19 148 ns
20 156 ns
21 164 ns
22 171 ns
23 179 ns
24 187 ns
25 195 ns
26 203 ns
27 210 ns
C01125

C01125 | Service code Index: 23450d = 5B9Ah
C01126

C01126 | Service code Index: 23449d = 5B99h
________________________________________________________________
C01127

C01128

C01129

C01129 | Service-Code Index: 23446d = 5B96h
C01130

C01130 | CAN SYNC application cycle Index: 23445d = 5B95h
This parameter affects the effect of the sync phase position (C01122) regarding the instant of acceptance of the
synchronous PDOs in the application and the instant of transmission of the synchronous PDOs on the system bus
(CANopen).
• The resulting PDO delay can be calculated with the following formula taking into account an internal processing
time of 150 μs: PDO delay = (C01121 - C01122 + 150 μs) modulo C01130
• For the Lenze setting, the behaviour remains as before, the sync phase position (C01122) is always calculated
modulo 1000.
• The set value is automatically rounded down to multiples of 1000 μs.
Effect of C01130 on the sync phase position
Note: Setting the application cycle to a higher value than the sync cycle time (C01121) results in undefined
behaviour. The same applies if the value set for the sync phase position (C01122) is higher than the sync cycle time
(C01121). In this case, the drive usually cannot send synchronous PDOs on the system bus anymore.

1000 μs 65000 1000 μs
C01190

C01190 | Motor thermal sensor Index: 23385d = 5B59h

0 KTY83-110 Lenze standard KTY83-110 (MDSKX, MCS06)
1 Spec. characteristic Characteristic defined via C01191 and C01192
2 KTY83-110 + 2 x PTC Lenze standard KTY83-110 + 2 x PTC 150°C (MCS09-
MCS19)
________________________________________________________________
C01191

C01191 | Spec. charact.: temperature Index: 23384d = 5B58h
The spec. thermal sensor characteristic is selected through the setting C01190="1"
0 °C 255
C01191/1 25 °C Value 1 for spec. thermal sensor characteristic
C01191/2 150 °C Value 2 for spec. thermal sensor characteristic
C01192

C01192 | Spec. characteristic: resistance Index: 23383d = 5B57h
The spec. thermal sensor characteristic is selected through the setting C01190="1"
0 Ohm 30000
C01192/1 1000 Ohm Value 1 for spec. thermal sensor characteristic
C01192/2 2225 Ohm Value 2 for spec. thermal sensor characteristic
C01193

C01193 | Motor temp. feedback system Index: 23382d = 5B56h
Selection of feedback system for motor temperature detection.

0 Speed feedback
1 X7 (Input Resolver)
2 X8 (Input Encoder)
3 Reserved
4 Reserved
5 X7 and X8 parallel
C01194

C01194 | Motor operating temperature Index: 23381d = 5B55h

1 °C 200 140 °C
________________________________________________________________
C01195

C01195 | Influence winding I²xt mon. Index: 23380d = 5B54h
I2xt motor monitoring: Influence of the winding temperature

• By setting "0 %", the time constant for the winding is not considered and the thermal model is only calculated
with the time constant set for the housing/laminated core.
0 % 100 0 %
C01196

C01196 | S1 torque characteristic I²xt mon. Index: 23379d = 5B53h
• By selecting a characteristic, the permissible motor current is evaluated depending on speed for calculating the
thermal motor utilisation.
0 % 600
C01196/1 0% S1 torque characteristic n1/nn
C01196/2 100 % S1 torque characteristic I1/In
C01196/3 0% S1 torque characteristic n2/nn
C01196/5 100 % S1 torque characteristic n3/nn
C01196/7 100 % S1 torque characteristic n4/nn
C01197

C01197 | Starting value I²xt monitoring Index: 23378d = 5B52h

0 % 200 0 %
C01198

C01198 | Async. motor: Stall protection Index: 23377d = 5B51h

0 % 100 0 %
________________________________________________________________
C01199

C01199 | Enhanced Power Index: 23376d = 5B50h
Stop!
During operation with increased continuous power, the max. permissible ambient temperature is reduced to 40 °C.
The overload current must be reduced. An overload current of 180 % for 10 s is no longer permissible during
operation with increased continuous power.
Operation with increased continuous power
0 Enhanced Power off
1 Enhanced Power Mode 1 on
2 Enhanced Power Mode 2 on
C01200

C01200 | Dual motor temperature Index: 23375d = 5B4Fh

Motor temperature monitoring of a second motor
-200 °C 200
Subcodes Info
C01200/1 Motor temperature via X7
C01200/2 Motor temperature via X8
C01201

C01201 | Delay time for fan start Index: 23374d = 5B4Eh

0 Via power section serial no.
1 500 ms
2 1000 ms
3 1500 ms
4 2000 ms
5 2500 ms
6 3000 ms
7 3500 ms
8 4000 ms
9 4500 ms
10 5000 ms
________________________________________________________________
C01203

C01203 | Counter: Brake chopper overload Index: 23372d = 5B4Ch

0 65535
C01204

C01204 | Counter: Ixt overload Index: 23371d = 5B4Bh

0 65535
C01205

C01205 | Counter: DC bus overvoltage Index: 23370d = 5B4Ah

0 65535
C01206

C01206 | Counter: Mains switching Index: 23369d = 5B49h

0 65535
C01208

C01208 | Counter: Heatsink overtemp. Index: 23367d = 5B47h

0 65535
C01209

C01209 | Counter: Housing overtemp. Index: 23366d = 5B46h

0 65535
________________________________________________________________
C01210

C01210 | Counter: Internal Index: 23365d = 5B45h

0 255
C01211

C01212

C01212 | Counter: Power section overload Index: 23363d = 5B43h

0 65535
C01213

C01213 | Service code DataFlash Index: 23362d = 5B42h
C01214

C01214 | Internal clock Index: 23361d = 5B41h
Display of the system time of the controller in the format "dd/mm/yyyy hh:mm:ss"
• Time and date are set via C01215.
If the MM440 memory module with real-time clock is plugged into the controller, the internal clock is adjusted to
the real-time clock every time the mains is switched on and every 24 hours at 0:00 o'clock.
• The daily adjustment is executed on a low-priority level. This is why it may take some seconds until the adjusted
time is displayed.
• During the adjustment process, status information of the real-time clock is also queried and entered into the
logbook.
Note:
If a memory module without real-time clock is plugged into the controller, the internal clock is initialised with
"01.01.1970 00:00:00" every time the mains is switched on.
________________________________________________________________
C01215

C01215 | Set time and date Index: 23360d = 5B40h
Setting of the system time of the controller displayed in C01214.

• If the MM440 memory module with real-time clock is plugged into the controller, the real-time clock is set
simultaneously.
Set time and date.

• Before writing to a subcode for the first time, the current time information according to the internal clock is
displayed in the subcodes.
• When a value has been written into a subcode, the displays in the subcodes freeze to the last values.
• The new system time set is only accepted after a value has been written into each subcode at least once.
• After the new system time has been accepted, the display in the subcodes is updated according to the internal
clock.
Note:
If a memory module without real-time clock is plugged into the controller, the internal clock is initialised with
"01.01.1970 00:00:00" every time the mains is switched on.
0 65535
C01215/1 0 Seconds
C01215/2 0 Minutes
C01215/3 0 Hours
C01215/4 1 Day
C01215/5 1 Month
C01215/6 1970 Year
C01217

C01217 | Service code Index: 23358d = 5B3Eh
C01218

C01218 | Service code Index: 23357d = 5B3Dh
C01220

C01220 | MEC history: RAM address Index: 23355d = 5B3Bh
C01221

C01221 | MEC history: RAM value Index: 23354d = 5B3Ah
________________________________________________________________
C01222

C01222 | MEC history: Flash value Index: 23353d = 5B39h
C01223

C01223 | MEC history: Error number Index: 23352d = 5B38h
C01230

C01230 | Resp. to comm. task overflow Index: 23345d = 5B31h

1 Fault
2 Trouble
4 Warning locked
5 Warning
6 Information
0 No response
C01501

C01501 | Resp. to comm. error with MXI1 Index: 23074d = 5A22h
Response to communication error between "intelligent" module in module slot 1 and basic device
0 No response
1 Fault
4 Warning locked
5 Warning
________________________________________________________________
C01502

C01502 | Resp. to comm. error with MXI2 Index: 23073d = 5A21h
Response to communication error between "intelligent" module in module slot 2 and standard device
0 No response
1 Fault
4 Warning locked
5 Warning
C01510

C01510 | Ethernet IP address client x Index: 23065d = 5A19h
Display of the three possible server channels

• If a client is connected via one of these server channels, the IP address and the port of the client will be indicated
in the form of "xxx.xxx.xxx.xxx : yyyy".
• If no client is connected via the server channel, "---.---.---.--- : ----" will be indicated.
Subcodes Info
C01510/1 Server channel 1 ... 3
C01510/...
C01510/3
 Read access  Write access  CINH  PLC STOP  No transfer Scaling factor: 1 Character length: 24
C01511

C01511 | Ethernet status client x Index: 23064d = 5A18h
Status of the three possible server channels

0 Not connected
1 Connected
2 Stop
3 Unknown status
Subcodes Info
C01511/1 State of server channels 1 ... 3
C01511/...
C01511/3
________________________________________________________________
C01700

C01700 | Energy: Mode inform. Index: 22875d = 595Bh

0 255
Subcodes Info
C01700/1 Energy: Max. modes
C01700/2 Energy: Curr. mode
C01701

C01701 | Energy: toff min Index: 22874d = 595Ah

0 ms 4294967295
C01701/1 0 ms Energy mode 1: toff min
C01702

C01702 | Energy: toff Index: 22873d = 5959h

0 ms 4294967295
C01702/1 0 ms Energy mode 1: toff
C01703

C01703 | Energy: ton Index: 22872d = 5958h

0 ms 4294967295
C01703/1 0 ms Energy mode 1: ton
________________________________________________________________
C01704

C01704 | Energy: Comp. to be switched off Index: 22871d = 5957h

Setting range
Value is bit-coded: ( = bit set)
Bit 0  IMP
Bit 1  Reserved
Bit 2  Reserved
Bit 3  Reserved
Bit 4  Reserved
Bit 5  Reserved
Bit 6  Reserved
Bit 7  Reserved
Bit 8  Reserved
Bit 9  Reserved
Bit 10  Reserved
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Reserved
Bit 15  Reserved
Bit 16  Reserved
Bit 17  Reserved
Bit 18  Reserved
Bit 19  Reserved
Bit 20  Reserved
Bit 21  Reserved
Bit 22  Reserved
Bit 23  Reserved
Bit 24  Reserved
Bit 25  Reserved
Bit 26  Reserved
Bit 27  Reserved
Bit 28  Reserved
Bit 29  Reserved
Bit 30  Reserved
Bit 31  Reserved
C01704/1 0x00000000 Energy m. 1: Comp. to be sw. off
________________________________________________________________
C01705

C01705 | Energy: Power input Index: 22870d = 5956h

0 W 4294967295
C01705/1 0W Energy m. 1: Power input
C01902

C01902 | Diagnostics X6: Max. baud rate Index: 22673d = 5891h
Maximum permissible baud rate of the standard device after determination of the baud rate at the diagnostic
interface X6
• Communication starts with the default standard device baud rate of 19200 baud.
9600 9600 baud
19200 19.200 baud
38400 38.400 baud
57600 57.600 baud
115200 115.200 baud
230400 230.400 baud
375000 375.000 baud
750000 750.000 baud
1500000 1.500.000 baud
3000000 3.000.000 baud
C01903

C01903 | Diagnostics X6: Change baud rate Index: 22672d = 5890h
New determination of the baud rate at the diagnostic interface X6

1 Set a higher baud rate
0 Ignore changes
C01905

C01905 | Diagnostics X6: Curr. baud rate Index: 22670d = 588Eh
Current baud rate at diagnostics interface X6

0 3000000
________________________________________________________________
C02104

C02104 | Program auto-start Index: 22471d = 57C7h
 Danger!
The controller enable generated by the application via a connection of the terminal 28 (RFR) with one of the digital
outputs DIGOUT_bOut(x) is not permissible if the following functions are active: "Auto-start after mains ON"
(C00142 = "1") and "Program auto-start after mains switching" (C02104 = "1")
If this is not observed, the controller can start automatically after mains connection!
Automatic restart after mains connection

Activate application
0 Off
1 Autom. after mains connection
C02105

C02105 | Service code Index: 22470d = 57C6h
C02108

C02108 | Program status Index: 22467d = 57C3h

1 Program stopped
0 Program is running
2 Program stopped at breakpoint
C02109

C02109 | Program runtime Index: 22466d = 57C2h

0 μs 65535
C02110

C02110 | User code memory load Index: 22465d = 57C1h

0 % 100
________________________________________________________________
C02112

C02112 | B. code: Read non-vol. memory Index: 22463d = 57BFh

0 % 1000
C02113

C02113 | Program name Index: 22462d = 57BEh
C02119

C02119 | Active target ID Index: 22456d = 57B8h

0 4294967295
C02121

C02121 | Runtime task prio. 1 Index: 22454d = 57B6h
0 μs 3600000000
Subcodes Info
C02121/1 Current runtime task prio. 1
C02121/2 Max. runtime task prio. 1
C02122

0 μs 3600000000
Subcodes Info
________________________________________________________________
C02123

0 μs 3600000000
Subcodes Info
C02124

0 μs 3600000000
Subcodes Info
C02125

0 μs 3600000000
Subcodes Info
C02126

0 μs 3600000000
Subcodes Info
________________________________________________________________
C02127

0 μs 3600000000
Subcodes Info
C02128

C02128 | Runtime task prio. 8 Index: 22447d = 57AFh
0 μs 3600000000
Subcodes Info
C02129

C02129 | Runtime task prio. 9 Index: 22446d = 57AEh
0 μs 3600000000
Subcodes Info
C02520

C02520 | Gearbox factor numerator: Motor Index: 22055d = 5627h
Drive interface
1 2147483647 1
________________________________________________________________
C02521

C02521 | Gearbox factor denom.: Motor Index: 22054d = 5626h
Drive interface
1 2147483647 1
C02522

C02522 | Gearbox factor num.: Pos. enc. Index: 22053d = 5625h
Drive interface
1 2147483647 1
C02523

C02523 | Gearbox fac. denom.: Pos. enc. Index: 22052d = 5624h
Drive interface
1 2147483647 1
C02524

C02524 | Feed constant Index: 22051d = 5623h
Drive interface
0.0001 Unit/rev. 214748.3647 360.0000 Unit/rev.
C02525

C02525 | Unit Index: 22050d = 5622h
Drive interface
0 User-defined The text entered in C02526 is displayed for the unit.
1 Incr.
2 μm
3 mm
4 m
5 inch
6 yard
7 °
________________________________________________________________
C02526

C02526 | User-defined unit Index: 22049d = 5621h
User-defined unit which is displayed when C02525="0" is selected.

Drive interface
 Read access  Write access  CINH  PLC STOP  No transfer Scaling factor: 1 Character length: 8
C02527

C02527 | Motor mounting direction Index: 22048d = 5620h
Drive interface
0 Motor rotating CW
1 Motor rotating CCW
C02528

C02528 | Traversing range Index: 22047d = 561Fh
Drive interface
0 Unlimited
1 Limited
2 Modulo
C02529

C02529 | Position encoder mounting dir. Index: 22046d = 561Eh
Drive interface
0 Encoder rotating CW
1 Encoder rotating CCW
________________________________________________________________
C02530

C02530 | Active function state Index: 22045d = 561Dh
Displays the basic drive function that currently controls the drive.
Basic drive functions: Internal state machine
0 Program stopped
1 Initial/boot state active
2 Torque follower active
3 Speed follower active
4 Position follower active
5 Setpoint follower active
6 Positioning active
7 Homing active
8 Manual jog active
9 Brake test active
10 Drive at standstill
11 Drive is stopped
12 Quick stop active
13 Reserve 1
14 Controller is not ready
15 Initialisation
16 Fault
17 Manual control open loop active
18 Pole position identification active
C02531

C02531 | Gearbox factors (decimal) Index: 22044d = 561Ch
Note: In subcode 3 the effective gearbox factor resulting form the motor and the load is displayed if a separate
position encoder is configured and the position control is activated (C02570="2"). For a different encoder
configuration (without a separate position encoder) the value "1" is shown in subcode 3.
Drive interface
0.000 2147483.647
Subcodes Info
C02531/1 Motor gearbox factor (dec.)
C02531/2 Pos. enc. gearbox factor (dec.)
C02531/3 Effective gearbox factor (dec.)
________________________________________________________________
C02532

C02532 | Resolution of a unit Index: 22043d = 561Bh
Drive interface
0.0000 Incr./unit 214748.3647
C02533

C02533 | Time unit Index: 22042d = 561Ah
Drive interface
2 s
C02534

C02534 | Used time unit Index: 22041d = 5619h
Display of the time unit as a character string

Drive interface
C02535

C02535 | Used unit Index: 22040d = 5618h
Display of the unit set in C02525 and C02526 as a character string

Drive interface
C02536

C02536 | Cycle Index: 22039d = 5617h
Drive interface
0.0000 Unit 214748.3647 360.0000 Unit
C02537

C02537 | Speed unit Index: 22038d = 5616h
Drive interface
________________________________________________________________
C02538

C02538 | Acceleration unit Index: 22037d = 5615h
Drive interface
C02539

C02539 | Max. presentable position Index: 22036d = 5614h
Drive interface
-214748.3647 Unit 214748.3647
C02540

C02540 | Max. presentable speed Index: 22035d = 5613h
Drive interface
-214748.3647 Unit/s 214748.3647
C02541

C02541 | Max. presentable acceleration Index: 22034d = 5612h
Drive interface
-214748.3647 Unit/s² 214748.3647
C02542

C02542 | Load reference speed Index: 22033d = 5611h
Drive interface
0.000 rpm 4294967.295
C02543

C02543 | Load reference torque Index: 22032d = 5610h
Drive interface
0.000 Nm 4294967.295
________________________________________________________________
C02544

C02544 | Reference speed Index: 22031d = 560Fh
Drive interface
-214748.3647 Unit/s 214748.3647
C02545

C02545 | Reference S-ramp time Index: 22030d = 560Eh

Drive interface
0.000 s 2147483.647 0.001 s
C02547

C02547 | DI_dnState Index: 22028d = 560Ch
Bit coded status of the drive interface.

-2147483648 2147483647
C02548

C02548 | DI_bErrors Index: 22027d = 560Bh
Display of the digital error signals of the drive interface.

0 FALSE
1 TRUE
Subcodes Info
C02548/1 DI_bResetError1
C02548/4 DI_bSetExternError
________________________________________________________________
C02549

C02549 | Drive interface: Signals Index: 22026d = 560Ah
Display of the digital signals of the drive interface.

0 FALSE
1 TRUE
Subcodes Info
C02549/1 DI_bSetCInh
C02549/2 Reserved
C02549/3 Reserved
C02549/4 DI_bSwitchOn
C02549/5 Reserved
C02549/6 DI_bReady
C02549/7 DI_bFailActive
C02549/8 DI_bImpActive
C02549/9 DI_bCinhActive
C02549/10 DI_bWarningActive
C02549/11 DI_bUVDetected
C02549/12 DI_bOVDetected
C02549/13 DI_bMainSupplyOk
C02549/14 DI_bReadyToSwitchOn
C02549/15 DI_bOperationEnabled
C02550

C02550 | Setpoint interpolation Index: 22025d = 5609h
Motor interface
Selection list
0 Off
1 On
C02550/1 1: On Position setpoint interpolat.
C02550/2 1: On Speed setpoint interpolat.
C02550/3 1: On Torque setpoint interpolat.
C02552

C02552 | Position setpoint (mctrl) Index: 22023d = 5607h
Motor interface
-214748.3647 Unit 214748.3647
________________________________________________________________
C02553

C02553 | Position controller gain Index: 22022d = 5606h
Motor interface
0.00 1/s 1000.00 20.00 1/s
C02554

C02554 | Position controller reset time Index: 22021d = 5605h
Motor interface
0.001 s 60.000 60.000 s
C02555

C02555 | D component position controller Index: 22020d = 5604h
Motor interface
0.000 100.000 0.000
C02556

C02556 | Pos. contr. limitation Index: 22019d = 5603h
Motor interface
0.0000 Unit/s 214748.3647 214748.3647 Unit/s
C02557

C02557 | Phase controller output Index: 22018d = 5602h
Motor interface
-214748.3647 Unit/s 214748.3647
________________________________________________________________
C02558

C02558 | Pos. contr. output Index: 22017d = 5601h
Motor interface
-214748.3647 Unit/s 214748.3647
C02559

C02559 | Internal torque limits Index: 22016d = 5600h
Motor interface
-200.00 % 200.00
Subcodes Info
C02559/1 Upper int. torque limit
C02559/2 Lower int. torque limit
C02560

C02560 | Messages - motor interface Index: 22015d = 55FFh
Motor interface
0 4294967295
C02561

C02561 | Speed feedforw. control gain Index: 22014d = 55FEh
Percentage reduction of the speed feedforward control of the profile generator

• Required in some applications if a 100 % speed feedforward control causes overshoots.
• Only effective for the basic functions "Positioning", "Homing" and "Manual jog".
Motor interface
0.00 % 200.00 100.00 %
C02562

C02562 | Filter time constant Index: 22013d = 55FDh

Motor interface
0.000 s 60.000 0.002 s
________________________________________________________________
C02564

C02564 | Service code Index: 22011d = 55FBh

Motor interface
0x00 0xFF 0x00 (decimal: 0)
Bit 0  Option 0
Bit 1  Option 1
C02567

C02567 | Control mode Index: 22008d = 55F8h
Motor interface
0 Position control
1 Speed control
2 Torque control
C02568

C02568 | Motor interface: % signals Index: 22007d = 55F7h
Display of the scaled signals of the motor interface.

-200.00 % 200.00
Subcodes Info
C02568/1 MI_dnPosCtrlAdaptLoad_n
C02568/2 MI_dnPosCtrlAdaptMotor_n
C02568/3 MI_dnSpeedCtrlAdapt_n
C02568/4 MI_dnTorqueHighLimit_n
C02568/5 MI_dnTorqueLowLimit_n
C02568/6 MI_dnTorqueCtrlAdapt_n
C02568/7 MI_dnFluxSetpoint_n
C02568/8 MI_dnInertiaAdapt_n
C02568/9 MI_dnBoostSet_n
C02568/10 MI_dnTorqueAdd_n
________________________________________________________________
C02569

C02569 | Motor interface.: Dig. signals Index: 22006d = 55F6h
Display of the digital signals of the motor interface.

0 FALSE
1 TRUE
Subcodes Info
C02569/1 Reserved
C02569/2 MI_bResetSpeedCtrlIntegrator
C02569/3 MI_bLimitationActive
C02569/4 MI_bPosCtrlLimited
C02569/5 MI_bSpeedSetPointLimited
C02569/6 MI_bSpeedCtrlLimited
C02569/7 MI_bTorqueSetpointLimited
C02569/8 MI_bCurrentSetpointLimited
C02569/9 MI_bSpeedBelowC19
C02569/10 MI_bSpeedFollowingError
C02569/11 MI_bMotorOverloadWarning
C02569/12 MI_bMotorOrientationInverse
C02569/13 MI_bFlyingSyncBusy
C02569/14 MI_bClampIsActive
C02569/15 MI_bMagnetisationFinished
C02569/16 MI_bFlyingSyncBlocked
C02570

C02570 | Position control structure Index: 22005d = 55F5h
Chapter "Controller configuration" provides you with more information on parameter setting.
Encoder evaluation
1 Phase controller is active Motor encoder selection is effected in C00495.
2 Position controller active (<= FW Position controller selection is effected in C00490.
V5.xx)
3 Position controller is active Position controller selection is effected in C00490.
C02571

C02571 | Source - actual position Index: 22004d = 55F4h
________________________________________________________________
C02572

C02572 | Speed setpoint (enc. eval.) Index: 22003d = 55F3h
-214748.3647 Unit/s 214748.3647
C02573

C02573 | Position setpoint (enc. eval.) Index: 22002d = 55F2h
-214748.3647 Unit 214748.3647
C02574

C02574 | Actual speed (enc. eval.) Index: 22001d = 55F1h
-214748.3647 Unit/s 214748.3647
C02575

C02575 | Actual position (enc. eval.) Index: 22000d = 55F0h
-214748.3647 Unit 214748.3647
C02576

C02576 | Following error Index: 21999d = 55EFh
-214748.3647 Unit 214748.3647
________________________________________________________________
C02577

C02577 | External actual position Index: 21998d = 55EEh
-214748.3647 Unit 214748.3647
C02578

C02578 | Offset actual pos. value/setp. Index: 21997d = 55EDh
-214748.3647 Unit 214748.3647
C02579

C02579 | Encoder eval.: Dig. signals Index: 21996d = 55ECh
Display of the digital signals of the encoder evaluation.

0 FALSE
1 TRUE
Subcodes Info
C02579/1 FDB_bResolverError
C02579/2 FDB_bSinCosSignalError
C02579/3 FDB_bEncoderComError
C02579/4 FDB_bResetPosFollowingError
C02580

C02580 | Operating mode brake Index: 21995d = 55EBh
Basic function "Brake control"

0 Brake control off
1 Directly with brake module
2 Autom. with brake module
11 Directly - external switching
12 Autom. - external switching
22 Autom. - DC brake
________________________________________________________________
C02581

C02581 | Threshold - brake activation Index: 21994d = 55EAh

0 rpm 50000 50 rpm
C02582

C02582 | Brake resp. to pulse inhibit Index: 21993d = 55E9h

0 Activate the brake immediately
1 Activate brake when n < nmin
C02583

C02583 | Status input monitoring Index: 21992d = 55E8h

0 Not active
1 Active
C02585

C02585 | Brake control polarity Index: 21990d = 55E6h

0 Not inverted
1 Inverted
C02586

C02586 | Starting torque 1 Index: 21989d = 55E5h

-21474836.47 Nm 21474836.47 0.00 Nm
________________________________________________________________
C02587

C02587 | Starting torque 2 Index: 21988d = 55E4h

-21474836.47 Nm 21474836.47 0.00 Nm
C02588

C02588 | Source of starting torque Index: 21987d = 55E3h

0 Starting torque 1/2
1 Stopping value
C02589

C02589 | Brake closing time Index: 21986d = 55E2h

0 ms 60000 100 ms
C02590

C02590 | Brake opening time Index: 21985d = 55E1h

0 ms 60000 100 ms
C02591

C02591 | Waiting time - state monitoring Index: 21984d = 55E0h

0 ms 60000 100 ms
________________________________________________________________
C02593

C02593 | Waiting time - brake activation Index: 21982d = 55DEh

0.000 s 1000.000 0.000 s
C02594

C02594 | Test torque Index: 21981d = 55DDh

-21474836.47 Nm 21474836.47 0.00 Nm
C02595

C02595 | Permissible angle of rotation Index: 21980d = 55DCh

0 ° 36000 5 °
C02596

C02596 | Grinding speed Index: 21979d = 55DBh

0 rpm 300 100 rpm
C02597

C02597 | Accel./decel. time - grinding Index: 21978d = 55DAh

0.000 s 60.000 1.000 s
________________________________________________________________
C02598

C02598 | Grinding ON time Index: 21977d = 55D9h

0.2 s 2.0 0.5 s
C02599

C02599 | Grinding OFF time Index: 21976d = 55D8h

0.2 s 2.0 0.5 s
C02600

C02600 | Acceleration time feedf. control Index: 21975d = 55D7h

0.000 s 1000.000 0.000 s
C02601

C02601 | Ref. for Accel. time of brake Index: 21974d = 55D6h

0 Motor reference value
1 Current starting value
C02602

C02602 | Source for feedf. control brake Index: 21973d = 55D5h

0 Torque
1 Speed
________________________________________________________________
C02603

C02603 | Threshold 1 for opening brake Index: 21972d = 55D4h

-50000 rpm 50000 0 rpm
C02604

C02604 | Threshold 2 for opening brake Index: 21971d = 55D3h

-50000 rpm 50000 0 rpm
C02605

C02605 | Brake test - time Index: 21970d = 55D2h

0.001 s 65.535
C02605/1 1.024 s Brake test - ramp-up time
C02605/2 4.000 s Brake test - constant ph. time
C02605/3 1.024 s Brake test - ramp-down time
C02607

C02607 | BRK_dnState Index: 21968d = 55D0h
Bit coded status of the basic function "Brake control".

-2147483648 2147483647
C02608

C02608 | BRK_dnTorqueAdd_n Index: 21967d = 55CFh
Display of the additive torque value of the basic function "brake control".
-200.00 % 200.00
________________________________________________________________
C02609

C02609 | Brake control: Dig. signals Index: 21966d = 55CEh
Display of the digital signals of the basic function "brake control".

0 FALSE
1 TRUE
Subcodes Info
C02609/1 BRK_bReleaseBrake
C02609/2 BRK_bStartingTorque2
C02609/3 BRK_bBrakeApplied
C02609/4 BRK_bBrakeTest
C02609/5 BRK_bBrakeGrindIn
C02609/6 BRK_bReleaseBrakeOut
C02609/7 BRK_bBrakeReleased
C02609/8 BRK_bError
C02609/9 BRK_bCInhActive
C02609/10 BRK_bDisableStop
C02610

C02610 | Deceleration time for stop Index: 21965d = 55CDh
Basic function "Stop"

0.000 s 1000.000 1.000 s
C02611

C02611 | S-ramp time for stop Index: 21964d = 55CCh

0.000 s 10.000 0.100 s
C02612

C02612 | Ref. for decel. time of stop Index: 21963d = 55CBh

0 Motor reference speed (C00011)
1 Current speed
________________________________________________________________
C02616

C02616 | STP_dnState Index: 21959d = 55C7h
Bit coded status of the basic function "Stop".

-2147483648 2147483647
C02617

C02617 | STP_bStopActive Index: 21958d = 55C6h
Status of the basic function "Stop".

0 Normal stop not active
1 Normal stop active
C02619

C02619 | Quick stop: Dig. signals Index: 21956d = 55C4h
Display of the digital signals of the basic function "Quick stop".

0 FALSE
1 TRUE
Subcodes Info
C02619/1 QSP_bActivate1
C02619/4 QSP_bActive
C02619/5 QSP_bActivateDCBrake
C02620

C02620 | Manual jog: Speed 1 Index: 21955d = 55C3h
Basic function "Manual jog"

0.0000 Unit/s 214748.3647 360.0000 Unit/s
________________________________________________________________
C02621

C02621 | Manual jog: Speed 2 Index: 21954d = 55C2h

0.0000 Unit/s 214748.3647 720.0000 Unit/s
C02622

C02622 | Manual jog: Acceleration Index: 21953d = 55C1h

0.0000 Unit/s² 214748.3647 360.0000 Unit/s²
C02623

C02623 | Manual jog: Deceleration Index: 21952d = 55C0h

0.0000 Unit/s² 214748.3647 1440.0000 Unit/s²
C02624

C02624 | Manual jog: S-ramp time Index: 21951d = 55BFh

0.000 s 10.000 0.100 s
C02625

C02625 | Manual jog: Step size Index: 21950d = 55BEh

Step distance for "Manual jog with step limitation" mode.
0.0000 Unit 214748.3647 360.0000 Unit
________________________________________________________________
C02626

C02626 | Manual jog:Index Stop position Index: 21949d = 55BDh

Selection of the breakpoint positions for "Manual jog with breakpoint" mode.
• In connection with a function block instance of type L_PosPositionerTable:
The index [1...75] of the table position in the VTPOS table has to be specified, which contains the intermediate
stop position x that is to be used.
• In connection with a function block instance of type L_PosProfileTable:
The index [1...4] of the profile data set in the VTPOS table has to be specified, which contains the intermediate
stop position x that is to be used.
0 75
C02626/1 0 Index of the breakpoint positions 1 ... 16
C02626/...
C02626/16
C02627

C02627 | Manual jog:Selected Stop position Index: 21948d = 55BCh

Display of the breakpoint positions selected via C02626/1...16 for "Manual jog with breakpoints".
-214748.3648 Unit 214748.3647
Subcodes Info
C02627/1 Breakpoint position 1 ... 16
C02627/...
C02627/16
C02637

C02637 | MAN_dnSpeedOverride_n Index: 21938d = 55B2h

Display of the speed override for the basic function "Manual jog".
-200.00 % 200.00
________________________________________________________________
C02638

C02638 | Manual jog: Status Index: 21937d = 55B1h
Status of the basic function "Manual jog".

0 8
C02639

C02639 | Manual jog: Dig. signals Index: 21936d = 55B0h
Display of the digital signals of the basic function "Manual jog".

0 FALSE
1 TRUE
Subcodes Info
C02639/1 MAN_bEnable
C02639/2 MAN_bJogPositive
C02639/3 MAN_bJogNegative
C02639/4 MAN_bActivateJogSpeed2
C02639/5 MAN_bReleaseLimitSwitch
C02639/6 MAN_bEnabled
C02639/7 MAN_bActive
C02639/8 MAN_bStepMode
C02639/9 MAN_bIntermediateStopMode
C02640

C02640 | Homing mode Index: 21935d = 55AFh
Selection of the homing mode.

Basic function "Homing"
0 cw_Rn_TP Positive direction - via home mark - to TP
Process description
1 ccw_Rn_TP Negative direction - via home mark - to TP
2 cw_Lp_ccw_Rn_TP Pos. direction - reversing to limit switch - via home mark
- to TP
3 ccw_Ln_cw_Rn_TP Neg. direction - reversing to limit switch - via home mark
- to TP
4 cw_Rp_ccw_Rn_TP Pos. direction - reversing to home mark - to TP
5 ccw_Rp_cw_Rn_TP Neg. direction - reversing to home mark - to TP
________________________________________________________________

8 cw_TP Positive direction to touch probe

9 ccw_TP Negative direction to touch probe
10 cw_Lp_ccw_TP Pos. direction - reversing to limit switch - to TP
11 ccw_Ln_cw_TP Neg. direction - reversing to limit switch - to TP
12 cw_Lp Positive direction to limit switch
13 ccw_Ln Negative direction to limit switch
14 cw_Trq_Lim Positive direction to torque limit
15 ccw_Trq_Lim Negative direction to torque limit
100 Set home pos. directly Set home pos. directly
1001 DS402 homing method 01 The homing methods in accordance with DS402 are also
available.
Overview of DS402 homing modes
1002 DS402 homing method 02
________________________________________________________________


C02641

C02641 | Action after detect Home position Index: 21934d = 55AEh

0 Move absolute on target position
1 Move relative by Target position
2 Stop immediately
C02642

C02642 | Home position Index: 21933d = 55ADh

-214748.3647 Unit 214748.3647 0.0000 Unit
C02643

C02643 | Homing: Target position Index: 21932d = 55ACh

-214748.3647 Unit 214748.3647 0.0000 Unit
C02644

C02644 | Homing: Speed 1 Index: 21931d = 55ABh

0.0000 Unit/s 214748.3647 360.0000 Unit/s
________________________________________________________________
C02645

C02645 | Homing: Acceleration 1 Index: 21930d = 55AAh

0.0000 Unit/s² 214748.3647 720.0000 Unit/s²
C02646

C02646 | Homing: Speed 2 Index: 21929d = 55A9h

0.0000 Unit/s 214748.3647 0.0000 Unit/s
C02647

C02647 | Homing: Acceleration 2 Index: 21928d = 55A8h

0.0000 Unit/s² 214748.3647 360.0000 Unit/s²
C02648

C02648 | Homing: S-ramp time Index: 21927d = 55A7h

0 ms 10000 100 ms
C02649

C02649 | Homing: Torque limit Index: 21926d = 55A6h

0.00 % 200.00 10.00 %
________________________________________________________________
C02650

C02650 | Homing: Blocking time Index: 21925d = 55A5h

0.000 s 120.000 1.000 s
C02651

C02651 | Homing: TP configuration Index: 21924d = 55A4h

0 4294967295 16
C02652

C02652 | Ref. pos. after mains switching Index: 21923d = 55A3h

0 Delete
1 Retain
C02653

C02653 | Max. rot. ang. aft. mns. swtch. Index: 21922d = 55A2h

0 ° 1000000 180 °
C02655

C02655 | HM_dnSpeedOverride_n Index: 21920d = 55A0h

Display of the speed override for the basic function "Homing".
-200.00 % 200.00
________________________________________________________________
C02656

C02656 | Actual position (homing) Index: 21919d = 559Fh

-214748.3647 Unit 214748.3647
C02657

C02657 | HM_dnState Index: 21918d = 559Eh
Bit coded status of the basic function "Homing".

-2147483648 2147483647
C02658

C02658 | HM_dnHomePos_p Index: 21917d = 559Dh
Display of the HM_dnHomePos_p input signal of the basic function "Homing".

-214748.3647 214748.3647
C02659

C02659 | Homing: Dig. signals Index: 21916d = 559Ch
Display of the digital signals of the basic function "Homing".

0 FALSE
1 TRUE
Subcodes Info
C02659/1 HM_bEnable
C02659/2 HM_bActivateHoming
C02659/3 HM_bHomingMark
C02659/4 HM_bLoadHomePos
C02659/5 HM_bResetHomePos
C02659/6 HM_bEnabled
C02659/7 HM_bActive
C02659/8 HM_bDone
C02659/9 HM_bHomePosAvailable
________________________________________________________________
C02670

C02670 | Tolerance for POS_bActPosInTarget Index: 21905d = 5591h
Tolerance window for actual value-based evaluation "Target position reached"

(Output POS_bActPosInTarget)
Basic function "Positioning"
0.0000 Unit 214748.3647 0.0000 Unit
C02671

C02671 | Tolerance for POS_bDriveInTarget Index: 21904d = 5590h

Tolerance window for actual value and setpoint-based evaluation "Drive in the target"
(Output POS_bDriveInTarget)
0.0001 Unit 214748.3647 2.0000 Unit
C02672

C02672 | Hysteresis for POS_bDriveInTarget Index: 21903d = 558Fh

Hysteresis window for actual value and setpoint-based evaluation "Drive in the target"
(Output POS_bDriveInTarget)
0.0000 Unit 214748.3647 1.0000 Unit
C02673

C02673 | Activate DriveInTarget Modulo Index: 21902d = 558Eh

For actual value and setpoint-based evaluation "Drive in target" (output POS_bDriveInTarget):
Definition how the modulo evaluation is to be carried out if the actual position value enters the tolerance and
hysteresis window again.
0 Only setpoint Cycle
1 All cycles
________________________________________________________________
C02674

C02674 | POS_dwActualProfileNumber Index: 21901d = 558Dh
Current profile of the basic function "Positioning".

0 1000
C02675

C02675 | POS_dnState Index: 21900d = 558Ch
Bit coded status of the basic function "Positioning".

-2147483648 2147483647
C02676

C02676 | POS_dnProfileSpeed_s Index: 21899d = 558Bh
Display of the max. speed of the current profile of the basic function "Positioning".
-214748.3647 214748.3647
C02677

C02677 | Positioning: % signals Index: 21898d = 558Ah
Display of the scaled signals of the basic function "Positioning".

-200.00 % 200.00
Subcodes Info
C02677/1 POS_dnSpeedOverride_n
C02677/2 POS_dnAccOverride_n
C02677/3 POS_dnDecOverride_n
________________________________________________________________
C02678

C02678 | Positioning: Pos. signals Index: 21897d = 5589h
Display of the position signals of the basic function "Positioning".

-214748.3647 Unit 214748.3647
Subcodes Info
C02678/1 POS_dnSetPos_p
C02678/2 POS_dnProfileTarget_p
C02678/3 POS_dnActPosRelative_p
C02678/4 POS_dnSetPosRelative_p
C02679

C02679 | Positioning: Dig. signals Index: 21896d = 5588h
Display of the digital signals of the basic function "Positioning".

0 FALSE
1 TRUE
Subcodes Info
C02679/1 POS_bEnable
C02679/2 POS_bStart
C02679/3 POS_bAbort
C02679/4 POS_bRestart
C02679/5 POS_bEnableOverride
C02679/6 POS_bDisableTP
C02679/7 POS_bEnabled
C02679/8 POS_bActive
C02679/9 POS_bDone
C02679/10 POS_bInTarget
C02679/11 POS_bActPosInTarget
C02679/12 POS_bDriveInTarget
C02680

C02680 | Source position setpoint Index: 21895d = 5587h

0 Position setpoint input
1 From add. speed
________________________________________________________________
C02681

C02681 | Source add. speed Index: 21894d = 5586h

0 Add. speed input
1 From position setpoint
C02685

C02685 | PF_dnMotorAcc_x Index: 21890d = 5582h
Display of the motor acceleration of the basic function "Position follower".

-7680000.0 7680000.0
C02686

C02686 | PF_dnSpeedAdd1_s Index: 21889d = 5581h
Display of the speed feedforward control value of the basic function "Position follower".
-480000.0 rpm 480000.0
C02687

C02687 | Position follower: % signals Index: 21888d = 5580h
Display of the scaled signals of the basic function "Position follower".

-200.00 % 200.00
Subcodes Info
C02687/1 PF_dnSpeedAdd2_n
C02687/2 PF_dnTorqueAdd_n
C02688

C02688 | PF_dnPositionSet_p Index: 21887d = 557Fh
Display of the position signals of the basic function "Position follower".

-214748.3648 Revolution 214748.3647
________________________________________________________________
C02689

C02689 | Position follower: Dig. signals Index: 21886d = 557Eh
Display of the digital signals of the basic function "Position follower".

0 FALSE
1 TRUE
Subcodes Info
C02689/1 PF_bEnable
C02689/2 PF_bEnabled
C02692

C02692 | SF_dnMotorAcc_x Index: 21883d = 557Bh
Display of the motor acceleration of the basic function "Speed follower".

-7680000.0 7680000.0
C02693

C02693 | SF_dnSpeedAdd_s Index: 21882d = 557Ah
Display of the additive speed setpoint of the basic function "Speed follower".
-480000.0 rpm 480000.0
C02694

C02694 | Speed follower: % signals Index: 21881d = 5579h
Display of the scaled signals of the basic function "Speed follower".

-200.00 % 200.00
Subcodes Info
C02694/1 SF_dnSpeedSet_n
C02694/2 SF_dnTorqueAdd_n
________________________________________________________________
C02695

C02695 | Speed follower: Dig. signals Index: 21880d = 5578h
Display of the digital signals of the basic function "Speed follower".

0 FALSE
1 TRUE
Subcodes Info
C02695/1 SF_bEnable
C02695/2 SF_bEnabled
C02698

C02698 | Torque follower: % signals Index: 21877d = 5575h
Display of the scaled signals of the basic function "Torque follower".

-200.00 % 200.00
Subcodes Info
C02698/1 TF_TorqueSet_n
C02698/2 TF_dnSpeedHighLimit_n
C02698/3 TF_dnSpeedLowLimit_n
C02699

C02699 | Torque follower: Dig. signals Index: 21876d = 5574h
Display of the digital signals of the basic function "Torque follower".

0 FALSE
1 TRUE
Subcodes Info
C02699/1 TF_bEnable
C02699/2 TF_bEnabled
C02700

C02700 | Software limits pos. effective Index: 21875d = 5573h
Basic function "Limiter"

0 Deactivated
1 Activated
________________________________________________________________
C02701

C02701 | Software limit positions Index: 21874d = 5572h

-214748.3647 Unit 214748.3647
C02701/1 0.0000 Unit Positive software limit position
C02701/2 0.0000 Unit Negative software limit position
C02702

C02702 | Limitations effective Index: 21873d = 5571h

0 Deactivated
1 Activated
C02703

C02703 | Max. speed Index: 21872d = 5570h

0.0000 Unit/s 214748.3647 3600.0000 Unit/s
C02704

C02704 | Max. speed [rpm] Index: 21871d = 556Fh

0.0 rpm 214748364.7
C02705

C02705 | Max. acceleration Index: 21870d = 556Eh

0.0000 Unit/s² 214748.3647 3600.0000 Unit/s²
________________________________________________________________
C02706

C02706 | Min. S-ramp time Index: 21869d = 556Dh

0 ms 10000 100 ms
C02707

C02707 | Permissible direction of rot. Index: 21868d = 556Ch

0 Positive and negative
1 Positive only
2 Negative only
C02708

C02708 | Limited speed Index: 21867d = 556Bh

0.0000 Unit/s 214748.3647
C02708/1 3600.0000 Unit/s Limited speed 1 ... 4
C02708/2 7200.0000 Unit/s
C02708/3 14400.0000 Unit/s
C02708/4 28800.0000 Unit/s
C02709

C02709 | Limited speed [rpm] Index: 21866d = 556Ah

0.0 rpm 214748364.7
Subcodes Info
C02709/1 Limited speed 1 ... 4
C02709/2
C02709/3
C02709/4
________________________________________________________________
C02710

C02710 | Delay lim. speed Index: 21865d = 5569h

0.0000 Unit/s² 214748.3647
C02710/1 0.0100 Unit/s² Delays for limited speed 1 ... 4
C02710/2 0.0100 Unit/s²
C02710/3 0.0100 Unit/s²
C02710/4 0.0100 Unit/s²
C02711

C02711 | S-ramp time lim. speed Index: 21864d = 5568h

0 ms 10000
C02711/1 100 ms S-ramp times for limited speed 1 ... 4
C02711/2 100 ms
C02711/3 100 ms
C02711/4 100 ms
C02712

C02712 | Decel. time lim. speed Index: 21863d = 5567h

0 ms 10000
Subcodes Info
C02712/1 Deceleration times for limited speed 1 ... 4
C02712/2
C02712/3
C02712/4
C02713

C02713 | Max. dist. manual control Index: 21862d = 5566h

0.0000 Unit 214748.3647 360.0000 Unit
________________________________________________________________
C02714

C02714 | Max. dist. manual jog [inc.] Index: 21861d = 5565h

0 Incr. 2147483647
C02715

C02715 | Limitation active Index: 21860d = 5564h

0 Deactivated
1 Activated
C02716

C02716 | Resp. to limitation Index: 21859d = 5563h

Selection list
1 Fault
2 Trouble
4 Warning locked
5 Warning
6 Information
0 No response
C02716/1 6: Information Resp. to rotation limitation
C02716/2 3: Quick stop by trouble Resp. to SW lim. pos. exceeded
C02716/3 6: Information Resp. to max. value exceeded
C02717

C02717 | LIM_dwControl Index: 21858d = 5562h
Bit coded control word of the basic function "Limiter".

0 4294967295
________________________________________________________________
C02718

C02718 | LIM_dnState Index: 21857d = 5561h
Status of the basic function "Limiter".

0 1
C02719

C02719 | Limiter: Dig. signals Index: 21856d = 5560h
Display of the digital input signals of the basic function "Limiter".

0 FALSE
1 TRUE
Subcodes Info
C02719/1 LIM_bLimitSwitchPositive
C02719/2 LIM_bLimitSwitchNegative
C02719/3 LIM_bActivateLimitedSpeed1
C02720

C02720 | observation software limit positions Index: 21855d = 555Fh

0 Based on set value
1 Based on set and actual value
C02730

C02730 | Analog inputs: Gain Index: 21845d = 5555h

-200.00 % 200.00
C02730/1 100.00 % Gain - analog input 1
C02730/2 100.00 % Analog input 2: Gain
________________________________________________________________
C02731

C02731 | Analog inputs: Offset Index: 21844d = 5554h

-200.00 % 200.00
C02731/1 0.00 % Offset - analog input 1
C02731/2 0.00 % Analog input 2: Offset
C02732

C02732 | Analog inputs: Dead band Index: 21843d = 5553h

0.00 % 100.00
C02732/1 0.00 % Dead band - analog input 1
C02732/2 0.00 % Analog input 2: Dead band
C02733

C02733 | Analog outputs: Gain Index: 21842d = 5552h

-200.00 % 200.00
C02733/1 100.00 % Gain - analog output 1
C02733/2 100.00 % Analog output 2: Gain
C02734

C02734 | Analog outputs: Offset Index: 21841d = 5551h

-200.00 % 200.00
C02734/1 0.00 % Offset - analog output 1
C02734/2 0.00 % Analog output 2: Offset
________________________________________________________________
C02760

C02760 | Activate encoder Index: 21815d = 5537h

Encoder evaluation: Provision of the encoder signal of input X8
0 Deactivated
1 Activated
C02761

C02761 | Multiturn resolution Index: 21814d = 5536h

0 Rev. 2147483647
C02762

C02762 | Encoderpos Index: 21813d = 5535h

-2147483647 Steps 2147483647
C02763

C02763 | Encoderrev Index: 21812d = 5534h

-2147483647 Steps 2147483647
C02764

C02764 | Encoderspeed Index: 21811d = 5533h

-214748364.7 rpm 214748364.7
________________________________________________________________
C02765

C02765 | Enc_bError Index: 21810d = 5532h

0 FALSE
1 TRUE
C02770

C02770 | Operating mode Index: 21805d = 552Dh

Basic function "Manual jog open loop"
0 Deactivate
1 Activate
C02770/1 0: Deactivate EnableManualMode
C02770/2 0: Deactivate JogPositive
C02770/3 0: Deactivate JogNegative
C02770/4 0: Deactivate SelectTab1
C02770/5 0: Deactivate SelectTab2
C02771

C02771 | Frequency Index: 21804d = 552Ch

0.0 Hz 1000.0
C02771/1 1.0 Hz Frequency 1
________________________________________________________________
C02772

C02772 | Starting angle Index: 21803d = 552Bh

-180.0 ° 180.0
C02772/1 0.0 ° Startangle 1
C02773

C02773 | Current Index: 21802d = 552Ah

0.00 % 100.00
C02773/1 10.00 % Current 1
C02773/2 10.00 % Current 2
C02773/3 10.00 % Current 3
C02773/4 10.00 % Current 4
C02774

C02774 | Acceleration time Index: 21801d = 5529h

0.001 s 2147483.647
C02774/1 1.000 s Acceleration time 1
________________________________________________________________
C02775

C02775 | Deceleration time Index: 21800d = 5528h

0.001 s 2147483.647
C02775/1 1.000 s Deceleration time 1
C02776

C02776 | Time Index: 21799d = 5527h

0.001 s 2147483.647
C02776/1 1.000 s Max. activation time 1
C02779

C02779 | MOL_SetpointCurrent Index: 21796d = 5524h

0.00 A 42949672.95
C02780

C02780 | MOL_dnState Index: 21795d = 5523h

-2147483648 2147483647
________________________________________________________________
C02781

C02781 | ManualJogOpenLoop: Dig. signals Index: 21794d = 5522h

0 FALSE
1 TRUE
Subcodes Info
C02781/1 MOL_bEnable
C02781/2 MOL_bJogPositive
C02781/3 MOL_bJogNegative
C02781/4 MOL_bSelectTab1
C02781/5 MOL_bSelectTab2
C02781/6 MOL_bEnabled
C02781/7 MOL_bActive
C02781/8 MOL_bDone
C02785

C02785 | PPI activation Index: 21790d = 551Eh

Basic function "pole position identification"
0 PPI disabled
1 PPI active
C02786

C02786 | PPI mode Index: 21789d = 551Dh

0 360°
1 <20°
C02787

C02787 | PPI_dnState Index: 21788d = 551Ch

Status of the basic function "pole position identification".
-2147483648 2147483647
________________________________________________________________
C02788

C02788 | PolePosition setpoint Index: 21787d = 551Bh

-214748364.8 ° 214748364.7
C02789

C02789 | PolePositionIdentification: Dig. signals Index: 21786d = 551Ah

Display of the digital signals of the basic function "pole position identification".
0 FALSE
1 TRUE
Subcodes Info
C02789/1 PPI_bEnable
C02789/2 PPI_bStart
C02789/3 PPI_bLoadPolePosition
C02789/4 PPI_bResetPolePosition
C02789/5 PPI_bEnabled
C02789/6 PPI_bActive
C02789/7 PPI_bDone
C02789/8 PPI_bError
C02789/9 PPI_bPolePositionAvailable
C02800

C02800 | Analog input x: Input signal Index: 21775d = 550Fh
Scaling: -16384 ≡ -100 %, +16383 ≡ +100 %

-16384 16383
Subcodes Info
C02800/1 Input signal - analog input 1
C02800/2 Analog input 2: Input signal
________________________________________________________________
C02801

C02801 | Analog output x: Output signal Index: 21774d = 550Eh
Scaling: -16384 ≡ -100 %, +16383 ≡ +100 %

-16384 16383
Subcodes Info
C02801/1 Output signal - analog output 1
________________________________________________________________
C02802

C02802 | Status word: Digital outputs Index: 21773d = 550Dh
Display of the hexadecimal value of the digital outputs

• Important: All digital levels are indicated without considering the level logic. Internal signals are displayed as
well.
Display area
Value is bit-coded:
Bit 0 Reserved
Bit 1 Reserved
Bit 2 Reserved
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Dig. output. 1: Terminal state
Bit 16 Reserved
Bit 17 Reserved
Bit 18 Reserved
Bit 19 Reserved
Bit 20 Reserved
Bit 21 Reserved
Bit 22 Reserved
Bit 23 Reserved
Bit 24 Reserved
Bit 25 Reserved
Bit 26 Reserved
Bit 27 Reserved
Bit 28 Reserved
Bit 29 Reserved
Bit 30 Reserved
Bit 31 Reserved
________________________________________________________________
C02803

C02803 | Status word: Digital inputs Index: 21772d = 550Ch
Display of the hexadecimal value of the digital inputs

• Important: All digital levels are indicated without considering the level logic. Internal signals are displayed as
well.
Display area
Value is bit-coded:
Bit 0 Dig. input. 1: Terminal state
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
Bit 16 Reserved
Bit 17 Reserved
Bit 18 Reserved
Bit 19 Reserved
Bit 20 Reserved
Bit 21 Reserved
Bit 22 Reserved
Bit 23 Reserved
Bit 24 Reserved
Bit 25 Reserved
Bit 26 Reserved
Bit 27 Reserved
Bit 28 Reserved
Bit 29 Reserved
Bit 30 Reserved
Bit 31 Reserved
________________________________________________________________
C02810

C02810 | Touch probe x: Delay time Index: 21765d = 5505h
The delay time set will be considered when the position is determined at the time of touch probe and will be used
to compensate for dead times, if necessary.
• Please observe the setting of the input filter for the digital inputs (C02830).
0 μs 7000
C02810/1 0 μs TP1 (DI1): Delay time
C02810/2 0 μs TP2 (DI2):Delay time
C02810/9 0 μs TPM (motor encoder): Delay time
C02810/10 0 μs TPL (pos. encoder): Delay time
________________________________________________________________
C02830

C02830 | Digital inputs: Delay time Index: 21745d = 54F1h
Input filter for digital inputs

• Can be used to filter out "spikes" at the digital inputs, if necessary.
• Each digital input is assigned to a subcode.
• Since the filter is a "counting" filter, the indicated times are only approximate values.
0 2 μs Filter time
1 4 μs
2 8 μs
3 16 μs
4 32 μs
5 64 μs
6 128 μs
7 256 μs
8 512 μs
9 1024 μs
10 2048 μs
11 4096 μs
12 8192 μs
13 16384 μs
14 32768 μs
C02830/1 0: 2 μs Setting for digital input 1 ... 8
C02830/...
C02830/8
C02850

C02850 | Service code Index: 21725d = 54DDh
C02851

C02851 | Service code Index: 21724d = 54DCh
C02852

C02852 | Service code Index: 21723d = 54DBh
________________________________________________________________
C02853

C02853 | Lss sat. characteristic Index: 21722d = 54DAh

0 % 400
C02853/1 100 % Saturation characteristic to correct the leakage
inductance and the current controller parameters.
C02853/2 100 %
• The saturation characteristic is defined by 17
C02853/3 100 % interpolation points which are distributed linearly on
the x axis.
C02853/4 100 %
• Interpolation point 17 represents 100 % of the
C02853/5 100 % maximum motor current in the process (C02855).
C02853/6 100 % • The values to be entered in the subcodes represent
the y values of the interpolation points 1 ... 17.
C02853/7 100 % Correction of the leakage inductance via saturation
C02853/8 100 % characteristic
C02853/9 100 %
C02853/10 100 %
C02853/11 100 %
C02853/12 100 %
C02853/13 100 %
C02853/14 100 %
C02853/15 100 %
C02853/16 100 %
C02853/17 100 %
C02854

C02854 | Service code Index: 21721d = 54D9h
C02855

C02855 | Imax f. Lss sat. characteristic Index: 21720d = 54D8h
Maximum motor current in the process

• Defines the interpolation point 17 of the saturation characteristic set in C02853.
Correction of the leakage inductance via saturation characteristic
0.0 A 6000.0 5.4 A
C02856

________________________________________________________________
C02857

C02858

C02858 | Electronic nameplate status Index: 21717d = 54D5h
C02859

C02859 | Activate Lss sat. char. Index: 21716d = 54D4h
Correction of the leakage inductance via saturation characteristic

0 Off
1 On
C02860

C02860 | Rr adjustment Index: 21715d = 54D3h

50.00 % 200.00 100.00 %
C02861

C02861 | Lh adjustment Index: 21714d = 54D2h

50.00 % 200.00 100.00 %
C02862

C02862 | Resolver: Gain Index: 21713d = 54D1h

0 100
C02862/1 100 Gain of cosine track
C02862/2 100 Gain of sine track
________________________________________________________________
C02863

C02863 | Resolver: phase correction Index: 21712d = 54D0h

-100 100 0
C02864

C02864 | Service code Index: 21711d = 54CFh
C02865

C02865 | Adaptation of Ur Index: 21710d = 54CEh

50.00 % 200.00 100.00 %
C02866

C02866 | Curr. control par. of C75 C76 Index: 21709d = 54CDh
C02867

C02867 | Motor phase failure volt. threshold Index: 21708d = 54CCh

0.0 V 1000.0 10.0 V
C02868

C02868 | Service code Index: 21707d = 54CBh
C02869

C02869 | Service code Index: 21706d = 54CAh
________________________________________________________________
C02870

C02870 | Service code Index: 21705d = 54C9h
C02871

C02871 | Voltage reserve Index: 21704d = 54C8h

Voltage reserve range at the transition point to the field weakening
• Only relevant for servo control for asynchronous motor (selection "2" in C00006).
1 % 20 5 %
C02900

C02900 | User Password Index: 21675d = 54ABh
If the cam data are provided with a user password, the defined user password must be entered once to execute the
following actions:
• Changing the cam data via parameter setting
• Loading/saving the cam data
Validity
The user password entered is maintained until the next download, mains switching, or until reset by the user
(logout).
• You can "logout" deliberately by entering an invalid password.

 Read access  Write access  CINH  PLC STOP  No transfer Character length: 22
C02901

C02901 | CamMemory Index: 21674d = 54AAh
Basic function "Cam data management": Memory mapping

0 4294967295
Subcodes Info
C02901/1 Size of the memory for quick download to RAM
C02901/2 Size of the memory for "Online change"
C02901/3 Size of the memory from which the cam data are
processed.
________________________________________________________________
C02902

C02902 | Timestamp Index: 21673d = 54A9h

0 4294967295
Subcodes Info
C02902/1 Time stamp of the cam data in the controller
C02902/2 Time stamp of the cam data which are currently being
processed in the controller.
C02902/3 Time stamp of the cam data in the controller which have
already been converted into the internal format.
C02902/4 Time stamp of the cam data in the memory module
C02903
Parameter | Name: Data type: OCTET_STRING

C02903 | GUID Index: 21672d = 54A8h

Subcodes Info
C02903/1 GUID of the cam data in the controller
C02903/2 GUID of the cam data which are currently being
processed in the controller.
C02903/3 GUID of the cam data in the controller which have
already been converted into the internal format.
C02903/4 GUID of the cam data in the memory module
C02905

C02905 | Online Change Mode Index: 21670d = 54A6h
Basic function "Cam data management": Online change mode

10 Manual activation
15 Automatic activation
16 Automatic activation with controller
inhibit
________________________________________________________________
C02906

C02906 | Online Change State Index: 21669d = 54A5h
Basic function "Cam data management": Online change mode

0 Ready
5 Initialisation
7 Saving is active
8 Loading is active
11 Waiting for controlled acceptance
C02908

C02908 | Product Count Index: 21667d = 54A3h

0 0
C02909

C02909 | Active Product Index: 21666d = 54A2h

0 0
C02910

C02910 | Product Name Index: 21665d = 54A1h

C02911

C02911 | Product Choice Index: 21664d = 54A0h
Changing cam data via parameterisation

0 255 0
________________________________________________________________
C02912

C02912 | Product Count Index: 21663d = 549Fh

0 65536
C02919

C02919 | Number Of Cam Tracks Index: 21656d = 5498h

0 65535
C02920

C02920 | Cam Track Choice Index: 21655d = 5497h

0 65535 0
C02921

C02921 | Cam Track Type Index: 21654d = 5496h

1 Linear
5 Spline
11 LinearPC
15 SplinePC
C02922

C02922 | Number Of Cam Data Points Index: 21653d = 5495h

0 65535
________________________________________________________________
C02923

C02923 | Cam Data Point Choice Index: 21652d = 5494h

0 65535 0
C02924

C02924 | Change Cam Data Point X Index: 21651d = 5493h

-214748.3647 Unit 214748.3647 0.0000 Unit
C02925

C02925 | Change Cam Data Point Y Index: 21650d = 5492h

-214748.3647 Unit 214748.3647 0.0000 Unit
C02926

C02926 | Change Cam Data Point M Index: 21649d = 5491h

-200.00 % 200.00 0.00 %
C02927

C02927 | Auto Inc Cam Data Points Index: 21648d = 5490h

0 Deactivate
1 Activate
________________________________________________________________
C02939

C02939 | Number Of Cont Tracks Index: 21636d = 5484h

0 65535
C02940

C02940 | Cont Track Choice Index: 21635d = 5483h

0 65535 0
C02941

C02941 | Cont Type Index: 21634d = 5482h

1 Pos. position cam
2 Neg. position cam
3 Bidirect. position cam
11 Pos. time cam
12 Neg. time cam
C02942

C02942 | Number Of Cont Data Points Index: 21633d = 5481h

0 65535
C02943

C02943 | Cont Data Point Choice Index: 21632d = 5480h

0 65535 0
________________________________________________________________
C02944

C02944 | Cont Pos X0 Index: 21631d = 547Fh

-214748.3647 Unit 214748.3647 0.0000 Unit
C02945

C02945 | Cont Pos X1 Index: 21630d = 547Eh

-214748.3647 Unit 214748.3647 0.0000 Unit
C02946

C02946 | Cont Time Index: 21629d = 547Dh

0.0000 ms 214748.3647 0.0000 ms
C02959

C02959 | Number of Pos Tracks Index: 21616d = 5470h

0 65535
C02960

C02960 | Pos Track Choice Index: 21615d = 546Fh

0 65535 0
________________________________________________________________
C02962

C02962 | Number of Pos Data Points Index: 21613d = 546Dh

0 65535
C02963

C02963 | Pos Data Point Choice Index: 21612d = 546Ch

0 65535 0
C02964

C02964 | Change Pos Data Point X Index: 21611d = 546Bh

-214748.3647 Unit 214748.3647 0.0000 Unit
C02965

C02965 | Change Pos Data Point Y Index: 21610d = 546Ah

-214748.3647 Unit 214748.3647 0.0000 Unit
C02996

C02996 | Service code Index: 21579d = 544Bh
C02997

C02997 | Service code Index: 21578d = 544Ah
________________________________________________________________
C02998

C02998 | Service code Index: 21577d = 5449h
C02999

C02999 | Service code Index: 21576d = 5448h
15.3 Table of attributes
________________________________________________________________
The table of attributes contains information required for a communication with the controller via
parameters.
How to read the table of attributes:
Column Meaning Entry

Code Parameter name Cxxxxx
Name Parameter short text (display text) Text
Type Parameter type Selection list Value from selection list
Bit coded Bit-coded value
Linear value Value with setting range
String Character string
Index dec Index under which the parameter is addressed. 24575 - Lenze code number Is only required for access via a bus
The subindex for array variables corresponds to the system.
hex Lenze subcode number. 5FFFh - Lenze code number
Data DS Data structure E Single variable

(only one parameter element)
A Array variable
(several parameter elements)
DA Number of array elements (subcodes) Number
DT Data type BITFIELD_8 1 byte bit-coded
BITFIELD_16 2 bytes bit-coded
BITFIELD_32 4 bytes bit-coded
INTEGER_8 1 byte with sign
INTEGER_16 2 bytes with sign
INTEGER_32 4 bytes with sign
UNSIGNED_8 1 byte without sign
UNSIGNED_16 2 bytes without sign
UNSIGNED_32 4 bytes without sign
VISIBLE_STRING [xx] ASCII string (with character length xx)
Factor Factor for data transmission via a bus system, Factor 1 ≡ no decimal positions
depending on the number of decimal positions 10 ≡ 1 decimal position
100 ≡ 2 decimal positions
CINH Writing is only possible if the controller is inhibited CINH
Code Name Type Index Data

dec hex DS DA DT Factor CINH
C00002 Device commands Selection list 24573 5FFD E 1 UNSIGNED_32 1
C00003 Device command status Linear value 24572 5FFC E 1 UNSIGNED_32 1
C00004 Service password Linear value 24571 5FFB E 1 UNSIGNED_32 1
C00005 Application selection Linear value 24570 5FFA E 1 INTEGER_32 1
C00006 Select motor control Selection list 24569 5FF9 E 1 UNSIGNED_32 1 CINH
C00007 Active application Linear value 24568 5FF8 E 1 INTEGER_32 1
C00008 Device command progress Linear value 24567 5FF7 E 1 UNSIGNED_32 1
C00011 Motor reference speed Linear value 24564 5FF4 E 1 UNSIGNED_32 1
C00018 Switching frequency Selection list 24557 5FED E 1 UNSIGNED_32 1
C00019 Threshold - standstill recognition Linear value 24556 5FEC E 1 UNSIGNED_32 1
C00022 Maximum current Linear value 24553 5FE9 E 1 UNSIGNED_32 100
C00034 Config. analog input 1 Selection list 24541 5FDD E 1 UNSIGNED_32 1
C00050 Speed setpoint [rpm] Linear value 24525 5FCD A 2 INTEGER_32 1
C00051 Actual speed [rpm] Linear value 24524 5FCC E 1 INTEGER_32 1
Grayed out = display parameter (read access only)
________________________________________________________________

C00052 Motor voltage Linear value 24523 5FCB E 1 UNSIGNED_32 1
C00053 DC-bus voltage Linear value 24522 5FCA E 1 UNSIGNED_32 1
C00054 Motor current Linear value 24521 5FC9 E 1 UNSIGNED_32 100
C00055 Phase currents Linear value 24520 5FC8 A 4 INTEGER_32 100
C00056 Torque setpoint Linear value 24519 5FC7 E 1 INTEGER_32 100
C00057 Torque Linear value 24518 5FC6 A 2 UNSIGNED_32 1000
C00058 Pole position Linear value 24517 5FC5 A 3 INTEGER_32 10
C00059 Motor - number of pole pairs Linear value 24516 5FC4 E 1 UNSIGNED_32 1
C00060 Rotor position Linear value 24515 5FC3 E 1 INTEGER_32 1
C00061 Heatsink temperature Linear value 24514 5FC2 E 1 INTEGER_32 1
C00062 Interior temperature Linear value 24513 5FC1 E 1 INTEGER_32 1
C00063 Motor temperature Linear value 24512 5FC0 E 1 INTEGER_32 1
C00064 Device utilisation (Ixt) Linear value 24511 5FBF E 1 UNSIGNED_32 1
C00065 Ext. 24-V voltage Linear value 24510 5FBE E 1 INTEGER_32 10
C00066 Thermal motor load (I²xt) Linear value 24509 5FBD E 1 UNSIGNED_32 1
C00068 Capacitor temperature Linear value 24507 5FBB E 1 INTEGER_32 1
C00069 CPU temperature Linear value 24506 5FBA E 1 INTEGER_32 1
C00070 Speed controller gain Linear value 24505 5FB9 E 1 UNSIGNED_32 100000
C00071 Speed controller reset time Linear value 24504 5FB8 E 1 UNSIGNED_32 10
C00072 Speed controller rate time Linear value 24503 5FB7 E 1 UNSIGNED_32 100
C00074 Feedfwd. ctrl. - current contr. Selection list 24501 5FB5 E 1 UNSIGNED_8 1
C00075 Current controller gain Linear value 24500 5FB4 E 1 UNSIGNED_32 100
C00076 Current contr. reset time Linear value 24499 5FB3 E 1 UNSIGNED_32 100
C00077 Field controller gain Linear value 24498 5FB2 E 1 UNSIGNED_32 100
C00078 Field contr. reset time Linear value 24497 5FB1 E 1 UNSIGNED_32 10
C00079 Mutual motor inductance Linear value 24496 5FB0 E 1 UNSIGNED_32 10
C00080 Number of resolver pole pairs Linear value 24495 5FAF E 1 UNSIGNED_32 1 CINH
C00081 Rated motor power Linear value 24494 5FAE E 1 UNSIGNED_32 100 CINH
C00082 Motor rotor resistance Linear value 24493 5FAD E 1 UNSIGNED_32 10000
C00083 Motor rotor time constant Linear value 24492 5FAC E 1 UNSIGNED_32 100
C00084 Motor stator resistance Linear value 24491 5FAB E 1 UNSIGNED_32 10000 CINH
C00085 Motor stator leakage inductance Linear value 24490 5FAA E 1 UNSIGNED_32 1000 CINH
C00087 Rated motor speed Linear value 24488 5FA8 E 1 UNSIGNED_32 1 CINH
C00088 Rated motor current Linear value 24487 5FA7 E 1 UNSIGNED_32 100 CINH
C00089 Rated motor frequency Linear value 24486 5FA6 E 1 UNSIGNED_32 10 CINH
C00090 Rated motor voltage Linear value 24485 5FA5 E 1 UNSIGNED_32 1 CINH
C00091 Motor cosine phi Linear value 24484 5FA4 E 1 UNSIGNED_32 100 CINH
C00092 Motor magnetising current Linear value 24483 5FA3 E 1 UNSIGNED_32 100
C00093 Field weakening for SM Selection list 24482 5FA2 E 1 UNSIGNED_32 1
C00099 Firmware version String 24476 5F9C E 1 VISIBLE_STRING [12]
C00100 Resol. of an encoder revolution Linear value 24475 5F9B E 1 UNSIGNED_32 1 CINH
C00105 Decel. time - quick stop Linear value 24470 5F96 E 1 UNSIGNED_32 1000
C00106 Quick stop S-ramp time Linear value 24469 5F95 E 1 UNSIGNED_32 100
C00107 Ref. for quick stop dec. time Selection list 24468 5F94 E 1 UNSIGNED_8 1
C00114 Digital input x - terminal pol. Linear value 24461 5F8D A 8 UNSIGNED_8 1
C00118 Digital output x - terminal pol. Linear value 24457 5F89 A 4 UNSIGNED_8 1
C00120 Motor overload protection (I²xt) Linear value 24455 5F87 E 1 UNSIGNED_32 1
C00121 Motor temp. warning threshold Linear value 24454 5F86 E 1 UNSIGNED_32 1
C00122 Heatsink temp. warn. threshold Linear value 24453 5F85 E 1 UNSIGNED_32 1
C00123 Device utilisation warning threshold Linear value 24452 5F84 E 1 UNSIGNED_32 1
________________________________________________________________

C00126 CPU temp. warning threshold Linear value 24449 5F81 E 1 UNSIGNED_32 1
C00127 Mot. overload warning threshold Linear value 24448 5F80 E 1 UNSIGNED_32 1
C00128 Therm. motor time constant Linear value 24447 5F7F A 2 UNSIGNED_32 10
C00129 Brake resistance value Linear value 24446 5F7E E 1 INTEGER_32 10
C00130 Rated brake resistor power Linear value 24445 5F7D E 1 INTEGER_32 1
C00131 Rated quantity of heat for brake res. Linear value 24444 5F7C E 1 INTEGER_32 1
C00133 Ref.: Brake chopper utilisation Selection list 24442 5F7A E 1 UNSIGNED_8 1
C00134 Min. brake resistance Linear value 24441 5F79 E 1 INTEGER_32 10
C00137 Brake transistor utilisation Linear value 24438 5F76 E 1 INTEGER_32 1
C00138 Brake resistor utilisation Linear value 24437 5F75 E 1 INTEGER_32 1
C00142 Autom. restart after mains ON Selection list 24433 5F71 E 1 UNSIGNED_32 1
C00150 Status word device control 1 Bit coded 24425 5F69 E 1 BITFIELD_16 1
C00155 Status word device control 2 Bit coded 24420 5F64 E 1 BITFIELD_16 1
C00156 Status/Control word MCTRL Linear value 24419 5F63 A 2 UNSIGNED_32 1
C00158 Controller inhibit by (source) Bit coded 24417 5F61 E 1 BITFIELD_16 1
C00159 Quick stop by (source) Bit coded 24416 5F60 E 1 BITFIELD_16 1
C00162 Masked error number Linear value 24413 5F5D A 3 UNSIGNED_32 1
C00166 Error description String 24409 5F59 E 1 VISIBLE_STRING [64]
C00168 Error number Linear value 24407 5F57 E 1 UNSIGNED_32 1
C00169 Logbook event filter Bit coded 24406 5F56 E 1 BITFIELD_32 1
C00173 Mains voltage Selection list 24402 5F52 E 1 UNSIGNED_8 1
C00174 Undervoltage (LU) threshold Linear value 24401 5F51 E 1 UNSIGNED_32 1
C00178 Elapsed-hour meter Linear value 24397 5F4D E 1 UNSIGNED_32 1
C00179 Power-on time meter Linear value 24396 5F4C E 1 UNSIGNED_32 1
C00180 Service code String 24395 5F4B E 1 VISIBLE_STRING [192]
C00181 Red. brake chopper threshold Linear value 24394 5F4A E 1 UNSIGNED_32 1
C00182 Time for device search function Linear value 24393 5F49 E 1 UNSIGNED_16 1
C00183 Device status Selection list 24392 5F48 E 1 UNSIGNED_32 1
C00185 Mains recov. detect. threshold Linear value 24390 5F46 E 1 UNSIGNED_32 1
C00186 ENP: Identified motor type String 24389 5F45 E 1 VISIBLE_STRING [19]
C00187 ENP: Identified serial number String 24388 5F44 E 1 VISIBLE_STRING [22]
C00188 ENP: Status Selection list 24387 5F43 E 1 UNSIGNED_8 1
C00199 Device name String 24376 5F38 E 1 VISIBLE_STRING [128]
C00200 Firmware product type String 24375 5F37 E 1 VISIBLE_STRING [18]
C00201 Firmware compilation date String 24374 5F36 E 1 VISIBLE_STRING [21]
C00202 Autom. ENP data transfer Selection list 24373 5F35 E 1 UNSIGNED_32 1
C00203 HW product types String 24372 5F34 A 9 VISIBLE_STRING [18]
C00204 HW serial numbers String 24371 5F33 A 9 VISIBLE_STRING [22]
C00205 HW descriptions String 24370 5F32 A 6 VISIBLE_STRING [18]
C00206 HW manufacturing data String 24369 5F31 A 8 VISIBLE_STRING [20]
C00208 HW manufacturer String 24367 5F2F A 6 VISIBLE_STRING [20]
C00209 HW countries of origin String 24366 5F2E A 6 VISIBLE_STRING [4]
C00210 HW versions String 24365 5F2D A 6 VISIBLE_STRING [5]
C00211 Application: Version String 24364 5F2C E 1 VISIBLE_STRING [12]
C00212 Application: Type code String 24363 5F2B E 1 VISIBLE_STRING [20]
C00213 Application: compilation date String 24362 5F2A E 1 VISIBLE_STRING [21]
C00214 Required safety module Selection list 24361 5F29 E 1 UNSIGNED_8 1 CINH
C00218 Application: ID number Linear value 24357 5F25 E 1 UNSIGNED_32 1
C00227 Behav. at parameter set changeover Selection list 24348 5F1C A 2 UNSIGNED_32 1
C00254 Phase controller gain Linear value 24321 5F01 E 1 UNSIGNED_32 100
________________________________________________________________

C00270 Freq. - current setpoint filter Linear value 24305 5EF1 A 2 UNSIGNED_32 10
C00271 Width - current setp. filter Linear value 24304 5EF0 A 2 UNSIGNED_32 10
C00272 Depth - current setp. filter Linear value 24303 5EEF A 2 UNSIGNED_32 1
C00273 Moment of inertia Linear value 24302 5EEE A 2 UNSIGNED_32 100
C00274 Max. acceleration change Linear value 24301 5EED E 1 UNSIGNED_32 10
C00275 Signal source - speed setpoint Selection list 24300 5EEC E 1 UNSIGNED_16 1
C00276 Signal source - torque setpoint Selection list 24299 5EEB E 1 UNSIGNED_16 1
C00280 Filter time const. DC detection Linear value 24295 5EE7 E 1 UNSIGNED_32 10
C00281 Filter for PWM adjustment Selection list 24294 5EE6 E 1 UNSIGNED_8 1
C00311 CAN TPDO1 mask byte x Bit coded 24264 5EC8 A 8 BITFIELD_8 1
C00320 CAN TPDOx identifier Bit coded 24255 5EBF A 4 BITFIELD_32 1
C00321 CAN RPDOx identifier Bit coded 24254 5EBE A 4 BITFIELD_32 1
C00322 CAN TPDOx Tx mode Linear value 24253 5EBD A 4 UNSIGNED_8 1
C00323 CAN RPDOx Rx mode Linear value 24252 5EBC A 4 UNSIGNED_8 1
C00324 CAN TPDOx delay time Linear value 24251 5EBB A 4 UNSIGNED_16 1
C00343 CAN TPDO counter Linear value 24232 5EA8 A 4 UNSIGNED_32 1
C00344 CAN RPDO counter Linear value 24231 5EA7 A 4 UNSIGNED_32 1
C00345 CAN error Selection list 24230 5EA6 E 1 UNSIGNED_8 1
C00346 CAN heartbeat activity Bit coded 24229 5EA5 E 1 BITFIELD_32 1
C00347 CAN heartbeat status Selection list 24228 5EA4 A 32 UNSIGNED_8 1
C00348 CAN status DIP switch Selection list 24227 5EA3 E 1 UNSIGNED_8 1
C00349 CAN setting - DIP switch Linear value 24226 5EA2 A 2 UNSIGNED_8 1
C00350 CAN node address Linear value 24225 5EA1 E 1 UNSIGNED_8 1
C00351 CAN baud rate Selection list 24224 5EA0 E 1 UNSIGNED_8 1
C00352 CAN slave/master Selection list 24223 5E9F E 1 UNSIGNED_8 1
C00356 CAN TPDOx cycle time Linear value 24219 5E9B A 4 UNSIGNED_16 1
C00357 CAN RPDOx monitoring time Linear value 24218 5E9A A 4 UNSIGNED_16 1
C00359 CAN status Selection list 24216 5E98 E 1 UNSIGNED_8 1
C00360 CAN telegram and error counter Linear value 24215 5E97 A 8 UNSIGNED_16 1
C00361 CAN bus load Linear value 24214 5E96 A 6 UNSIGNED_32 1
C00367 CAN SYNC Rx identifier Linear value 24208 5E90 E 1 UNSIGNED_32 1
C00368 CAN SYNC Tx identifier Linear value 24207 5E8F E 1 UNSIGNED_32 1
C00369 CAN sync transmission cycle time Linear value 24206 5E8E A 3 UNSIGNED_16 1
C00372 CAN SDO server Rx identifier Bit coded 24203 5E8B A 10 BITFIELD_32 1
C00373 CAN SDO server Tx identifier Bit coded 24202 5E8A A 10 BITFIELD_32 1
C00374 CAN SDO client node address Linear value 24201 5E89 A 10 UNSIGNED_8 1
C00375 CAN SDO client Rx identifier Bit coded 24200 5E88 A 10 BITFIELD_32 1
C00376 CAN SDO client Tx identifier Bit coded 24199 5E87 A 10 BITFIELD_32 1
C00377 CAN SDO server node address Linear value 24198 5E86 A 10 UNSIGNED_8 1
C00378 CAN delay boot-up - operational Linear value 24197 5E85 E 1 UNSIGNED_16 1
C00381 CAN Heartbeat producer time Linear value 24194 5E82 E 1 UNSIGNED_16 1
C00382 CAN guard time Linear value 24193 5E81 E 1 UNSIGNED_16 1
C00383 CAN life time factor Linear value 24192 5E80 E 1 UNSIGNED_8 1
C00385 CAN heartbeat consumer time Bit coded 24190 5E7E A 32 BITFIELD_32 1
C00386 CAN node guarding Bit coded 24189 5E7D A 32 BITFIELD_32 1
C00387 CAN Node Guarding Activity Bit coded 24188 5E7C E 1 BITFIELD_32 1
C00388 CAN node guarding status Selection list 24187 5E7B A 32 UNSIGNED_8 1
________________________________________________________________

C00390 CAN error register (DS301V402) Bit coded 24185 5E79 E 1 BITFIELD_8 1
C00391 CAN Emergency Object Bit coded 24184 5E78 E 1 BITFIELD_32 1
C00392 CAN emergency delay time Linear value 24183 5E77 E 1 UNSIGNED_16 1
C00393 CAN result - bus scan Linear value 24182 5E76 A 128 UNSIGNED_8 1
C00394 CAN Predefined Error Field (DS301V402) Linear value 24181 5E75 A 10 UNSIGNED_32 1
C00398 Test mode motor control Selection list 24177 5E71 E 1 UNSIGNED_32 1 CINH
C00399 Settings for test mode Linear value 24176 5E70 A 2 INTEGER_32 10
C00412 Hiperface: Initialisation time Linear value 24163 5E63 E 1 UNSIGNED_32 1
C00413 Hiperface: detected TypeCode Linear value 24162 5E62 E 1 UNSIGNED_32 1
C00414 Hiperface: TypeCode Linear value 24161 5E61 E 1 UNSIGNED_32 1
C00415 Hiperface: Anzahl der Umdrehungen Linear value 24160 5E60 E 1 UNSIGNED_32 1
C00417 Dynamic of resolver evaluation Linear value 24158 5E5E E 1 UNSIGNED_32 1
C00418 Activate resolver error compensation Selection list 24157 5E5D E 1 UNSIGNED_8 1
C00420 Number of encoder increments Linear value 24155 5E5B E 1 UNSIGNED_16 1 CINH
C00421 Encoder voltage Linear value 24154 5E5A E 1 UNSIGNED_16 10 CINH
C00422 Encoder type Selection list 24153 5E59 E 1 UNSIGNED_16 1 CINH
C00423 SSI encoder: Bit rate Linear value 24152 5E58 E 1 UNSIGNED_32 1 CINH
C00424 Ssi-encoder: Data word length Linear value 24151 5E57 E 1 UNSIGNED_32 1 CINH
C00427 TTL encoder signal evaluation Selection list 24148 5E54 E 1 UNSIGNED_16 1 CINH
C00435 SSI encoder: Partword starting position Linear value 24140 5E4C A 8 UNSIGNED_8 1
C00436 SSI encoder: Partword length Linear value 24139 5E4B A 8 UNSIGNED_8 1
C00437 SSI encoder: Partword data coding Selection list 24138 5E4A A 8 UNSIGNED_8 1
C00443 Status: Digital inputs Linear value 24132 5E44 A 12 UNSIGNED_8 1
C00444 Status: Digital outputs Linear value 24131 5E43 A 18 UNSIGNED_8 1
C00464 Keypad: Mode Selection list 24111 5E2F E 1 UNSIGNED_16 1
C00465 Keypad: Time-out welcome screen Selection list 24110 5E2E E 1 UNSIGNED_8 1
C00466 Keypad: Default parameter Linear value 24109 5E2D E 1 UNSIGNED_16 1
C00467 Keypad: Default welcome screen Selection list 24108 5E2C E 1 UNSIGNED_8 1
C00469 Keypad: Fct. STOP key Selection list 24106 5E2A E 1 UNSIGNED_8 1
C00490 Position encoder selection Selection list 24085 5E15 E 1 UNSIGNED_16 1 CINH
C00494 Motor standstill time constant Linear value 24081 5E11 E 1 UNSIGNED_32 1
C00495 Motor encoder selection Selection list 24080 5E10 E 1 UNSIGNED_16 1 CINH
C00497 Act. speed value time constant Linear value 24078 5E0E E 1 UNSIGNED_32 10
C00569 Resp. to brake trans. Ixt > C00570 Selection list 24006 5DC6 E 1 UNSIGNED_32 1
C00570 Warning thres. brake transistor Linear value 24005 5DC5 E 1 UNSIGNED_32 1
C00571 Resp. to brake res. i²xt > C00572 Selection list 24004 5DC4 E 1 UNSIGNED_32 1
C00572 Warning thres. brake resistor Linear value 24003 5DC3 E 1 UNSIGNED_32 1
C00573 Resp. to brake transistor overload Selection list 24002 5DC2 E 1 UNSIGNED_32 1
C00574 Resp. to brake resist. overtemp. Selection list 24001 5DC1 E 1 UNSIGNED_32 1
C00576 Speed monitoring tolerance Linear value 23999 5DBF E 1 UNSIGNED_32 1
C00577 Field weakening controller gain Linear value 23998 5DBE E 1 UNSIGNED_32 1000
C00578 Field weak. contr. reset time Linear value 23997 5DBD E 1 UNSIGNED_32 10
C00579 Resp. to speed monitoring Selection list 23996 5DBC E 1 UNSIGNED_32 1
C00580 Resp. to encoder open circuit Selection list 23995 5DBB E 1 UNSIGNED_32 1
C00581 Resp. to external fault Selection list 23994 5DBA E 1 UNSIGNED_32 1
C00582 Resp. to heatsink temp. > C00122 Selection list 23993 5DB9 E 1 UNSIGNED_32 1
C00583 Resp. to motor KTY overtemp. Selection list 23992 5DB8 E 1 UNSIGNED_32 1
C00584 Resp. to motor temp. > C00121 Selection list 23991 5DB7 E 1 UNSIGNED_32 1
C00585 Resp. to motor overtemp. PTC Selection list 23990 5DB6 E 1 UNSIGNED_32 1
C00586 Resp. to resolver open circuit Selection list 23989 5DB5 E 1 UNSIGNED_32 1
________________________________________________________________

C00587 Fan control status Bit coded 23988 5DB4 E 1 BITFIELD_8 1
C00588 Resp. to failure t. sensor drive Selection list 23987 5DB3 E 1 UNSIGNED_32 1
C00589 Resp. to CPU temperature > C00126 Selection list 23986 5DB2 E 1 UNSIGNED_32 1
C00591 Resp. to CAN RPDOx error Selection list 23984 5DB0 A 4 UNSIGNED_8 1
C00594 Response to temp. sensor motor X7/X8 Selection list 23981 5DAD E 1 UNSIGNED_32 1
C00595 Resp. to CAN bus OFF Selection list 23980 5DAC E 1 UNSIGNED_8 1
C00596 Threshold max. speed reached Linear value 23979 5DAB E 1 UNSIGNED_32 1
C00597 Resp. to motor phase failure Selection list 23978 5DAA E 1 UNSIGNED_32 1
C00598 Resp. to open circuit AIN1 Selection list 23977 5DA9 E 1 UNSIGNED_32 1
C00599 Motor phase failure threshold Linear value 23976 5DA8 E 1 INTEGER_32 10
C00600 Resp. to DC bus overvoltage Selection list 23975 5DA7 E 1 UNSIGNED_32 1
C00601 Resp. to encoder comm. error Selection list 23974 5DA6 E 1 UNSIGNED_32 1
C00604 Resp. to device monit. > C00123 Selection list 23971 5DA3 E 1 UNSIGNED_32 1
C00606 Resp. to motor overload > C00127 Selection list 23969 5DA1 E 1 UNSIGNED_32 1
C00607 Resp. to max. speed reached Selection list 23968 5DA0 E 1 UNSIGNED_32 1
C00610 Resp. to failure heatsink fan Selection list 23965 5D9D E 1 UNSIGNED_32 1
C00611 Resp. to failure integral fan Selection list 23964 5D9C E 1 UNSIGNED_32 1
C00612 Resp. to CAN node guarding error Selection list 23963 5D9B A 32 UNSIGNED_8 1
C00613 Resp. to CAN Heartbeat error Selection list 23962 5D9A A 32 UNSIGNED_8 1
C00614 Resp. to CAN life guarding error Selection list 23961 5D99 E 1 UNSIGNED_8 1
C00615 Resp. to imp. device config. Selection list 23960 5D98 A 5 UNSIGNED_32 1
C00618 No. of CRC cycles Linear value 23957 5D95 E 1 UNSIGNED_32 1
C00619 Resp. to motor current > C00620 Selection list 23956 5D94 E 1 UNSIGNED_32 1
C00620 Ultimate motor current I_ult Linear value 23955 5D93 E 1 UNSIGNED_32 10
C00621 Resp. to encoder pulse deviation Selection list 23954 5D92 E 1 UNSIGNED_32 1
C00625 CAN behaviour in case of fault Selection list 23950 5D8E E 1 UNSIGNED_8 1
C00635 Resp to new firmw. standard dev. Selection list 23940 5D84 E 1 UNSIGNED_32 1
C00636 Resp. to new module in MXI1 Selection list 23939 5D83 E 1 UNSIGNED_32 1
C00637 Resp. to new module in MXI2 Selection list 23938 5D82 E 1 UNSIGNED_32 1
C00640 Resp. to PLI monitoring Selection list 23935 5D7F E 1 UNSIGNED_32 1
C00641 PLI 360° current amplitude Linear value 23934 5D7E E 1 UNSIGNED_32 1
C00642 PLI 360° ramp time Linear value 23933 5D7D E 1 UNSIGNED_32 1
C00643 PLI 360° traversing direction Selection list 23932 5D7C E 1 UNSIGNED_32 1
C00644 PolePosId 360° fault tol. Linear value 23931 5D7B E 1 INTEGER_32 10
C00645 PolePosId 360° absolute cur. amp. Linear value 23930 5D7A E 1 UNSIGNED_32 100
C00646 PolePosId min.mov. cur. amp. Linear value 23929 5D79 E 1 UNSIGNED_32 1
C00647 PolePosId min.mov. cur.rise rate Linear value 23928 5D78 E 1 UNSIGNED_32 1
C00648 PolePosId min.mov. gain Linear value 23927 5D77 E 1 UNSIGNED_32 100
C00649 PLI min. mov. reset time Linear value 23926 5D76 E 1 UNSIGNED_32 100
C00650 PolePosId min.mov. max.perm.mov. Linear value 23925 5D75 E 1 INTEGER_32 1
C00651 PolePosId min.mov. absolute cur. amp. Linear value 23924 5D74 E 1 UNSIGNED_32 100
C00691 Total speed setpoint Linear value 23884 5D4C E 1 INTEGER_32 100
C00692 Speed setpoint [%] Linear value 23883 5D4B E 1 INTEGER_32 100
C00693 Actual speed [%] Linear value 23882 5D4A E 1 INTEGER_32 100
C00694 Speed controller output Linear value 23881 5D49 E 1 INTEGER_32 100
C00695 Total torque setpoint Linear value 23880 5D48 E 1 INTEGER_32 100
C00696 Torque setpoint [%] Linear value 23879 5D47 E 1 INTEGER_32 100
C00697 Filtered torque setpoint Linear value 23878 5D46 E 1 INTEGER_32 100
C00698 Actual torque [%] Linear value 23877 5D45 E 1 INTEGER_32 100
C00770 MCTRL_dnMotorPosAct Linear value 23805 5CFD A 2 UNSIGNED_32 1
________________________________________________________________

C00771 MCTRL_dnLoadPosAct Linear value 23804 5CFC A 2 UNSIGNED_32 1
C00772 MCTRL_dnMotorSpeedAct Linear value 23803 5CFB E 1 INTEGER_32 1
C00773 MCTRL_dnLoadSpeedAct Linear value 23802 5CFA E 1 INTEGER_32 1
C00774 MCTRL_dnTorqueAct Linear value 23801 5CF9 E 1 INTEGER_32 100
C00775 MCTRL_dnOutputSpeedCtrl Linear value 23800 5CF8 E 1 INTEGER_32 100
C00776 MCTRL_dnInputJerkCtrl Linear value 23799 5CF7 E 1 INTEGER_32 100
C00777 MCTRL_dnInputTorqueCtrl Linear value 23798 5CF6 E 1 INTEGER_32 100
C00778 MCTRL_dnFluxAct Linear value 23797 5CF5 E 1 INTEGER_32 100
C00779 MCTRL_dnDCBusVoltage Linear value 23796 5CF4 E 1 INTEGER_32 1
C00780 MCTRL_dnImotAct Linear value 23795 5CF3 E 1 INTEGER_32 100
C00781 MCTRL_dwMaxMotorSpeed Linear value 23794 5CF2 E 1 UNSIGNED_32 1
C00782 MCTRL_dwMaxMotorTorque Linear value 23793 5CF1 E 1 UNSIGNED_32 1000
C00783 MCTRL_dwMotorVoltageAct Linear value 23792 5CF0 E 1 UNSIGNED_32 1
C00784 MCTRL_dnMotorFreqAct Linear value 23791 5CEF E 1 INTEGER_32 10
C00786 MCTRL_dnIxtLoad Linear value 23789 5CED E 1 INTEGER_32 100
C00787 MCTRL_dnFlyingSpeedAct Linear value 23788 5CEC E 1 INTEGER_32 1
C00788 MCTRL_dwMaxEffMotorTorque Linear value 23787 5CEB E 1 INTEGER_32 1000
C00789 MCTRL_dwMaxDeviceCurrent Linear value 23786 5CEA E 1 INTEGER_32 100
C00790 MCTRL_dnI2xtLoad Linear value 23785 5CE9 E 1 INTEGER_32 100
C00791 MCTRL_dnDeltaMotorPos_p Linear value 23784 5CE8 E 1 INTEGER_32 1
C00792 MCTRL_dnOutputPosCtrlMotor_s Linear value 23783 5CE7 E 1 INTEGER_32 1
C00800 MCTRL_dnPosSet Linear value 23775 5CDF A 2 UNSIGNED_32 1
C00802 MCTRL_dnSpeedAdd Linear value 23773 5CDD E 1 INTEGER_32 1
C00803 MCTRL_dnTorqueAdd Linear value 23772 5CDC E 1 INTEGER_32 1000
C00804 MCTRL_dnAccelerationAdd Linear value 23771 5CDB E 1 INTEGER_32 1000
C00805 MCTRL_dnSpeedLowLimit Linear value 23770 5CDA E 1 INTEGER_32 1
C00806 MCTRL_dnTorqueLowLimit Linear value 23769 5CD9 E 1 INTEGER_32 100
C00807 MCTRL_dnTorqueHighLimit Linear value 23768 5CD8 E 1 INTEGER_32 100
C00808 MCTRL_dnPosCtrlOutLimit Linear value 23767 5CD7 E 1 INTEGER_32 1
C00809 MCTRL_dnTorqueCtrlAdapt Linear value 23766 5CD6 E 1 INTEGER_32 100
C00810 MCTRL_dnSpeedCtrlAdapt Linear value 23765 5CD5 E 1 INTEGER_32 100
C00811 MCTRL_dnPosCtrlAdapt Linear value 23764 5CD4 E 1 INTEGER_32 100
C00812 MCTRL_dnMotorPosRefValue Linear value 23763 5CD3 A 2 UNSIGNED_32 1
C00813 MCTRL_dnLoadPosRefValue Linear value 23762 5CD2 A 2 UNSIGNED_32 1
C00814 MCTRL_dnBoost Linear value 23761 5CD1 E 1 INTEGER_32 1
C00815 MCTRL_dnSpeedCtrlIntegrator Linear value 23760 5CD0 E 1 INTEGER_32 1000
C00816 MCTRL_dnFieldWeak Linear value 23759 5CCF E 1 INTEGER_32 100
C00817 MCTRL_dnSpeedSet_s Linear value 23758 5CCE E 1 INTEGER_32 1
C00818 MCTRL_dnMvorAdapt Linear value 23757 5CCD E 1 INTEGER_32 100
C00854 ID status Linear value 23721 5CA9 E 1 UNSIGNED_32 1
C00878 Status DCTRL control input Linear value 23697 5C91 A 5 UNSIGNED_8 1
C00909 Speed limitation Linear value 23666 5C72 A 2 INTEGER_16 10
C00950 VFC: V/f characteristic shape Selection list 23625 5C49 E 1 UNSIGNED_32 1
C00951 VFC: V/f base frequency Linear value 23624 5C48 E 1 INTEGER_32 1
C00952 VFC: Frequency interpol. point n Linear value 23623 5C47 A 11 INTEGER_32 1 CINH
C00953 VFC: Voltage interpol. point n Linear value 23622 5C46 A 11 INTEGER_32 100 CINH
C00954 VFC: Activat. interpol. point n Selection list 23621 5C45 A 11 UNSIGNED_32 1 CINH
C00955 VFC: Vmax reduction Linear value 23620 5C44 E 1 UNSIGNED_32 1
C00957 VFC: VVC current setpoint Linear value 23618 5C42 E 1 INTEGER_32 100
C00958 VFC: VVC gain Linear value 23617 5C41 E 1 UNSIGNED_32 100
________________________________________________________________

C00959 VFC: VVC reset time Linear value 23616 5C40 E 1 UNSIGNED_32 100
C00960 VFC: V/f voltage boost Linear value 23615 5C3F E 1 INTEGER_32 1
C00961 VFC: Load - cw/ccw-operation Selection list 23614 5C3E E 1 UNSIGNED_32 1 CINH
C00962 VFC: Load adjustment Linear value 23613 5C3D E 1 UNSIGNED_32 100
C00963 VFC: Gain - Imax controller Linear value 23612 5C3C E 1 UNSIGNED_32 1000
C00964 VFC: Reset time - Imax controller Linear value 23611 5C3B E 1 UNSIGNED_32 10
C00965 VFC: Gain - slip compensation Linear value 23610 5C3A E 1 INTEGER_32 100
C00966 VFC: Time const. slip comp. Linear value 23609 5C39 E 1 UNSIGNED_32 1
C00967 VFC: Gain - oscillation damping Linear value 23608 5C38 E 1 INTEGER_32 1
C00968 VFC: Time const. - oscill. damp. Linear value 23607 5C37 E 1 INTEGER_32 1
C00969 VFC: Limitation - oscillation damping Linear value 23606 5C36 E 1 INTEGER_32 10
C00970 VFC: ramp-end frequ. - oscill. damp. Linear value 23605 5C35 E 1 INTEGER_32 1
C00971 VFC: Influence - speed controller Linear value 23604 5C34 E 1 UNSIGNED_32 100
C00972 VFC: Gain - speed controller Linear value 23603 5C33 E 1 UNSIGNED_32 1000
C00973 VFC: Reset time - speed contr. Linear value 23602 5C32 E 1 UNSIGNED_32 10
C00974 DC brake: Current Linear value 23601 5C31 E 1 INTEGER_32 100
C00975 DC brake: Current for quick stop Linear value 23600 5C30 E 1 INTEGER_32 100
C00976 DC brake: Activat. by quick stop Selection list 23599 5C2F E 1 UNSIGNED_32 1
C00977 Min. inh-time aft. overvolt. Linear value 23598 5C2E E 1 UNSIGNED_32 1
C00980 VFC: Override point of field weakening Linear value 23595 5C2B E 1 INTEGER_32 1
C00985 SLVC: Field current controller gain Linear value 23590 5C26 E 1 UNSIGNED_32 100
C00986 SLVC: Cross current controller gain Linear value 23589 5C25 E 1 UNSIGNED_32 100
C00987 SLVC: Gain - torque controller Linear value 23588 5C24 E 1 UNSIGNED_32 10000
C00988 SLVC: Torque controller reset time Linear value 23587 5C23 E 1 UNSIGNED_32 100
C00989 SLVC: Time const.- Para. adj. Linear value 23586 5C22 A 2 UNSIGNED_32 1
C00990 Flying restart: Activation Selection list 23585 5C21 E 1 UNSIGNED_32 1
C00991 Flying restart: Current Linear value 23584 5C20 E 1 INTEGER_32 1
C00992 Flying restart: Start frequency Linear value 23583 5C1F E 1 INTEGER_32 10
C00993 Flying restart: Integration time Linear value 23582 5C1E E 1 UNSIGNED_32 1
C00994 Flying restart: Min. deviation Linear value 23581 5C1D E 1 UNSIGNED_32 100
C00995 Flying restart: Delay time Linear value 23580 5C1C E 1 UNSIGNED_32 1
C00998 VFC: Frequency setpoint Linear value 23577 5C19 E 1 INTEGER_32 10
C01120 Sync source Selection list 23455 5B9F E 1 UNSIGNED_8 1
C01121 Sync cycle time Linear value 23454 5B9E E 1 UNSIGNED_32 1
C01122 Sync phase position Linear value 23453 5B9D E 1 UNSIGNED_32 1
C01123 Sync tolerance Linear value 23452 5B9C E 1 UNSIGNED_32 1
C01124 Sync PLL increment Selection list 23451 5B9B E 1 UNSIGNED_8 1
C01130 CAN SYNC application cycle Linear value 23445 5B95 E 1 UNSIGNED_16 1
C01190 Motor thermal sensor Selection list 23385 5B59 E 1 UNSIGNED_32 1
C01191 Spec. characteristic: temperature Linear value 23384 5B58 A 2 UNSIGNED_32 1
C01192 Spec. characteristic: resistance Linear value 23383 5B57 A 2 UNSIGNED_32 1
C01193 Motor temp. feedback system Selection list 23382 5B56 E 1 UNSIGNED_16 1 CINH
C01194 Motor operating temperature Linear value 23381 5B55 E 1 INTEGER_32 1
C01195 Influence winding I²xt mon. Linear value 23380 5B54 E 1 UNSIGNED_32 1
C01196 S1 torque characteristic I²xt mon. Linear value 23379 5B53 A 8 UNSIGNED_32 1
C01197 Starting value I²xt monitoring Linear value 23378 5B52 E 1 UNSIGNED_32 1
C01198 Async. motor: Stall protection Linear value 23377 5B51 E 1 UNSIGNED_32 1
C01199 Enhanced power Selection list 23376 5B50 E 1 UNSIGNED_32 1 CINH
C01200 Dual motor temperature Linear value 23375 5B4F A 2 INTEGER_32 1
C01201 Delay time for fan start Selection list 23374 5B4E E 1 UNSIGNED_32 1
________________________________________________________________

C01203 Counter: Brake chopper overload Linear value 23372 5B4C E 1 UNSIGNED_16 1
C01204 Counter: Ixt overload Linear value 23371 5B4B E 1 UNSIGNED_16 1
C01205 Counter: DC bus overvoltage Linear value 23370 5B4A E 1 UNSIGNED_16 1
C01206 Counter: Mains switching Linear value 23369 5B49 E 1 UNSIGNED_16 1
C01208 Counter: Heatsink overtemp. Linear value 23367 5B47 E 1 UNSIGNED_16 1
C01209 Counter: Housing overtemp. Linear value 23366 5B46 E 1 UNSIGNED_16 1
C01210 Counter: internal Linear value 23365 5B45 E 1 UNSIGNED_8 1
C01212 Counter: Power section overload Linear value 23363 5B43 E 1 UNSIGNED_16 1
C01214 Internal clock String 23361 5B41 E 1 VISIBLE_STRING [21]
C01215 Set time and date Linear value 23360 5B40 A 6 UNSIGNED_16 1
C01230 Resp. to comm. task overflow Selection list 23345 5B31 E 1 UNSIGNED_8 1
C01501 Resp. to comm. error with MXI1 Selection list 23074 5A22 E 1 UNSIGNED_32 1
C01502 Resp. to comm. error with MXI2 Selection list 23073 5A21 E 1 UNSIGNED_32 1
C01510 Ethernet IP address client x String 23065 5A19 A 3 VISIBLE_STRING [24]
C01511 Ethernet status client x Selection list 23064 5A18 A 3 UNSIGNED_8 1
C01700 Energy: Mode inform. Linear value 22875 595B A 2 UNSIGNED_8 1
C01701 Energy: toff min Linear value 22874 595A A 1 UNSIGNED_32 1
C01702 Energy: toff Linear value 22873 5959 A 1 UNSIGNED_32 1
C01703 Energy: ton Linear value 22872 5958 A 1 UNSIGNED_32 1
C01704 Energy: Comp. to be switched off Bit coded 22871 5957 A 1 BITFIELD_32 1
C01705 Energy: Power input Linear value 22870 5956 A 1 UNSIGNED_32 1
C01902 Diagnostics X6: Max. baud rate Selection list 22673 5891 E 1 UNSIGNED_32 1
C01903 Diagnostics X6: Change baud rate Selection list 22672 5890 E 1 UNSIGNED_32 1
C01905 Diagnostics X6: Curr. baud rate Linear value 22670 588E E 1 UNSIGNED_32 1
C02104 Program auto-start Selection list 22471 57C7 E 1 UNSIGNED_32 1
C02108 Program status Selection list 22467 57C3 E 1 UNSIGNED_8 1
C02109 Program runtime Linear value 22466 57C2 E 1 UNSIGNED_16 1
C02110 User code: Memory utilisation Linear value 22465 57C1 E 1 UNSIGNED_32 1
C02112 B. code: Read non-vol. memory Linear value 22463 57BF E 1 UNSIGNED_32 1
C02113 Program name String 22462 57BE E 1 VISIBLE_STRING [32]
C02119 Active target ID Linear value 22456 57B8 E 1 UNSIGNED_32 1
C02121 Runtime task prio. 1 Linear value 22454 57B6 A 2 UNSIGNED_32 1
C02128 Runtime task prio. 8 Linear value 22447 57AF A 2 UNSIGNED_32 1
C02129 Runtime task prio. 9 Linear value 22446 57AE A 2 UNSIGNED_32 1
C02520 Gearbox factor numerator: Motor Linear value 22055 5627 E 1 INTEGER_32 1 CINH
C02521 Gearbox factor denom.: Motor Linear value 22054 5626 E 1 INTEGER_32 1 CINH
C02522 Gearbox factor num.: Pos. enc. Linear value 22053 5625 E 1 INTEGER_32 1 CINH
C02523 Gearbox fac. denom.: Pos. enc. Linear value 22052 5624 E 1 INTEGER_32 1 CINH
C02524 Feed constant Linear value 22051 5623 E 1 UNSIGNED_32 10000 CINH
C02525 Unit Selection list 22050 5622 E 1 UNSIGNED_32 1
C02526 User-defined unit String 22049 5621 E 1 VISIBLE_STRING [8]
C02527 Motor mounting direction Selection list 22048 5620 E 1 UNSIGNED_32 1 CINH
C02528 Traversing range Selection list 22047 561F E 1 UNSIGNED_32 1 CINH
C02529 Position encoder mounting direction Selection list 22046 561E E 1 UNSIGNED_32 1 CINH
________________________________________________________________

C02530 Active function state Selection list 22045 561D E 1 INTEGER_32 1
C02531 Gearbox factors (decimal) Linear value 22044 561C A 3 UNSIGNED_32 1000
C02532 Resolution of a unit Linear value 22043 561B E 1 UNSIGNED_32 10000
C02533 Time unit Selection list 22042 561A E 1 UNSIGNED_32 1
C02534 Time unit used String 22041 5619 E 1 VISIBLE_STRING [8]
C02535 Unit used String 22040 5618 E 1 VISIBLE_STRING [8]
C02536 Cycle Linear value 22039 5617 E 1 UNSIGNED_32 10000 CINH
C02537 Speed unit String 22038 5616 E 1 VISIBLE_STRING [16]
C02538 Acceleration unit String 22037 5615 E 1 VISIBLE_STRING [16]
C02539 Max. presentable position Linear value 22036 5614 E 1 INTEGER_32 10000
C02540 Max. presentable speed Linear value 22035 5613 E 1 INTEGER_32 10000
C02541 Max. presentable acceleration Linear value 22034 5612 E 1 INTEGER_32 10000
C02542 Load reference speed Linear value 22033 5611 E 1 UNSIGNED_32 1000
C02543 Load reference torque Linear value 22032 5610 E 1 UNSIGNED_32 1000
C02544 Reference speed Linear value 22031 560F E 1 INTEGER_32 10000
C02545 Reference Jerktime Linear value 22030 560E E 1 UNSIGNED_32 1000
C02547 DI_dnState Linear value 22028 560C E 1 INTEGER_32 1
C02548 DI_bErrors Selection list 22027 560B A 4 UNSIGNED_32 1
C02549 Drive interface: Signals Selection list 22026 560A A 15 UNSIGNED_32 1
C02550 Setpoint interpolation Selection list 22025 5609 A 3 UNSIGNED_32 1
C02552 Position setpoint (motor interface) Linear value 22023 5607 E 1 INTEGER_32 10000
C02553 Position controller gain Linear value 22022 5606 E 1 UNSIGNED_32 100
C02554 Position controller reset time Linear value 22021 5605 E 1 UNSIGNED_32 1000
C02555 D component position controller Linear value 22020 5604 E 1 UNSIGNED_32 1000
C02556 Pos. contr. limitation Linear value 22019 5603 E 1 INTEGER_32 10000
C02557 Phase controller output Linear value 22018 5602 E 1 INTEGER_32 10000
C02558 Position controller output Linear value 22017 5601 E 1 INTEGER_32 10000
C02559 Internal torque limits Linear value 22016 5600 A 2 INTEGER_32 100
C02560 Messages - motor interface Linear value 22015 55FF E 1 UNSIGNED_32 1
C02561 Speed feedforw. control gain Linear value 22014 55FE E 1 INTEGER_32 100
C02562 Filter time constant Linear value 22013 55FD E 1 UNSIGNED_32 1000
C02564 Service code Bit coded 22011 55FB E 1 BITFIELD_8 1
C02567 Control mode Selection list 22008 55F8 E 1 UNSIGNED_32 1
C02568 Motor interface: % signals Linear value 22007 55F7 A 10 INTEGER_32 100
C02569 Motor interface.: Dig. signals Selection list 22006 55F6 A 16 UNSIGNED_32 1
C02570 Position control structure Selection list 22005 55F5 E 1 UNSIGNED_32 1 CINH
C02572 Speed setpoint (enc. eval.) Linear value 22003 55F3 E 1 INTEGER_32 10000
C02573 Position setpoint (enc. eval.) Linear value 22002 55F2 E 1 INTEGER_32 10000
C02574 Actual speed (enc. eval.) Linear value 22001 55F1 E 1 INTEGER_32 10000
C02575 Actual position (enc. eval.) Linear value 22000 55F0 E 1 INTEGER_32 10000
C02576 Following error Linear value 21999 55EF E 1 INTEGER_32 10000
C02577 External actual position Linear value 21998 55EE E 1 INTEGER_32 10000
C02578 Offset actual pos. value/setp. Linear value 21997 55ED E 1 INTEGER_32 10000
C02579 Encoder eval.: Dig. signals Selection list 21996 55EC A 4 UNSIGNED_32 1
C02580 Operating mode brake Selection list 21995 55EB E 1 UNSIGNED_32 1 CINH
C02581 Threshold - brake activation Linear value 21994 55EA E 1 INTEGER_32 1
C02582 Brake resp. to pulse inhibit Selection list 21993 55E9 E 1 UNSIGNED_32 1
C02583 Status input monitoring Selection list 21992 55E8 E 1 UNSIGNED_32 1
C02585 Brake control polarity Selection list 21990 55E6 E 1 UNSIGNED_32 1
C02586 Starting torque 1 Linear value 21989 55E5 E 1 INTEGER_32 100
________________________________________________________________

C02587 Starting torque 2 Linear value 21988 55E4 E 1 INTEGER_32 100
C02588 Source of starting torque Selection list 21987 55E3 E 1 UNSIGNED_32 1
C02589 Brake closing time Linear value 21986 55E2 E 1 UNSIGNED_32 1
C02590 Brake opening time Linear value 21985 55E1 E 1 UNSIGNED_32 1
C02591 Waiting time - status monitoring Linear value 21984 55E0 E 1 UNSIGNED_32 1
C02593 Waiting time - brake activation Linear value 21982 55DE E 1 UNSIGNED_32 1000
C02594 Test torque Linear value 21981 55DD E 1 INTEGER_32 100
C02595 Permissible angle of rotation Linear value 21980 55DC E 1 INTEGER_32 1
C02596 Grinding speed Linear value 21979 55 db E 1 INTEGER_32 1
C02597 Accel./decel. time - grinding Linear value 21978 55DA E 1 UNSIGNED_32 1000
C02598 Grinding ON time Linear value 21977 55D9 E 1 UNSIGNED_32 10
C02599 Grinding OFF time Linear value 21976 55D8 E 1 UNSIGNED_32 10
C02600 Acceleration time feedf. control Linear value 21975 55D7 E 1 UNSIGNED_32 1000
C02601 Reference for acceleration time of brake Selection list 21974 55D6 E 1 UNSIGNED_32 1
C02602 Source for feedf. control brake Selection list 21973 55D5 E 1 UNSIGNED_32 1
C02603 Threshold 1 for opening brake Linear value 21972 55D4 E 1 INTEGER_32 1
C02604 Threshold 2 for opening brake Linear value 21971 55D3 E 1 INTEGER_32 1
C02605 Brake test - time Linear value 21970 55D2 A 3 UNSIGNED_16 1000
C02607 BRK_dnState Linear value 21968 55D0 E 1 INTEGER_32 1
C02608 BRK_dnTorqueAdd_n Linear value 21967 55CF E 1 INTEGER_32 100
C02609 Brake control: Dig. signals Selection list 21966 55CE A 10 UNSIGNED_32 1
C02610 Deceleration time for stop Linear value 21965 55CD E 1 UNSIGNED_32 1000
C02611 S-ramp time for stop Linear value 21964 55CC E 1 UNSIGNED_32 1000
C02612 Ref. for decel. time of stop Selection list 21963 55CB E 1 UNSIGNED_32 1
C02616 STP_dnState Linear value 21959 55C7 E 1 INTEGER_32 1
C02617 STP_bStopActive Selection list 21958 55C6 E 1 UNSIGNED_32 1
C02619 Quick stop: Dig. signals Selection list 21956 55C4 A 5 UNSIGNED_32 1
C02620 Manual jog: Speed 1 Linear value 21955 55C3 E 1 INTEGER_32 10000
C02621 Manual jog: Speed 2 Linear value 21954 55C2 E 1 INTEGER_32 10000
C02622 Manual jog: Acceleration Linear value 21953 55C1 E 1 INTEGER_32 10000
C02623 Manual jog: Deceleration Linear value 21952 55C0 E 1 INTEGER_32 10000
C02624 Manual jog: S-ramp time Linear value 21951 55BF E 1 UNSIGNED_32 1000
C02625 Manual jog: Step size Linear value 21950 55BE E 1 INTEGER_32 10000
C02626 Manual jog: Index stop position Linear value 21949 55BD A 16 INTEGER_32 1
C02627 Manual jog: Selected stop position Linear value 21948 55BC A 16 INTEGER_32 10000
C02637 MAN_dnSpeedOverride_n Linear value 21938 55B2 E 1 INTEGER_32 100
C02638 Manual jog: Status Linear value 21937 55B1 E 1 INTEGER_32 1
C02639 Manual jog: Dig. signals Selection list 21936 55B0 A 9 UNSIGNED_32 1
C02640 Homing mode Selection list 21935 55AF E 1 UNSIGNED_32 1
C02641 Action after detect home position Selection list 21934 55AE E 1 UNSIGNED_32 1
C02642 Home position Linear value 21933 55AD E 1 INTEGER_32 10000
C02643 Homing: Target position Linear value 21932 55AC E 1 INTEGER_32 10000
C02644 Homing: Speed 1 Linear value 21931 55AB E 1 INTEGER_32 10000
C02645 Homing: Acceleration 1 Linear value 21930 55AA E 1 INTEGER_32 10000
C02646 Homing: Speed 2 Linear value 21929 55A9 E 1 INTEGER_32 10000
C02647 Homing: Acceleration 2 Linear value 21928 55A8 E 1 INTEGER_32 10000
C02648 Homing: S-ramp time Linear value 21927 55A7 E 1 INTEGER_32 1
C02649 Homing: Torque limit Linear value 21926 55A6 E 1 INTEGER_32 100
C02650 Homing: Blocking time Linear value 21925 55A5 E 1 UNSIGNED_32 1000
C02651 Homing: TP configuration Linear value 21924 55A4 E 1 UNSIGNED_32 1
________________________________________________________________

C02652 Ref. pos. after mains switching Selection list 21923 55A3 E 1 UNSIGNED_32 1
C02653 Max. rot. ang. aft. mns. swtch. Linear value 21922 55A2 E 1 INTEGER_32 1
C02655 HM_dnSpeedOverride_n Linear value 21920 55A0 E 1 INTEGER_32 100
C02656 Actual position (homing) Linear value 21919 559F E 1 INTEGER_32 10000
C02657 HM_dnState Linear value 21918 559E E 1 INTEGER_32 1
C02658 HM_dnHomePos_p Linear value 21917 559D E 1 INTEGER_32 10000
C02659 Homing: Dig. signals Selection list 21916 559C A 9 UNSIGNED_32 1
C02670 Tolerance for POS_bActPosInTarget Linear value 21905 5591 E 1 INTEGER_32 10000
C02671 Tolerance for POS_bDriveInTarget Linear value 21904 5590 E 1 INTEGER_32 10000
C02672 Hysteresis for POS_bDriveInTarget Linear value 21903 558F E 1 INTEGER_32 10000
C02673 Activate DriveInTarget Modulo Selection list 21902 558E E 1 UNSIGNED_32 1
C02674 POS_dwActualProfileNumber Linear value 21901 558D E 1 UNSIGNED_32 1
C02675 POS_dnState Linear value 21900 558C E 1 INTEGER_32 1
C02676 POS_dnProfileSpeed_s Linear value 21899 558B E 1 INTEGER_32 10000
C02677 Positioning: % signals Linear value 21898 558A A 3 INTEGER_32 100
C02678 Positioning: Pos. signals Linear value 21897 5589 A 4 INTEGER_32 10000
C02679 Positioning: Dig. signals Selection list 21896 5588 A 12 UNSIGNED_32 1
C02680 Source position setpoint Selection list 21895 5587 E 1 UNSIGNED_32 1
C02681 Source add. speed Selection list 21894 5586 E 1 UNSIGNED_32 1
C02685 PF_dnMotorAcc_x Linear value 21890 5582 E 1 INTEGER_32 10
C02686 PF_dnSpeedAdd1_s Linear value 21889 5581 E 1 INTEGER_32 10
C02687 Position follower: % signals Linear value 21888 5580 A 2 INTEGER_32 100
C02688 PF_dnPositionSet_p Linear value 21887 557F E 1 INTEGER_32 10000
C02689 Position follower: Dig. signals Selection list 21886 557E A 2 UNSIGNED_32 1
C02692 SF_dnMotorAcc_x Linear value 21883 557B E 1 INTEGER_32 10
C02693 SF_dnSpeedAdd_s Linear value 21882 557A E 1 INTEGER_32 10
C02694 Speed follower: % signals Linear value 21881 5579 A 2 INTEGER_32 100
C02695 Speed follower: Dig. signals Selection list 21880 5578 A 2 UNSIGNED_32 1
C02698 Torque follower: % signals Linear value 21877 5575 A 3 INTEGER_32 100
C02699 Torque follower: Dig. signals Selection list 21876 5574 A 2 UNSIGNED_32 1
C02700 Software limits pos. effective Selection list 21875 5573 E 1 UNSIGNED_32 1
C02701 Software limit positions Linear value 21874 5572 A 2 INTEGER_32 10000
C02702 Limitations effective Selection list 21873 5571 E 1 UNSIGNED_32 1
C02703 Max. speed Linear value 21872 5570 E 1 INTEGER_32 10000
C02704 Max. speed [rpm] Linear value 21871 556F E 1 INTEGER_32 10
C02705 Max. acceleration Linear value 21870 556E E 1 INTEGER_32 10000
C02706 Min. S-ramp time Linear value 21869 556D E 1 UNSIGNED_32 1
C02707 Permissible direction of rotation Selection list 21868 556C E 1 UNSIGNED_32 1
C02708 Limited speed Linear value 21867 556B A 4 INTEGER_32 10000
C02709 Limited speed [rpm] Linear value 21866 556 A A 4 INTEGER_32 10
C02710 Delay lim. speed Linear value 21865 5569 A 4 UNSIGNED_32 10000
C02711 S-ramp time lim. speed Linear value 21864 5568 A 4 UNSIGNED_32 1
C02712 Decel. time lim. speed Linear value 21863 5567 A 4 UNSIGNED_32 1
C02713 Max. manual jog distance Linear value 21862 5566 E 1 UNSIGNED_32 10000
C02714 Max. dist. manual jog [inc.] Linear value 21861 5565 E 1 UNSIGNED_32 1
C02715 Limitation active Selection list 21860 5564 E 1 UNSIGNED_32 1
C02716 Resp. to limitation Selection list 21859 5563 A 3 UNSIGNED_32 1
C02717 LIM_dwControl Linear value 21858 5562 E 1 UNSIGNED_32 1
C02718 LIM_dnState Linear value 21857 5561 E 1 INTEGER_32 1
C02719 Limiter: Dig. signals Selection list 21856 5560 A 3 UNSIGNED_32 1
________________________________________________________________

C02720 Software limit position monitoring Selection list 21855 555F E 1 UNSIGNED_32 1
C02730 Analog inputs: Gain Linear value 21845 5555 A 2 INTEGER_32 100
C02731 Analog inputs: Offset Linear value 21844 5554 A 2 INTEGER_32 100
C02732 Analog inputs: Dead band Linear value 21843 5553 A 2 INTEGER_32 100
C02733 Analog outputs: Gain Linear value 21842 5552 A 2 INTEGER_32 100
C02734 Analog outputs: Offset Linear value 21841 5551 A 2 INTEGER_32 100
C02760 Activate Encoder Selection list 21815 5537 E 1 UNSIGNED_32 1
C02761 Resolution Multiturn Linear value 21814 5536 E 1 UNSIGNED_32 1
C02762 Encoder position Linear value 21813 5535 E 1 INTEGER_32 1
C02763 Encoder revolution Linear value 21812 5534 E 1 INTEGER_32 1
C02764 Encoder speed Linear value 21811 5533 E 1 INTEGER_32 10
C02765 ENC_bError Selection list 21810 5532 E 1 UNSIGNED_32 1
C02770 Operating mode Selection list 21805 552D A 5 UNSIGNED_32 1
C02771 Frequency Linear value 21804 552C A 4 INTEGER_32 10
C02772 Start angle Linear value 21803 552B A 4 INTEGER_32 10
C02773 Current Linear value 21802 552A A 4 INTEGER_32 100
C02774 Acceleration time Linear value 21801 5529 A 4 INTEGER_32 1000
C02775 Deceleration time Linear value 21800 5528 A 4 INTEGER_32 1000
C02776 Duration time Linear value 21799 5527 A 4 INTEGER_32 1000
C02779 Mol_SetpointCurrent Linear value 21796 5524 E 1 UNSIGNED_32 100
C02780 Mol_dnState Linear value 21795 5523 E 1 INTEGER_32 1
C02781 ManualJogOpenLoop: Dig. signals Selection list 21794 5522 A 8 UNSIGNED_32 1
C02785 Activation of PPI Selection list 21790 551E E 1 UNSIGNED_32 1
C02786 Mode of PPI Selection list 21789 551D E 1 UNSIGNED_32 1
C02787 Ppi_dnState Linear value 21788 551C E 1 INTEGER_32 1
C02788 PolePosition Setpoint Linear value 21787 551B E 1 INTEGER_32 10
C02789 PolePositionIdentification: Dig. signals Selection list 21786 551A A 9 UNSIGNED_32 1
C02800 Analog input x: Input signal Linear value 21775 550F A 2 INTEGER_16 1
C02801 Analog output x: Output signal Linear value 21774 550E A 2 INTEGER_16 1
C02802 Status word: Digital outputs Bit coded 21773 550D E 1 BITFIELD_32 1
C02803 Status word: Digital inputs Bit coded 21772 550C E 1 BITFIELD_32 1
C02810 Touch probe x: Delay time Linear value 21765 5505 A 10 UNSIGNED_32 1
C02830 Digital inputs: Delay time Selection list 21745 54F1 A 8 UNSIGNED_8 1
C02853 Lss sat. characteristic Linear value 21722 54DA A 17 UNSIGNED_16 1 CINH
C02855 Imax Lss saturation characteristic Linear value 21720 54D8 E 1 UNSIGNED_32 10 CINH
C02859 Activate Lss saturation charact. Selection list 21716 54D4 E 1 UNSIGNED_8 1 CINH
C02860 Rr adjustment Linear value 21715 54D3 E 1 UNSIGNED_32 100
C02861 Lh adjustment Linear value 21714 54D2 E 1 UNSIGNED_32 100
C02862 Resolver: Gain Linear value 21713 54D1 A 2 UNSIGNED_16 1
C02863 Resolver: Angle correction Linear value 21712 54D0 E 1 INTEGER_16 1
C02865 Adaptation of Ur Linear value 21710 54CE E 1 UNSIGNED_32 100
C02867 Motor phase failure volt. threshold Linear value 21708 54CC E 1 INTEGER_32 10
C02871 Voltage reserve range Linear value 21704 54C8 E 1 UNSIGNED_32 1
C02900 User Password String 21675 54AB E 1 VISIBLE_STRING [22]
C02901 CamMemory Linear value 21674 54AA A 3 UNSIGNED_32 1
C02902 Time stamp of cam data Linear value 21673 54A9 A 4 UNSIGNED_32 1
C02903 GUID cam data 21672 54A8 A 4 OCTET_STRING [16]
C02905 Online change mode Selection list 21670 54A6 E 1 UNSIGNED_32 1
C02906 Online change status Selection list 21669 54A5 E 1 UNSIGNED_32 1
C02908 Number of products Linear value 21667 54A3 E 1 UNSIGNED_32 1
________________________________________________________________

C02909 Active Product Linear value 21666 54A2 E 1 UNSIGNED_32 1
C02910 Product Name String 21665 54A1 E 1 VISIBLE_STRING [16]
C02911 Product Choice Linear value 21664 54A0 E 1 UNSIGNED_32 1
C02912 Number of products Linear value 21663 549F E 1 UNSIGNED_32 1
C02919 Number of curve tracks Linear value 21656 5498 E 1 UNSIGNED_32 1
C02920 Cam Track Choice Linear value 21655 5497 E 1 UNSIGNED_32 1
C02921 Cam Track Type Selection list 21654 5496 E 1 UNSIGNED_32 1
C02922 Number of Cam Data Points Linear value 21653 5495 E 1 UNSIGNED_32 1
C02923 Cam Data Point Choice Linear value 21652 5494 E 1 UNSIGNED_32 1
C02924 Change Cam Data Point X Linear value 21651 5493 E 1 INTEGER_32 10000
C02925 Change Cam Data Point Y Linear value 21650 5492 E 1 INTEGER_32 10000
C02926 Change Cam Data Point M Linear value 21649 5491 E 1 INTEGER_32 100
C02927 Auto Inc Cam Data Points Selection list 21648 5490 E 1 UNSIGNED_32 1
C02939 Number of Cont Tracks Linear value 21636 5484 E 1 UNSIGNED_32 1
C02940 Cont Track Choice Linear value 21635 5483 E 1 UNSIGNED_32 1
C02941 Cont Type Selection list 21634 5482 E 1 UNSIGNED_32 1
C02942 Number of Cont Data Points Linear value 21633 5481 E 1 UNSIGNED_32 1
C02943 Cont Data Point Choice Linear value 21632 5480 E 1 UNSIGNED_32 1
C02944 Cont Pos X0 Linear value 21631 547F E 1 INTEGER_32 10000
C02945 Cont Pos X1 Linear value 21630 547E E 1 INTEGER_32 10000
C02946 Cont Time Linear value 21629 547D E 1 UNSIGNED_32 10000
C02959 Number of Position Tracks Linear value 21616 5470 E 1 UNSIGNED_32 1
C02960 Pos Track Choice Linear value 21615 546F E 1 UNSIGNED_32 1
C02962 Number of Pos Data Points Linear value 21613 546D E 1 UNSIGNED_32 1
C02963 Pos Data Point Choice Linear value 21612 546C E 1 UNSIGNED_32 1
C02964 Change Pos Data Point X Linear value 21611 546B E 1 INTEGER_32 10000
C02965 Change Pos Data Point Y Linear value 21610 546A E 1 INTEGER_32 10000
Index
________________________________________________________________
Symbols Application and device are incompatible (error message) 705

"CAN on board" system bus 332 Application has started (error message) 671
"Online" tab 585 Application is stopped (error message) 670, 671
Application notes 18
A Application selection (C00005) 758
Absolute value encoder Application unit 84
Communication error (error message) 685 Async. motor
Accel./decel. time - grinding (C02597) 888 Stall protection (C01198) 859
Acceleration has been limited (error message) 733 Asynchronous machine in the field weakening range 204
Acceleration reduction 420 Auto Inc Cam Data Points 597
Acceleration time (C02774) 915 Auto Inc Cam Data Points (C02927) 931
Acceleration time feedf. control (C02600) 889 Auto increment CAM grid points 597
Acceleration unit (C02538) 877 Autom. ENP data transfer (C00202) 781
Access protection 587 Autom. restart after mains ON (C00142) 772
Action after detect Home position (C02641) 897 Automatic restart 153
Activate DriveInTarget Modulo (C02673) 901 Automatic switching frequency reduction 155
Activate encoder (C02760) 913
Activate Lss sat. char. (C02859) 925 B
Activate resolver error compensation (C00418) 811 B. code
Active application (C00007) 758 Read non-vol. memory (C02112) 870
Active function state (C02530) 875 Band-stop filter 198
Active Product (C02909) 929 Basic drive functions 412
Active target ID (C02119) 870 Basic function "Limiter" 407
Actual position (enc. eval.) (C02575) 884 Basic functions 412
Actual position (homing) (C02656) 900 Behaviour due to change of parameter set (C00227) 785
Actual speed (enc. eval.) (C02574) 884 Block function in wrong MEC task (error message) 715
Actual speed [%] (C00693) 834 Brake chopper 309, 312
Ixt > C00570 (error message) 694
Actual speed [rpm] (C00051) 760
Brake chopper monitoring 312
Actual speed filter 197, 224
Brake chopper utilisation 312
Actual speed value outside the tolerance (C00576) (error
message) 684 Brake closing time (C02589) 887
Actual torque [%] (C00698) 835 Brake control 551
Actual value detection 197 Dig. signals (C02609) 891
Adaptation of Ur (C02865) 926 Brake control polarity (C02585) 886
Analog input 1 Brake module 555, 556, 557
Master current < 4 mA (error message) 697 Brake opening time (C02590) 887
Analog input x Brake resistance value (C00129) 770
Input signal (C02800) 918 Brake resistor 313
Analog inputs 316 I²xt overload (error message) 686
Dead band (C02732) 912 I2t > C00572 (error message) 694
Gain (C02730) 911 Brake resistor monitoring 313
Offset (C02731) 912 Brake resistor utilisation 313
Analog output x Brake resistor utilisation (C00138) 771
Output signal (C02801) 919 Brake resp. to pulse inhibit (C02582) 886
Analog outputs 319 Brake test - time (C02605) 890
Gain (C02733) 912 Brake transistor 309
Offset (C02734) 912 Ixt overload (error message) 686
ANALOG_IO 315 Overcurrent (error message) 687
Angular drift monitoring (encoder) 307 Brake transistor utilisation (C00137) 771
Application Braking operation 309
Compiler date (C00213) 783 Breakpoint reached (error message) 670
ID number (C00218) 784 BRK_Brake 552
Type code (C00212) 783 BRK_dnState (C02607) 890
Version (C00211) 783
BRK_dnTorqueAdd_n (C02608) 890
Index
________________________________________________________________
C C1230 864
C100 767 C126 769
C105 767 C127 769
C106 767 C128 770
C107 768 C129 770
C11 759 C130 770
C1120 854 C131 770
C1121 855 C132 770
C1122 855 C133 771
C1123 855 C134 771
C1124 856 C137 771
C1125 856 C138 771
C1126 856 C142 772
C1127 857 C150 772
C1128 857 C1501 864
C1129 857 C1502 865
C1130 857 C1510 865
C114 768 C1511 865
C118 768 C155 773
C1190 857 C156 773
C1191 858 C158 774
C1192 858 C159 775
C1193 858 C162 775
C1194 858 C166 775
C1195 859 C167 776
C1196 859 C168 776
C1197 859 C169 776
C1198 859 C1700 866
C1199 860 C1701 866
C120 768 C1702 866
C1200 860 C1703 866
C1201 860 C1704 867
C1203 861 C1705 868
C1204 861 C171 776
C1205 861 C173 777
C1206 861 C174 778
C1208 861 C175 778
C1209 861 C176 778
C121 769 C177 778
C1210 862 C178 778
C1211 862 C179 778
C1212 862 C18 759
C1213 862 C180 778
C1214 862 C181 779
C1215 863 C182 779
C1217 863 C183 779
C1218 863 C185 779
C122 769 C186 780
C1220 863 C187 780
C1221 863 C188 780
C1222 864 C19 759
C1223 864 C1902 868
C123 769 C1903 868
Index
________________________________________________________________
C1905 868 C2532 876

C198 780 C2533 876
C199 780 C2534 876
C2 745 C2535 876
C200 780 C2536 876
C201 780 C2537 876
C202 781 C2538 877
C203 781 C2539 877
C204 781 C254 785
C205 782 C2540 877
C206 782 C2541 877
C208 782 C2542 877
C209 783 C2543 877
C210 783 C2544 878
C2104 869 C2545 878
C2105 869 C2547 878
C2108 869 C2548 878
C2109 869 C2549 879
C211 783 C2550 879
C2110 869 C2552 879
C2112 870 C2553 880
C2113 870 C2554 880
C2119 870 C2555 880
C212 783 C2556 880
C2121 870 C2557 880
C2122 870 C2558 881
C2123 871 C2559 881
C2124 871 C2560 881
C2125 871 C2561 881
C2126 871 C2562 881
C2127 872 C2564 882
C2128 872 C2567 882
C2129 872 C2568 882
C213 783 C2569 883
C214 784 C2570 883
C217 784 C2571 883
C218 784 C2572 884
C219 784 C2573 884
C22 759 C2574 884
C225 784 C2575 884
C227 785 C2576 884
C2520 872 C2577 885
C2521 873 C2578 885
C2522 873 C2579 885
C2523 873 C2580 885
C2524 873 C2581 886
C2525 873 C2582 886
C2526 874 C2583 886
C2527 874 C2585 886
C2528 874 C2586 886
C2529 874 C2587 887
C2530 875 C2588 887
C2531 875 C2589 887
Index
________________________________________________________________
C2590 887 C2659 900

C2591 887 C2670 901
C2593 888 C2671 901
C2594 888 C2672 901
C2595 888 C2673 901
C2596 888 C2674 902
C2597 888 C2675 902
C2598 889 C2676 902
C2599 889 C2677 902
C2600 889 C2678 903
C2601 889 C2679 903
C2602 889 C2680 903
C2603 890 C2681 904
C2604 890 C2685 904
C2605 890 C2686 904
C2607 890 C2687 904
C2608 890 C2688 904
C2609 891 C2689 905
C2610 891 C2692 905
C2611 891 C2693 905
C2612 891 C2694 905
C2616 892 C2695 906
C2617 892 C2698 906
C2619 892 C2699 906
C2620 892 C270 785
C2621 893 C2700 906
C2622 893 C2701 907
C2623 893 C2702 907
C2624 893 C2703 907
C2625 893 C2704 907
C2626 894 C2705 907
C2627 894 C2706 908
C2637 894 C2707 908
C2638 895 C2708 908
C2639 895 C2709 908
C2640 895 C271 785
C2641 897 C2710 909
C2642 897 C2711 909
C2643 897 C2712 909
C2644 897 C2713 909
C2645 898 C2714 910
C2646 898 C2715 910
C2647 898 C2716 910
C2648 898 C2717 910
C2649 898 C2718 911
C2650 899 C2719 911
C2651 899 C272 786
C2652 899 C2720 911
C2653 899 C273 786
C2655 899 C2730 911
C2656 900 C2731 912
C2657 900 C2732 912
C2658 900 C2733 912
Index
________________________________________________________________
C2734 912 C2870 927

C274 786 C2871 927
C275 786 C2900 927
C276 787 C2901 927
C2760 913 C2902 928
C2761 913 C2903 928
C2762 913 C2905 928
C2763 913 C2906 929
C2764 913 C2908 929
C2765 914 C2909 929
C2770 914 C2910 929
C2771 914 C2911 929
C2772 915 C2912 930
C2773 915 C2919 930
C2774 915 C2920 930
C2775 916 C2921 930
C2776 916 C2922 930
C2779 916 C2923 931
C2780 916 C2924 931
C2781 917 C2925 931
C2785 917 C2926 931
C2786 917 C2927 931
C2787 917 C2939 932
C2788 918 C2940 932
C2789 918 C2941 932
C280 787 C2942 932
C2800 918 C2943 932
C2801 919 C2944 933
C2802 920 C2945 933
C2803 921 C2946 933
C281 787 C2959 933
C2810 922 C2960 933
C2830 923 C2962 934
C2850 923 C2963 934
C2851 923 C2964 934
C2852 923 C2965 934
C2853 924 C2996 934
C2854 924 C2997 934
C2855 924 C2998 935
C2856 924 C2999 935
C2857 925 C3 749
C2858 925 C308 787
C2859 925 C309 788
C2860 925 C310 788
C2861 925 C311 788
C2862 925 C312 789
C2863 926 C313 789
C2864 926 C314 790
C2865 926 C320 790
C2866 926 C321 791
C2867 926 C322 791
C2868 926 C323 792
C2869 926 C324 792
Index
________________________________________________________________
C325 792 C399 809

C326 792 C4 758
C327 792 C412 809
C328 793 C413 810
C329 793 C414 810
C330 793 C415 810
C335 793 C416 810
C336 793 C417 810
C337 793 C418 811
C338 793 C420 811
C34 759 C421 811
C343 793 C422 811
C344 794 C423 811
C345 794 C424 812
C346 794 C427 812
C347 795 C435 812
C348 795 C436 813
C349 795 C437 813
C350 796 C443 814
C351 796 C444 814
C352 796 C464 815
C356 797 C465 815
C357 797 C466 815
C359 797 C467 815
C360 798 C468 815
C361 798 C469 816
C367 799 C490 816
C368 799 C494 816
C369 799 C495 816
C372 800 C497 817
C373 801 C5 758
C374 802 C50 760
C375 802 C51 760
C376 803 C512 817
C377 803 C513 817
C378 803 C514 817
C379 804 C515 817
C381 804 C516 817
C382 804 C52 760
C383 804 C53 760
C385 805 C54 760
C386 805 C55 761
C387 806 C56 761
C388 806 C569 818
C390 806 C57 761
C391 807 C570 818
C392 808 C571 818
C393 808 C572 818
C394 808 C573 819
C395 808 C574 819
C396 809 C576 819
C397 809 C577 819
C398 809 C578 820
Index
________________________________________________________________
C579 820 C648 833

C58 761 C649 833
C580 820 C65 763
C581 821 C650 834
C582 821 C651 834
C583 821 C66 763
C584 821 C68 763
C585 822 C69 763
C586 822 C691 834
C587 822 C692 834
C588 823 C693 834
C589 823 C694 834
C59 762 C695 835
C591 823 C696 835
C594 824 C697 835
C595 824 C698 835
C596 824 C7 758
C597 825 C70 763
C598 825 C71 763
C599 825 C72 764
C6 758 C730 835
C60 762 C731 835
C600 825 C732 835
C601 826 C733 836
C604 826 C734 836
C606 826 C735 836
C607 827 C736 836
C61 762 C737 836
C610 827 C738 836
C611 827 C739 836
C612 828 C74 764
C613 828 C75 764
C614 829 C76 764
C615 829 C77 764
C618 829 C770 836
C619 830 C771 837
C62 762 C772 837
C620 830 C773 837
C621 830 C774 837
C625 830 C775 837
C63 762 C776 838
C635 831 C777 838
C636 831 C778 838
C637 831 C779 838
C64 762 C78 764
C640 831 C780 838
C641 832 C781 839
C642 832 C782 839
C643 832 C783 839
C644 832 C784 839
C645 833 C786 839
C646 833 C787 840
C647 833 C788 840
Index
________________________________________________________________
C789 840 C964 849

C79 765 C965 849
C790 840 C966 849
C791 840 C967 849
C792 841 C968 849
C8 758 C969 850
C80 765 C970 850
C800 841 C971 850
C802 841 C972 850
C803 841 C973 850
C804 841 C974 851
C805 842 C975 851
C806 842 C976 851
C807 842 C977 851
C808 842 C980 851
C809 842 C985 852
C81 765 C986 852
C810 843 C987 852
C811 843 C988 852
C812 843 C989 852
C813 843 C99 767
C814 843 C990 853
C815 844 C991 853
C816 844 C992 853
C817 844 C993 853
C818 844 C994 853
C82 765 C995 854
C83 765 C998 854
C84 765 Cam data
C85 766 Invalid product number (error message) 737
C854 844 Invalidated due to change of mechanical data (error
C87 766 message) 736
Serial number MM does not match (error message) 735
C878 845
Cam data are corrupted (error message) 735
C88 766
Cam data locked due to incorrect password (error message)
C89 766
736
C90 766
Cam data locked due to incorrect safety key (error message)
C909 845 736
C91 766 Cam data management 584
C92 767 Cam Data Point Choice (C02923) 931
C93 767 Cam data restored (error message) 735
C950 845 Cam Track Choice (C02920) 930
C951 845 Cam Track Type (C02921) 930
C952 846 CAM_CamInterface 590
C953 846 CamMemory (C02901) 927
C954 847 CAN baud rate (C00351) 796
C955 847 CAN baud rate setting 337
C957 847 CAN behaviour in case of fault (C00625) 830
C958 847 CAN bus load (C00361) 798
C959 848 CAN delay boot-up - Operational (C00378) 803
C960 848 CAN emergency delay time (C00392) 808
C961 848 CAN Emergency Object (C00391) 807
C962 848 CAN error (C00345) 794
C963 848 CAN Error Register (DS301V402) (C00390) 806
Index
________________________________________________________________
CAN Guard Time (C00382) 804 CAN module (MXI2) RPDO4

CAN heartbeat activity (C00346) 794 Telegram not received or faulty (error message) 728
CAN Heartbeat Consumer Time (C00385) 805 CAN module (MXI2) RPDO5
CAN Heartbeat producer time (C00381) 804 Telegram not received or faulty (error message) 728
CAN heartbeat status (C00347) 795 CAN module (MXI2) RPDO6
CAN Life Time Factor (C00383) 804 Telegram not received or faulty (error message) 729
CAN module (MXI1) CAN module (MXI2) RPDO7
Basic configuration invalid (error message) 718 Telegram not received or faulty (error message) 729
Bus off (error message) 717 CAN module (MXI2) RPDO8
Faulty emergency configuration (error message) 719 Telegram not received or faulty (error message) 729
Faulty NMT master configuration (error message) 720 CAN module (MXI2) SDO client
Faulty NMT slave configuration (error message) 719 Faulty configuration (error message) 730
Heartbeat error index 1 ... 32 (error message) 718 CAN module (MXI2) SDO server
Invalid node address 0 (error message) 717 Faulty configuration (error message) 730
Lifeguarding error (error message) 718 CAN node address (C00350) 796
Node guarding error 1 ... 32 (error message) 719 CAN Node Guarding (C00386) 805
CAN module (MXI1) PDO manager CAN Node Guarding Activity (C00387) 806
Faulty configuration (error message) 722 CAN node guarding status (C00388) 806
CAN module (MXI1) RPDO1 CAN on board 332
Telegram not received or faulty (error message) 720 Basic configuration invalid (error message) 698
CAN module (MXI1) RPDO2 Bus off (error message) 698
Telegram not received or faulty (error message) 720 Faulty emergency configuration (error message) 700
CAN module (MXI1) RPDO3 Faulty NMT master configuration (error message) 700
Telegram not received or faulty (error message) 721 Faulty NMT slave configuration (error message) 699
CAN module (MXI1) RPDO4 Heartbeat error index 1 ... 32 (error message) 699
Telegram not received or faulty (error message) 721 Invalid node address 0 (error message) 698
CAN module (MXI1) RPDO5 Lifeguarding guarding error (error message) 699
Telegram not received or faulty (error message) 721 Node guarding error 1 ... 32 (error message) 700
CAN module (MXI1) RPDO6 CAN on board PDO manager
Telegram not received or faulty (error message) 721 Faulty configuration (error message) 702
CAN module (MXI1) RPDO7 CAN on board RPDO1
Telegram not received or faulty (error message) 722 Telegram not received or faulty (error message) 701
CAN module (MXI1) RPDO8 CAN on board RPDO2
Telegram not received or faulty (error message) 722 Telegram not received or faulty (error message) 701
CAN module (MXI1) SDO client CAN on board RPDO3
Faulty configuration (error message) 723 Telegram not received or faulty (error message) 701
CAN module (MXI1) SDO server CAN on board RPDO4
Faulty configuration (error message) 722 Telegram not received or faulty (error message) 701
CAN module (MXI2) CAN on board SDO client
Basic configuration invalid (error message) 725 Faulty configuration (error message) 702
Bus off (error message) 724 CAN on board SDO server
Faulty emergency configuration (error message) 726 Faulty configuration (error message) 702
Faulty NMT master configuration (error message) 727 CAN predefined error field (DS301V402) (C00394) 808
Faulty NMT slave configuration (error message) 726 CAN result - bus scan (C00393) 808
Heartbeat error index 1 ... 32 (error message) 725 CAN RPDO counter (C00344) 794
Invalid node address 0 (error message) 725 CAN RPDOx identifier (C00321) 791
Lifeguarding error (error message) 726
CAN RPDOx monitoring time (C00357) 797
Node guarding error 1 ... 32 (error message) 727
CAN RPDOx Rx mode (C00323) 792
CAN module (MXI2) PDO manager
CAN SDO client node address (C00374) 802
Faulty configuration (error message) 729
CAN SDO client Rx identifier (C00375) 802
CAN module (MXI2) RPDO1
CAN SDO client Tx identifier (C00376) 803
Telegram not received or faulty (error message) 727
CAN SDO server node address (C00377) 803
CAN module (MXI2) RPDO2
Telegram not received or faulty (error message) 728 CAN SDO server Rx identifier (C00372) 800
CAN module (MXI2) RPDO3 CAN SDO server Tx identifier (C00373) 801
Telegram not received or faulty (error message) 728 CAN setting - DIP switch (C00349) 795
Index
________________________________________________________________
CAN slave/master (C00352) 796 Cont Pos X0 (C02944) 933

CAN status (C00359) 797 Cont Pos X1 (C02945) 933
CAN status DIP switch (C00348) 795 Cont Time (C02946) 933
CAN SYNC application cycle (C01130) 857 Cont Track Choice (C02940) 932
CAN SYNC Rx identifier (C00367) 799 Cont Type (C02941) 932
CAN sync transmission cycle time (C00369) 799 Control card
CAN SYNC Tx identifier (C00368) 799 Supply voltage (24 V DC) too low (error message) 673
CAN telegram and error counter (C00360) 798 Control card is defect (error message) 656, 658
CAN TPDO counter (C00343) 793 Control card is defect (UB18 neg.) (error message) 679
CAN TPDO1 mask byte x (C00311) 788 Control card is defect (UB24) (error message) 679
CAN TPDO2 mask byte x (C00312) 789 Control card is defect (UB8) (error message) 679
CAN TPDO3 mask byte x (C00313) 789 Control card is defect (VCC15 neg.) (error message) 679
CAN TPDO4 mask byte x (C00314) 790 Control card is defect (VCC15) (error message) 679
CAN TPDOx cycle time (C00356) 797 Control card is defect (VCC5) (error message) 680
CAN TPDOx delay time (C00324) 792 Control card is incompatible (error message) 659
CAN TPDOx identifier (C00320) 790 Control mode (C02567) 882
CAN TPDOx Tx mode (C00322) 791 Control of two motor brakes 583
CAN/EPL device type (C219) 784 Controlled operation (without feedback) 446
Capacitor temperature (C00068) 763 Controller
Change Cam Data Point M (C02926) 931 Clamp operation (error message) 695
Change Cam Data Point X (C02924) 931 Overload during acceleration phases (error message) 691
Change Cam Data Point Y (C02925) 931 Pulse inhibit is active (error message) 674
Change of the basic function 420 Controller enabled (error message) 674
Change Pos Data Point X (C02964) 934 Controller in STO state (error message) 674
Change Pos Data Point Y (C02965) 934 Controller inhibit by (source) (C00158) 774
Changing cam data via parameterisation 596 Correction of the leakage inductance 249
Check configuration (C225) 784 Counter
Brake chopper overload (C01203) 861
Clock 862, 863
DC bus overvoltage (C01205) 861
COB-ID 339
Heatsink overtemp. (C01208) 861
COB-ID EMCY (I-1014) 387
Housing overtemp. (C01209) 861
COB-ID SYNC message (I-1005) 383 Internal (C01210) 862
Code number duplicated (error message) 710 Ixt overload (C01204) 861
Code refresh (error message) 664 Mains switching (C01206) 861
Combination memory module/device not possible (error Power section overload (C01212) 862
message) 662 CPU
Combination MXI1/MXI2 not possible (error message) 661 Overtemperature (error message) 676
Combination of module in MXI1/device not possible (error Temperature > C00126 (error message) 675
message) 663 Thermal detector is defect (error message) 677
Combination of module in MXI2/device not possible (error CPU temp. warning threshold (C00126) 769
message) 663 CPU temperature (C00069) 763
Communication cycle period (I-1006) 384 Curr. control par. of C75 C76 (C2866) 926
Communication error between device and device module (error Current (C02773) 915
message) 697
Current contr. reset time (C00076) 764
Communication task
Current controller gain (C00075) 764
Standstill > 3 s (error message) 714
Current setpoint filter 198
Communication with module in MXI1 interrupted (error
message) 697 Cycle (C02536) 876
Communication with module in MXI2 interrupted (error Cyclic task
message) 698 Standstill > 60 s (error message) 714
Communication with safety module interrupted (error
message) 715
Config. analog input 1 (C00034) 759
ConnectTable active (error message) 708
Consumer heartbeat time (I-1016) 388
Cont Data Point Choice (C02943) 932
Index
________________________________________________________________
D Diagnostics X6
D component position controller (C02555) 880 Change baud rate (C01903) 868
Curr. baud rate (C01905) 868
Data type 739
Max. baud rate (C01902) 868
Date 862, 863
Dig. input x
DC brake
Terminal polarity (C00114) 768
Activat. by quick stop (C00976) 851
Dig. output x
Current (C00974) 851
Terminal polarity (C00118) 768
Current for quick stop (C00975) 851
Digital inputs 321
DC bus overvoltage (error message) 683
Delay time (C02830) 923
DC bus undervoltage (error message) 683
Digital outputs 323
DC-bus capacitor
DIGITAL_IO 315
Thermal detector is defect (error message) 677
DIP switches of the memory module 336
DC-bus voltage (C00053) 760
direct control 555
DC-injection braking 260, 432
Disconnection in the case of par. storage (error message) 711
Decel. time - quick stop (C00105) 767
Distribution cam data memory 586
Decel. time lim. speed (C02712) 909
Division by zero (error message) 670
Deceleration has been limited (error message) 733
Document history 16
Deceleration time (C02775) 916
Double motor 273, 583
Deceleration time for stop (C02610) 891
Drive interface 79
Delay lim. speed (C02710) 909
Signals (C02549) 879
Delay time for fan start (C01201) 860
Drive-based safety 406
Depth of current setpoint filter (C00272) 786
DRIVE-ERROR LED 147, 631
Device command status (C00003) 749
DRIVE-READY LED 147, 631
Device command transferred incorrectly (error message) 680
Dual motor temperature (C01200) 860
Device commands (C00002) 745
Dynamic of resolver evaluation (C00417) 810
Device commands, commands
Dynamics of the actual value detection 197
See device commands, C2 (device command), C3 (device
command status) 92
Device name (C00199) 780
E
Device state (C00183) 779 Earth fault detected (error message) 684
Device states 146 Elapsed-hour meter (C00178) 778
Device type (I-1000) 381 Electronic cam 584
Device utilisation (Ixt) (C00064) 762 Electronic nameplate
Checksum error (error message) 662
Device utilisation Ixt > 100 % (error message) 678
Communication error (error message) 662
Device utilisation Ixt > C00123 (error message) 678
Data are incompatible (error message) 680
DFIN (MXI1)
Data loaded (error message) 690
Signal error enable/lamp control (error message) 716
Data outside the parameter limits (error message) 692
Supply cannot be corrected anymore (error message) 717
Encoder protocol unknown (error message) 690
Track error A-/A (error message) 716
Encoder signal unknown (error message) 690
Track error B-/B (error message) 716
Not found (error message) 690
Track error Z-/Z (error message) 716
Electronic nameplate status (C2858) 925
DFIN (MXI2)
E-mail to Lenze 975
Signal error enable/lamp control (error message) 724
Emergency telegram 378
Supply cannot be corrected anymore (error message) 724
Track error A-/A (error message) 723 EN 60204-1 406
Track error B-/B (error message) 723 EN 954 406
Track error Z-/Z (error message) 723 ENC_bError (C02765) 914
DFOUT (MXI1) ENC_EncoderX8 303
Maximum frequency reached (error message) 717 Encoder
DFOUT (MXI2) Open circuit (error message) 686
Maximum frequency reached (error message) 724 Encoder - angular drift monitoring 307
DI_bErrors (C02548) 878 Encoder evaluation 281
DI_dnState (C02547) 878 Dig. signals (C02579) 885
DI_DriveInterface 158 Encoder monitoring
Pulse deviation detected (error message) 693
Index
________________________________________________________________
Encoder position (C02762) 913 0x0068000f 659

Encoder revolution (C02763) 913 0x00680010 659
Encoder signal X8 303 0x00680011 660
Encoder type (C00422) 811 0x00680012 660
Encoder voltage (C00421) 811 0x00680013 660
0x00680014 660
Encoderspeed (C02764) 913
0x00680015 660
EnDat encoder
0x00680016 661
Battery empty (error message) 689
0x00680017 661
Command error (error message) 696
0x00680018 661
Lamp error (error message) 688
0x00680019 661
Overcurrent (error message) 689
0x0068001a 661
Overvoltage (error message) 688
0x0068001b 662
Position error (error message) 688
0x0068001c 662
Position initialisation error (error message) 696
0x0068001d 662
Signal error (error message) 688
0x0068001e 662
Transmission error (error message) 695
0x0068001f 662
Undervoltage (error message) 689
0x00680020 663
Energy
0x00680021 663
Comp. to be switched off (C01704) 867
0x00680022 663
Mode inform. (C01700) 866
0x00680023 663
Power input (C01705) 868
0x00680024 664
toff (C01702) 866
0x00690000 664
toff min (C01701) 866
0x00690001 664
ton (C01703) 866
0x00690002 664
Enhanced Power (C01199) 860 0x00690003 665
ENP 0x00690004 665
Identified motor type (C00186) 780 0x00690005 665
Identified serial number (C00187) 780 0x00690006 665
Status (C00188) 780 0x00690007 665
Error behaviour (I-1029) 389 0x00690008 666
Error description (C00166) 775 0x00690009 666
Error during initialisation (error message) 715 0x0069000a 666
Error message "Unknown error" 647, 655 0x0069000b 666
Error messages 642 0x0069000c 666
Error messages (short overview) 647 0x0069000d 667
0x006a0000 667
Error messages (system bus) 359
0x006a0001 667
Error number 642
0x006a0002 667
0x00650000 655
0x006a0003 668
0x00650001 655
0x006a0004 668
0x00650002 655
0x006a0005 668
0x00650003 656
0x006a0006 668
0x00680000 656
0x006a0007 668
0x00680001 656
0x006a0008 669
0x00680002 656
0x006a0009 669
0x00680003 657
0x006a000a 669
0x00680004 657
0x006a000b 669
0x00680005 657
0x006a000c 669
0x00680006 657
0x006a000d 670
0x00680007 658
0x006a000e 670
0x00680008 658
0x006a000f 670
0x00680009 658
0x006a0010 670
0x0068000a 658
0x006a0011 670
0x0068000b 658
0x006a0012 671
0x0068000c 659
0x006a0013 671
0x0068000d 659
0x006a0014 671
0x0068000e 659
0x006a0015 671
Index
________________________________________________________________
0x006a0016 672 0x007b0018 685

0x006a0017 672 0x007b0019 685
0x006a001a 672 0x007b001a 685
0x006a001b 673 0x007b001b 686
0x006f0000 673 0x007b001c 686
0x00720000 673 0x007b001d 686
0x00750000 673 0x007b001e 686
0x00750001 674 0x007b001f 687
0x00750003 674 0x007b0020 687
0x00750005 674 0x007b0021 687
0x00750006 674 0x007b0023 687
0x00770000 674 0x007b0024 687
0x00770001 675 0x007b0025 688
0x00770002 675 0x007b0026 688
0x00770003 675 0x007b0027 688
0x00770008 675 0x007b0028 688
0x00770009 676 0x007b0029 688
0x0077000a 676 0x007b002a 689
0x0077000b 676 0x007b002b 689
0x0077000c 676 0x007b002c 689
0x0077000d 677 0x007b002d 689
0x0077000e 677 0x007b002e 689
0x0077000f 677 0x007b002f 690
0x00770010 677 0x007b0030 690
0x00770011 678 0x007b0031 690
0x00780000 678 0x007b0032 690
0x00780001 678 0x007b0033 690
0x00780002 678 0x007b0034 691
0x00780003 678 0x007b0035 691
0x00780004 679 0x007b0036 691
0x00780005 679 0x007b0037 691
0x00780006 679 0x007b0038 691
0x00780007 679 0x007b0039 692
0x00780008 679 0x007b003a 692
0x00780009 680 0x007b003b 692
0x0078000a 680 0x007b003c 693
0x00790000 680 0x007b003d 693
0x00790001 680 0x007b003e 693
0x00790002 680 0x007b003f 694
0x007b0001 681 0x007b0040 694
0x007b0002 681 0x007b0041 694
0x007b0003 681 0x007b0042 694
0x007b0004 681 0x007b0047 695
0x007b0006 681 0x007b004a 695
0x007b0007 682 0x007b004c 695
0x007b0009 682 0x007b004e 695
0x007b000a 682 0x007b004f 696
0x007b000b 682 0x007b0050 696
0x007b000c 682 0x007c0000 696
0x007b000d 683 0x007c0001 696
0x007b000e 683 0x007d0000 697
0x007b000f 683 0x007d0001 697
0x007b0010 683 0x007f0002 697
0x007b0011 684 0x007f0003 697
0x007b0012 684 0x007f0004 698
0x007b0013 684 0x00830000 698
0x007b0014 684 0x00830001 698
0x007b0017 684 0x00830002 698
Index
________________________________________________________________
0x00840000 699 0x00910004 712

0x00840020 699 0x00910005 712
0x00840021 699 0x00910006 713
0x00850000 700 0x00910008 713
0x00860000 700 0x00910009 713
0x00860020 700 0x0091000a 713
0x00870000 701 0x0091000b 713
0x00870001 701 0x0091000c 714
0x00870002 701 0x0091000d 714
0x00870003 701 0x0091000e 714
0x00870008 702 0x0091000f 714
0x00880000 702 0x00910010 715
0x00890000 702 0x00910011 715
0x008c0000 702 0x00910012 715
0x008c0001 703 0x00920000 715
0x008c0002 703 0x00920001 715
0x008c0003 703 0x00990000 716
0x008c0004 703 0x00990001 716
0x008c0005 703 0x00990002 716
0x008c0006 704 0x00990003 716
0x008c0007 704 0x00990004 717
0x008c0008 704 0x00990005 717
0x008c0009 704 0x009d0000 717
0x008c000a 704 0x009d0001 717
0x008c000b 705 0x009d0002 718
0x008c000c 705 0x009e0000 718
0x008c000d 705 0x009e0020 718
0x008c000e 705 0x009e0021 719
0x008c000f 706 0x009f0000 719
0x008c0010 706 0x00a00000 719
0x008c0011 706 0x00a00020 720
0x008c0012 706 0x00a10000 720
0x008c0013 706 0x00a10001 720
0x008c0014 707 0x00a10002 721
0x008c0015 707 0x00a10003 721
0x008c0016 707 0x00a10004 721
0x008c0017 707 0x00a10005 721
0x008c0018 707 0x00a10006 722
0x008c001a 708 0x00a10007 722
0x008c001d 708 0x00a10008 722
0x008c001e 708 0x00a20000 722
0x00900000 708 0x00a30000 723
0x00900001 709 0x00aa0000 723
0x00900002 709 0x00aa0001 723
0x00900003 709 0x00aa0002 723
0x00900004 709 0x00aa0003 724
0x00900005 709 0x00aa0004 724
0x00900006 710 0x00aa0005 724
0x00900007 710 0x00ac0000 724
0x00900008 710 0x00ac0001 725
0x00900009 710 0x00ac0002 725
0x0090000a 711 0x00ad0000 725
0x0090000b 711 0x00ad0020 726
0x0090000c 711 0x00ad0021 726
0x00910000 711 0x00ae0000 726
0x00910001 712 0x00af0000 727
0x00910002 712 0x00af0020 727
0x00910003 712 0x00b00000 727
Index
________________________________________________________________
0x00b00001 728 FDB_Feedback 282

0x00b00002 728 Feed constant (C02524) 873
0x00b00003 728 Feedback 83
0x00b00004 728 Feedback to Lenze 975
0x00b00005 729 Feedforward control of torque 202
0x00b00006 729
Feedfwd. ctrl. - current contr. (C00074) 764
0x00b00007 729
Field contr. reset time (C00078) 764
0x00b00008 729
Field controller gain (C00077) 764
0x00b10000 730
0x00b20000 730 Field weak. contr. reset time (C00578) 820
0x00b80000 730 Field weakening controller gain (C00577) 819
0x00b80001 730 Field weakening for SM (C00093) 767
0x00b80002 731 Field weakening for synchronous machines 254
0x00b80003 731 File DeviceCFG.dat defect (error message) 703
0x00b80004 731 File DeviceCFG.dat invalid (error message) 704
0x00b80005 732 File DeviceCFG.dat is missing (error message) 703
0x00b80007 732 File ProjectList.dat defect (error message) 703
0x00b80008 732
File ProjectList.dat invalid (error message) 704
0x00b80009 732
File ProjectList.dat is missing (error message) 703
0x00b8000a 733
File ProjectSelection.dat defect (error message) 702
0x00b8000b 733
0x00b8000c 733 File ProjectSelection.dat invalid (error message) 704
0x00b8000d 733 File ProjectSelection.dat is missing (error message) 703
0x00b8000e 734 Filter for PWM adjustment (C00281) 787
0x00b8000f 734 Filter time const. DC detection (C00280) 787
0x00b80010 734 Filter time constant (C02562) 881
0x00b80011 734 Filtered torque setpoint (C00697) 835
0x00b80012 735 Firmware - compiling date (C00201) 780
0x00b80013 735 Firmware has been changed (error message) 661
0x00b80014 735 Firmware is incompatible with control card (error message)
0x00b80015 735 662
0x00b80016 736 Firmware product type (C00200) 780
0x00b80017 736
Firmware version (C00099) 767
0x00b80019 736
Flying restart
0x00b80034 736
Activation (C00990) 853
0x00b80035 737
Current (C00991) 853
Error number (C00168) 776
Delay time (C00995) 854
Error register (I-1001) 381 Integration time (C00993) 853
Ethernet IP address client x (C01510) 865 Min. deviation (C00994) 853
Ethernet status client x (C01511) 865 Start frequency (C00992) 853
Exporting logbook entries 638 Flying restart function 257
Ext. 24-V voltage (C00065) 763 Following error (C02576) 884
External actual position (C02577) 885 Freq. - current setpoint filter (C00270) 785
External error (error message) 673 Frequency (C02771) 914
F G
Failure of a mains phase (error message) 694 GDO channel 1/trigger 1 (C731) 835
Failure of motor phase U (error message) 689 GDO channel 2/trigger 2 (C732) 835
Failure of motor phase V (error message) 689 GDO channel 3 (C733) 836
Failure of motor phase W (error message) 690 GDO channel 4 (C734) 836
Fan control status (C00587) 822 GDO channel 5 (C735) 836
Fault during the update of inputs and outputs (error message) GDO channel 6 (C736) 836
667 GDO channel 7 (C737) 836
Fault in the control configuration (error message) 672 GDO channel 8 (C738) 836
Faulty application parameter (error message) 670 GDO general parameters (C730) 835
Faulty program download (error message) 667 GDO status information (C739) 836
Index
________________________________________________________________
Gearbox fac. denom. Homing mode (C02640) 895

Pos. enc. (C02523) 873 Homing mode not allowed (error message) 736
Gearbox factor denom. HW countries of origin (C00209) 783
Motor (C02521) 873 HW descriptions (C00205) 782
Gearbox factor num. HW manufacturer (C00208) 782
Pos. enc. (C02522) 873 HW manufacturing data (C00206) 782
Gearbox factor numerator HW product types (C00203) 781
Motor (C02520) 872 HW serial numbers (C00204) 781
Gearbox factors (decimal) (C02531) 875 HW versions (C00210) 783
General error in the application (error message) 667 Hysteresis for POS_bDriveInTarget (C02672) 901
Grinding OFF time (C02599) 889
Grinding ON time (C02598) 889 I
Grinding speed (C02596) 888 I-1000 381
Guard time 370 I-1001 381
Guard time (I-100C) 384 I-1003 382
GUID (C02903) 928 I-1005 383
I-1006 384
H I-100C 384
Hardware limit positions 545 I-100D 384
Heartbeat not periodic (error message) 712 I-1010 385
Heartbeat protocol 374 I-1011 386
Heatsink I-1014 387
Fan is defect (error message) 677
I-1015 387
Overtemperature (error message) 675
I-1016 388
Temperature > C00122 (error message) 674
I-1017 388
I-1018 389
Heatsink temp. warn. threshold (C00122) 769
I-1029 389
Heatsink temperature (C00061) 762
I-1200 390
Hiperface
detected TypeCode (C00413) 810 I-1201 391
Initialisation time (C00412) 809 I-1202 393
number of rev. (C00415) 810 I-1203 393
TypeCode (C00414) 810 I-1204 393
Hiperface encoder I-1205 393
Command error (error message) 692 I-1206 394
Position initialisation error (error message) 693 I-1207 394
Transmission error (error message) 692 I-1208 394
Unknown encoder (error message) 693 I-1209 394
HM_dnHomePos_p (C02658) 900 I-1400 395
HM_dnSpeedOverride_n (C02655) 899 I-1401 396
HM_dnState (C02657) 900 I-1402 396
HM_Homing 457 I-1403 397
Holding brake 551 I-1600 397
Home position (C02642) 897 I-1601 398
Homing 455 I-1602 398
Acceleration 1 (C02645) 898
I-1603 398
Acceleration 2 (C02647) 898
I-1800 399
Blocking time (C02650) 899
I-1801 400
Dig. signals (C02659) 900
Speed 1 (C02644) 897 I-1802 401
Speed 2 (C02646) 898 I-1803 401
S-ramp time (C02648) 898 I-1A00 402
Target position (C02643) 897 I-1A01 402
Torque limit (C02649) 898 I-1A02 403
TP configuration (C02651) 899 I-1A03 403
Index
________________________________________________________________
ID status (C00854) 844 L

Identifier (CAN) 339 Layout of the safety instructions 18
Identity object (I-1018) 389 LCD display (keypad) 633
IEC 61508 406 LED status displays 630
Imax Lss saturation characteristic (C02855) 924 LED status displays for the system bus 338
Inching mode 435 Lenze setting loaded (error message) 709
Incorrect memory module (error message) 660 Lh adjustment (C02861) 925
Incorrect safety module (error message) 660 Life guarding event 371
Increased continuous power 157 Life time factor (I-100D) 384
Influence winding I²xt mon. (C01195) 859 LIM_dnState (C02718) 911
Inhibit time EMCY (I-1015) 387 LIM_dwControl (C02717) 910
Inside the device LIM_Limiter 536
Fan is defect (error message) 678 Limit position 542, 545
Thermal detector is defective (error message) 676 Triggering behaviour 544
Instant of PDO acceptance 353 Limit switch 545
Instant of PDO transmission 353 Limitation active (C02715) 910
Internal clock (C01214) 862 Limitations effective (C02702) 907
Internal communication error (DMA) (error message) 691 Limited speed (C02708) 908
Internal communication error (host MCTRL) (error message) Limited speed [rpm] (C02709) 908
684
Limiter 407, 536
Internal communication error (MCTRL host) (error message)
691
Load reference speed (C02542) 877
Internal error
Load reference torque (C02543) 877
See C00180 (error message) 712, 713
Loading of Lenze setting failed (error message) 709
Internal error (CRC application) (error message) 708
Logbook 635
Internal error (event mechanism) (error message) 666
Overflow (error message) 655
Internal error (file system lifetime) (error message) 667
Reset (read error) (error message) 655
Internal error (LDS instance data) (error message) 664
Reset (version error) (error message) 655
Internal error (LDS tasks) (error message) 665
Logbook - event filter (C00169) 776
Internal error (memory area - logbook) (error message) 664
LS_AnalogInput 318
Internal error (message memory) (error message) 665
LS_AnalogOutput 320
Internal error (message queue) (error message) 665
LS_Brake 552
Internal error (name data base) (error message) 666
LS_CamInterface 590
Internal error (semaphores) (error message) 666
LS_DigitalInput 322
Internal error (storage blocks) (error message) 665
LS_DigitalOutput 324
Internal error (task queue) (error message) 665
LS_DriveInterface 158
Internal torque limits (C02559) 881
LS_EncoderX8 303
LS_Feedback 282
J
LS_Homing 457
Jerk 420, 422
LS_Limiter 536
Jerk has been limited (error message) 734
LS_ManualJog 436
LS_ManualJogOpenLoop 453
K
LS_MotorInterface 277
Keypad
LS_PolePositionIdentification 603
Default parameter (C00466) 815
Default welcome screen (C00467) 815 LS_Positioner 510
Fct. STOP key (C00469) 816 LS_PositionFollower 521
Mode (C00464) 815 LS_quick stop 428
Timeout welcome screen (C00465) 815 LS_SafetyModuleInterface 408
Keypad LCD display 633 LS_SpeedFollower 526
LS_SsiEncoderX8 296
LS_Stop 425
LS_SyncInput 404
LS_TorqueFollower 532
LS_TouchProbe1 330
Index
________________________________________________________________
LS_TouchProbe2 330 MCTRL_dnDCBusVoltage (C00779) 838

LS_TouchProbe3 330 MCTRL_dnDeltaMotorPos_p (C00791) 840
LS_TouchProbe4 330 MCTRL_dnFieldWeak (C00816) 844
LS_TouchProbe5 330 MCTRL_dnFluxAct (C00778) 838
LS_TouchProbe6 330 MCTRL_dnFlyingSpeedAct (C00787) 840
LS_TouchProbe7 330 MCTRL_dnI2xtLoad (C00790) 840
LS_TouchProbe8 330 MCTRL_dnImotAct (C00780) 838
LS_TouchProbeLoad 331 MCTRL_dnInputJerkCtrl (C00776) 838
LS_TouchProbeMotor 331 MCTRL_dnInputTorqueCtrl (C00777) 838
Lss sat. characteristic (C02853) 924 MCTRL_dnIxtLoad (C00786) 839
MCTRL_dnLoadPosAct (C00771) 837
M MCTRL_dnLoadPosRefValue (C00813) 843
Machine parameters 80 MCTRL_dnLoadSpeedAct (C00773) 837
Mains connection 153 MCTRL_dnMotorFreqAct (C00784) 839
Mains recov. detect. threshold (C00185) 779 MCTRL_dnMotorPosAct (C00770) 836
Mains voltage (C00173) 777 MCTRL_dnMotorPosRefValue (C00812) 843
Mains voltage is switched off (error message) 712 MCTRL_dnMotorSpeedAct (C00772) 837
Mains voltage is switched on (error message) 711 MCTRL_dnMvorAdapt (C00818) 844
MAN_dnSpeedOverride_n (C02637) 894 MCTRL_dnOutputPosCtrlMotor_s (C00792) 841
MAN_ManualJog 436 MCTRL_dnOutputSpeedCtrl (C00775) 837
Manual jog 435 MCTRL_dnPosCtrlAdapt (C00811) 843
Acceleration (C02622) 893 MCTRL_dnPosCtrlOutLimit (C00808) 842
Deceleration (C02623) 893 MCTRL_dnPosSet (C00800) 841
Dig. signals (C02639) 895 MCTRL_dnSpeedAdd (C00802) 841
Index Stop position (C02626) 894
MCTRL_dnSpeedCtrlAdapt (C00810) 843
Selected Stop position (C02627) 894
MCTRL_dnSpeedCtrlIntegrator (C00815) 844
Speed 1 (C02620) 892
MCTRL_dnSpeedLowLimit (C00805) 842
Speed 2 (C02621) 893
S-ramp time (C02624) 893 MCTRL_dnSpeedSet_s (C00817) 844
Status (C02638) 895 MCTRL_dnTorqueAct (C00774) 837
Step size (C02625) 893 MCTRL_dnTorqueAdd (C00803) 841
Manual jog to software limit position 444 MCTRL_dnTorqueCtrlAdapt (C00809) 842
Manual jog, encoderless 446 MCTRL_dnTorqueHighLimit (C00807) 842
ManualJogOpenLoop MCTRL_dnTorqueLowLimit (C00806) 842
Dig. signals (C02781) 917 MCTRL_dwMaxDeviceCurrent (C00789) 840
Masked Error number (C00162) 775 MCTRL_dwMaxEffMotorTorque (C00788) 840
Master functionality (CAN) 345 MCTRL_dwMaxMotorSpeed (C00781) 839
Max. acceleration (C02705) 907 MCTRL_dwMaxMotorTorque (C00782) 839
Max. acceleration change (C00274) 786 MCTRL_dwMotorVoltageAct (C00783) 839
Max. dist. manual control (C02713) 909 MEC history
Max. dist. manual jog [Incr.] (C02714) 910 Error number (C1223) 864
Max. presentable acceleration (C02541) 877 Flash value (C1222) 864
Max. presentable position (C02539) 877 RAM address (C1220) 863
RAM value (C1221) 863
Max. presentable speed (C02540) 877
Memory distribution for cam data 586
Max. rot. ang. aft. mns. swtch. (C02653) 899
Memory module
Max. speed (C02703) 907
Faulty file system (error message) 662
Max. speed [rpm] (C02704) 907
File system has been formatted (error message) 696
Maximum acceleration exceeded (error message) 734
File system has been restored (error message) 696
Maximum current 173
Memory module has been changed (error message) 661
Maximum current (C00022) 759
Memory module has been removed (error message) 657
Maximum current monitoring 276
Memory module is defect or missing (error message) 656, 659
Maximum speed exceeded (error message) 734
Memory module is missing (error message) 656
MCTRL_dnAccelerationAdd (C00804) 841
Messages - motor interface (C02560) 881
MCTRL_dnBoost (C00814) 843
MI_MotorInterface 277
Index
________________________________________________________________
Min. S-ramp time (C02706) 908 Motor interface 163

Minimum brake resistance (C00134) 771 % signals (C02568) 882
MM440 862, 863 Dig. signals (C02569) 883
Modulation modes 155 Motor load I²xt > C00120 (error message) 678
MOL_dnState (C02780) 916 Motor load I²xt > C00127 (error message) 678
MOL_SetpointCurrent (C02779) 916 Motor mounting direction (C02527) 874
Moment of inertia (C00273) 786 Motor operating temperature (C01194) 858
Monitoring 639 Motor parameter identification was cancelled (error message)
Monitoring of limit positions 542 691
Mot. overload protection (I²xt) (C00120) 768 Motor phase failure 274
Mot. overload warning threshold (C00127) 769 Motor phase failure monitoring 274
Motor Motor phase failure threshold (C00599) 825
Actual current value > C00620 (error message) 686 Motor phase failure volt. threshold (C02867) 926
Actual speed value > C00596 (error message) 687 Motor protection 173, 276
Calculated e.m.f. factor unrealistic (error message) 682 Motor reference speed 173
Calculated flux factor unrealistic (error message) 683 Motor reference speed (C00011) 759
Calculated leakage inductance unrealistic (error message) Motor rotor resistance (C00082) 765
685 Motor rotor time constant (C00083) 765
Calculated motor impedance unrealistic (error message) 681 Motor speed 173
Calculated mutual inductance unrealistic (error message)
Motor standstill time constant (C00494) 816
681, 682
Motor stator leakage inductance (C00085) 766
Calculated rotor resistance unrealistic (error message) 682
Calculated rotor time constant unrealistic (error message) Motor stator resistance (C00084) 765
682 Motor switched off (error message) 695
Device current too low for rated magnetisation (error Motor temp. feedback system (C01193) 858
message) 681 Motor temperature
Overtemperature (error message) 675 Module selected in C01193 not available (error message)
Phase resistance too high (error message) 681 688
PTC has triggered (error message) 677 Motor temperature (C00063) 762
Rated current < rated magnetising current (error message) Motor temperature monitoring (PTC) 272
682
Motor thermal sensor (C01190) 857
Temperature > C00121 (error message) 675
Motor voltage (C00052) 760
Multiturn resolution (C02761) 913
Motor - magnetising current (C00092) 767
MXI1
Motor - mutual inductance (C00079) 765
CAN module is missing or incompatible (error message) 707
Motor - number of pole pairs (C00059) 762
Digital frequency module is missing or incompatible (error
Motor brake message) 706
Angular drift with closed brake too high (error message) 731 Ethernet module is missing or incompatible (error message)
Motor brake 706
Autom. activated after waiting time has elapsed (error ICM module is missing or incompatible (error message) 707
message) 731 Module changed during operation (error message) 657
Status monitoring error (error message) 732 Module has been changed (error message) 660
Motor control Module is defect or missing (error message) 658
Task overflow (error message) 684 Module is missing or incompatible (error message) 705
Motor cosine phi (C00091) 766 PROFIBUS module is missing or incompatible (error message)
Motor current (C00054) 760 706
Motor data are inconsistent (error message) 681, 684 Wrong module (error message) 659
Motor encoder 288 MXI2
Module selected in C00495 not available (error message) CAN module is missing or incompatible (error message) 707
687 Digital frequency module is missing or incompatible (error
Motor encoder selection (C00495) 816 message) 707
Ethernet module is missing or incompatible (error message)
Motor holding brake 551
706
Motor holding brake control module E94AZHA0051 556
ICM module is missing or incompatible (error message) 707
Motor holding brake control module E94AZHX0051 557 Module changed during operation (error message) 657
Module has been changed (error message) 661
Module is defect or missing (error message) 658
Index
________________________________________________________________
Module is missing or incompatible (error message) 705 Parameter sets 132

PROFIBUS module is missing or incompatible (error message) Password entry 593
706 Password for cam data 587
Wrong module (error message) 660 PDO delay 353
PDO mapping (MXI1)
N Faulty configuration (error message) 671
Negative direction of rotation limited (error message) 733 PDO mapping (MXI2)
Negative limit switch has triggered (error message) 731 Faulty configuration (error message) 672
Negative software limit switch overtravelled (error message) PDO synchronisation 350
732
Permissible angle of rotation (C02595) 888
Network management telegram (NMT) 344
Permissible direction of rot. (C02707) 908
New application loaded (error message) 668
PF_dnMotorAcc_x (C02685) 904
NMT (network management) 344
PF_dnPositionSet_p (C02688) 904
No heartbeat signal detected (error message) 712
PF_dnSpeedAdd1_s (C02686) 904
No parameters for module in MXI1 (error message) 711
PF_PositionFollower 521
No parameters for module in MXI2 (error message) 711
Phase controller gain (C00254) 785
No. of CRC cycles (C00618) 829
Phase controller output (C02557) 880
Node address 340
Phase currents (C00055) 761
Node guarding event 371
Plant parameters 172
Node guarding protocol 368
PLC configuration invalid (error message) 674, 691, 697, 730
Node ID 340
PLC functionality 32
Node life time 370
PLI 360° absolute current amplitude (C00645) 833
Number Of Cam Data Points (C02922) 930
PLI 360° current amplitude (C00641) 832
Number Of Cam Tracks (C02919) 930
PLI 360° traversing direction (C00643) 832
Number Of Cont Data Points (C02942) 932
PLI min. motion absolute cur. amp. (C00651) 834
Number Of Cont Tracks (C02939) 932
PLI min. mov. reset time (C00649) 833
Number of encoder increments (C00420) 811
PLI min.mov. curr. amplitude (C00646) 833
Number of Pos Data Points (C02962) 934
Pointer access in impermissible memory area (error message)
Number of Pos Tracks (C02959) 933 671
Pole position (C00058) 761
O Pole position identification 115, 116, 602
observation software limit positions (C02720) 911 Pole position recognition cancelled (error message) 695
Offset actual pos. value/setp. (C02578) 885 PolePosId 360° fault tol. (C00644) 832
Online change mode 594 PolePosId 360° ramp time (C00642) 832
Online Change Mode (C02905) 928 PolePosId min.mov. cur.rise rate (C00647) 833
Online Change State (C02906) 929 PolePosId min.mov. gain (C00648) 833
Operating mode (C02770) 914 PolePosId min.mov. max.perm.mov. (C00650) 834
Operating mode brake (C02580) 885 PolePosition setpoint (C02788) 918
Operation with increased continuous power 157 PolePositionIdentification
Optimising response to setpoint changes 202 Dig. signals (C02789) 918
Overcurrent detected (error message) 683 Pos Data Point Choice (C02963) 934
Overload 157 Pos Track Choice (C02960) 933
Pos. contr. limitation (C02556) 880
P Pos. contr. output (C02558) 881
Parameter error information (C217) 784 POS_dnProfileSpeed_s (C02676) 902
Parameter set POS_dnState (C02675) 902
Type of standard device has been changed (error message)
POS_dwActualProfileNumber (C02674) 902
710
POS_Positioner 510
Version conflict (error message) 710
Position control structure (C02570) 883
Parameter set faulty (error message) 708
Position controller gain (C02553) 880
Parameter set loaded (error message) 709
Position controller reset time (C02554) 880
Parameter set restored (error message) 709
Position encoder 289
Parameter set saved (error message) 709
Module selected in C00490 not available (error message)
Parameter set switching 132
687
Index
________________________________________________________________
Position encoder mounting dir. (C02529) 874 R

Position encoder selection (C00490) 816 Rated motor current (C00088) 766
Position follower 520 Rated motor current. See rated motor current
% signals (C02687) 904 Rated motor frequency (C00089) 766
Rated motor power (C00081) 765
Position setpoint (enc. eval.) (C02573) 884
Rated motor speed (C00087) 766
Position setpoint (mctrl) (C02552) 879
Rated motor voltage (C00090) 766
Position target outside the software limit positions (error
Rated power - brake resistor (C00130) 770
message) 734
Rated quantity of heat for brake res. (C00131) 770
Position value faulty (error message) 715
React. brake transist. Ixt > C00570 (C00569) 818
Positioning 509
React. CPU temperature > C00126 (C00589) 823
% signals (C02677) 902
Dig. signals (C02679) 903 React. device overload > C00123 (C00604) 826
Pos. signals (C02678) 903 React. heat sink temp. > C00122 (C00582) 821
Positive direction of rotation limited (error message) 732 React. motor overload > C00127 (C00606) 826
Positive limit switch has triggered (error message) 730 React. motor temp. > C00121 (C00584) 821
Positive software limit switch overtravelled (error message) Read error service register (error message) 673
732 Real-time clock 862, 863
Power section incompatible (error message) 659 Battery empty, time lost (error message) 664
Power section is defect (error message) 656, 658, 694 Change battery (error message) 663
Power section was changed (error message) 660 Real-time clock is defective (error message) 663
Power-on time meter (C00179) 778 Red. brake chopper threshold (C00181) 779
PPI activation (C02785) 917 Ref.
PPI mode (C02786) 917 Brake chopper utilisation (C00133) 771
PPI_dnState (C02787) 917 Ref. for Accel. time of brake (C02601) 889
PPI_PolePositionIdentification 603 Ref. for decel. time of stop (C02612) 891
Pre-defined error field (I-1003) 382 Ref. for quick stop dec. time (C00107) 768
Producer heartbeat time (I-1017) 388 Ref. pos. after mains switching (C02652) 899
Product change-over 599 Reference search 461
Product Choice (C02911) 929 Reference setting 461
Product Count (C02908) 929 Reference speed (C02544) 878
Product Count (C02912) 930 Reference S-ramp time (C02545) 878
Product Name (C02910) 929 Required licence missing (error message) 705
Profile data 584 Required safety module (C00214) 784
Program auto-start (C02104) 869 Reset error message 162, 646
Program name (C02113) 870 Resol. of an encoder revolution (C00100) 767
Program runtime (C02109) 869 Resolution of a unit (C02532) 876
Program status (C02108) 869 Resolver
Calculated acceleration unrealistic (error message) 687
Progress of device command (C00008) 758
Gain (C02862) 925
Project is not available (error message) 704
Open circuit (error message) 685
Project is not loaded (error message) 704
Phase correction (C02863) 926
PTC 272
Resolver - number of pole pairs (C00080) 765
Resolver error compensation 306
Q
Resp to new firmw. standard dev. (C00635) 831
QSP 428
Resp. temp. sensor motor X7/X8 (C00594) 824
QSP_Quickstop 428
Resp. to brake res. i²xt > C00572 (C00571) 818
Quick stop 428
Resp. to brake resist. overtemp. (C00574) 819
Resp. to CAN bus OFF (C00595) 824
Quick stop by (source) (C00159) 775
Resp. to CAN heartbeat error (C00613) 828
Quick stop S-ramp time (C00106) 767
Resp. to CAN life guarding error (C00614) 829
Resp. to CAN node guarding error (C00612) 828
Resp. to CAN-RPDOx error (C00591) 823
Resp. to comm. error with MXI1 (C01501) 864
Resp. to comm. error with MXI2 (C01502) 865
Index
________________________________________________________________
Resp. to comm. task overflow (C01230) 864 S

Resp. to DC bus overvoltage (C00600) 825 S1 torque characteristic I²xt mon. (C01196) 859
Resp. to encoder comm. error (C00601) 826 Safety instructions 18
Resp. to encoder open circuit (C00580) 820 Safety module 406
Resp. to encoder pulse deviation (C00621) 830 Incompatible with setting in C00214 (error message) 715
Resp. to external fault (C00581) 821 Interface 410, 540
Resp. to failure heatsink fan (C00610) 827 Safety module has been changed (error message) 661
Resp. to failure integral fan (C00611) 827 Safety module has been removed (error message) 658
Resp. to failure t. sensor drive (C00588) 823 Safety module is defect or missing (error message) 657, 659
Resp. to imp. device config. (C00615) 829 Safety system 406
Resp. to limitation (C02716) 910 Saturation characteristic 249
Resp. to max. speed reached (C00607) 827 Saving of parameters failed (error message) 710
Resp. to motor current > C00620 (C00619) 830 Scaling of physical units 25
Resp. to motor KTY overtemp. (C00583) 821 SDO1 server parameter (I-1200) 390
Resp. to motor overtemp. PTC (C00585) 822 SDO10 server parameter (I-1209) 394
Resp. to motor phase failure (C00597) 825 SDO2 server parameter (I-1201) 391
Resp. to new module in MXI1 (C00636) 831 SDO3 server parameter (I-1202) 393
Resp. to new module in MXI2 (C00637) 831 SDO4 server parameter (I-1203) 393
Resp. to open circuit AIN1 (C00598) 825 SDO5 server parameter (I-1204) 393
Resp. to overload brake trans. (C00573) 819 SDO6 server parameter (I-1205) 393
Resp. to pole pos. id. monit. (C00640) 831 SDO7 server parameter (I-1206) 394
Resp. to resolver open circuit (C00586) 822 SDO8 server parameter (I-1207) 394
Resp. to speed monitoring (C00579) 820 SDO9 server parameter (I-1208) 394
Restart 153 Select motor control 169
Restore default parameters (I-1011) 386 Select motor control (C00006) 758
Retain memory of the application faulty (error message) 672 Sensorless vector control (SLVC) 211
Retracting from limit switches 445 Service code (C00180) 778
Rotor position (C00060) 762 Service code (C02564) 882
RPDO1 communication parameter (I-1400) 395 Service code (C1125) 856
RPDO1 mapping parameter (I-1600) 397 Service code (C1126) 856
Rr adjustment (C02860) 925 Service code (C132) 770
Runtime error (error message) 670 Service code (C167) 776
Runtime measurement 108 Service code (C171) 776
Runtime task prio. 1 (C02121) 870 Service code (C175) 778
Service code (C2856) 924
Index
________________________________________________________________
Service code (C2870) 927 Torque follower 533

Service code (C2996) 934 V/f control 244
Service code (C2997) 934 V/f control closed loop 246
Service code (C2998) 935 Signal source - speed setpoint (C00275) 786
Service code (C2999) 935 Signal source - torque setpoint (C00276) 787
Service code (C308) 787 SLVC
Service code (C309) 788 Cross current controller gain (C00986) 852
Service code (C310) 788 Field current controller gain (C00985) 852
Gain - torque controller (C00987) 852
Reset time - torque contr. (C00988) 852
Time const.- Para. adj. (C00989) 852
SMI_SafetyModuleInterface 408
Software limit positions 542
Triggering behaviour 544
Software limit positions (C02701) 907
Software limits pos. effective (C02700) 906
Source - actual position (C2571) 883
Source add. speed (C02681) 904
Source for feedf. control brake (C02602) 889
Source of starting torque (C02588) 887
Source position setpoint (C02680) 903
Spec. characteristic
Service code (C397) 809 resistance (C01192) 858
Service code (C416) 810 temperature (C01191) 858
Service code (C468) 815 Speed act. val. time const. (C00497) 817
Service code (C512) 817 Speed contr. reset time (C00071) 763
Service code (C513) 817 Speed contr.D component (C00072) 764
Service code (C514) 817 Speed controller gain (C00070) 763
Service code (C515) 817 Speed controller output (C00694) 834
Service code (C516) 817 Speed feedforw. control gain (C02561) 881
Service code DataFlash (C1213) 862 Speed follower 526
Service password (C00004) 758 % signals (C02694) 905
Servo control (SC) 190 Dig. signals (C02695) 906
Set time and date (C01215) 863 Speed has been limited (error message) 733
Setpoint interpolation (C02550) 879 Speed limitation (C00909) 845
Setting of actual speed filter 197, 224 Speed monitoring tolerance (C00576) 819
Setting the baud rate for CAN 337 Speed setpoint (enc. eval.) (C02572) 884
Setting the CAN node address 336 Speed setpoint [%] (C00692) 834
Setting the error response 640 Speed setpoint [rpm] (C00050) 760
Setting the field weakening for asynchronous machines 204 Speed unit (C02537) 876
Setting the node address for CAN 336 S-ramp time for stop (C02611) 891
Setting the S-ramp time 422 S-ramp time lim. speed (C02711) 909
Settings for test mode (C00399) 809 SSI encoder 295
SF_dnMotorAcc_x (C02692) 905 bit rate (C00423) 811
SF_dnSpeedAdd_s (C02693) 905 data word length (C00424) 812
SF_SpeedFollower 526 partword data coding (C00437) 813
Short overview of error messages 647 partword length (C00436) 813
partword start position (C00435) 812
Signal flow
Encoder evaluation 284 SSI_Encoder 296
Monitoring 262 Start acceleration 420
Position follower 522 Starting angle (C02772) 915
Sensorless vector control 228 Starting performance 153
Servo control for asynchronous motor 209 Starting torque 1 (C02586) 886
Servo control for synchronous motor 207 Starting torque 2 (C02587) 887
Speed follower 528 Starting value I²xt monitoring (C01197) 859
Index
________________________________________________________________
State bus 325 Threshold - brake activation (C02581) 886

Status Threshold - standstill recognition (C00019) 759
Digital inputs (C00443) 814 Threshold 1 for opening brake (C02603) 890
Digital outputs (C00444) 814 Threshold 2 for opening brake (C02604) 890
Status DCTRL control input (C00878) 845 Threshold max. speed reached (C00596) 824
Status displays 630 Time 862, 863
Status input monitoring (C02583) 886 Time (C02776) 916
Status word Time constant of actual speed filter 197, 224
Digital inputs (C02803) 921 Time error - controller interface (error message) 680
Digital outputs (C02802) 920 Time for device search function (C00182) 779
Status word device control 1 (C00150) 772 Time unit (C02533) 876
Status word device control 2 (C00155) 773 Time-out torque feedforward control - brake (error message)
Status/Control word MCTRL (C00156) 773 735
Stop 424 Timestamp (C02902) 928
Storage capacity for user parameters exceeded (error message) Tolerance for POS_bActPosInTarget (C02670) 901
708 Tolerance for POS_bDriveInTarget (C02671) 901
Store parameters (I-1010) 385 Torque (C00057) 761
STP_bStopActive (C02617) 892 Torque feedforward control 202
STP_dnState (C02616) 892 Torque follower 531
STP_Stop 425 % signals (C02698) 906
Switching frequency (C00018) 759 Dig. signals (C02699) 906
Switching frequency reduction 156 Torque setpoint (C00056) 761
Sync cycle time (C01121) 855 Torque setpoint [%] (C00696) 835
Sync phase position 353 Total speed setpoint (C00691) 834
Sync phase position (C01122) 855 Total torque setpoint (C00695) 835
Sync source (C01120) 854 Touch probe detection 327
Sync telegram 350 Touch probe x
Sync tolerance (C01123) 855 Delay time (C02810) 922
SYNC_Synchronisation 404 TP_TouchProbe 327
Sync-PLL increment (C01124) 856 TPDO1 communication parameter (I-1800) 399
System block "LS_Limiter" 407 TPDO1 mapping parameter (I-1A00) 402
System block "LS_SafetyModuleInterface" 407 TPDO2 communication parameter (I-1801) 400
System fault messages 642 TPDO2 mapping parameter (I-1A01) 402
System task TPDO3 communication parameter (I-1802) 401
Task overflow (error message) 714 TPDO3 mapping parameter (I-1A02) 403
System task 1 TPDO4 communication parameter (I-1803) 401
Task overflow (error message) 713 TPDO4 mapping parameter (I-1A03) 403
System task 2 Track change-over 599
Task overflow (error message) 713 Travel range monitoring 536
System task 3 Traversing range (C02528) 874
Task overflow (error message) 714
TTL encoder signal evaluation (C00427) 812
T U
Table of attributes 936
Ultimate motor current I_ult 173, 276
Target group 15
Ultimate motor current I_ult (C00620) 830
Task runtimes 108
Undervoltage (LU) threshold (C00174) 778
Temperature inside the controller (C00062) 762
Unit 84
Temperature monitoring of a second motor 273
Unit (C02525) 873
Terminology used 17
Unknown error (error message) 647, 655
Test mode motor control (C00398) 809
Update cam data 589
Test torque (C02594) 888
Used time unit (C02534) 876
TF_TorqueFollower 532
Used unit (C02535) 876
Therm. motor time constant (C00128) 770
User code
Thermal motor load (I²xt) (C00066) 763 Memory load (C02110) 869
Index
________________________________________________________________
User Password (C02900) 927 W

User task 1 Waiting time - brake activation (C02593) 888
Overflow (error message) 668 Waiting time - state monitoring (C02591) 887
User task 2 Warning thres. brake resistor (C00572) 818
Warning thres. brake transistor (C00570) 818
User task 3
Warning threshold device util. (C00123) 769
Warning threshold motor temperature (C00121) 769
User task 4
Watchdog cycle is greater than task cycle (error message) 673
Width of current setpoint filter (C00271) 785
User task 5
X
User task 6
X8 (encoder signal) 303
User task 7
User task 8
User task 9
User-defined unit (C02526) 874
V
V/f control (VFCplus) 229, 245
Validity 15
VFC
Activat. interpol. point n (C00954) 847
Frequency interpol. point n (C00952) 846
Frequency setpoint (C00998) 854
Gain - Imax controller (C00963) 848
Gain - oscillation damping (C00967) 849
Gain - slip compensation (C00965) 849
Gain - speed controller (C00972) 850
Influence - speed controller (C00971) 850
Limitation - oscill. damp. (C00969) 850
Load - cw/ccw-operation (C00961) 848
Load adjustment (C00962) 848
min. inh-time aft. overvolt. (C00977) 851
Override point of field weakening (C00980) 851
ramp-end frequ. - oscill. damp. (C00970) 850
Reset time - Imax contr. (C00964) 849
Reset time - speed contr. (C00973) 850
Time const. - oscill. damp. (C00968) 849
Time const. slip comp. (C00966) 849
V/f base frequency (C00951) 845
V/f characteristic shape (C00950) 845
V/f voltage boost (C00960) 848
Vmax reduction (C00955) 847
Voltage interpol. point n (C00953) 846
VVC current setpoint (C00957) 847
VVC gain (C00958) 847
VVC reset time (C00959) 848
VFCplus 245
Violation of time slice (error message) 680
Voltage reserve (C02871) 927
Your opinion is important to us
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These instructions were created to the best of our knowledge and
belief to give you the best possible support for handling our product.
If you have suggestions for improvement, please e-mail us to:
feedback-docu@Lenze.de
Thank you for your support.

Your Lenze documentation team
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9400 Servo PLC· Reference manual · EDS94AxPExxxx · 13448540 · DMS 4.0 EN · 11/2013 · TD05/06

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Germany
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9400 E94AxPExxxx

Servo Drives 9400 Servo PLC _ _ _ _ _ _ _ _ _ _ Reference manual EN

Project planning, selection & ordering Legend:

Configuring & programming

1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15

4.7 Completing the PLC project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64

5.2.26 Calculate current controller parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 121

6 Motor interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 163

6.7 V/f control (VFCplus) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 245

7 Encoder evaluation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 281

8 Braking operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 309

9 I/O terminals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 315

10 "CAN on board" system bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 332

11 Safety engineering _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 406

12 Basic drive functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 412

12.6 Homing _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 455

12.11 Limiter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 536

14 Diagnostics & fault analysis _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 630

15 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 738

Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 975

1 About this documentation

Product Type designation Version

Product Type designation Hardware version Software version

1.1 Conventions used

Type of information Writing Examples/notes

1.2 Terminology used

1.3 Definition of the notes used

Pictograph Signal word Meaning

Pictograph Signal word Meaning

2.1 Parameter setting, configuring, or programming?

Technology level Configuring

2.1.1 Basic functionalities

2.1.2 Technology applications

Motion Control HighLevel

Motion Control StateLevel

2.2 Communicating with the controller

The following interfaces/communication modules can be used to establish communication

2.2.1 Going online via diagnostic adapter

 How to build up an online connection via the diagnostic adapter:

2. Click the icon.

• The "Diagnostic adapter" bus connection is already preset.

2.2.2 Going online via system bus (CAN on board)

Communication accessories PC interface

2.2.3 Use of other communication interfaces

2.3 Signal types & scaling

Scaled (INT)  16 bits ± 199.99 % 2 _a

Scaling of physical units

Signal type Connection Resolution Scaling

3.1 General information

Parameter Info Lenze setting

Term definition of "Plant parameters"

3.2 Notes on commissioning using the keypad

For a motor with an electronic nameplate (ENP)

For a motor without an electronic nameplate (ENP)

Commissioning of the application

3.3 Initial commissioning

More (optional) worksteps

3.4 Standard set-up

3.5 Controller replacement