Diax04 Anterior

engineering
mannesmann
Rexroth
DIAX 04
ELS-05VRS
HDS High V
for
DANGE
oltage.
Danger of electrical shock.
Do not touch electrical
5 minutes after switching power

Read and follow "Safety
connec
Instructions for Electrical Drives"

manual,
DOK-GENERL-DRIVE******-SVS...
tions
HDD
DIAX04
Drive With Electric Gear
Function
Functional description: ELS 05VRS
DOK-DIAX04-ELS-05VRS**--FKB1-EN-P
276260 Indramat
About this documentation DIAX04 Drive With Electric Gear Function
Titel DIAX04 Drive With Electric Gear Function
Type of documentation Functional description
Documentation Type DOK-DIAX04-ELS-05VRS**-FKB1-EN-P
Internal Filing Notation • Mappe 60-05V / Register 3

• Based on: 05V11
• 209-0077-4322-01
What is the purpose of this The following documentation describes the functions of the firmware
documentation? FWA-DIAX04-ELS-05VRS.
This documentation serves trained maintenance personnel:
• as a working guide for installation of the digital AC servo drive via a
SERCOS-compatible control system
• for parameterization of the drive controller
• for data security of the drive parameter
• for error diagnosis and error removal
Course of modifications Document identification of previous Release Date Remarks

and present output
DOK-DIAX04-ELS-05VRS**-FKB1-EN-P 10.97 First edition
Copyright  INDRAMAT GmbH, 1997

Copying this document, and giving it to others or the use or
communication of the contents there of without express authority, are
forbidden. Offenders are liable for the payment of demage. All ritghts are
reserved in the event of the grant of a patent or the registration of a utility
model or design. (DIN 34-1)
Published by INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Telefon 09352/40-0 • Tx 689421 • Fax 09352/40-4885
Dept. END (KT/HP)
Validity All rights are reserved with respect to the content of this documentation
and the availabillity of the product.
DOK-DIAX04-ELS-05VRS**-FKB1-EN-P
DIAX04 Drive With Electric Gear Function Contents I
Contents
1 System Overview 1-1
1.1 Range of Applications .......................................................................................................................... 1-1
1.2 Drive Controllers .................................................................................................................................. 1-1
1.3 Motors .................................................................................................................................................. 1-2
1.4 Firmware Overview .............................................................................................................................. 1-3
1.5 Basic Operating Modes and General Features.................................................................................... 1-3
Basic Operating Modes................................................................................................................. 1-3
General Features .......................................................................................................................... 1-3
1.6 Additional Firmware Features: Drive with Electric Gear Functions...................................................... 1-4
Operating modes........................................................................................................................... 1-4
Features ........................................................................................................................................ 1-4
2 Safety Instructions for Electrical Drives 2-1

2.1 General ................................................................................................................................................ 2-1
2.2 Protection against contact with electrical parts .................................................................................... 2-3
2.3 Protection by protective low voltage (PELV) against electrical shock ........................................... 2-4
2.4 Protection against dangerous movements........................................................................................... 2-5
2.5 Protection against magnetic and electromagnetic fields during operations and mounting .................. 2-6
2.6 Protection during handling and installation .......................................................................................... 2-7
2.7 Battery safety ....................................................................................................................................... 2-7
3 General Instructions for Installation 3-1

3.1 Explanation of Terms ........................................................................................................................... 3-1
Parameter ..................................................................................................................................... 3-1
Operating Modes........................................................................................................................... 3-4
Error .............................................................................................................................................. 3-5
Warnings ....................................................................................................................................... 3-6
Commands.................................................................................................................................... 3-6
3.2 Commissioning Guidelines .................................................................................................................. 3-8
3.3 Diagnostic Configurations .................................................................................................................. 3-13
Overview of Diagnostic Configurations ....................................................................................... 3-13
Drive-Internal Diagnostics ........................................................................................................... 3-13
Diagnostic Message Composition............................................................................................... 3-14
Collection of Status ..................................................................................................................... 3-15
Configurable signal status word .................................................................................................. 3-18
3.4 Parameter Mode - Operation Mode ................................................................................................... 3-20
Monitoring in the Transition Check Command............................................................................ 3-21
4 Communication Through the SERCOS-interface 4-1
II Contents DIAX04 Drive With Electric Gear Function
4.1 Overview of SERCOS Communication................................................................................................ 4-1

4.2 Data Transfer Cycle through SERCOS................................................................................................ 4-1
Master Control Word ..................................................................................................................... 4-2
Drive Status Word ......................................................................................................................... 4-3
4.3 Real-Time Control and Status Bits....................................................................................................... 4-4
4.4 Transmission of non-cyclical Data through SERCOS.......................................................................... 4-5
4.5 Startup for the SERCOS Interface ....................................................................................................... 4-5
Adjustments of the SERCOS Interface ......................................................................................... 4-5
Connecting the Fiber Optic Cables of the SERCOS Interface ...................................................... 4-6
Setting the Drive Address of the SERCOS Interface .................................................................... 4-6
Checking the Distortion Indicator of the SERCOS Interface......................................................... 4-6
Using the Distortion Indicator ........................................................................................................ 4-7
Transmission Rate of the SERCOS interface ............................................................................... 4-7
Setting the optical Transmission Power ........................................................................................ 4-7
Checking the Fiber Optics............................................................................................................. 4-8
4.6 SERCOS Telegram Configuration ....................................................................................................... 4-8
Configuration of the Telegram Send and Receive Times ............................................................. 4-8
Configuration of Telegram Contents ............................................................................................. 4-9
4.7 SERCOS Interface Error.................................................................................................................... 4-10
Diagnostic of the interface Status ............................................................................................... 4-10
Error Count for Telegram Interrupts............................................................................................ 4-10
5 Motor Configuration 5-1

5.1 Characteristics of the Different Motor Types........................................................................................ 5-1
Motor Feedback-Data Memory ..................................................................................................... 5-2
Linear-Rotational ........................................................................................................................... 5-2
Synchronous-Asynchronous ......................................................................................................... 5-3
Temperature Monitoring................................................................................................................ 5-3
Load Default Feature .................................................................................................................... 5-3
5.2 Setting the Motor Type......................................................................................................................... 5-4
Automatic Setting of the Motor Type for Motors with Feedback Memory ..................................... 5-4
Setting of the Motor Type through P-0-4014, Motor Type............................................................. 5-5
5.3 Synchronous Motors ............................................................................................................................ 5-5
5.4 Asynchronous Motors .......................................................................................................................... 5-9
Basics for the Asynchronous Motor ............................................................................................ 5-10
Torque Evaluation ....................................................................................................................... 5-11
User-defined Settings for the Asynchronous Motor .................................................................... 5-11
5.5 Motor Holding Brake .......................................................................................................................... 5-13
Connection of the Motor Holding Brake ...................................................................................... 5-14
Setting the Motor Brake Type...................................................................................................... 5-14
Setting the Brake Control Delay .................................................................................................. 5-15
Setting the Motor Brake Current ................................................................................................. 5-15
6 Operating Modes 6-1

6.1 Operating Modes - Definition ............................................................................................................... 6-1
6.2 Basic Operating Modes........................................................................................................................ 6-1
Torque/Force Control .................................................................................................................... 6-1
DIAX04 Drive With Electric Gear Function Contents III
Velocity Control ............................................................................................................................. 6-2

Position Control ............................................................................................................................. 6-5
Drive Internal Interpolation ............................................................................................................ 6-8
Relative drive-internal interpolation ............................................................................................. 6-11
6.3 Operating Modes................................................................................................................................ 6-12
Velocity synchronization .............................................................................................................. 6-12
Phase synchronization ................................................................................................................ 6-14
Electronic Cam Shaft .................................................................................................................. 6-20
Electronic Pattern Control ........................................................................................................... 6-23
6.4 Setting the Operating Mode Parameters ........................................................................................... 6-27
6.5 Determining the Active Operating Mode ............................................................................................ 6-28
7 Basic Drive Functions 7-1

7.1 Physical Values Display Format........................................................................................................... 7-1
Adjustable Scaling for Position, Velocity, and Acceleration Data.................................................. 7-1
Display Format of Position Data.................................................................................................... 7-2
Velocity Data Display Format ........................................................................................................ 7-4
Acceleration Data Display Format................................................................................................. 7-5
Command Polarities and Actual Value Polarities.......................................................................... 7-6
Mechanical Transmission Elements ............................................................................................. 7-7
Modulo Feature ............................................................................................................................. 7-8
7.2 Setting the Measurement System...................................................................................................... 7-10
Limiting Conditions for Encoder Evaluation ................................................................................ 7-12
Motor Encoder............................................................................................................................. 7-12
External encoder ......................................................................................................................... 7-15
Actual Feedback Values of Non-Absolute Measurement Systems After Initialization ................ 7-20
Drive-internal format of position data .......................................................................................... 7-21
7.3 Other Settings for Absolute Measurement Systems .......................................................................... 7-25
Conditions for absolute encoder evaluation ................................................................................ 7-27
Set Absolute Measuring .............................................................................................................. 7-27
Absolute Encoder Monitoring ...................................................................................................... 7-30
Modulo Analysis of Absolute Measurement Systems ................................................................. 7-31
Actual Feedback Values of Absolute Measurement Systems After Initialization ........................ 7-31
7.4 Lead Drive Feedback Analysis........................................................................................................... 7-32
Parameterizing the Lead Drive Feedback................................................................................... 7-32
7.5 Drive Limitations................................................................................................................................. 7-33
Current Limit................................................................................................................................ 7-33
Torque/Force Limiting ................................................................................................................. 7-37
Limiting Velocity .......................................................................................................................... 7-39
Travel Range Limits .................................................................................................................... 7-40
7.6 Drive Interlock Open .......................................................................................................................... 7-44
Activating the Drive Interlock....................................................................................................... 7-45
7.7 Drive Error Reaction........................................................................................................................... 7-47
Best Possible Deceleration ......................................................................................................... 7-48
Power Supply Shutdown in Error Situation.................................................................................. 7-52
NC Response in Error Situation .................................................................................................. 7-54
Emergency stop feature .............................................................................................................. 7-55
IV Contents DIAX04 Drive With Electric Gear Function
7.8 Control Loop Settings......................................................................................................................... 7-57

General Information for Control Loop Settings............................................................................ 7-57
Load Default ................................................................................................................................ 7-59
Setting the Current Controller...................................................................................................... 7-60
Setting the Velocity Controller ..................................................................................................... 7-61
Setting the position controller ...................................................................................................... 7-65
Position Control Loop Monitoring ................................................................................................ 7-66
Setting the Acceleration Feed Forward ....................................................................................... 7-68
Setting the Velocity Mix Factor.................................................................................................... 7-69
7.9 Drive Stop .......................................................................................................................................... 7-70
Drive Halt Feature Description .................................................................................................... 7-71
7.10 Drive-Controlled Homing.................................................................................................................. 7-71
Setting the referencing parameters............................................................................................. 7-72
Overview about Type and Configuration of Homing Marks in the Measurement System........... 7-73
Functional principle of drive-controlled referencing..................................................................... 7-74
Sequence control "Drive-Controlled Homing" ............................................................................. 7-75
Commissioning with "Evaluation of reference marker/home switch edge" ................................. 7-77
Commissioning with "Evaluation of distance-coded reference marker"...................................... 7-84
Functions of the Control During "Drive-Controlled Homing" ....................................................... 7-87
Possible Error Messages During "Drive-Controlled Homing"...................................................... 7-87
Homing of Gantry axis................................................................................................................. 7-88
7.11 Language Selection ......................................................................................................................... 7-94
8 Extended Drive Functions 8-1

8.1 Analog Output ...................................................................................................................................... 8-1
Possible output functions .............................................................................................................. 8-1
Direct analog outputs .................................................................................................................... 8-1
Analog output of existing parameters............................................................................................ 8-2
Outputting pre-set signals ............................................................................................................. 8-2
Bit and byte outputs of the data memory....................................................................................... 8-3
Terminal assignment - analog output............................................................................................ 8-4
8.2 Analog Inputs ....................................................................................................................................... 8-5
Functional principle of the analog inputs ....................................................................................... 8-5
8.3 Digital Input/Output .............................................................................................................................. 8-7
Digital I/O Functional Principle ...................................................................................................... 8-8
Allocating ID Number - Parallel I/O ............................................................................................. 8-10
8.4 Oscilloscope Feature ......................................................................................................................... 8-12
Main Functions of the Oscilloscope Feature ............................................................................... 8-13
Parameterizing the Oscilloscope Feature ................................................................................... 8-13
8.5 Programmable Limit Switch ............................................................................................................... 8-20
Function diagram for the Programmable Limit Switch ................................................................ 8-20
Parameterizing the Programmable Limit Switch ........................................................................ 8-23
8.6 Probe Input Feature ........................................................................................................................... 8-24
Main Function of the Probe Analysis........................................................................................... 8-25
Signal Edge Selection for the Probe Inputs................................................................................. 8-26
Signal Selection for the Probe Inputs .......................................................................................... 8-26
Connecting the Probe Inputs....................................................................................................... 8-27
DIAX04 Drive With Electric Gear Function Contents V
8.7 Masteraxis position output ................................................................................................................. 8-28

8.8 Command - detect marker position.................................................................................................... 8-29
Functional principle of command detect marker position............................................................ 8-29
8.9 Command Parking Axis ..................................................................................................................... 8-30
The functional principle of the command parking axis ................................................................ 8-30
8.10 Measuring Wheel Mode ................................................................................................................... 8-31
Activating the Function ................................................................................................................ 8-31
Parametrizing the Measuring Wheel Encoder ............................................................................ 8-32
Diagnostic Messages .................................................................................................................. 8-32
8.11 Incremental Encoder Emulation....................................................................................................... 8-32
How it Works and Hardware Prerequisites ................................................................................. 8-33
Diagnostic Messages .................................................................................................................. 8-33
Incremental Encoder Emulation Restrictions .............................................................................. 8-33
9 Glossary 9-1
10 Index 10-1
Supplement A: Parameter Description

Supplement B: Diagnostic Message Description
Customer Service Locations
VI Contents DIAX04 Drive With Electric Gear Function
Notes
DIAX04 Drive With Electric Gear Function System Overview 1-1
1 System Overview
1.1 Range of Applications

DIAX04 is a family of digital, intelligent drives. DIAX04 offers solutions for
applications in the following markets:
• Tool machines
• Printing
• Packaging
• General industrial Automation
DIAX04 consists of:

• A standardized digital drive SERCOS interface
• Operation with the complete line of INDRAMAT motors
• Complete power range from 1kW to 100kW
• User-friendly software features
• Adaptability to various applications by configuring the drive with
optional plug-in cards
1.2 Drive Controllers

The DIAX04 family consists of five drive controllers:
Modular Digital Servo Drives (Drive Controllers):
• HDD 02.1
• HDS 02.1
• HDS 03.1
• HDS 04.1
Fig. 1-1: Drive controllers
The type of digital drive used is stored in parameter S-0-0140, Controller

type.
1-2 System Overview DIAX04 Drive With Electric Gear Function
1.3 Motors
Rotary and linear motors can be driven with the DIAX04 drive family.
Rotary motors: Linear motors:
MHD LAR
MKD LAF
2AD LSF
ADF
1MB
MBW
MBS
Fig. 1-2: Rotary motors
Fig. 1-3: Linear motors
The motor type used is stored in parameter S-0-0141, Motor type.
DIAX04 Drive With Electric Gear Function System Overview 1-3
1.4 Firmware Overview

Within the DIAX04 family, there are three user-specific firmware
variations:
• Drive with servo functionality
• Drive with main spindle functionality
• Drive with electronic line shafting functionality
The drive with electronic line shafting function (servo feature) is

described in the following documentation.
The software version used is stored in the parameter S-0-0030,
Manufacturer version.
1.5 Basic Operating Modes and General Features
Basic Operating Modes
• Torque mode
• Velocity mode
• Position mode
• Drive-interpolated position mode
• Relative drive-internal interpolation
General Features
• Diagnostic possibilities
• Setting of torque/force limits
• Current limit
• Limiting the velocity
• Travel range limit
• Drive error reaction:
P-0-0119, Best Possible Deceleration
Velocity command switched to zero
Best possible deceleration (torque disable)
P-0-0119, Best Possible Deceleration
Velocity command switched to zero with ramp (slope) and filter
NC Response on Error
Emergency stop feature
• Control loop settings
Load default feature
Acceleration feed forward
Velocity mix factor
Velocity preset control
1-4 System Overview DIAX04 Drive With Electric Gear Function
• Language selection
• Drive interlock
• Drive halt
• Drive-controlled homing procedure
• Evaluating absolute measurement systems by setting the absolute
measurement
• Analog output
• Oscilloscope feature
• Measuring feature with:
Measuring signal actual feedback value 1/2
Measuring signal time
• Modulo feature
• Error storage and operating hour counter
• Configurable signal status word
• Customer password
• Command parking axis
• Settable drive-internal position resolution
1.6 Additional Firmware Features: Drive with Electric Gear

Functions
Operating modes
• Velocity synchronization
• Phase synchronization
• Electronic cam shaft
• Electronic pattern control
Features
• Test probe function
• Dynamic cam switch group
• Measuring wheel operating mode command
• Incremental encoder emulation for master axis and actual position
value
DIAX04 Drive With Electric Gear Function Safety Instructions for Electrical Drives 2-1
2 Safety Instructions for Electrical Drives
2.1 General
These instructions must be read and understood before the equipment is
used to minimize the risk of personal injury and /or property damage.
Follow these safety instructions at all times.
Do not attempt to install, use or service this equipment without first
reading all documentation provided with the product. Please read and
understand these safety instructions, and all user documentation for the
equipment, prior to working with the equipment at any time. You must
contact your local Indramat representative if you cannot locate the user
documentation for your equipment. A listing of Indramat offices is
supplied in the back of this manual. Request that your representative
send this documentation immediately to the person(s) responsible for the
safe operation of this equipment.
If the product is resold, rented and/or otherwise transferred or passed on
to others, these safety instructions must accompany it.
Improper use of this equipment, failure to follow the

attached safety instructions, or tampering with the
product, including disabling of safety device, may
result in personal injury, severe electrical shock,
WARNING death, or property damage!
INDRAMAT GmbH is not liable for damages resulting from failure to

observe the warnings given in these instructions.
• Operating, maintenance and safety instruction in the appropriate
language must be ordered and received before initial start-up, if the
instructions in the language provided are not understood perfectly.
• Proper and correct transport,storage, assembly, and installation as
well as care in operation and maintenance are prerequisites for
optimal and safe operation of this equipment.
• Trained and qualified personnel:
Only trained and qualified personnel may work on this equipment or in
its vicinity. Personnel is qualified if they have sufficient knowledge of
the assembly, installation, and operation of the product as well as of
all warnings and precautionary measures noted in these instructions.
Furthermore, they should be trained, instructed, and qualified to
switch electrical circuits and equipment on and off, to ground them,
and to mark them according to the requirements of safe work
practices and common sense. They must have adequate safety
equipment and be trained in first aid.
• Use only spare parts approved by the manufacturer.
• All safety regulations and requirements for the specific application
must be followed as practiced in the country of use.
• The equipment is designed for installation on commercial machinery.
• Start-up is only permitted once it is sure that the machine in which the
products are installed complies with the requirements of national
safety regulations and safety specifications of the application.
European countries: see Directive 89/392/EEC (Machine Guideline);
2-2 Safety Instructions for Electrical Drives DIAX04 Drive With Electric Gear Function
• Operation is only permitted if the national EMC regulations for the

application are met.
The instructions for installation in accordance with EMC requirements
can be found in the INDRAMAT document "EMC in Drive and Control
Systems“.
The machine builder is responsible for the adherence of the limiting
values as prescribed in the national regulations and specific
regulations for the application concerning EMC.
European countries: see Directive 89/336/EEC (EMC Guideline);
U.S.A.: See National Electrical Codes (NEC), National Electrical
Manufacturers Association (NEMA), and local building codes. The
user of this equipment must consult the above noted items at all
times.
• Technical data, connections, and operational conditions are specified
in the product documentation and must be followed.
2.2 Protection against contact with electrical parts

Note: This section pertains to equipment and drive components with
voltages over 50 Volts.
Touching live parts with potentials of 50 Volts and higher applied to them
can be dangerous and cause severe electrical shock. In order for
electrical equipment to be operated, certain parts must have dangerous
voltages applied to them.
High Voltage!
Danger to life, severe electrical shock and risk of injury!
⇒ Only those trained and qualified to work with or on
electrical equipment are permitted to operate,
DANGER maintain and/or repair this equipment.
⇒ Follow general construction and safety regulations
when working on electrical installations.
⇒ Before switching on power, the ground wire must be
permanently connected to all electrical units
according to the connection diagram in the Project
Planning Manual.
⇒ At no time may electrical equipment be operated if
the ground wire is not permanently connected, even
for brief measurements or tests.
⇒ Before beginning any work, disconnect mains or the
voltage source from the equipment. Lock the
equipment against being switched on while work is
being performed.
⇒ Wait 5 minutes after switching off power to allow
capacitors to discharge before beginning work.
Measure the voltage on the capacitors before
beginning work to make sure that the equipment is
safe to touch.
⇒ Never touch the electrical connection points of a
component while power is turned on.
⇒ Before switching the equipment on covers and
guards provided with the equipment must be installed
to prevent contact with live parts. Before operating
cover and guard live parts properly so they cannot be
touched.
⇒ A leakage current protective device must not be used
for an AC drive! Indirect contact must be prevented
by other means, for example, by an overcurrent
protective device.
European countries: according to EN 50178/ 1994;
⇒ Electrical components with exposed live parts must
be installed in a control cabinet to prevent direct
contact.
European countries: according to EN 50178/ 1994;
⇒ U.S.A: See National Electrical Codes (NEC), National
Electrical Manufacturers Association (NEMA), and
local building codes. The user of this equipment must
consult the above noted items at all times.
High discharge current!

Danger to life, risk of severe electrical shock and risk of
injury!
⇒ All units and the motors must be connected to a
DANGER grounding point with the ground wire or must be
grounded themselves before switching on power.
⇒ The discharge current is greater than 3.5 mA. A
permanent connection to the supply system is
therefore required for all units.
European countries: according to EN 50178/1994,
section 5.3.2.3;
⇒ U.S.: See National Electrical Codes (NEC), National
Electrical Manufacturers Association (NEMA), and
local building codes. The user of this equipment
must consult the above noted items at all times.
⇒ The ground wire must always be connected before
start-up, even during the performance of tests.
Otherwise, high voltages may be present at the unit
housing, which can result in severe electrical shock
and personal injury.
2.3 Protection by protective low voltage (PELV) against

electrical shock
All connections and terminals with voltages ranging between 5 and 50
volts on INDRAMAT products are protective low voltages designed in
accordance with the following standards on contact safety:
• International: IEC 364-4-411.1.5
• European countries within the EU: see EN 50178/1994,
section 5.2.8.1.
High electrical voltages due to incorrect

connections!
Danger to life and limb, severe electrical shock and/or
serious bodily injury!
WARNING
⇒ Only that equipment or those electrical components
and cables may be connected to all terminals and
clamps with 0 to 50 volts if these are of the protective
low voltage type (PELV = Protective Extra Low
Voltage).
⇒ Only connect those voltages and electrical circuits
that are safely isolated. Safe isolation is achieved, for
example, with an isolating transformer, an
optoelectronic coupler or when battery-operated.
2.4 Protection against dangerous movements

Dangerous movements can be caused when units have bad interfaces or
motors are connected incorrectly.
There are various causes of dangerous movements:
• Improper or incorrect wiring or cable connections
• equipment is operated incorrectly
• probe parameters or encoder parameters are set incorrectly
• broken components
• errors in software or firmware
Dangerous movements can occur immediately after equipment is

switched on or even after an unspecified time of trouble-free operation.
Although the monitoring circuits in the drive components make improper
operation almost impossible, personnel safety requires that proper safety
precautions be taken to minimize the risk of electrical shock, personal
injury and/or property damage. This means that unexpected motion must
be anticipated since safety monitoring built into the equipment might be
defeated by incorrect wiring or other faults.
Dangerous movements!
Danger to life, electrical shock and risk of injury or
equipment damage!
⇒ In the drive component monitoring units, every effort
DANGER is made to avoid the possibility of faulty operation in
connected drives. Unintended machine motion or
other malfunction is possible if monitoring units are
disabled, by-passed or not activated.
⇒ Safe requirements of each individual drive application
must be considered on a case-by-case basis by
users and machine builders.
Avoiding accidents, electrical shock, personal injury

and/or property damage:
⇒ Keep free and clear of the machine’s range of motion
and moving parts. Prevent people from accidentally
entering the machine’s range of movement:
- use protective fences
- use protective railings
- install protective coverings
- install light curtains
⇒ Fences should be strong enough to withstand
maximum possible momentum.
⇒ Mount the Emergency Stop (E-Stop) switch in the
immediate reach of the operator. Verify that the
Emergency Stop works before start-up. Do not use if
not working.
⇒ Isolate the drive power connection by means of an
Emergency Stop circuit or use a safe lock-out system
to prevent unintentional start-up.
⇒ Make sure that the drives are brought to standstill
before accessing or entering the danger zone.
⇒ Disconnect electrical power to the equipment using a
master lock-out and secure against reconnection for:
- maintenance and repair work

- cleaning of equipment
- long periods of discontinued equipment use
⇒ Avoid operating high-frequency, remote control, and
radio equipment near equipment electronics and
supply leads. If use of such equipment cannot be
avoided, verify the system and the plant for possible
malfunctions at all possible positions of normal use
before the first start-up. If necessary, perform a
special Electromagnetic Compatibility (EMC) test on
the plant.
2.5 Protection against magnetic and electromagnetic fields

during operations and mounting
Magnetic and electromagnetic fields in the vicinity of current-carrying
conductors and permanent motor magnets represent a serious health
hazard to persons with heart pacemakers, metal implants and hearing
aids.
Health hazard for persons with heart pacemakers,

metal implants and hearing aids in proximity to
electrical equipment!
⇒ Persons with pacemakers and metal implants are not
WARNING permitted to have access to the following areas:
− Areas in which electrical equipment and parts are
mounted, operating or are being commissioned.
− Areas in which parts of motors with permanent
magnets are being stored, repaired or mounted.
⇒ If it is necessary for a person wearing a heart
pacemaker to enter into such an area then a
physician must be consulted prior to doing so.
⇒ Persons with metal implants or hearing aids must
take care prior to entering into areas described
above. It is assumed that metal implants or hearing
aids will be affected by such areas and a physician
must be consulted prior to doing so.
2.6 Protection during handling and installation

All INDRAMAT products should be handled and assembled according to
the instructions in the documentation.
Risk of injury due to incorrect handling!

Bodily injury caused by crushing, shearing, cutting, and
thrusting movements!
⇒ Observe installation instructions and safety
CAUTION regulations before handling and working on the
product.
⇒ Use suitable installation in using lifting or moving
equipment. Refer to the user manual for the product.
⇒ Take precautions to avoid pinching and crushing.
⇒ Only use suitable tools specified in the user manuals
and use them according the instructions.
⇒ Use lifting devices and tools correctly and safely.
⇒ Wear appropriate protective clothing, e.g., protective
goggles, safety shoes, protective gloves.
⇒ Never stand under suspended loads.
⇒ Clean up liquids form the floor to prevent personnel
from slipping.
2.7 Battery safety

Batteries contain reactive chemicals. Incorrect handling can result in
injury or equipment damage.
Risk of injury due to incorrect handling!
⇒ Do not attempt to reactivate dead batteries by heating

CAUTION or other methods (danger of explosion and
corrosion).
⇒ Never charge batteries (danger from leakage and
explosion).
⇒ Never throw batteries into a fire.
⇒ Do not take batteries apart.
⇒ Handle carefully. Incorrect extraction or installation of
a battery can damage equipment.
Note: Environmental protection and disposal! The batteries contained

in the product should be considered as hazardous material for
land, air, and sea transport in the sense of the legal requirements
(Danger of explosion). Dispose of batteries separately from other
refuse. Observe the legal requirements in the country of
installation.
DIAX04 Drive With Electric Gear Function General Instructions for Installation 3-1
3 General Instructions for Installation
3.1 Explanation of Terms

It is helpful to explain the terms used in this document so that they will be
better understood.
Parameter
Communication with the drive occurs (with a few exceptions) with the
help of parameters. They can be used for
• Setting the configuration

• Parameterizing the control/drive settings
• Accessing control/drive functions and commands
• Configuring the cyclic telegrams
All of the drive's operating data are identified by ID numbers.

A parameter is identified with
its ID numbers
All the parameter ID numbers available in the drive are listed in
parameter S-0-0017, IDN List of all Operation Data.
The Data Status

Each parameter is provided with a data status, which can also be read. It
serves the following purposes:
• Identifying the validity/invalidity of the parameter

• Contains the command acknowledgment if the parameter acts as a
command (see Commands)
Data Block Structure

Each parameter has 7 different data block elements that can be read or
written by a SERCOS control system.
Data Block
Structure:
Element No.: Designation: Remarks:
1 ID Number Parameter identification
2 Name can be changed in language
selection
3 Attribute contains data length, type and
decimal places
4 Unit can be changed in language
selection
5 Minimum Input Value contains the minimum input
value of the operating data
6 Maximum Input Value contains the maximum input
value of the operating data
7 Operating Data actual parameter value
Fig. 3-1: Data Block Structure
3-2 General Instructions for Installation DIAX04 Drive With Electric Gear Function
Only the operating data can be changed; all other elements can only be
Changing the operating data
read. The operating data can be write-protected either continuously or
depends on the
temporarily.
communication phase
Possible Error Messages when Reading and Writing the

Operating Data
Error: Reason:
0x7004, Data not changeable The operating data is write-protected
0x7005, Data currently write- The operating data cannot be written to in
protected this communication phase (see Supplement
A: Writing to Parameters)
0x7006, Data smaller than The operating data is smaller than its
minimum value minimal input value
0x7007, Data larger than The operating data is larger than its
maximum value maximum input value
0x7008, Data is not correct The value could not be accepted as written
because internal tests lead to a negative
result
0x7009, data write protected The parameter cannot be write accessed as
with password customer password has been activated S-0-
0267, Password. All parameters in S-0-
0192, IDN-List of backup operation data
can be conducted.
Fig. 3-2: Error messages while reading/writing operating data
Non-Volatile Parameter Storage Registers

Various non-volatile parameter storage registers that buffer operating
All configuration and control
data are contained in the drive. The operating data apply to:
settings are stored
• setting the configuration, or

• parameterizing the control drive settings
Each time operating data is written to it is stored.
Memory is available in the following structural component groups:
• Control drive
• Motor feedback (optional)
• Software module
Parameters Stored in the Digital Drive

All operating data that apply only to the drive controller and that cannot
be changed by the user are stored in the digital drive. This consists of the
following parameters:
• S-0-0110, Amplifier Peak Current
• S-0-0112, Amplifier Nominal Current
• S-0-0140, Controller Type
• P-0-0518, Amplifier nominal current 2
• P-0-0519, Amplifier peak current 2
• P-0-4002, Current-amplify-trim phase U
• P-0-4003, Current-amplify-trim phase V
• P-0-4015, Intermediate voltage
• P-0-4035, Trim-current
Parameter Storage in Motor Feedback

All motor-dependent parameters are stored in the motor feedback with
MHD, MKD and MKE motors.
Additionally, parameters for the "load default" function and the motor
feedback are stored here.
All parameters stored in the motor feedback data memory are there with
both parameter block number 0 and 7. In parameter block 7 the original
data without write access are stored in the motor feedback data memory.
These are copied after powering up into the parameters of parameter
block 0. The parameters of parameter block 0 take effect.
Parameters Stored in DSM Programming Module

Depending on the setting of SERCOS parameter S-0-0269, Parameter
By switching the programming
buffer mode, all the application parameters are either stored in
module when devices are
programming module DSM 2.3 (EEPROM) or temporarily kept (RAM).
exchanged, the
These parameters are listed in the S-0-0192, IDN-List of backup
characteristics of the device
that has been exchanged can operation data. In addition, parameters stored in the motor feedback of
be easily transferred to the MHD, MKD or MKE motors are included in this list.
new device. If programming modules are exchanged, these parameters must be read
from the old module so that after the exchange they can be written to the
new module.
Data Saving
To save the data of the axis, all important and changeable parameters of
the axis are filed in the list S-0-0192, IDN-List of backup operation
data. By saving the parameters listed there with the
control/parametrization surface, you can obtain a complete data backup
of this axis after the first setup.
Parameter buffer mode

The drive controller is capable of storing data that is transmitted via the
service channel either temporarily (in RAM) or permanently (in the
EEPROM).
The parameter S-0-0269, Parameter buffer mode determines what will
be done with the parameters.
Password
All important axis-specific parameters are stored in the programming
module. If, e.g., a controller is replaced because of a defect then the
features can be transferred to the new controller by simply using the old
module. The affected parameters are stored in S-0-0192, IDN-List of
backup operation data. To secure these parameters against unwanted
or non-authorized changes, the customer password can be activated.
Activating, changing and deactivating the customer password

The access of the password function is done with parameter S-0-0267,
Password. At delivery, the customer password is not active. In this case,
all axis-specific parameters can be changed. With a non-active
password, the character string "007" is displayed in S-0-0267,
Password. To activate or change a customer password, input the
character string sequence
"old password", space, "new password", space, "new password"
in S-0-0267. With a non-active password, use "007" as the old password.
With an activate password, the character string "***" is displayed in S-0-
0267, Password. Then the parameters in S-0-0192, IDN-List of backup
operation data can not be changed. To deactivate the password, input

the character string sequence
"old password", space, "007", space, "007".
Note: Parameters stored in the motor feedback or drive controller

data memory can generally not be changed by the user.
Basic parameter block

The drive parameters are fixed at delivery at the factory. By executing the
command P-0-4094, C800 Command Base-parameter load it is
possible to reproduce this state at any time. The basic parameter block is
constructed so that
• all optional drive functions are deactivated
• limit values for position are deactivated
• limit values for torque/force are set to high values
• and limit values for velocity and acceleration are set to lower values
Velocity control is the mode set.
Note: The basic parameter block does not guarantee a matching of

the drive to the machine as well as, in some cases, to the
motor connected and the measuring systems. The relevant
settings must be made when first starting up the axis.
(See also: Basic drive functions and Commissioning Guidelines.)
Running the "load basic parameter block" function

automatically
The drive firmware is on the U5 programming module in the form of both
the IC2 and IC3 EEPROMS. In the event of a firmware exchange, the
drive controller will detect this the next time the machine is switched on.
In this case, the message "PL" appears on the 7-segment display. By
pressing the "S1" key, the basic parameter block is activated.
Note: Previously existing parameter settings are lost with a firmware

replacement followed by "load basic parameter block"
function. To prevent this, secure the parameters prior to
replacement and reload them after replacement.
Operating Modes
Operating modes define which command values will be processed in
which format, leading to the desired drive motion. They do not define how
these command values will be transmitted from a control system to the
drive.
One of the four selectable operating modes is active when the control
and power supply is ready for operation and the controller enable signal
is positive.
The drive displays "AF" in the H1 display.
All implemented operating modes are stored in parameter S-0-0292, List
of all operation modes.
Error
Many areas are monitored in connection with operating modes and
parameter settings. An error message is generated if a condition is
encountered which no longer allows proper operation
Error Classes
Errors are separated into four different error classes. They determine the
The error class is evident from
drive's error response.
the diagnostic message.
Diagnostic
Error Class: Message: Drive Response:
Fatal F8xx Torque free switching
Travel range F6xx Velocity command value switched to
zero
SERCOS Interface F4xx In accordance with best possible
deceleration
Non-fatal F2xx In accordance with best possible
deceleration
Fig. 3-3: Error class divisions
Drive's Error Response

If an error state is detected in the drive, the drive's error response will
automatically be executed as long as the drive is in control. The H1
display flashes Fx / xx. The drive's reaction to SERCOS interface and
non-fatal errors can be parameterized with P-0-0119, Best possible
deceleration. The drive switches to torque-free operation at the end of
each error reaction.
Clearing Errors
Errors are not automatically cleared; they are cleared externally by:
Errors must be externally
cleared. Initiating the command S-0-0099, C500 Reset class 1 diagnostic
or Pressing the "S1" key.
If the error state is still present, then the error will be immediately
detected again. A positive edge bit on the controller enable signal is
necessary in order to turn the drive on.
Clearing Errors When Controller Enable Is Set

If an error is discovered while operating with set controller enable, the
drive will execute an error response. The drive automatically deactivates
itself at the end of each error response; in other words, the power stage
is switched off and the drive switches from an energized to a de-
energized state.
To reactivate the drive:
• clear the error
• enter a 0-1 edge bit into the controller enable
Note: To reactivate the drive after an error has been detected, not only
must the error be cleared, but a 0-1 edge bit of the controller
enable signal must also follow.
This function differs from the DIAX-02 series drives.
Error memory and operating hour counter

Once errors are cleared, they are stored in an error memory. The last 19
errors are stored there and the times they occurred. Simultaneously,
there is an operating hour counter for control and power sections of the
drive controller. This function has the following parameters:
• P-0-0190, Operating hours control section
• P-0-0191, Operating hours power section
• P-0-0192, Error recorder diagnosis number
• P-0-0193, Error recorder, operating hours control section
Warnings
Many areas are monitored in connection with operating modes and
Warnings do not cause
parameter settings. A warning will be generated if a state is detected that
automatic shutdowns
allows proper operation for the time being, but will eventually generate an
error and thereby lead to a shutdown of the drive if this state continues.
Warning Classes
Warnings can be separated into 2 classes. They are differentiated by
The warning class is evident
whether the drive executes an automatic reaction when the warning
from the diagnostic message
appears.
Diagnostic
Warning Class: Message: Drive Response:
With drive response E8xx Drive stop
Without drive response E2xx --
Fig. 3-4: Division of the Warning Classes
Warnings cannot be cleared externally.
Commands
Commands are used to control complex functions in the drive. For
example, the functions "Drive-Controlled Homing Procedure" or
"Transistion Check for Communication Phase 4" are defined as
commands.
A primary control can start, interrupt or erase a command.
Each command that is started
must also be cleared. Each command has a parameter with which the command can be
controlled.
While a command is being executed, the diagnostic message "Cx" or
"dx" appears in the H1 display, where x is the number of the command.
All commands used are stored in parameter S-0-0025, IDN-list of all
procedure commands.
Command Types
There are 3 command types.
• Drive-Controlled Command
- Eventually leads to an automatic drive operation or motion
- Can be started only when controller enable is set
- Deactivates the active operating mode during its operation
• Monitor Command
- Activates or deactivates monitors or features in the control drive
• Management Command
- executes management tasks; is not interruptable
Command Input and Acknowledgment

Control and monitoring of command execution occurs via the command
input and command acknowlegment. The command input tells the drive if
the command should be started, interrupted or ended. The commanded
value is the operating data of the applicable parameter. The command
input value can be
• not set and enabled ( 0 )

• interrupted ( 1 )
• set and enabled ( 3 )
The drive gives the current condition of the command execution in the
acknowledgment. It is contained in the data status of the command
parameter.
The condition can be
• not set and enabled ( 0 )

• in process ( 7 )
• error, command execution not possible ( 0xF)
• command execution interrupted ( 5 )
• command properly executed ( 3 )
The Change Bit Command in the Drive Status Word helps the control
recognize a change in the command acknowledgment by the drive. The
bit is set by the drive if the command acknowledgment changes from the
condition in process ( 7 ) to the condition error, command execution not
possible ( 0xF ) or command properly executed ( 3 ). The bit is cleared if
the master clears the input ( 0 ).
The control system will recognize if the drive sets the change bit. It can
read the corresponding data status of the command or the command
itself, which was set sometime but has not been cleared. The control
system will recognize from this if the command ended with or without an
error in the drive. Afterwards this command should be cleared by the
control.
Date of
command
parameter Beginning of Command finished
= handcap the command Handicap
3
0
Data status of t
t <=8msec
the command
parameter Command at work
=acknow- 7 Command finished without error
ledgment 3 Command cleared
0
Sbit command t
t <=8msec
change in drive
status message
1
t
Sv5021d1.fh5
Fig. 3-5: Input, acknowledgment and Command Change Bit during proper
execution
Date of
command
parameter Beginning of the
= handcap command
3 Command cleared
0
t
Data status of OxF Command finished
the command Command at work Handicap
parameter
=acknow- 7
ledgment 3
0
t
Sbit command t <=8msec t <=8msec
change in drive
status message
1
t
Sv5022d1.fh5
Fig. 3-6: Input, acknowledgment and KÄ bit during erroneous execution
A delay time of up to 8 ms can occur in the drive between receiving the

command input and setting the command acknowledgment.
3.2 Commissioning Guidelines

To commission DIAX drive controllers parametrization interface
SERCTOP with version SWA-S*TOP*-INB-04VRS is recommended.
Initial state is always
• a functioning communication via SERCOS interface to the drive and
• a standard wired and checked E-stop sequence.
The procedure for commissioning a drive controller is broken down into
nine commissioning steps (IBS-1..9). The diagram depicts the sequence:
Initial start-up, Establishing the initial state using command P-0-4094, C800 Load
base parameters command
Velocity and acceleration values limited to small values / Position and torque limits not
active / Operating mode - velocity control / All optional functions are deactivated
IBS-1, Motor configuration

MDD/MKD/MHD Set motor type / motor-dependent parameters (from data sheet) /
no
motor temperature monitoring / possible asynchronous parameters /
possible motor holding brake
yes
IBS-2, Pre-setting mechanical system of axia dn the measuring system

Gears, feed rate constant and maximum travel range / illustrative formats for position, velocity
and acceleration / motor measuring system / possible external measuring system
IBS-3, Setting Error Reations and Emergency Stops

Best possible deceleration / NC reaction / power off with fault / Emergency-stop function
IBS-4, Pre-setting control loop

by loading base values or using data sheet
Motor encoder can move axis
IBS-5, Check mechanical system of axis and meauring system

Gears, feed rate constant / polarity of position, velocity and acceleration / motor measuring
system / possible external measuring system
IBS-6, Position, Velocity and Torque Limitations

Position limit values and travel range limit switch / velocity limit values / torque limit values
IBS-7, Optimizing the control loop

Velocity and position control loop / possible torque friction compensation / possible
acceleration pre-control
IBS-8, Establishing the absolute referenc dimension

Set absolute dimension or use drive-controlled referencing
IBS-9, Other settings

Operating mode-specific settings / Drive halt / Status messages / Optional drive
functions
IBS-10, Checking Drive Dimensions

Torque/force check / Weight compensation / Regenerated energy
End of Initial Start-Up
Fig. 3-7:Commissioning guidelines
IBS-1, Motor configuration

These guidelines are needed in the case where the motor used does not
have a motor feedback memory. It is necessary with these motors
• to enter the parameters which specify the motor features, e.g., peak
current, maximum velocity and so on. The data sheet can be used for
this purpose.
• The parameters for the motor temperature warning and off thresholds
must be parametrized as well
• and giving a motor holding brake, these must be properly set also.
Those motors with data memory such as
• MHD and
• MKD motors
are recognized by the drive and motor parameters are automatically set.
(See also: "Setting the motor type“.)
IBS-2, Pre-setting the axis mechanics and measuring systems

These guidelines set the parameters for detecting and processing
position information. These include the following parameters for the
following settings:
• mechanical gear ratio between motor and load as well as any existing
feedrate constants of the drive of linear slides
• scaling settings for showing position, velocity and acceleration
parameters of the drive. This sets, for example, whether the data is
motor shaft or load related and which LSB valence these have, e.g.,
position data with 0.001 degrees or 0.0001 inches and so on.
• Interface, direction of movement and resolution of an external
encoder.y
(See also: -"Physical Values Display Format"
-"Mechanical Transmission Elements" and
-"Setting the Measurement System").
IBS-3, Setting the error reactions and E-stop

In this step, the reaction of the drive in the event of an error is set as well
as the triggering of the drive's own E-stop input. The following
parametrizations must be performed:
• type and mode of error reactions in drive
• selection whether NC reaction in error case should happen
• selection whether and when the power supply is switched off and
whether a package reaction is to be conducted
• Configuration of the E-stop input
(See also: "Drive Error Reaction“)
IBS-4, Pre-setting Control Loop

The parameters for current, velocity and position control loops are set to
their base values in this step. This is done either by executing command
S-0-0262, C700 Command Basic Load (in MHD and MKD motors) or by
manually inputting them using the data sheet.
Setting the control loop in this way makes ensures a good level of quality
for most applications. Should additional optimization of the contrtol loop
parameters become necessary (velocity and position control loop
parameters, compensation functions and precontrol), then use
commissioning step no. 7.
(See also "Control loop settings".)
IBS-5, Checking axis mechanics and measuring system

The presettings made in IBS 2 are checked here and modified, if
necessary. This means that the axis must be moved by jogging. The
following checks must be made:
• check the rotational direction of the motor encoder. With non-inverted
position polaritiy (S-0-0055, Position Polarity Parameter = 0), the
values in parameter S-0-0051, Position Feedback Value 1 (Motor
Feedback) should have a rising order with a clockwise rotation of the
motor. (This check need not be performed in MHD and MKD motors.
If this is not the case, then bit 2 in S-0-0277, Position feedback 1
type parameter must be inverted.
• By moving the axes and examining the position feedback value of the
motor encoder in parameter S-0-0051, Position Feedback Value 1
(Motor Feedback) it can be controlled whether a distance in this
process is correctly displayed. If not, then the settings for mechanical
gear ratio, feedrate constants and encoder resolution must be
checked.
• Given an external encoder, by moving the axis and examining the
position feedback value of the external encoder in parameter S-0-
0053, Position Feedback Value 2 (Ext. Feedback) it can be
checked whether a distance is correctly displayed with this process.
S-0-0051, Position Feedback Value 1 (Motor Feedback) and S-0-
0053, Position Feedback Value 2 (Ext. Feedback) should run
parallel when jogging a specific path. If not, then check the settings in
P-0-0075, Interface Feedback 2, external, S-0-0117, Resolution of
external feedback, S-0-0115, Position feedback 2 type parameter
and P-0-0185, Function of ext. Encoder.
(See also: -"Physical Values Display Format"
-"Mechanical Transmission Elements" and
-"Setting the Measurement System").
IBS-6, Limits for position, velocity and torque

The limits for the travel range are conducted by setting
• position limits values and/or
• travel range limit switches
as well as the limit values for the axis velocity and maximum drive
torque/force are parametrized also.
(See also: -"Torque/force limiting",
-"Travel range limits" and
-"Limiting velocity".)
IBS-7, Optimizing the control loop

This step is only necessary if the settings for velocity and position control
loops in IBS 4 did not achieve the needed quality. As such, optimize the
control behavior as follows:
• modify the parameter for velocity and position control loops
• possibly activate the acceleration pre-control
• possibly activate the friction torque compensation
• possibly activate the velocity mixture and
• possibly activate the notch filter.
(See also: "Drive Error Reaction“.)
IBS-8, Establishing absolute reference measuring

• Here the absolute reference measuring is set in terms of the machine
zero point of the position feedback value from motor encoder and
possibly external encoder. The position feedback values at first show
any, not machine zero point related values. By conducting
• setting absolute measuring (with absolute encoders) or
• drive-controlled homing
the coordinate systems of the position encoder and the coordinate

system of the machine are made congruent.
(See also: -"Drive-controlled homing" and

-"Set Absolute Measuring")
IBS-9, Other settings

Here
• operating mode specific settings,
• drive halt function is parametrized,
• the language selected,
• general status message settings and
• the optional drive function settings are conducted.
(See also: -"Drive stop“,
-"S-0-0013, Class 3 Diagnostics“,
-"S-0-0182, Manufacturer Class 3 Diagnostics“,
-"Extended Drive Functions“ and
-"Language selection".)
IBS-10,Controlling drive dimensions

The power-related drive checks are conducted here. It is checked
whether the continuous and peak power of drive amplifier and motor
meet the requirements. The following checks are conducted for this
purpose:
• generated torque/force of motor is checked. At a constant speed 60%
and in rapid traverse 75% of the continuous torque at standstill of the
motor should not be exceeded
• during the acceleration phase 80% of the maximum torque of the
motor/controller combination may not be exceeded
• the thermal load of the drive amplifier should equal a maximum of
80%
(See also: "Monitoring the Thermal Load".)
With vertical axis, the weight compensation must be set so that the
current consumption with upwards and downwards motions of the axes
have the same minimum value.
Check the regenerated peak power and regenerated continuous power.
3.3 Diagnostic Configurations
Overview of Diagnostic Configurations

The diagnostics are configured into 2 groups:
• Current operating status and diagnostics
• Class diagnostics
Parameters exist for all important operating data.
Drive-Internal Diagnostics
The current operating condition of the drive is evident by which errors,
warnings, commands, drive stop signals and drive interlock signals are
available and which operating mode is active. Whether the drive is in
preparation for operation or in parameter mode also is displayed.
The current operating condition can be determined from
• the 2-part seven-segment display (H1 display)
• the diagnostic parameter S-0-0095, Diagnostic message
• the parameter S-0-0390, Diagnostic message number
• the parameter P-0-0009, Error Message Number
The current diagnostic message with the highest priority is always shown
in the H1 display, in the diagnostic parameter S-0-0095, Diagnostic
message and in the parameter S-0-0390, Diagnostic message
number. The parameter P-0-0009, Error Message Number will contain
a value unequal to 0 if an error is present. An overview of all diagnostic
messages can be found in the diagnostic description in Supplement B.
Error
P
R
Warning
I
O
R Command error
I
T Command active
Y
Ready to operate ?
yes no
Operation lock
active
Ready to Communicationphase
operate
Drive ready
Drive stop
Drive is
following
operating mode Da0001f1.fh5
Fig. 3-8: Priority-dependent diagnostic formation in the H1 display
Diagnostic Message Composition

Each operating condition is designated with a diagnostic message, which
consists of a
• diagnostic message number and a
• diagnostic text
For example, the diagnostic message for the non-fatal error "Excessive
Control Deviation" is displayed as follows.
F228 Excessive Control Deviation
Diagnostic message
Diagnostic message number
Fig. 3-9: Diagnostic message composition with a diagnostic message number

and text
The H1 display alternates "F2" and "28". The diagnostic message

number appears in hexadecimal format in the parameter S-0-0390,
Diagnostic message number. In this example, this would be (0x)F228.
The diagnostic message number and the diagnostic text are contained
as a string "F228 Excessive deviation" in the parameter S-0-0095,
Diagnostic message.
H1-Display
The diagnostic number appears on the two-part seven-segment display.
The form of the display emerges from the graphic "Priority-Dependent
Display of the Diagnostic Message".
With the help of this display, it is possible to quickly determine the current
operating status without using a communication interface.
The operating mode cannot be seen on the H1-Display. If the drive
follows the operating mode and no command was activated, then the
symbol "AF" appears on the display.
Diagnostic Message
The diagnostic message contains the diagnostic number followed by the
diagnostic text, as shown in the example, "Excessive Control Deviation."
It can be read with the parameter S-0-0095, Diagnostic message and
directly displays the operation status on an operator interface.
The diagnostic message language can be changed.
Diagnostic Message Number

The diagnostic message number contains only the diagnostic number
without the text. It can be read with the parameter S-0-0390, Diagnostic
message number .
Error Number
The error number contains only the error number without the diagnostic
text. It can be read with the parameter P-0-0009, Error Message
Number and can indicate an error condition without a language barrier.
This parameter contains a value unequal to "0" if an error is present in

the drive.
An error is formed from the bottom 3 digits of the diagnostic number. For
example, the error "F228 Excessive deviation" with the diagnostic
message number "(0x)F228" would produce the error number "228."
Collection of Status
The class diagnostics parameters provide a collection of status and
diagnostic information for displaying operating conditions. These
parameters are:
• S-0-0011, Class 1 diagnostics
• S-0-0182, Manufacturer class 3 diagnostics
S-0-0011, Class 1 Diagnostics

Bits for the various errors are contained in parameter S-0-0011, Class 1
diagnostics. A bit is set in this parameter in the case of a drive error.
The bit "Drive Interlock, Error in Class 1 Diagnostics" is set
simultaneously in the drive status word.
All bits in Class 1 Diagnostics can be cleared by executing the command
S-0-0099, C500 Reset class 1 diagnostic.
(see Clearing Errors)
The following bits are supported in Class 1 Diagnostics.
S-0-0011, Condition Class 1
Bit 1 : Excess amplifier temperature switching off
Bit 2 : Excess motor temperature switching off

(see also S-0-0204)
Bit 4 : Control voltage error
Bit 5 : Feedback error
Bit 9 : Under-running voltage error
Bit 11: Excessive control deviation
Bit 12 : Communication error
Bit 13 : Position limit has been exceeded
Bit 15 : Manufacturer error
Fig. 3-10: S-0-0011, Class 1 diagnostics

Bits for various warnings are contained in this parameter. A bit is set in
Toggling a bit is signaled by a
this parameter when a warning occurs. The bit "Change Bit Class 2
change bit in the drive status
Diagnostics" is set simultaneously in the drive status word. This change
word.
bit is cleared by reading S-0-0012, Class 2 diagnostics . Warnings may
be masked in regards to their effect on the change bit with the parameter
S-0-0097, Mask class 2 diagnostic.
The following bits are supported in class 2 diagnostics.
Bit 0 : Overload warning

Bit 1 : Excess amplifier temperature warning
Bit 2 : Excess motor temperature warning
Bit 3 : Cooling error warning
Bit 4 : reserved
Bit 5 : Positioning speed > nlimit
Bit 6: reserved
Bit 7: reserved
Bit 8: reserved
Bit 9 : reserved
Bit 10: reserved
Bit 11: reserved
Bit 12 : reserved
Bit 13 : Target position exceeds position limits
Bit 14 : reserved
Fig. 3-11: Composition of the parameter S-0-0012, Class 2 Diagnostics

Various operating status messages are stored here. If the status of a
message changes, a bit will also be set here in the Drive Status Word
("Change Bit Class 3 Diagnostics"). This change bit is cleared by reading
S-0-0013, Class 3 diagnostics . Warnings may be masked in regards to
their effect on the change bit with the parameter S-0-0098, Mask class 3
diagnostic.
The following bits are supported in Class 3 Diagnostics.

Bit 1 : |Actual speed| < Standstill window

(S-0-0124)
Bit 4 : | Md I ≥MdLIMIT (S-0-0092) |

Bit 6: In position
|Following error (S-0-0189) | <
Positioning window (S-0-0057)
Bit 12 : Target position reached
Internal position command value = Target position (S-0-0258)
Fig. 3-12: Composition of S-0-0013, Class 3 Diagnostics
Class 2 and 3 Diagnostic Change Bits in the Drive Status

Word
If the condition of a bit in S-0-0012, Class 2 Diagnostics or S-0-0013,
Class 3 Diagnostics changes, the change bit class 2 or 3 diagnostics is
set in the drive status word. This change bit is cleared by reading both
parameters. Setting the change bit with bit-toggling in S-0-0012 or
S-0-0013 can be masked with the help of the parameter S-0-0097, Mask
class 2 diagnostic or S-0-0098, Mask class 3 diagnostic .

=1
S-0-0012 at last read access
&
S-0-0097, Masked Class 2
unequal to 0 ?
Yes
Bit change set in drive status message
Fig. 3-13: Composition of the class 2 diagnostics change bit
S-0-0182, Manufacturer Class 3 Diagnostics

The parameter S-0-0182, Manufacturer class 3 diagnostics contains
the current operating status. If the status changes, this is not signaled
with a change bit.
The following bits are supported in the Manufacturer Class 3 Diagnostics.
S-0-0182, Manufacturer Class 3 Diagnostics
Bit 0 : 1=Operation lock active
Bit 1 : |Actual velocity| <S-0-0124

Standstill window
Bit 6 : IZP
|S-0-0258, Tar. position-Actual position| <S-0-0057 Posit. window
&&
|S-0-0189, Following error| <S-0-0057 Positioning window
&&
|S-0-0040, Actual velocity| <S-0-0125 Standstill window
Bit 7 : 90% LOAD message

Amplifier is giving 90% of its current maximum torque
Bit 8 : IN_SYNCHRONIZATION
Main operating mode with subordinated position control
|synch. position command value + Xadditive (S-0-0048)
- Xactual (S-0-0051 or S-0-053)|
<S-0-0228, Synchronized position
Main operating mode velocity synchronization
|Synchronized velocity command value+velocity command value add. -
velocity command value <S-0-0183, Synchronized velocity
Bit 9 : Synchronization ended

Bit 10: IN_TARGET_POSITION
|S-0-0258, Target position - S-0-0051/51 Position feedback 1/2|
< S-0-0057 Position window
Bit 11 : AHQ
Drive Stop && |Actual velocity| <S-0-0124
Fig. 3-14: Composition of S-0-0182, Manufacturer Class 3 Diagnostics
Refer to the Phase Synchronization Chapter for more information about

bit 8, IN_SYNCHRONIZATION and bit 9, Synchronization Completed.
Configurable signal status word

The configurable signal status word supports recording of a maximum of
16 copies of bits from other drive parameters. This means that the user
can put a bit list together that contains all drive status information needed
for the control.
The bits in the signal status are put together every SERCOS cycle in S-0-
0007, Feedback acquisition starting time (T4).
The parameters
• S-0-0144, Signal status word
• S-0-0026, Configuration list signal status word
• S-0-0328, Config. list signal status word, bit number
are used for this purpose.
The configuration of the signal status word uses parameter S-0-0026,

Configuration list signal status word and S-0-0328, Config. list
signal status word, bit number. These parameters are of variable
lengths with two byte data elements.
In parameter S-0-0026, Configuration list signal status word the ID
numbers of the parameters which contain the orignal bits (sources) are
specified. The position of an ID number in the list fixes the bit in the
signal status word this ID number applies to. For example, the first list
element sets the source of bit 0 of the signal status word.
Which bit is copied out of the parameters selected with S-0-0026,
Configuration list signal status word and copied into the signal status
word, is set in S-0-0328, Config. list signal status word, bit number.
Should this list remain empty, then bit 0 of the set parameter is
automatically copied. Otherwise, that bit is set here that was taken out of
the source parameter. Bit numbers of 0 (LSB) up to 31 (MSB) can be
entered. For each bit number of this list there must be at the same list
position an ID number in the list S-0-0026. Otherwise, when writing the
bit number list the drive will generate the error message "ID number not
available". This is why list S-0-0026, Configuration list signal status
word must be written prior to S-0-0328, Config. list signal status word,
bit number.
Example: A signal status word with the following configuration is to be
put together:
Bit no. in ID number of Bit no. of
S-0-0144, signal the orignal the original
status word parameter parameter Definition
0 S-0-0013 1 Vactual = 0
1 S-0-0182 6 IZP
2 S-0-0403 0 position status
3 P-0-0053 19 bit toggles every half
master axis encoder
revolution
4 S-0-0410 0 Probe 1 negative
latched
5 P-0-0016 4 P-0-0015 sets the
memory address of a
drive internal
counter. Bit 4 is
transmitted from
there.
Fig. 3-15 Example of a configurated signal status word
Parameters S-0-0026, Configuration list signal status word and S-0-

0328, Config. list for signal status word, bit number must be
configured as follows:
S-0-0328 S-0-0026
1 S-0-0013
6 S-0-0182
0 S-0-0403
19 P-0-0053
0 S-0-0410
4 P-0-0016
fig. 3-16: Configuration example of parameters S-0-0328 and S-0-0026
Note: Up to 16 bits can be configured. Configuration must be from

the least significant in the direction of the most significant bit.
In other word, the positon of the bit copy in the signal status
word results from the continuous configuration in S-0-0026.
Checking the input of S-0-0026, configuration list signal

status word and S-0-0328, configuration list signal status
word bit number
When inputting one of the two parameters, the following checks are run:
• If in S-0-0328, Config. list signal status word, bit number more
elements are programmed than in S-0-0026, Configuration list
signal status word then error message "0x1001, ID number not
avaialble" is generated.
• If an ID number specified in S-0-0026, Configuration list signal
status word is not available, then error message "0x1001, ID number
not avaialble" is generated.
• Check wehther the IDN variable data length set in S-0-0026,
Configuration list signal status word (list parameters) or a socalled
online reader function is there. Parameters with online reader
functions are generally parameters with physical units (position,
velocity, acceleration and currents) as well as parameter S-0-0135,
Drive status word and S-0-0011, Class 1 diagnostics. If yes, then
the service channel error message 0x7008, data not correct is
generated.
Note: In all these cases only those entries up to the faulty element
are accepted!
3.4 Parameter Mode - Operation Mode

After the drive is turned on, it does not automatically switch to the
The SERCOS control sets the
operating mode. The drive is put through a series of checks before the
communication phases
SERCOS control can switch the drive into operation mode.
including parameter mode.
Switching the drive to the operating mode is dependent on making the
SERCOS INTERFACE system ready to operate.
This must occur in steps and is controlled by the master control by
entering the communication phase 0 through 4 and starting/ending the
commands S-0-0127, C100 Communication phase 3 transition check
and S-0-0128, C200 Communication phase 4 transition check.
If the drive reaches phase 4 without errors, "bb" will appear on the H1
display. The diagnostic message is: A013 Ready for power on
Operating
Communication phase 4 mode
Communication phase
4 transition check
Communication phase 3
Communication phase
3 transition check Parameter
mode
Fig. 3-17: Communication Phases
Communication between the SERCOS control and the drive is not

possible during phase 0. Parameterization mode is given during
communication phases 1..3.
Monitoring in the Transition Check Command

Transition check commands must be activated in the drive in order to
switch from communication phase 2 to 3 and from 3 to 4. This
commences a series of checks and parameter calculations.
S-0-0127, C1 Communication Phase 3 Transition Check

The following checks are run when this command is activated.
The descriptions and solutions
for transition check errors can The telegram configuration is checked. The SERCOS cyclic telegram is
be found in Supplement B, checked for valid parameters configured in the MDT or AT data blocks
Diagnostic Message and to ensure that the maximum length is not exceeded.
Descriptions. The command errors:
C104 Config. IDN for MDT not configurable
C105 Configurated length > max. length for MDT
C106 Config. IDN for AT not configurable
C107 Configurated length > max. length for AT
may occur.
Parameters are checked for proper values before the drive can switch
into phase 3. If a parameter has an improper value, the following
command error will occur:
C101 Invalid communication parameter (S-0-0021)
The SERCOS ID numbers of invalid parameters are listed in S-0-0021,
IDN List of Invalid Op. Data for Comm. Ph.2 and must be corrected
before allowing a transition to phase 3.
The timing parameter for SERCOS communication in phase 3 and 4 are

checked for proper values.
The command errors:
C108 Time slot parameter > Sercos cycle time
C109 Position of data record in MDT (S-0-0009) even
C110 Length of MDT (S-0-0010) odd
C111 ID9 + Record length - 1 > length MDT (S-0-0010)
C112 TNcyc (S-0-0001) or TScyc (S-0-0002) error
C113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error
C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)
C115 T2 too small may occur.
S-0-0128, C2 Communication Phase 4 Transition Check

The following checks are run when this command is activated.
• Parameter P-0-4014, Motor type is checked for a proper value. The
command error C204 Motor type P-0-4014 incorrect occurs if 1
(MHD) or 5 (MKD/MKE) is entered in this parameter but the
corresponding motor type is not found in the motor feedback data
memory.
• The parameters are checked for proper values required for switching
in phase 4. The command error C201 Invalid parameter(s) (->S-0-
0022) occurs if one or more of the required parameters are invalid.
The SERCOS ID numbers of the invalid parameters are listed in S-0-
0022, IDN List of Invalid Op. Data for Comm. Ph.3 and must be
corrected.
• The drive-controller reads the operating data out of the EEPROM of

the drive controller. If an error occurs during this process, then the
command error C212 Invalid amplifier data (->S-0-0022) appears.
The ID numbers of the faulty parameters are listed in S-0-0022, IDN
List of Invalid Op. Data for Comm. Ph.3.
• A check is done to see if an external encoder is needed according to
the operating mode parameters S-0-0032..35 or homing parameter
S-0-0147, but is not available because a 0 is entered in the
parameter P-0-0075, Interface feedback 2, external. The invalid
parameters are listed in S-0-0022, IDN List of Invalid Op. Data for
Comm. Ph.3. The command error C210 External feedback required
(->S-0-0022) is issued.
• Check whether a motor encoder is available (P-0-0074, Interface
feedback 1 = 0) and in function parameters P-0-0185, Function of
ext. Encoder no "2" has been entered for the loadside motor
encoder. If this is the case, then command error C236 Motor
feedback required (P-0-0074) is generated.
• Checking motor encoder settings: If the encoder interface
parametrized in P-0-0074, Interface feedback 1 is not available, then
error message C232 Motor encoder interface not present is
generated. If a motor encoder with feedback memory is used, but its
data cannot be read, then error message C217 Motor feedback data
reading error is generated.
• Checking the settings for the external encoder. If the encoder
interface parametrized in P-0-0075, Interface feedback 2, external is
not available, then error message C233 External encoder interface
not present is generated. If the encoder interface set in P-0-0075,
Interface Feedback 2, external is already occupied by the motor
encoder, then error message C234 Encoder combination not
possible is generated. If an external encoder with feedback memory
is used, but its data cannot be read, then error message C218
External feedback data reading error is generated. If in parameter
P-0-0185, Function of ext. encoder"loadside motor encoder" is
selected, but no rotary asynchronous motor is available, then error
message C235 Load-side motor encoder with inductance motor
only is generated.
• The parameters stored in memory are read from motors with
feedback data storage. If an error is found, the command error C211
Invalid feedback data (->S-0-0022) appears.
• Check whether an internal position resolution has been set via S-0-
0278, Maximum travel range, which guarantees a correct
commutation of the motor. If not, then command error C223 Input
value for max. range too high is generated.
• The scaling format is checked for position, acceleration, velocity and
torque for proper configuration. If an error is found, one of the
following errors
C213 Position data scaling error
C214 Velocity data scaling error
C215 Acceleration data scaling error
C216 Torque/force data scaling error
is issued.
• Values are checked for each parameter. The minimum and maximum
values of each of the parameters are checked, and parameters with
bit format are checked for proper configuration. If an error is found,
the command error
C202 Parameter limit error (->S-0-0022)

is issued. The SERCOS ID numbers of the invalid parameters are
listed in
S-0-0022, IDN-list of invalid op. data for comm. Ph. 3 and should
be corrected.
• The parameter S-0-0103 Modulo Value is checked for its ability to be
processed when modulo scaling is activated. If the parameter cannot
be processed, the command error C227 Modulo range error is
generated.
• Determines if the coprocessor is ready for initialization. If it is not, the
error message C225 Coprocessor not ready for initialization will
appear.
• Special checks executed for specific parameters. For example, the
encoder interface parameters P-0-0074/75 are checked to see if the
selected encoder interface is actually available. If discrepancies are
found, the command error C203 Parameter calculation error (->S-0-
0022) is issued. The ID numbers of the invalid parameters are listed
in S-0-0022, IDN-list of invalid op. data for comm. Ph. 3 and should
be corrected.
• Encoder initializations are executed. Depending on the type of
encoder, specific errors may occur during initialization (for example,
invalid position with DSF feedback). One of the following command
errors
C220 Motor feedback initializing error
C221 Ext. feedback initializing error
will be issued.
• Query whether coprocessor has processed initialization value and
accepted it. If not, then command error C226 Coprocessor
acknowledge failed is generated.
• Depending on controller type, various internal settings are performed.
If parameter S-0-0140, controller type cannot be read, then command
error C228 Controller type S-0-0140 wrong is generated.
• Absolute encoder monitoring. If the actual position is outside the
actual position range +/- P-0-0097, Absolute encoder monitoring
window before the machine was last switched off, the error F276
Absolute encoder out of allowed window will be generated. The
transition command will not be acknowledged as an error, but the
error may be cleared by executing the command S-0-0099, C500
Reset class 1 diagnostic, error reset.
(See also "Clearing error".)
Notes
DIAX04 Drive With Electric Gear Function Communication Through the SERCOS-interface 4-1
4 Communication Through the SERCOS-interface
4.1 Overview of SERCOS Communication

Communication of devices with DIAX software can be done only through
the SERCOS interface at this time. The basic features of this interface
are:
• Data exchange cycle of set and actual values with exact time
equidistance
• Synchronization of measurement point and command
value input
• Overall synchronization of all drives connected to the control
• Minimum cycle time 0.5 ms / maximum cycle time 65 ms
• Baud rate selectable, either 2 or 4 MBaud
• Service channel for settings and diagnostics
• Data transfer through fiber optic ring
• Configuration of the telegram contents
• SERCOS compatibility class B, granularity 2, i.e., a multiple of
500 µs as cycle time can be set.
The features of the interface are mentioned here briefly. More detailed
information is included in the SERCOS interface specification.
4.2 Data Transfer Cycle through SERCOS

To synchronize the drives in a ring, the Master Synchronization
Telegram (MST) is sent at the beginning of every SERCOS cycle. The
MST contains only the preset communication phase information from the
master.
Once during every Sercos cycle, a Master Data Telegram (MDT) is sent
You can configure the master
from the control to every drive. The master control word, the service
data and drive telegram.
channel and a configurable data block are included here. In this data
block, the command and limit values are contained, which are sent by the
control according to the operation mode of the drive. The contents of this
data block can be configured through the telegram settings.
The master data telegram is received by all drives in the ring at the same
time.
In addition, a Drive Telegram (AT) is sent during each Sercos cycle
time from every drive to the control. The drive status word, the service
channel and a configurable data block are contained here. This data
block contains mainly actual and status values, which are needed to
operate the corresponding drives by the control.
4-2 Communication Through the SERCOS-interface DIAX04 Drive With Electric Gear Function
Master Control Word

The master control word is part of the Master Data Telegram. The most
important control information for the drives is contained here, such as
• Drive ON and Drive enable
• Drive Stop
• Interpolator cycle
• Set operation mode
• Real-time control bit 1 and 2
• Control information for the service channel
The master control word is structured as follows:
Master control word
Bit 0 -5 control information

for service channel
Bit 6 u.7: Real-time control bits 1 and 2
Bit 8 u.9: Command mode
00 main operating mode
01 1.auxiliary operating modes, etc.
Bit 10 : IPOSYNC, interpolator pulse, toggels
if new command values to be transmitted
Bit 13 : Drive HALT, 1-0 change, standstill of drive
while maintaining maximum acceleration (S-
0-0138)
Bit 14: Drive ENABLE, 1-0 change:
torque off without delay
Bit 15 : Drive ON, 1-0 change: best possible
standstill
Fig. 4-1: Structure of the master control word
The master control word is transferred through the service channel to the
control by using the parameter S-0-0134, Master control word.
Drive enable
The activation of the drive is done through a 0-1 edge of the drive enable
signal. For drive controllers with a SERCOS Interface, the drive enable
signal corresponds to bit 15 in the master control word of the master data
telegram.
To have the drive enable signal accepted (meaning that the drive is ready
to accept commands from the control), the following requirements must
be fulfilled:
• SERCOS Interface in operating mode (Communication phase 4)
• No drive error
• Power section enabled
In this condition, the drive displays "Ab" on the seven-segment display,
and the drive diagnostic from the parameter S-0-0095, Diagnostic
Message is A012 Control and power sections ready for operation.
If the drive enable is set, the seven-segment display changes to "AF".

After that it displays the drive diagnostic for the activated operation mode
(i.e., A101 Drive in VELOCITY control).
If the drive enable is activated without a DC bus voltage ("Ab" doesn't

appear on the H1 display), the error message F226 Undervoltage in
power section will be displayed.
Drive Status Word

The drive status word is part of the drive telegram. All important status
information for the drive is contained here.
• Readiness for use of the control and power sections

• Drive error
• Change bits for diagnostics class 2 and 3
• Current operation mode
• Real-time status bits 1 and 2
• Status information for the service channel
The drive status word is structured as follows:

Drive Status Word
Bits 0-2: Control information for

service channel
Bit 5: Bit change command
Bits 6&7: Real time status bits 1 & 2

Bits 8&9: Actual type of operation 00-Main
type of operation active
01 1.Secondary type of operation, etc.
Bit 11: Bit change class 3 diagnostics
Bit 12: Bit change class 2 diagnostics
Bit 13: Drive lock, error in Class 1 Diagnostics
Bits 14&15: Ready to operate

00 - Drive not ready for power to be switched on
since internal checks are not positively
connected
01 - Ready to switch on power
10 - Control and power supplies ready for operation,
torque free
11 - In operation, under torque
Fig. 4-2: Structure of the drive status word
The drive status word is transferred through the service channel to the
control with the parameter S-0-0135, Drive status word.
Confirmation of the Drive Enable

The drive confirms the drive enable setting in the drive status word of the
drive telegram. Bits 14 and 15 of "10" (control and power section
enabled, temporarily) changes to "11" (in operation, temporarily enabled)
after the drive enable is activated and has been accepted.
The confirmation of the drive enable setting in the status word is
acknowledged after the drive has sufficient time to prepare for its
operation mode. For example, the asynchronous motor uses this time to
magnetize itself.
If the drive enable is disabled, the drive performs its reaction through
parameter P-0-0119, Best possible deceleration. Here, time passes
between resetting and confirming the reset. This time depends on
• the setting of the parameter P-0-0119, Best possible deceleration
• the existence of a motor brake and its parameterization.
• the velocity of the axis before the reset of the drive enable
1 MST
0
Control release
1 AT
0
Control release
acknowlegment
tRFEIN tRFAUS
t / ms
Ventilating the
motor brake
Sv5024f1.fh7
Fig. 4-3: Confirmation of the drive enable
Typical values for tRFEIN are about 8 ms for synchronous motors or 300ms
for asynchronous motors.
Note: During the time tRFEIN, the control should set its command
values to reach a set velocity of 0. The activation of the
optional motor brake takes place after the drive enable
confirmation time (0-1 edge from confirmation of drive
enable).
4.3 Real-Time Control and Status Bits

In the master control and drive status words, there are 2 configurable
real-time bits. The configuration of these binary signals is achieved
through parameters
• S-0-0301, Allocation of Real-Time Control Bit 1
• S-0-0303, Allocation of Real-Time Control Bit 2
• S-0-0305, Allocation of Real-Time Status Bit 1
• S-0-0307, Allocation of Real-Time Status Bit 2
The parameter number that will be assigned to the corresponding real-
time status bit is set here. Bit 0 of this parameter will be sent cyclically to
the master or the drive via the real-time status or control bit.
4.4 Transmission of non-cyclical Data through SERCOS

The non-cyclical data (data that is not time-critical) is transmitted via the
service channel.
The transmission via the service channel is done in several steps for the
MDT and AT, and the transmission of an element could last over several
Sercos cycles.
The service channel is used for
• Parameterization and
• Diagnostic
4.5 Startup for the SERCOS Interface

To start the interface you have to:
• connect the fiber optic cable
• set the drive address
• check the distortion indicator
• set the transmission rate
• set the transmission power
Adjustments of the SERCOS Interface

All settings can be done with switches on the front plate or directly on the
plug-in card of the interface module DSS 2.1.
The settings should be complete before connecting communication to the
fiber optic ring.
DSS2.1
S4
H3 ERR
H3 ERR- Distortion
X10- transmitter S5
X11 RX S2 LOW S3 HIGH
2 3
4
1
5
0
S2 und S3-setting
6
9
8 7
the drive adress 2 3

4
1
5
0
6
9
8 7
X11-receiver
X12
E1
E2
E3
E4
E5
E6
+U
OV
View to faceplate
EK5005f1.fh5
Fig. 4-4: Control communication module DSS2

See also Supplement B,
Diagnostic Explanations: E410 Slave not scanned or adress 0.
Connecting the Fiber Optic Cables of the SERCOS Interface

The connection between the control and the digital drives is done with
fiber optic cables (LWL).
SERCOS interface (IEC 1491) The used toplogy is a ring structure according to SERCOS interface (IEC
1491).
TX
NC control unit
RX
DSS
TX
2 3 2 3 2 3
4
4
1
1
5
0
5
0
0
6
6
9
9
8 7 8 7 8 7
2 3 2 3 2 3
4
4
1
1
5
0
5
0
0
6
6
9
9
8 7 8 7 8 7
RX
Drive controllers
Ap5040f1.fh7
Fig. 4-5: Ring topology

The ring starts and ends at the control.
The optical output of the control is connected with the optical input of the
first drive (X11). The output of the latter (X10) is connected with the input
of the next drive, and so on. The output of the last drive is connected with
the input of the control.
Setting the Drive Address of the SERCOS Interface

The drive address is set on the front plate of the DSS 2.1 through
switches S2 and S3. You can set addresses in the range of 0 to 99.
The drive address is not dependent on the sequence of drive
connections through the fiber optic ring.
After setting all the addresses, you can switch on the arrangement.
Checking the Distortion Indicator of the SERCOS Interface

The next step is to check whether every station gets a sufficient optical
signal level , in other words whether the receiver is not under- or
overloaded.
Distortion indicator may not be For normal operation, the distortion indicator (see also Fig. 4-4: Control
lit nor glow (flicker)! communication module DSS2, LED H3 ERR) stays dark.
If it’s lit, examine the transmission path in front of that station.

To do this, check the distortion indicators, starting from the transmitter
output of the master (control) in the direction of the signal flow.
The distortion indicator at the drives is the LED "H3 ERR“.
Check distortion indicator in At first, check the 1st drive in the ring. If its distortion indicator is dark, go
"direction of the light“ to the next drive. Do this up to the last drive and then at the master’s
input (control).
If one of the indicators is lit, check the following:
• Is the transmission (baud) rate set correctly?
• Is the transmission power of the predecessor in the ring correct? (or
too high or too low)
• Is the fiber optic cable to the predecessor defective?
Using the Distortion Indicator

A distortion indicator (see also Fig. 4-4: Control communication module
DSS2, LED H3 ERR) lights in the following cases:
• wrong transmission (baud) rate
• wrong transmission power
• fiber optic connection defective
Therefore, in the case of a lit distortion indicator lamp, check the
following:
Checking the transmission rate Check the transmission rate at the control and at the implicated drive.
Checking the Check the transmision power at the control and at the physical
transmission power predecessor of the implicated drive. (See Setting the optical
Transmission Power).
Checking the fiber optics Check the fiber optic cable and its connectors from the physical
predecessor to the implicated drive.
Transmission Rate of the SERCOS interface

The transmission rate is set by the manufacturer to 2 MBaud. The rate
can be set with switch S4 on the interface module DSS 2.1. To do this,
you have to remove the card from the slot.
(see also Fig. 4-4: Control communication module DSS2)
Baud Rate: Switch S4: Remarks:
2 Mbaud OFF Shipping condition
4 Mbaud ON
Fig. 4-6: Setting the transmission rate
Setting the optical Transmission Power

DIAX (DSS 2.1) The transmission power is adjusted with the switches S5A and S5B on
the DSS 2.1 card. (see also Fig. 4-4: Control communication module
DSS2).
LWL Length 0 .. 15 m 15 m .. 30 m 30 m .. 50 m
S5A = OFF S5A = ON S5A = ON
S5B = OFF S5B = OFF S5B = ON
Fig. 4-7: Setting the transmission power for plastic fiber LWL
LWL-Length 0 .. 500 m
S5A = ON / S5B = ON
Fig. 4-8: Setting the transmission power for Glass fiber LWL
Checking the Fiber Optics

When the transmission rate and power are correctly set, and there is still
no communication, the LWL (fiber optic connection) can be defective. In
this case, the distortion indicator lamp will light, too.
Reason for a faulty LWL can be damage or bad manufacturing
(connector mounting, ...).
Perhaps you can recognize a defective LWL when hardly some light
comes out at its end, or that, for example, the optical fiber has been torn
back into the connector (check the face of the connector). Further
examinations cannot be done with simple means.
The only remedy is an exchange of the defective LWL cable.
4.6 SERCOS Telegram Configuration

To operate the drive properly, the settings of the telegram send and
receive times, their lengths, and content have to be transmitted from the
SERCOS master to the drive.
Configuration of the Telegram Send and Receive Times

The requirements to calculate the time slot parameter (telegram send
and receive times) are stored in the following parameters within the drive:
• S-0-0003, Minimum AT Transmit Starting Time (T1min)
• S-0-0004, Transmit/Receive Transition Time (TATMT)
• S-0-0005, Minimum Feedback Acquisition Time(T4min)
• S-0-0088, Receive to Receive Recovery Time (TMTSG)
• S-0-0090, Command Value Transmit Time (TMTSG)
The SERCOS Master calculates from the information received from all
drives the time slot parameters for the operation of the communication
phase 3. Those values are transferred to the drive in communication
phase 2 through the parameters
• S-0-0002, SERCOS Cycle Time (Tscyc)
• S-0-0006, AT Transmission Starting Time (T1)
• S-0-0007, Feedback Acquisition Starting Time (T4)
• S-0-0008, Command Valid Time (T3)
• S-0-0009, Beginning Address in Master Data Telegram
• S-0-0010, Length of Master Data Telegram
• S-0-0089, MDT Transmit Starting Time (T2)
The drive checks these settings while processing the command

S-0-0127, C100 Communication phase 3 transition check. The
following error messages may appear:
• C101 Invalid communication parameter (S-0-0021)

• C108 Time slot parameter > Sercos cycle time
• C109 Position of data record in MDT (S-0-0009) even
• C110 Length of MDT (S-0-0010) odd
• C111 ID9 + Record length - 1 > length MDT (S-0-0010)
• C112 TNcyc (S-0-0001) or TScyc (S-0-0002) error
• C113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error
• C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)
• C115 T2 too small
Configuration of Telegram Contents

The telegram contents are set through these parameters:
• S-0-0015, Telegram Type Parameter

• S-0-0016, Custom Amplifier Telegram Configuration List
• S-0-0024, Config. List of the Master Data Telegram
However, the drive-directed conditions for the type and number of

configured data must be in the set range. Those are provided by the
drive in
• S-0-0185, Length of the config. data record in the AT

• S-0-0186, Length of the config. data record in the MDT
• S-0-0187, List of Configurable Data in the AT
• S-0-0188, List of Configurable Data in the MDT
The drive checks these settings while processing the command

S-0-0127, C100 Communication phase 3 transition check. The
following error messages may appear:
• C104 Config. IDN for MDT not configurable

• C105 Configurated length > max. length for MDT
• C106 Config. IDN for AT not configurable
• C107 Configurated length > max. length for AT
4.7 SERCOS Interface Error

If conditions are detected in the drive that prevent the correct operation of
the interface, or if error values are recognized during the initialization
phase, the drive responds by resetting to communication phase 0. This
means that no drive telegrams will be sent. The drive proceeds with the
programmed error reaction (see P-0-0119, Best possible deceleration )
and waits for the reinitialization of the SERCOS ring through the master.
Possible errors could be:
• F401 Double MST error shutdown

• F402 Double MDT error shutdown
• F403 Invalid communication phase shutdown
• F404 Error during phase progression
• F405 Error during phase regression
• F406 Phase switching without ready signal
Diagnostic of the interface Status

The parameter S-0-0014, Interface Status is used to analyze the
existing initialization error and the current communication phase.
Error Count for Telegram Interrupts

The drive checks every received master synchronization and master data
telegram for
• the correct receive time set point,

• the assigned telegram length and
• the correct CRC check sum
A telegram interrupt is registered with an incrementation in the error

counter. For this purpose, these two parameters are used: S-0-0028,
MST error counter and S-0-0029, MDT error counter.
These parameters are cancelled by switching the communication phase
from 2 to 3 (S-0-0028) or from 3 to 4 (S-0-0029).
DIAX04 Drive With Electric Gear Function Motor Configuration 5-1
5 Motor Configuration
5.1 Characteristics of the Different Motor Types

You can use the following motor types.
• MHD
• MKD/MKE
• 2AD/1MB/ADF
• LAF/LAR
• LSF
• MBS
• synchron kit motor
The individual motor types differ in the following points:
• Availability of data memory in the motor feedback for all motorspecific

parameters
• Synchronous motor - Asynchronous motor
• Linear motor - Rotary motor
• Temperature check can be changed or not.
• Basic load (load default) possible or not
• Motor encoder interface setting can be changed or one setting only
• Start of commutation offset setting command possible or not
• Motor temperature sensor with PTC or NTC features
The individual motor types have the following characteristics

Motor Motor-
feedback encoder Load Temp.
Motor type data memory Sync./Async. Temp. check interface default Sensor
MHD/MKD/MKE yes synchronous fixed fixed (1) possible PTC
2AD/ADF no asynchronous param. param. no NTC
1MB no asynchronous param. param. no NTC
LAF/LAR no asynchronous param. param. no PTC
LSF no synchronous param. fixed (8) no PTC
2AD with PTC no asynchronous param. param. no PTC
MBS no synchronous param. param. no PTC
Fig. 5-1: Characteristics of the Motor Types
5-2 Motor Configuration DIAX04 Drive With Electric Gear Function
Motor Feedback-Data Memory

For MHD, MKD and MKE motors, a motor feedback-data memory is
The motor feedback data
provided, in which all motor-dependent parameters are stored. The drive
memory contains all motor-
controller recognizes this automatically and reads those parameters after
related parameters
turning on the device from the data memory with the command S-0-0128,
C200 Communication phase 4 transition check.
The data memory contains values for the following parameters:
• S-0-0109, Motor Peak Current

• S-0-0111, Motor Current at Standstill
• S-0-0113, Maximum Motor Speed (nmax)
• S-0-0141, Motor Type
• P-0-0018, Number of Pole Pairs/Pole Pair
• P-0-0051, Torque/Force constant
• P-0-0510, Moment of inertia of the rotor
• P-0-0511, Brake current
Motor types without motor feedback memory necessitate that these

parameters are input with initial start-ups using the data sheet.
Linear-Rotational
Depending on whether a linear or rotary motor is being used, changes in
Depending on the setting of
the units and the number of decimal places will be made by the
either rotary or linear motor,
parameters. The following table displays the differences in scaling of
the units of measurement and these parameters:
the decimal places are
changed by the parameters.
ID number: Rotational: Linear:
S-0-0100 0,1 As/rad 0,1As/m
S-0-0113 0,0001 RPM 0,0001 mm/min
S-0-0116 Cycles/Rev. 0.00001 mm
P-0-0018 Pole pairs 0,1mm
P-0-0051 Nm/A N/A
S-0-0348 mAs²/rad mAs²/mm
Fig. 5-2: Scaling in Linear or Rotary Motors
The selected motor type also affects the scaling of the position data.
For example, it is impossible to set rotary motor settings for linear motors
and linear motor settings for rotary motors. This would generate the
command error C213 Position data scaling error during a phase
progression.
Synchronous-Asynchronous
Specific parameters are used only for synchronous motors, others only
for asynchronous motors.
There are differences in the use and review of the parameters in the
command S-0-0128, C200 Communication phase 4 transition check.
They are:
Synchronous:
• P-0-4004, Magnetizing current is set to 0
• P-0-0508, Commutation offset is checked for validity
Asynchronous:
• P-0-4004, Magnetizing current is initialized
• P-0-0508, Commutation offset is not checked
Temperature Monitoring
The following parameters are used to monitor the motor temperature : :
The switch-off limit for the
motor temperature check is S-0-0201, Motor warning temperature
fixed at one point for MHD-, S-0-0204, Motor shutdown temperature
MKD, MKE motors.
For MHD, MKD and MKE motors, the parameter default values are:
S-0-0201, Motor warning temperature = 145,0°C
S-0-0204, Motor shutdown temperature = 155,0°C
Those default values can be used to help set the parameters for all other
motor types. However, you must ensure that the switch-off limit is not set
higher than the maximum permissible temperature of the motor.
The maximum input value for S-0-0201, Motor warning temperature is
S-0-0204, Motor shutdown temperature.
If the temperature of the motor exceeds the value in S-0-0201, Motor
warning temperature, the warning message E251 Motor overtemp.
prewarning is generated.
If the temperature rises to the motor switch-off temperature, the error
message F219 Motor overtemp. shutdown is displayed.
The minimum input value for S-0-0204, Motor shutdown temperature
is S-0-0201, Motor warning temperature.
To display the motor temperature, the parameter S-0-0383, Motor
Temperature is used.
The drive controller checks for proper functioning of the motor
temperature monitoring system. If discrepancies occur (temperature
drops below -10 degrees), the warning E221 Warning Motor temp.
surveillance defective will be displayed for 10 seconds. After that, the
error message F221 Error Motor temp. surveillance defective is
generated.
Load Default Feature

MHD, MKD and MKE motors have a data memory in their feedbacks.
The data memory contains a set of default control parameters in addition
to all motor-dependent parameters.
These parameters are activated with the load default feature.
(See also "Load Default"feature.)
5.2 Setting the Motor Type

The setting of the motor type is done either:
• automatically by reading the motor feedback memory, or

• through the input of the parameter P-0-4014, Motor Type.
This depends on the motor type used.
The motor type should be set before start up because the motor type
affects the following drive functions:
• a data memory in the motor feedback for all motor-specific

parameters
• synchronous motor / asynchronous motor
• linear motor - rotary motor
• temperature monitor can be parametrized or not
• load base value function is possible or not
• motor encoder interface is parametrizable or permanently set
• start of commutation offset setting command possible or not
• motor temperature sensor or with PTC or NTC features
Automatic Setting of the Motor Type for Motors with Feedback Memory
MHD, MKD and MKE motors have a motor feedback data memory, in
which the motor type is stored (along with other information). The drive
controller recognizes these motor types automatically and the following is
executed:
• the value of the parameter P-0-4014, Motor Type is set to its proper
value and will be write-protected.
• the value of the parameter P-0-0074, Interface Feedback 1 is set to
the defined value for the corresponding motor type.
• all bits except bit 6 are set for absolute/not-absolute to "0" in the
parameter S-0-0277, Position feedback 1 type parameter.
• all motor-dependent parameters are read out of the motor feedback
data storage (see Motor Feedback-Data Memory). The parameter in
the motor feedback memory are set with parameter block number 7.
These are fetched and copied into the relevant parameters with
parameter block number 0.
• the value of S-0-0201, Motor warning temperature will be set to
145,0°C, and the S-0-0204, Motor shutdown temperature will be set
to 155,0°C.
• The value of P-0-0525, Type of motor brake is set to "0". The value
of P-0-0526, Brake control delay is set to 150 ms.
This procedure is followed right after switching on as in the command S-

0-0128, C200 Communication phase 4 transition check. The
command error message, C204 Motor type P-0-4014 incorrect, will be
generated in case an MHD, MKD and MKE motor is selected in P-0-
4014, Motor type but the corresponding character sequence cannot be
found in the motor feedback data memory.
Setting of the Motor Type through P-0-4014, Motor Type

For motors without motor feedback data memory, you have to set the
motor type through P-0-4014, Motor type. The following values are
planned for the different motor types:
Motor type: Data: Remarks:
MHD 1 automatic detection
2AD/1MB/ADF 2 must be set
Linear synchronous motor 3 must be set
Linear asynchronous motor 4 must be set
MKD/MKE 5 automatic detection
2AD with PTC sensor 6 must be set
MBS 7 must be set
Fig. 5-3: Setting the Motor Type
5.3 Synchronous Motors

With this drive firmware it is possible to operate not only Indramat motors
with housing such as
• MHD and
• MKD and MKE motors
but also rotary and linear synchronous kit motors such as MSB and LSF.
INDRAMAT motors with housing have a stator, rotor, bearings and
feedback already built in. They have motor feedback memory in which
• motor parameters
• motor feedback parameters
• synchronous motor-specific parameters and
• default control parameters
are stored. This motors are recognized by the firmware and all settings
automatically instituted. With these motors the alignment between the
physical rotor positon and the position as supplied by the feedback has
been performed at the factory prior to delivery. The resulting offset is
stored in parameter P-0-0508, Commutation offset in the motor
feedback memory (synchronous motor specific parameters).
INDRAMAT motors with This motors can, therefore, immediately be operated without the need for
housing configured at the motor-specific settings.
factory
In the case of synchronous kit motors, additional settings must be made

at the time of commissioning.
These are:
• motor parameters must be input and
• commutation offset must be determined.
To input the motor parameters, a data sheet from the motor
manufacturer can be used. The commutation offset, on the other hand, is
determined with the help of command P-0-0524, Commutation
Command.
Error in the control of motor and moving elements.

⇒ Determining the commutation offset must be
conducted each time after there has been a change
in the mechanical relationship between motor
WARNING feedback and motor. This is the case, for example,
when the encoder or motor are replaced.
Determining the commutation offset

A condition for a temporally constant torque of the synchronous motor is
the synchronism between the stator current vector and the vector of the
rotor flux. If the angle between these two vectors, hereinafter termed γ
equals 90°, then the motor will generate its maximum torque. A
synchronous motor is operated in this state.
In order to set the stator current vector correctly, the data on γ is needed.
This generally necessitates a measuring system which can supply
absolute information about this angle. Once the measuring system is
mounted to the motor, only the absolute raw position is at first available.
The difference between raw positon and absolute angle of rotor and
stator field is designated the commutation offset. This is generally stored
in the feedback memory in the form of parameter P-0-0508,
Commutation offset.
If this parameter is to be determined, then the commutation setting
function must be activated. The following two parameters are intended
for this purpose:
• P-0-0523, Commutation, Probe value

• P-0-0524, Commutation Command
Two different processed have been implement. These are:

• mechanical reference between rotor and stator is entered in P-0-0523
and then commutation offset is computed while command P-0-0524 is
executed.
• Automatic determination of the commutation offset by switching
defined stator current vector on with accompanying automatic
measurement.
Which process is used at the state of the P-0-0524, Commutation
Command depends on the type of motor which has been mounted. It
thus applies:
Motor type Process

LSF (synchronous linear) reference between rotor and stator is
measured (see item 1)
MSB (synchronous rotary) automatic determination ( see item
2)
Fig. 5-4: Setting the commutation offset
Note: To successfully conduct the command, the motor measuring

system must be completely operable. The rotational direction
of the measuring system must also be set! (See "Motor
encoder“)
Determining the commutation offset in rotary synchronous

motors (MSB)
In rotary synchronous motors, the commutation offset is determined by
switching to a defined stator current vector. The rotor goes into a torque-
free position. If the raw position of this torque-free position is measured,
then it can be used to determine the commutation offset. This procedure
is repeated ten (10) times, whereby the points of measurement are
distributed over the entire mechanical rotation of the rotor. The mean
value of these ten measurements equals the commutation offset.
Amount and angle of the stator current are illustrated below.
|IStator|
S-0-0109 / 2
S-0-0109 / 4
Measure. 1 2 3 10
ϕRotor
1 mech.
revolution
Fig. 5-5: Current and position when determining commutation offset in MSB
motors
At the start of the command, the drive must be in torque mode. If not,
then the command error
D301 Drive not ready for commutation command
is generated. The value of P-0-0508, Commutation offset is stored in
the motor feedback memory, if one is available. Allowable motor
encoders for rotary synchronous motors must supply an absolute position
of at least one pole pair after powering up.
For this reason, the following values for P-0-0074, Interface Feedback 1
are permitted:
Possible values for P-0-0074,

Interface Feedback 1 with
motor type MSB (rotary
synchronous kit motor) Motor encoder interface
1 DSF or resolver with feedback data
storage
8 Heidenhain encoder with Endat
Interface
10 Resolver without feedback data
*)
storage
11 Resolver + incremental encoder with
sine signals without feedback data
*)
memory
Fig. 5-6: Possible motor encoders with motor types "rotary synchronous kit“
*)
Note: With this type of motor encoder, there is no feedback
memory. The parameter P-0-0508, Commutation offset is
stored in the programming module. When exchanging the
programming module, the value of parameter P-0-0508,
Commutation offset must be re-entered or assumed by
storing the parameter and loading from the previous module.
Determining the commutation offset in linear synchronous

motors (LSF)
The commutation offset in linear synchronous motors (LSF) is fixed by
measuring the distance between front end of primary part and setting
device of the secondary part. This value plus the motor type dependent
primary nominal value is entered in parameter P-0-0523, Commutation,
Probe value. Then the command P-0-0524, Commutation Command
is started. The drive computes the commutation offset from the
measured value. To successfully conduct the command, the following
conditions must be met:
• The direction of movement of the measuring system must be set so

that if the primary part is moving towards the front end at which the
power cable of the motor branches off (front end 1, see picture 2),
then S-0-0051, Position Feedback Value 1 (Motor Feedback) is
moving in a positive direction. (With inverted position polarity!) If this
is not the case, then the direction of movement of the motor encoder
must be inverted. Do this in bit 3 of S-0-0277, Position feedback 1
type parameter.
• The power cables of the motor must be correctly connection (three
phases must be assigned).
• The drive must be in A013 Ready for power on.
• A characteristic value, Kentire, for the primary part of the motor must be
determined.
If these conditions have been met, then the distance between front end 2
of the primary part of the setting device (d) can be measured and this
value plus the primary part characteristic value Kentire can be entered in P-
0-0523. Front end 2 means the front end opposite the end where the
power cables of the motor emerge.
P-0-0523 = d + Kentire
P-0-0523: value determined for parameter P-0-0523
d: measured distance between front end of primary part and setting
device
Kentire: primary part characteristic value
Fig. 5-7: Determining the measured value of the commutation offset setting in
LSF motors
distance to be measured between primary

and mounting screws on secondary part
power connection
north pole
(marked)
secondary part
primary
Ek5021f1.fh7
Fig. 5-8: Overview of determining the commutation offset in LSF
Finally, the command P-0-0524, Commutation Command is started.

The commutation offset is computed during this process.
At command start, the drive must be A013 Ready for power on. If not,
then command error
is generated. The command must be cleared when all is completed!
5.4 Asynchronous Motors

With DIAX-Firmware, you can use asynchronous motors in the entire rpm
range, including constant power range.
In addition to the general motor parameters, you have to set the following
asynchronous motor parameters for specific motors according to the
Indramat default:
• P-0-4004, Magnetizing current
• P-0-4012, Slip factor
• P-0-0530, Slip Increase
• P-0-0531, Stall Current Limit
• P-0-0533, Flux Loop Prop. Gain
• P-0-0534, Flux Loop Integral Action Time
• P-0-0535, Motor voltage at no load
• P-0-0536, Motor voltage max.
• P-0-0537, S1-Kink-Speed
The user has two additional parameters to adjust the drive to his
requirements.
• P-0-0532, Premagnetization factor
• P-0-0538, Motor Function Parameter 1
Basics for the Asynchronous Motor

Asynchronous motors are divided in three working ranges.
P
Pmax
PS1
1 2 3
n3 n2 n
Sv5025f 1.fh5
Fig. 5-9: Subsections of Work Ranges
Section 1:
The Basic RPM Range is defined by a constant torque and a fixed
torque/force constant (parameter P-0-0051). In idle, the programmed
magnetization current flows. The motor voltage is less than the maximum
control output voltage. The corner RPM n1 is directly proportional to the
DC bus voltage.
Section 2:
Range of Constant Power. The motor voltage is constant; the idle
voltage and the corresponding magnetization and torque constants fall
with increasing velocity. The slip is increased correspondingly.
The adjustment of magnetization current and slip is executed
automatically by the vector control. The voltage is decreased during idle
to the motor idle voltage (P-0-0535), and when fully in use it is increased
to the maximum motor voltage (P-0-0536).
Section 3:
Range of decreasing Peak Power. The motor works at the sweep limit;
an actual sweep is eliminated with the vector control. According to the
parameter "sweep current limit," the peak current will be decreased
enough so that the maximum power cannot be exceeded. An increase in
current would lead only to wasted power and reduced shaft power. The
peak power in range 3 is proportional to the square of the DC bus
voltage. It is ensured that the maximum power always is reached for
each DC bus voltage without parameter adjustment.
The power in range 3 cannot be extended through the use of more
powerful controllers.
Torque Evaluation
In contrast to the RAC, 100% torque is not the peak value, but the motor
set value according to the ID plate. Since the peak torque of
asynchronous motors is limited to 2.5 times of the set value, you can
reach torques up to 250%.
The significance of the torque values changes in the field-weakening
range since the torque in the controller is set equal to the torque-
producing current Iq. The torque, however, is the product of Iq and air
gap induction, which decreases in the field-weakening range.
The assignment of the torque values in the different velocity ranges is
displayed in the following picture:
P In this case160 per cent
corresponds to the
effective peak current
160
Pmax
160
100
100
Pn
75
100
1 2 3
n3 n2 n
Sv5026f 1.fh5
Fig. 5-10: Torque assignment
In range 1, the torque value is the actual torque. 100% = rated torque.
In range 2, the torque value is equal to the power.
100% = rated power according to selection list. (The rated power of the
motor rating plate is not relevant here since it could relate to another DC
bus voltage.)
Range 3 is similar to the evaluation of range 2, except that the preset
torque decreases in correspondence to the increasing velocity of the
peak power. For high velocity, the maximum torque value can drop below
100%.
In braking mode, you can reach 50% higher torque values in this range
than in driving mode.
User-defined Settings for the Asynchronous Motor

To operate an asynchronous motor, you have to set the specific DIAX
motor parameters in the controller. The parameters are stored on the
DSM module and are therefore transferable to another controller.
Note: Motor-specific parameters are used by all DIAX controls in the

same manner. The resulting power characteristics curve
depends on the current and especially on the DC bus voltage.
Several additional parameters are available so the user can
optimize the drive to his requirements.
Scaling Factor Pre-Magnetizing

With the pre-magnetizing scaling factor (P-0-0532), you can set the
active magnetization current.
The following applies:
Effective magnetization current = magnetization voltage • scaling factor pre-magnetizing
Fig. 5-1: Calculation of the Effective Magnetization Current
If the pre-magnetizing scaling factor is at 100%, the motor is completely

magnetized. There is a linear connection between set current and torque
according to the torque constant P-0-0051. The torque builds up without
delay. The drive has perfect servo properties.
The disadvantages are the high iron loss and the higher noise level in
idle and in work mode, especially at 4kHz switching frequency, when the
full magnetization current is flowing. For main spindle applications, it has
proven successful to reduce the pre-magnetizing scaling factor to 50%.
Through this procedure, the motor stays cooler and is not as noisy, while
peak power is maintained. The extended start control time (only for
jumps that exceed half the peak torque) and the missing linearity of
torque and voltage do not distort the main spindle drives.
The qualitative connection between the pre-magnetizing scaling factor
and drive behavior is displayed in the following graphic:
Md Md
100 100
smf smf
50 50
smf smf
lq t
Dg5005f1.fh5
Fig. 5-11: Connection of pre-magnetizing scaling factor and drive behavior
The torque buildup is delayed by about 200ms during pre-magnetizing

because the air gap range can only increase slowly in relation to the rotor
time constant.
By reducing the pre-magnetizing scaling factor, you can achieve a better
synchronous operation (in the one-thousandth degree range). This will
reduce distorted torques, which result from saturation effects in the motor
and from unavoidable deviations from an ideal sine form. To keep the
torque linear in this case, the slip factor must be increased in the same
measure at which the pre-magnetizing scaling factor was decreased.
Warning: Torque constant, continual torque and peak torque are
reduced!
Example: The synchronous operation should be improved in a servo
drive. The pre-magnetizing scaling factor is set to 40%, and the slip
factor is set to 2.5 times of the original value. The continual and peak
torque decrease to approximately 40%. The reference speed increases
to 2.5 times the velocity.
"S1-Operation" Function
By setting Bit 0 in the parameter "Motor function parameter," the function
"S1-Operation" is activated.
Motor voltage,
simultaneous
peak power
max. transverter voltage

normal
S1- operation
n
S1- corner velocity n1
Dg5006f1.fh5
Fig. 5-12: Operating characteristics of the reference speed
Already from the S1 reference speed (corner velocity) (P-0-0537), a

controlled field weakening prevents a continued increase in iron losses. If
the motor-typical S1 kink speed drops drastically below the DC bus
voltage and the motor-type dependent kink speed n1, then the iron loss
in range S1 kink speed is kept constant until the output voltage is
reached. The peak torque does decrease, but the motor losses are lower
for resistances ≤ set rated loads. So activation of "S1-Operation" is
advantageous for drives that are used with constant velocity in the
medium RPM range, as would be the case for printing machines.
The S1 kink speed can be drastically below the electrical kink speed n1
especially with non-ventilated motors.
The S1 operation also can be used in connection with the reduced pre-
magnetizing scaling factor.
Motor Function Parameter 1

Bit No. Meaning
#0 = 0: no magnetizing current drop
= 1: S1-magnetizing current drop active since the S1 kink speed
Fig. 5-13: Meaning P-0-0538, motor function parameter
5.5 Motor Holding Brake

The drive controllers of the DIAX series allow for control of a motor
holding brake. This is used to prevent undesired axis movements when
the controller enable is turned off.
Note: The holding brake is not designed for regular operation. The
brake will be worn out after 20.000 rotations in engaged state.
To set the motor holding brake, use the parameters
• P-0-0525, Type of motor brake

• P-0-0526, Brake control delay
• P-0-0511, Brake current
For motors with motor The parameters will be set automatically for the MHD, MKD or MKE
feedback data memory, the motors. For all other motor types, you have to retrieve the values from
parameters for the motor the data sheet for the motor or the motor brake.
holding brake are set
automatically
Connection of the Motor Holding Brake

You connect the motor brake through connector X6 on the drive
controller.
7
6
0VB
3
UB
2
TM-
TM+ 1
BR- 5
BR+ 4
plug in X6
EK5012f1.fh7
Fig. 5-14: Connection of the motor brake
To provide the required brake control voltage, you have to connect +24V
external voltage. The brake is controlled with the contacts Br+ and Br-.
Note: To ensure error-free monitoring, a connection between the 0V

of the brake supply and the 0V of the drive controller is
recommended.
Setting the Motor Brake Type

In P-0-0525, Type of motor brake , you set either a self-locking ( MHD,
MKD or MKE motors) or a self-releasing brake.
P-0-0525, Motor brake type
Bit 0: 0 - Self stopping brake

(U(Br+,Br-)=0V: Brake is switched on)
1 - Self-ventilating brake
(U(Br+,Br-)=24V: Brake is switched on))
Fig. 5-15: Setting the motor brake type
Setting the Brake Control Delay

In P-0-0526, Brake control delay, you set the time it can take for the
brake to become effective.
The standard value for the direct connection of holding brakes for
Indramat motors should be set at 100 ms.
1 Activating the
0 motor brake
Motor brake
1 becomes
effective
0
1 End stage
release
0
P-0-0526, Motor brake distortion time
0 50 100 150 200 t / ms
Sv5027f1.fh5
Fig. 5-16: Setting the brake control delay
Setting the Motor Brake Current

The motor holding brake is controlled by the drive controller with
connector X6. The supply voltage of +24V for the brake control has to be
fed externally. If the brake is actuated (electrically released or electrically
engaged), the current flowing through the connection contacts of the
brake will be monitored.
Note: The maximum output voltage for the control of the motor
brake is 2,0 A.
In P-0-0511, Brake current, the rating of the brake current is defined. If

the actual brake current after actuation is outside (0,4..1,6) • P-0-0511,
then the error message F268 Brake fault will be generated.
The monitoring of the brake current is deactivated when a P-0-0511,
Brake current equal to 0 is entered.
Notes
DIAX04 Drive With Electric Gear Function Operating Modes 6-1
6 Operating Modes
6.1 Operating Modes - Definition

Operating modes define how command values should be processed.
With the help of the parameters
• S-0-0032, Primary Mode of Operation
• S-0-0033, Secondary Operation Mode 1
• S-0-0034, Secondary Operating Mode 2
4 different operating modes can be preselected simultaneously.
The following gives a more detailed explanation of the operating modes
supported by the DIAX software.
6.2 Basic Operating Modes
Torque/Force Control
A torque/force value is commanded to the drive in the Torque/Force
Control operating mode. When the operating mode is activated, the
diagnostic message reads A100 Drive in TORQUE control.
The command value is specified in the parameter S-0-0080,
Torque/Force Command.
Monitors specific to this operating mode are:
• Monitoring of the actual speed at 1.125 times the value of the
parameter S-0-0091, Bipolar Velocity Limit Value.
(See also"Limiting to Bipolar Velocity Limit Value ")
If this value is exceeded, the error F879 Velocity limit S-0-0091
exceeded is generated.
Torque/power
control M
Torque/power
command value
Fig. 6-1: Torque/Force Control Block Diagram
Torque/Force Controller
The command value in S-0-0080, Torque/Force Command is limited
with the effective peak current P-0-4046, Active peak current. The
effective peak current is derived from the current and torque/force limit.
(See also"Current Limit and "Torque/Force Limiting")
The torque/force generating command current "Iqcom" is derived
according to these limits. This is the command value for the (effective)
current regulator.
6-2 Operating Modes DIAX04 Drive With Electric Gear Function
S-0-0107, Current loop

integral action time-1

proportional gain 1
S-0-0080, Torque/force
command M
P-0-4046, Active peak

current Actual current value
Torque/force creating
Command current IqCOMM
Fig. 6-2: Torque/Force Controller
Velocity Control
A velocity value is commanded to the drive in the Velocity Control
operating mode. The diagnostic message reads A101 Drive in
VELOCITY control when the operating mode is active.
The command values are specified in the parameters S-0-0036, Velocity
Command Value and S-0-0037, Additive velocity command value.
• The parameter S-0-0036, Velocity Command Value is limited to the
value of the parameter S-0-0091, Bipolar Velocity Limit Value. This
generates the warning E263 Velocity command value > limit S-0-
0091 .
Generator function Current

Velocity controller
Velocity control controller M
Velocity command Torque/power

value command value
Fig. 6-3: Velocity control block diagram
Generator function Velocity control

The given S-0-0036, Velocity Command Value is limited to S-0-0091,
Bipolar Velocity Limit Value. Is the command value higher the
message E 263, Velocity Command Value > Limit S-0-0091 is shown.
Than the acceleration is limited with P-0-1201, Ramp 1 pitch and the
jerk is limited with P-0-1222, Velocity command filter.
E263 Velocity command value >

Limit S-0-0091
S-0-0036,
Velocity command
Velocity Command Value
P-0-1201, Ramp 1 P-0-1222, Velocity

pitch command filter
Abb. 6-4: Generator Function: Velocity Controller
See also "Velocity Controller"

See also "Current Controller".
Velocity Controller
The effective velocity command value is added with S-0-0037, Additive
Velocity Command Value.
Further he is limited to S-0-0091, Bipolar Velocity Limit Value.
(See also "Limiting to Bipolar Velocity Limit Value")
If the resulting command value is at the limit, the warning E259
Command velocity limit active is displayed.
The velocity control difference is produced by including the actual velocity
in the control loop. The raw feedback velocities of the motor and, if
available, the external encoder can be combined into an effective actual
velocity value. (See also" Setting the Velocity Mix Factor".)
Via P-0-0004, Smoothing Time Constant you can limit the band of the
control difference for the current controller.
The output from the velocity controller is added with a feed forward
component when a lagless position control mode is activated and S-0-
0348, Acceleration Feedforward prop. Gain is set to a non-zero value.
This value is commanded according to the current and torque/force limit.
(See also" Current Limit" and "Torque/Force Limitation".)
To filter mechanical resonance frequencies, a notch filter can be applied

to this torque/force command value. Using parameter P-0-0180,
Rejection frequency velocity loop and P-0-0181, Rejection
bandwidth velocity loop the frequency range which must be
suppressed and be parametrized.
(See also "Setting the Velocity Controller".)
S-0-0091, Bipolar velocity limit value

P-0-0004, Smoothing time constant
S-0-0100, Velocity loop

proportional gain
S-0-0101, Velocity loop integral
action time
P-0-4046,Active
peak current
P-0-0180, Rejection
frequency velocity loop
P-0-0181, Rejection
andwith velocity loop
Velocity Command Value
S-0-0037, Additive S-0-0080, Torque-/

velocity command value force command
Actual velocity I Acceleration feedforward
( from position control
E259 Command velocity limit active
Fig. 6-5: Velocity Controller

See also "Generator function Velocity control"
See also "Current Controller".
Current Controller
The current controller is parameterized with S-0-0106, Current loop
proportional gain 1. and S-0-0107, Current loop integral action time
1.
(See also "Setting the Current Controller".)

integral action tim e-1

proportional gain 1
com m and M
Actual current value
Fig. 6-6: Current Controller
Position Control
A position value is commanded to the drive every NC-cycle time in the
Position Control operating mode. When this mode is activated, the
diagnostic message is one of the following:
• A102 Position mode with encoder 1
• A103 Position Control Encoder 2
• A104 Position mode lagless, encoder 1
• A105 Position control lagless, feedback 2
The command value is specified in the parameter S-0-0047, Position

Command Value .
• Monitoring the command velocity at the value of the parameter S-0-
0091, Bipolar Velocity Limit Value.
If this value is exceeded, the error F237 Excessive position command
difference is generated.
The command value specified in S-0-0047, Position Command Value is
interpolated within the NC cycle time and is then given to the position
controller.
Position
Position Velocity Current
command M
controller controller controller
value
Position Velocity command Torque/power

value command FP0006Q1.WMF
Fig. 6-7: Position control block diagram
Generator Feature: Position Command Value Interpolator

A command velocity is formed from two successive position command
values. The S-0-0001, NC Cycle Time (TNcyc) acts as the time base.
The instructions for calculating the command velocity are as follows:
Position command value(k) − Position command value(k − 1)

Vcommand =
S − 0 − 0001
Vcommand: Command velocity
Fig. 6-1: Calculating the command velocity
This velocity is monitored to see if it exceeds S-0-0091, Bipolar Velocity

Limit Value (see also Position Command Value Monitoring. If S-0-0091
is exceeded, the error F237 Excessive position command difference
is generated.
The commanded position profile can be filtered with the parameter P-0-
0099, Position command smoothing time constant.
The position loop is closed every 250 µs. The position command value is
also fine interpolated within the NC cycle time.
P-0-0099, Position command

smoothing time constant
S-0-0047, Position Fine

command value Position
interpolator
command
value
F237: Excessive position

command difference
Fig. 6-8: : Generator function position command value interpolator

See also Current Controller
See also Velocity Controller
See also Position Controller
Position Controller
The position controller error is computed from the effective position
command value from the generator function of the active operating mode
and the actual position value (motor encoder or external encoder) used
for the controller.
This is given to the position controller, whose control gain is set with S-0-
0104, Position Loop Kv-Factor .
Bit 3 in the operating mode parameters (S-0-0032..35) indicates if
positioning should be subject to the following errors.
With lagless position control, an acceleration feed forward component
can be included with parameter S-0-0348, Acceleration Feedforward
prop. Gain.
(See also"Setting the Acceleration Feed Forward".)
S-0-0348, Acceleration feedforward

proportional gain
S-0-0032 (0033,0034,0035)
Operation mode bit 3 I Acceleration/feedforward
(see Velocity control)
Position S-0-0036, Velocity command value

command
value
S-0-0104, Position loop
Position actual value KV-factor
Fig. 6-9: Position controller block diagram

See also Current Controller
See also Velocity Controller
See also Generator Feature: Position Command Value Interpolator.
Position Command Value Monitoring

If the drive is operated in the position control mode with cyclical position
commands, new position values are transmitted to the drive every
SERCOS cycle. The difference between the current and the last position
command value is checked for validity.
Reasons monitoring is activated:
• Erroneous control system command values
• Command value transmission error
If the Position Control operating mode is active, the velocity produced

by the difference in successive values of parameter S-0-0047, Position
Command Value is compared to
• S-0-0091, Bipolar Velocity Limit Value
S-0-0001, NC Cycle Time (TNcyc) acts as the time base for converting
the position command value differences into a velocity. It is assumed that
position command values are given cyclically in the NC cycle time. This is
normally the case in the position control operating mode.
If the command velocity resulting from the position command value

exceeds S-0-0091, Bipolar Velocity Limit Value, the error
• F237 Excessive position command difference
is generated. For diagnostic purposes, both of the parameters
• P-0-0010, Excessive Position Command Value

• P-0-0011, Last valid Position Command Value
will be saved. The velocity produced by the difference of the two values
generated the error.
S-0-0047,Position
command value
S-0-0091, Bipolar Velocity limit
resulting velocity-
position command
value
Generating the error F237

excessive position command
value difference
Sv5028f1.fh5
Fig. 6-10: Monitoring the position command value differences and generating the
error F237 Excessive position command difference
Setting Position Command Value Monitoring

The position command value monitor works with the parameter S-0-
0091, Bipolar Velocity Limit Value. S-0-0091 should be set approx.
5..10% above the planned maximum velocity of the shaft.
Drive Internal Interpolation

The drive is given a target position in the Drive Internal Interpolation
operating mode. When the operating mode is activated, the diagnostic
message is one of the following:
• A106 Drive controlled interpolation, encoder 1
• A107 Drive controlled interpolation, encoder 2
• A108 Drive controlled interpolation, lagless, encoder 1
• A109 Drive controlled interpolation, lagless, encoder 2
Internal Position Velocity Current

interpolation controller controller controller M
Target Position Velocity command Torque/power

position command value value command value
Fig. 6-11: Drive-internal interpolation diagram
Generator Function: Drive Internal Interpolation

The target value is entered in the parameter S-0-0258, Target Position .
The drive generates the position command profile necessary to move to
the target position using the following parameters as limits:
• S-0-0259, Positioning velocity
• S-0-0260, Positioning acceleration
• S-0-0193, Positioning jerk
• S-0-0108, Feedrate override
S-0-0258, Target position
S-0-0259, Positioning velocity

Interpolation S-0-0047, Position
S-0-0260, Positioning command value
acceleration
S-0-0193, Positioning jerk
S-0-0108, Feedrate override E249, Positioning velocity S-0-0259>S-0-0091
E253, Target position out of travel zone
E247, Interpolation velocity = 0
E248, Interpolation acceleration = 0
E255, Feedrate override S-0-0108= 0
Fig. 6-12: Generator function drive internal generator function

See also position controller
See also velocity controller
See also current controller
Monitoring in mode: "Drive-internal interpolation"

The following checks are executed:
• If axis limit value monitoring is activated ( Bit 4 of S-0-0055, Position
Polarity Parameter is set ) and the measurement system used for
the operating mode has been homed, the parameter S-0-0258,
Target Position is monitored for staying within the axis limit values.
If these are exceeded, the warning E253 Target position out of
travel zone is generated.
The prescribed target position will not be accepted.
• If the prescribed positioning velocity S-0-0259, Positioning velocity
exceeds the maximum allowable ( S-0-0091, Bipolar Velocity Limit
Value), the warning E249 Positioning velocity S-0-0259 > S-0-0091
will be generated.
The drive will move at the velocity S-0-0091, Bipolar Velocity Limit
Value to the new target position.
• If the positioning velocity specified in S-0-0259, Positioning velocity
equals 0, then warning E247 Interpolation velocity = 0 is generated.
• If the factor affecting positioning velocity as set in S-0-0108, Feedrate
override equals 0, then warning E255 Feedrate-override S-0-0108 =
0 is generated.
• If the positioning acceleration specified in S-0-0260, Positioning
acceleration equals 0, then warning E248 Interpolation
acceleration = 0 is generated.
Status messages during operating mode "Drive-internal

interpolation"
In parameters S-0-0013, class 3 diagnostics and S-0-0182,
manufacturers class 3 diagnostics there are the following status
messages specifically for this mode:
• target position reached, bit 12 of S-0-0013, Class 3 Diagnostics is
1, if it applies: internally effective command value equals S-0-0258,
Target Position . This message then becomes 1, if the position
command value generated by the drive-internal interpolator reaches
the set target value.
• In target position, bit 10 of S-0-0182, Manufacturer Class 3
Diagnostics is 1, if it applies: absolute difference between S-0-0258,
Target Position and S-0-0051/53, Position Feedback Value 1/3
smaller than S-0-0057, Position window. This message then
becomes 1, if the relevant position feedback value is target positoin
range +/- positioning window.
• IZP, bit 6 of S-0-0182, Manufacturer Class 3 Diagnostics is a link of
several status messages and is 1 if it applies: In target position = 1,
i.e., absolute difference between S-0-0258, Target Position and S-0-
0051/53 Position feedback value 1/2 smaller than S-0-0057,
Position window AND IN_POSITION = 1, i.e., amount of S-0-0189,
Following Error smaller than S-0-0057, Position window AND Vist
= 0, amount of S-0-0040, Velocity Feedback Value smaller than S-0-
0124, Standstill window.
The following profile explains how the status messages work:
Start state target position X
Sv5051f2.fh7
Fig. 6-13: Profile to explain how the interpolation status messsages work
In this example, the drive is on the start position, when the new target
position is given.
The following time diagrams result:
vel. feedback value
0 standstill
window
t
target Positioning
position window
position comm. t
position
feedback
start state Positioning
window
t
X
following
or lag
distance
(magnified)
Positioning
window
t
target
position 1
0
t
In
target 1
position
0
t
1
IZP
0
t
t0- new start state is given
Sv5050f2.fh7
Fig. 6-14: Generating the status bit of the operating modes with drive-internal
interpolation
Relative drive-internal interpolation

In operating mode Relative drive-internal interpolation the drive is
given a path in parameter S-0-0282, Travel distance. If bit 0 of the
acceptance parameter S-0-0346, Setup flag for relative command
values toggels, then it is added to the target position in S-0-0258, Target
Position. The drive generates the position command profile it needs to
run to the target position while maintaining all marginal conditions in:
• S-0-0108, Feedrate override
The diagnosis with activated operating mode is one of the following:
• A146 Relative drive controlled interpolation, encoder 1
• A147 Relative drive controlled interpolation, encoder 2
• A148 Relative drive contr. interpolation, enc. 1, lagless
• A149 Relative drive contr. interpolation, enc. 2, lagless
Relative drive-
internal Position Current
Velocity controller M
interpolation controller controller
Target pos. Com. value Velocity command torque/force

command
Fig. 6-15: Block diagram of relative drive-internal interpolation
Generator function: Relative drive-internal interpolation
S-0-0282, Travel distance

Determining
S-0-0346, Setup flag for target pos.
relative command value
S-0-0259, Positioning velocity
S-0-0260, Positioning acceleration Interpolation S-0-0047, Position

command value
S-0-0193, Positioning jerk
S-0-0108, Feedrate override
E249, Positioning velocity S-0-0259>S-0-0091
E253, Target position out of travel zone
E247, Interpolation velocity = 0
E248, Interpolation acceleration = 0
E255, Feedrate override S-0-0108= 0
Fig. 6-16: Generator function relative drive-internal interpolation

Monitoring during mode "Relative drive-internal

interpolation"
With activated mode, the following monitoring functions are performed:
• If position limit value monitor is active ( bit 4 of S-0-0055, Position
Polarity Parameter is set ) and the measuring system used for the
mode is in reference (S-0-0403, Position feedback value status =
1), then the sum of S-0-0282, Travel distance and S-0-0258, Target
Position is monitored to ensure that it maintains the position limit
value. Otherwise, the sum of the overtravelling of the drive-internally
depicted numeric range (visible in the minimum and maximum input
values of the travel distance parameter) is monitored. In either case, if
the allowable range is exceeded, the warning E253 Target position
out of travel zone is generated. The set travel path is not accepted if
the acceptance toggles.
• If the positioning velocity set in S-0-0259, Positioning velocity
exceeds maximum allowable velocity set in S-0-0091, Bipolar
Velocity Limit Value then the warning E249 Positioning velocity S-
0-0259 > S-0-0091 is generated. The set travel path is not accepted if
the acceptance toggels.
• If the positioning velocity set in S-0-0259, Positioning velocity
equals 0, then warning E247 Interpolation velocity = 0 is generated.
• If the factor affecting the positioning velocity in S-0-0108, Feedrate
override equals 0, then warning E255 Feedrate-override S-0-0108 =
0 is generated.
• If the positioning acceleratiion set in S-0-0260, Positioning
acceleration equals 0, then the warning E248 Interpolation
acceleration = 0 is generated.
Status messages during operating mode "Relative drive-

internal interpolation"
see functional description:

Status messages during operating mode Drive-internal interpolation
6.3 Operating Modes
Velocity synchronization
Associated parameters:
• S-0-0236, Master drive 1 revs.
• S-0-0237, Slave drive 1 revs.
• P-0-0083, Gear ratio fine adjust
• P-0-0053, Master drive position
• P-0-0108, Master drive polarity
• P-0-0156, Master drive gear input revolutions
• P-0-0157, Master drive gear output revolutions
The drive reads the Lead Drive Position from the cyclic data every NC
cycle. The polarity selected in the Lead Drive Polarity parameter is
applied to this position value.
To include the master axis gear in the calculation, multiply the results by
the quotient derived from P-0-0157 and P-0-0156.
The so generated master axis speed after the master axis gear is
multiplied by the factor
dXSynch = (1 + P-0-0083) * S-0-0237 / S-0-0236.
Where dXSynch is the synchronous velocity command value.
This value is passed to the velocity loop after dynamic synchronization is
performed.
The Gain Adjust, which may be included in the cyclic data, allows for
velocity changes on the slave drive given a constant master velocity.
Velocity changes are possible by changing the parameter of the master
axis gear. These can also be cyclically changed.
Velocity Velocity Current control

synchronization control M
Steering axle Velocity command Torque/power

position value command value FP0011Q1.WMF
Fig 6-17: Velocity Synchronization Block Diagram
Generator function: Velocity synchronization

P-0-0142, Synchronization -
acceleration
P-0-0108, Master drive

polarity

gear output revolutions Synchronization
S-0-0036, Velocity command

value
gear input revolutions
dXSynch
position
S-0-0237, Slave drive 1

revs.
S-0-0236, Master drive 1

revs
P-0-0083, Gear ratio fine adjust
1,0
Fig. 6-18: Velocity Synchronization Generator Function

Dynamic synchronization in the velocity synchronization

operating mode
• P-0-0142, Synchronization acceleration
Dynamic synchronization is included in the velocity synchronization
operating mode.
It consists of drive-controlled acceleration or deceleration, with a target of
synchronous velocity.
The synchronization procedure starts when the velocity synchronization
mode is activated. A velocity command profile is generated starting with
the feedback velocity at the time of activation, and ending with the
synchronous velocity command value. The synchronization acceleration
is used to generate this profile.
Following synchronization, the velocity command values are determined
solely by the synchronous velocity command values.
In velocity sychronization mode, the drive operates with velocity loop
control.
Synchronization status message during the velocity

synchronization operating mode
• S-0-0037, Additive velocity command value
• S-0-0040, Velocity feedback value
• S-0-0183, Velocity synchronization window
The drive sets bit 8 in the Manufacturer Class 3 diagnostics if:

| dXSynch + S-0-0037 - S-0-0040 | < S-0-0183
The bit is updated only if the velocity synchronization operating mode is
set in the S-0-0032, Primary mode of operation.
Phase synchronization
• S-0-0048, Position command value additional
• S-0-0236, Master drive 1 revs.
• S-0-0237, Slave drive 1 revs.
The master axis position scaled to values ranging between 0 and 2^20
corresponding to 0 to 360 degrees is negated with negative master axis
polarity (P-0-0108 = 1) and then scaled again.
Taking the master axis gear into account then follows. The master axis
position is differentiated. The difference is multiplied by P-0-0157, Master
drive gear output revolutions and divided by P-0-0156, Master drive
gear input revolutions. The remainder is processed in the next cycle.
The resulting difference is added to the master axis gear output value
and again limited to 2^20 increments.
The differential processing of the master axis gear has the advantage
that the master axis gear output value does not jump if the master axis
gear is changed. This only results in a velocity change at the master axis
gear output. The master axis gear output value is set once upon
activation of the operating mode. The master axis gear input value is
multipled by P-0-0157, Master drive gear output revolutions and then
divided by P-0-0156, Master drive gear input revolutions and limited to
2^20 increments.
There is fine linear interpolation between two master axis positions at the
master axis gear output generated in the NC cycle. The results are the
effective master axis position.
Multiplication by a factor supplies the synchronous position command
value Xsynch.
This factor depends on S-0-0076, Position data scaling type. With

rotary position scaling, it is the quotient of S-0-0237 and S-0-0236, with
translatory position scaling it is the quotient of P-0-0159 and S-0-0236.
The synchronous position command value for rotary scaling lies within
the range of 0...360° * S-0-0237 / S-0-0236, with translatory 0...P-0-0159
/ S-0-0236. In this operating mode, the drive therefore sets S-0-0103,
Modulo value to the upper range limits.
The bit for mudulo processing must be set in S-0-0076, Position data
scaling type.
The S-0-0048, Position command value additional must be situated
within the modulo range.
After the initial steps of incremental synchronization (velocity
adjustments), the difference of the synchronous position command value
is added to the active position command value (S-0-0047).
After the second synchronization step it applies (position adjustment):
S-0-0047, position command value = XSynch + S-0-0048, additional
position command value
The structure of the phase synchronization operating mode is displayed

in the following figures:
Phase Position Velocity Current control

synchronization control control M
Lead drive Position Velocity command Torque/power

position command value value command value
Fig 6-19: Phase Synchronization Block Diagram
Generator function: Phase synchronization
Parameter for Synchronization:

P-0-0142, Synchronization-acceleration
P-0-0143, Synchronization-velocity
P-0-0151, Synchronization init window for
modulo
P-0-0154, Synchronization direction
P-0-0155, Synchronization mode
S-0-0055, Position polarity parameter
P-0-0060, Filter time constant additional pos.
S-0-0048, Position command Position

value additional Synchronisation command
value
P-0-0157, Master drive gear
output revolutions
P-0-0156, Master drive gear S-0-0047,
input revolutions Position command value
Xsynch
P-0-0053, Master drive position

polarity
S-0-0237, Slave drive 1 revs.
P-0-0159, Slave drive

feed travel
S-0-0076, Position data

scaling type
S-0-0236, Master drive 1 revs.
Fig 6-20: Phase Synchronization Generator Feature

Dynamic Synchronization in the Phase Synchronization

Operating Mode

• P-0-0060, Filter time constant additional pos. command
• P-0-0143, Synchronization velocity

• P-0-0151, Synchronization init window for modulo format
• P-0-0154, Synchronization direction
• P-0-0155, Synchronization mode
Dynamic synchronization is included in the phase synchronization

operating mode.
It consists of drive-controlled move with a target of absolute
synchronization.
Dynamic synchronization is active as long as phase synchronization is
active.
A synchronization operating mode with supported position control is

performed during synchronization in two steps.
Upon activating the operating mode, a velocity adjustment is first

executed.
This means that the drive either accelerates or decelerates from the
feedback velocity current at the time of activation to the synchronous
velocity.
The drive generates the synchronous velocity by differentiating the
synchronous position command value. These synchronous posiiton
command values XSynch are generated in terms of the operating mode
out of P-0-0053, Master drive position.
Velocity adjustment already takes place in position control. When
generating the position command value, the drive takes the
synchronization accleration into account.
Once the drive reaches synchronous velocity it is in relative
synchronization. The differences of the synchronous position command
values are added to the active S-0-0047, Position command value.
After velocity adjustment is complete, there is a difference between the
active position command value and the sum of the synchronous position
command values XSynch and S-0-0048, Position command value
additional.
The second step of dynamic synchronization is position adaptation. The

drive moves a distance equal to the difference described above. It
generates a position command profile that is added to the synchronous
position command value. This profile is determined by the P-0-0142,
Synchronization acceleration and P-0-0143, Synchronization
velocity parameters.
The path is generated according to the following equation:
Path = XSynch + S-0-0048 - S-0-0047

Xsynch: synchronous position command value
Fig. 6-21: Determining the Travel Path
Given an absolute shaft, the path is traversed as calculated.

Given a modulo shaft, the path first is limited to the +/- S-0-0103,
Modulo value. The P-0-0154, Synchronization direction and P-0-
0151, Synchronization init window for modulo format parameters are
taken into consideration.
The Synchronization Direction parameter will only work if the shortest
path ( when <= 0.5 * modulo value) is larger than the synchronization
window. Then, the synchronization direction will be set with the
parameter (positive, negative or shortest path).
If the shortest path is smaller than the synchronization window, then the
shortest path will always be traveled.
The drive will be in absolute synchronization at the conclusion of the

second synchronization step. The following applies:
S-0-0047, Position command value = XSynch + S-0-0048, Position
command value additional
Every time the additive Position Command Value (S-0-0048) is changed,
a new path will be determined and traveled according to the above
equation, using parameters P-0-0142, P-0-0143, P-0-0151 and P-0-0154.
The P-0-0155, Synchronization mode parameter can be used to

optionally switch off the dynamic synchronization after first reaching
absolute synchronization.
If synchronization mode 1 is set, then parameters
• P-0-0143, Synchronization velocity
• P-0-0151, Synchronization init window for modulo format
• P-0-0154, Synchronization direction
will be inoperative after absolute synchronization is reached.
Changes to the additional position command value will be smoothed with
a filter of the first order. The time constant for the filter will be set with the
parameter P-0-0060, Filter time constant additional pos. command.
Bit 9 of S-0-0182, Manufacturer class 3 diagnostics is used absolute

synchronization status messages.
This bit will be set if a synchronous operating mode is active and if the
following condition is met:
S-0-0047, Position command value = XSynch + S-0-0048,.Position
command value additional
The synchronization procedure is then considered complete.
In P-0-0155, Synchronization mode = 1, this bit will be set according to
the filter for the additional position command value during switching. In
addition, the bit will no longer be cleared when changes are made to S-0-
0048,.Position command value additional
If the dynamic synchronization remains active (P-0-0155,
Synchronization mode = 0), then the bit will be set only if the above
equation is met.
The following graphics show the time flow of the velocity for the standard
and filter synchronization modes.
dx dxsoll, synch Position command

dt dt value addition (S-0-0048)
dxsoll, synch P-0-0142

dt P-0-0142 P-0-0143 P-0-0143
P-0-0142
Velocity Position t
"Synchronisation adjustment adjustment
mode" (step 1) (step2)
t
"Synchronization completed"
(Manuf. class 3 diagnostics S-0-0182, Bit9)
t
Sv5029f1.fh5
Fig. 6-22: Standard Synchronization Mode (P-0-0155 = 0)
Position command
dx dxsoll, synch value addition (S-0-0048)
dt dt
dxsoll, synch
dt P-0-0142 P-0-0143 P-0-0060
P-0-0142
Velocity Position t
"Synchronisation
mode" adjustment adjustment
(step 1) (step2)
t
"Synchronization completed"
(Manuf. class 3 diagnostics S-0-0182, Bit9)
t
Sv5030f1.fh5
Fig. 6-23: Filter Synchronization Mode (P-0-0155 = 1)
Synchronization status message for the phase

synchronization operating mode
• S-0-0051, Position feedback value 1 (motor feedback)
• S-0-0053, Position feedback value 2 (ext. feedback)
• S-0-0228, Position synchronization window
The drive sets bit 8 in the Manufacturer Class 3 diagnostics if:
| XSynch + S-0-0048 - (S-0-0051 or S-0-0053) | < S-0-0228
The bit will be set only if a synchronization operating mode is selected in
the S-0-0032, Primary mode of operation.
During the first phase of dynamic synchronization (velocity adaptation),
the bit will be set to 0 to avoid being set too early for a modulo shaft.
Electronic Cam Shaft

• P-0-0061, Angle offset begin of profile
• P-0-0072, Cam shaft profile 1
• P-0-0085, Dynamic phase offset
• P-0-0088, Cam shaft control
• P-0-0089, Cam shaft status
• P-0-0092, Cam shaft profile 2
• P-0-0093, Cam shaft distance
• P-0-0094, Cam shaft switch angle
• P-0-0144, Cam shaft distance switch angle
• P-0-0158, Phase offset velocity
The master axis position scaled to values between 0 and 2^20

corresponding to 0 to 360 degrees is negated with negative master axis
polarity (P-0-0108 = 1) and then scaled again.
Taking the master axis gear into account then follows. The master axis
position is differentiated. The difference is multiplied by P-0-0157, Master
drive gear output revolutions and divided by P-0-0156, Master drive
gear input revolutions. The remainder is processed in the next cycle.
The resulting difference is added to the master axis gear output value
and again limited to 2^20 increments.
The differential processing of the master axis gear has the advantage
that the master axis gear output value does not jump if the master axis
gear is changed. This only results in a velocity change at the master axis
gear output. The master axis gear output value is set once upon
activation of the operating mode. The master axis gear input value is
multipled by P-0-0157, Master drive gear output revolutions and then
divided by P-0-0156, Master drive gear input revolutions and limited to
2^20 increments.
There is fine linear interpolation between two master axis positions at the
master axis gear output generated in the NC cycle. The results are the
effective master axis position.
To determine a profile access angle, subtract parameter P-0-0061, angle
offset begin of profile (range 0..360°, scaled to 0.. 2^20) from the
master axis position.
To avoid jumps in the profile access angle, a new value for parameter P-
0-0061, angle offset begin of profile does not immediately become
effective. Starting with the current value, a ramp-like approach to the new
value is executed. The approach is conducted over the shortest possible
distance. The slop of the ramp is set in parameter P-0-0158, Phase
offset velocity.
The P-0-0085, Dynamic phase offset compensates for following error if

a lagless position loop is not selected. The table lookup angle is shifted
depending on the velocity. The additive position results from the lead
drive velocity (differentiated lead drive position) divided by the S-0-0104,

Position loop Kv-factor; given 100% dynamic phase offset.
The table lookup angle consists of 20 bits. The higher-valued 10 bits
determine the element that is taken from the active cam table (1024 =
2^10 elements). A fine interpolation to the following element is performed
with the lower-valued 10 bits.
The synchronous position command value XSynch is initialized with the
product of the interpolated profile values and the cam shaft distance (P-
0-0093).
In addition, profile-value differences are multiplied by the cam shaft
distance. The result is added to the synchronous position command
value. Changes to the cam shaft distance do not lead to position
command value jumps for profile values ≠ 0.
A difference between 2 cam table elements exceeding 50% is corrected
by 100% in the direction of 0%. This is necessary for a continuously
rotating shaft. Profiles can be generated with all table elements having
the same sign. Transitions from 100% to 0% or vice versa will be
corrected. For a continuously rotating shaft, modulo scaling must be set
in the S-0-0076, Position data scaling type parameter.
Note: For continuous error-free processing of the cam shaft

distance given continuously rotating shafts, the distance and
the S-0-0103, Modulo value
must have identical values.
The active cam table(P-0-0072 or P-0-0092) can be selected with the

parameters P-0-0088, Cam shaft control and P-0-0094, Cam shaft
switch angle. The active cam table is indicated in the P-0-0089, Cam
shaft status. The cam can be switched by changing the control word.
The switch is executed and acknowledged by the drive in the status word
when the table lookup angle passes the cam shaft switch angle.
The P-0-0144, Cam shaft distance switch angle parameter determines
at which table lookup angle and table element a changed cam shaft
distance value becomes active. This allows for an absolute position
reference to be preserved during a switch.
The drive-controlled dynamic synchronization is active in this operating

mode. After the second step of synchronization (position adaptation), the
following applies:
S-0-0047 = XSynch + S-0-0048
The structure of the electronic cam shaft operating mode is shown in the
following figure:
Velocity
Disc Position control Current control
control M
Lead drive Position Velocity command Torque/power

position value command value FP0014Q1.WMF
Fig. 6-24: Block Diagram: Electronic Cam Shaft
The generator function: cam shaft

P-0-0142, Synchronization acceleration
P-0-0143, Synchronization velocity
P-0-0151, Synchronization init window
for modulo
P-0-0060, Filter time constant additional pos. S-0-0055, Position polarity
parameter
S-0-0048, Position command
value additional
Synchronization Lagesollwert
P-0-0061, Angle offset begin
of profile
P-0-0158, Phase offset velocity
P-0-0093, Cam shaft distance
P-0-0072,
input revolutions
Cam shaft
P-0-0156, Master drive profile 1
gear output revolutions
ϕGrip S-0-0047, Position
P-0-0053, Master drive Lookup
position command value
angle
determination

polarity Xsynch
P-0-0085, Dynamical phase

offset
P-0-0092, Master axis
P-0088, Cam shaft control Tabellen- position status
auswahl-
logik
P-0094, Cam shaft switch angle
P-0089, Cam shaft status
Fig. 6-25: Cam Shaft Generator Feature

Dynamic synchronization in the electronic cam shaft

operating mode
The synchronization procedure and status messages are the same as

phase synchronization mode.
Also see: Dynamic Synchronization in the Phase Synchronization
Operating Mode.
Electronic Pattern Control
• P-0-0049, Target position pattern ctrl profile
• P-0-0061, Angle offset begin of profile
• P-0-0062, Pattern ctrl profile 2A
• P-0-0063, Pattern ctrl profile 2A, switch angle 1
• P-0-0064, Pattern ctrl profile 2B
• P-0-0065, Pattern ctrl profile 2B, switch angle 1
• P-0-0066, Pattern ctrl profile 3A
• P-0-0069, Pattern ctrl profile 3B
• P-0-0079, Info destination position
• P-0-0085, Dynamical phase offset
• P-0-0158, Phase offset velocity
The profile access angle will be analog-processed to the cam shaft

operating mode. Taken into account are parameters P-0-0053, Master
drive position, P-0-0156, Master drive gear input revolutions, P-0-
0157, Master drive gear output revolutions, P-0-0108, Master drive
polarity, P-0-0061, Angle offset begin of profile, P-0-0158, Phase
offset velocity and P-0-0085, Dynamic phase offset in conjunction with
S-0-0104, Position loop Kv-factor
A value from 0..2^20 given a 0..360 degree lead drive angle will result.
A lead drive rotation is divided into the ranges A and B. Range A consists
of the first half of a lead drive rotation (0..2^19 given 0..180°); Range B
consists of the second half of rotation.
In addition, a differentiation is made between a two-step and a three-
step. With a two-step, two positions are targeted within one range; with a
three-step, three positions are targeted.
The decision as to the type of increments in a range is fixed by the first
target position info word for this range. This also determines which of the
2 possible profiles is active in the range (Profile 2A or Profile 3A in Range
A; Profile 2B or Profile 3B in Range B).
With a two-step, two target positions are needed for each range; with a
three-step, three positions are needed. The drive is assigned three
registers per range to store differing target positions. Each time the target
position info word is changed, the current value of the target position
pattern ctrl profile is saved in the register determined by the info word.
The info words also are saved.
Per range, only target positions 1 and 3 are used with a two-step.
Target positions for one range should be saved only if the lead drive
position is in the other range.
The drive uses the profiles to locate the switch angles belonging to
individual pattern ctrl profiles

The switch angles indicate jumps in the profiles that are larger than 2^15.
The profile ranges between start, switch angle(s) and end determine the
profile with which the drive travels from one target position to another.
To generate a synchronous position command value, the current profile
access angle is examined to determine in which range it points (A or B).
The first target position info word (for target position 1) in this range
determines the step mode and the active profile with the switch angle. A
fine-interpolated value between 0 and 2^16 is taken from the profile
(table). The two target positions that are operable for the profile range
are selected from the target position memory based on range, step
mode, profile access angle and switch angle. The synchronous position
command value XSynch results from the following equation:
XSynch = Target position (k-1) + Profile value / 2^16 *

(Target position (k) - Target position (k-1))
Xsynch: synchronous position command value
Fig. 6-26: Synchronous Command Value Calculation
The drive-controlled dynamic synchronization is active in this operating

mode. After the second step of synchronization (position adaptation), the
following applies:
S-0-0047, Position command value = XSynch + S-0-

0048, Position command value additional
The structure of the electronic pattern control operating mode is
displayed in the following graphic:
Pattern gear Position Current control

Velocity control M
unit control
Master drive Position Velocity command Torque/power

position command value command
Fig. 6-27: Block Diagram: Electronic Pattern Control
The Pattern Control Generator Feature
P-0-0079, Info destination position K-1

Target position K
P-0-0049, Target position selection
pattern ctrl profile
P-0-0061, Angle offset begin of profile


output revolutions

input revolutions S-0-0055, Position polarity
ϕGrip parameter
Gripping angle
P-0-0053, Master drive determination
position TabK Position
command
P-0-0108, Master drive value
polarity
Tables
offset
S-0-0048, Position command

value additional Synchronization S-0-0047, Position
command value

P-0-0151, Synchronization init window for
modulo
P-0-0060, Filter time constant additional pos.
Fig. 6-28: The Pattern Control Generator Feature

Dynamic synchronization in the pattern control operating

mode
In the phase synchronization operating mode, there are no differences
between the synchronization procedure and the generation of bits in
synchronization.
Also see: Dynamic Synchronization in the Phase Synchronization
Operating Mode.
Target Position Selection

The target position selection is structured as follows:
P-0-0079, Info destination

position Target position 1A
(Target position 2A) K-1
P-0-0049, Target position Target position 3A K

pattern ctrl profile
Target position 1B
(Target position 2B)
ϕGrip
Target position 3B
Fig. 6-29: Target Position Selection
Gripping angle determination
P-0-0053, Master drive ϕGrip

position 1/KV

polarity

offset
P-0-0061, Angle offset begin

of profile
Fig. 6-30: Gripping angle determination
Tables
P-0-0064, Pattern ctrl P-0-0066, Pattern ctrl

profile 2B profile 3A
P-0-0062, Pattern ctrl P-0-0069, Pattern ctrl
profile 2A profile 3B
0° .. 180° 180° .. 360° 0° .. 180° 180° .. 360°
1 1 1 1
ϕGripf TabK
0 0 0 0
P-0-0063, Pattern ctrl profile 2A,

switch angle 1
P-0-0065, Pattern ctrl profile 2B,

switch angle 1

switch angle 1
switch angle 2

switch angle 1
switch angle 2
Fig. 6-31: Profiles
6.4 Setting the Operating Mode Parameters

With the help of the parameters:
• S-0-0032, Primary Mode of Operation
4 different operating modes can be preselected simultaneously.

Bits 8 and 9 of the master control word define which of the four modes
will be operative. The operation can be switched between the 4 operating
modes.
The operating modes can be preselected in parameters S-0-0032..35.
The operating modes can be selected by entering a bit code.
Certain positions are fixed in this bit list.
In bit 3, you can choose between working with position control with or
without lag.

Bit 3 = 0 position control with lag
Bit 3 = 1 position control without lag
Bit code: Meaning:
0000,0000,0000,0001 Torque control
0000,0000,0000,0010 Velocity control
0000,0000,0000,x011 Position control with encoder 1
0000,0000,0000,x100 Position control with encoder 2
0000,0000,0001,x011 Drive-internal interpolation, encoder 1
0000,0000,0001,x100 Drive-internal interpolation, encoder 2
0000,0010,0001,x011 Relative drive-internal interpolation,
encoder 1
0000,0010,0001,x100 Relative drive-internal interpolation,
encoder 2
1010,0000,0000,0010 Velocity synchronization with virtual lead
drive
1001,0000,0000,x011 Phase synchronization with virtual lead
drive, feedback 1
1001,0000,0000,x100 Phase synchronization with virtual lead
drive, feedback 2
1000,0100,0000,x011 Pattern control with virtual lead drive,
feedback 1
1000,0100,0000,x100 Pattern control with virtual lead drive,
feedback 2
1000,1000,0000,x011 Cam shaft with virtual lead drive,
feedback 1
1000,1000,0000,x100 Cam shaft with virtual lead drive,
feedback 2
Fig. 6-32: Setting the Operating Mode Parameters
6.5 Determining the Active Operating Mode

Bits 8 and 9 in the master control word determine which of the 4
preselected operating modes will be active.
Bit 8 and 9 in the
master control word: Active operating mode:
00 Primary mode of operation
01 Secondary mode of operation 1
Fig. 6-33: Determining the Active Operating Mode
If 0 is entered in the operating mode parameters and the operating mode

is activated, then the error F207 Switching to uninitialized operation
mode will be generated.
DIAX04 Drive With Electric Gear Function Basic Drive Functions 7-1
7 Basic Drive Functions
7.1 Physical Values Display Format

Data exchange between the controller and the primary control system or
user interface occurs by reading and writing controller parameters.
Information about the unit and the number of decimal places (see also
parameter) is necessary for interpreting the operating data of a
parameter. The LSB value of the operating data is produced from these
data. The following illustration shows this with an example.
Operating S-0-0109
data = 100
Unit = A
digits after
decimal = 3
Drive control
Fig. 7-1: Example for interpreting operating data in the drive
The operating data of the parameter S-0-0109 is given the value 100 in
The combination of unit and
the picture shown above. When combined, the unit A(mps) that belongs
number of decimal places is
to this parameter and the number of decimal places produce the physical
expressed with the term
value 0.100 A.
scaling.
Each parameter can therefore be called up with a unit and the number of
decimal places. The combination of these two criteria is united under the
term scaling. When interpreting operating data, these must always be
included in the analysis. Units and number of decimal places are listed
along with all other parameter attributes in Supplement A, Parameter
Description, for each parameter.
Adjustable Scaling for Position, Velocity, and Acceleration Data

The parameter scaling for
The LSB value of position,
velocity, and acceleration data - position,
can be set by adjustable - velocity and
scaling.
- acceleration data
can be adjusted. It can be set by the user with scaling parameters. It
enables
1. the value of this data to be made compatible for exchange between
control system and control drive, or, in other words, the data can be
exchanged in the control system's internal format. The control system
will not need to convert this data.
2. this data to conform to machine kinematics. Linear movements can
be described with linear units, for example, and rotary movements
can be described with rotary units.
It is possible to select between linear and rotary scaling, and preferred
and parameter scaling, as well as between motor and load reference.
7-2 Basic Drive Functions DIAX04 Drive With Electric Gear Function
Linear - Rotary Scaling

Adjustable scaling allows either linear or rotary scaling to be selected.
Linear motors normally use a linear scale. Rotary motors use either a
rotary or linear scale if their rotary movement is converted into a linear
movement (with a ball roll spindle, for example).
Preferred Scaling - Parameter Scaling

Adjustable scaling allows either preferred scaling or parameter scaling to
be selected. If preferred scaling is selected, the appropriate scaling factor
parameters and scaling exponent parameters in S-0-0128, C200
Communication phase 4 transition check are overwritten with
preferred values. This sets a pre-defined scaling. The scaling factor
parameter and the scaling exponent parameter are not entered. The
concrete preferred scaling adjusts itself to the selection of linear or rotary
scaling.
The following preferred scalings are available:

Rotary Preferred Linear Preferred Linear Preferred
Physical Value: Scaling: Scaling (mm): Scaling (Inch):
Position data 0.0001 Degrees 0.0001 mm 0.001 Inches
Velocity Data 0.0001 RPM, 10^ 6 m/min 10^-5 in/min
or 10^-6 Rev/s
Acceleration Data 0.001 rad/s² 10^-6 m/s² --
Fig. 7-2: Preferred scaling - parameter scaling
Motor Reference - Load Reference

Either motor reference or load reference can be selected when adjusting
the scaling.
With rotary load reference, the scaled data from the motor format is
converted to the transmission output format with the transmission ratio
S-0-0122, Output revolutions of load gear / S-0-0121, Input
revolutions of load gear.
With linear load reference, the scaled data from the motor format is
converted to feed constant spindle format with the transmission ratio
S-0-0122, Output revolutions of load gear / S-0-0121, Input
revolutions of load gear and the feed constant S-0-0123, Feed
constant.
The following restrictions apply in relationship to the motor type being

used :
• Rotary motor reference cannot be set with linear motors.
• Linear motor reference cannot be set with rotary motors.
Display Format of Position Data

The scaling of drive controller position data is adjustable. This is done
with the parameters
• S-0-0076, Position Data Scaling Type
• S-0-0077, Linear Position Data Scaling Factor
• S-0-0078, Linear Position Data Scaling Exponent
• S-0-0079, Rotational position resolution
This differentiates between linear and rotary scaling. S-0-0079,

Rotational position resolution sets the rotary position scaling.
S-0-0077, Linear Position Data Scaling Factor and S-0-0078, Linear
Position Data Scaling Exponent set the linear position scaling.
The scaling type is set in S-0-0076, Position Data Scaling Type.
The parameter is defined as follows:

S-0-0076, Scaling mode for position data
Bits 2-0: Scaling mode

000: not scaled
001: linear scaling
010: rotary scaling
Bit 3:
0: Preferred scaling
1: Parameter scaling
Bit 4: Unit of measure for linear scaling
0: Meter [m]
1: Inch [in]
Unit of measure for rotary scaling
0: Angle degrees
1: reserved
Bit 5: reserved
Bit 6: Data relationship

0: to the motor cam
1: to the load
Bit 7: Processing format
0: Absolute format
1: Modulo format
Bits 15-8: reserved
Fig. 7-3: Parameter S-0-0076
The actual scaling type is set in bit 0..2.

In Bit 3, either preferred scaling (parameters S-0-0077, Linear Position
Data Scaling Factor, S-0-0078, Linear Position Data Scaling
Exponent or S-0-0079, Rotational position resolution are pre-defined
and cannot be changed) or parameter scaling (scaling is determined by
entering this parameter) can be selected. (see Preferred Scaling -
Parameter Scaling)
Bit 4 indicates the measurement unit. With linear scaling, either mm or
inch can be selected here.
Bit 6 defines motor or load reference.
Bit 7 determines the processing format (see Modulo feature)
The scaling type setting is checked for plausibility in S-0-0128, C200
Communication phase 4 transition check, and the command error
message C213 Position Data Scaling Error is generated, if necessary.
Velocity Data Display Format

The scaling of the drive controller's velocity data is adjustable.
This is done with the parameters
• S-0-0044, Velocity data scaling type

• S-0-0045, Velocity data scaling factor
• S-0-0046, Velocity data scaling exponent
The scaling type is set in S-0-0044, Velocity data scaling type. The
parameter is defined as follows:
S-0-0044, Scaling mode for velocity data

000: unscaled scaling
001: linear scaling
010: rotary scaling
Bit 3:
0: Preferred scaling
1: Parameter scaling
0: Meter [m]
1: Inch [in]
0: Revolutions
1: reserved
Bit 5: Unit of time
0: minute [min]
1: second [s]
0: to the motor cam
1: to the load
Bits 15-7: reserved

In bit 3, either preferred scaling (parameters S-0-0045, Velocity data
scaling factor and S-0-0046, Velocity data scaling exponent are pre-
defined and cannot be changed) or parameter scaling (scaling is
determined by entering this parameter) can be selected.
(see Preferred Scaling - Parameter Scaling)
Bit 4 indicates the measurement unit. With linear scaling, either m or inch
can be selected here.
Bit 5 specifies the unit of time, either minutes or seconds.
message C214 Velocity Data Scaling Error is generated, if necessary.
Acceleration Data Display Format

The scaling of the drive controller's acceleration data is adjustable.
This is done with the parameters
• S-0-0160, Acceleration data scaling type

• S-0-0161, Acceleration data scaling factor
• S-0-0162, Acceleration data scaling exponent
The scaling type is set in S-0-0160, Acceleration data scaling type.

The parameter is defined as follows:
S-0-0106, Scaling mode for acceleration data

000: percentual scaling
001: linear scaling
010: rotary scaling
Bit 3:
0: preferred scaling
1: parameter scaling
0: meter [m]
1: inch [in]
0: radians [rad]
1: reserved
Bit 5: Unit of time
0: second [s]
1: reserved
0: to the motor shaft
1: to the load
Bits 15-7: reserved

Either preferred scaling (parameters S-0-0161, Acceleration data
scaling factor and S-0-0162, Acceleration data scaling exponent are
pre-defined and cannot be changed) or parameter scaling (scaling is
determined by entering this parameter) can be selected in bit 3.
(see Preferred Scaling - Parameter Scaling)
message C215 Acceleration Data Scaling Error is generated, if
necessary.
Command Polarities and Actual Value Polarities

The drive-internal polarities of position, velocity, torque/force and actual
value are fixed. The following applies:
Motor type: Drive internal positive direction definition:
Rotary motors Clockwise rotation facing the motor shaft
Linear motors Move in the direction of the frontal area of the power cable
on the primary component
Fig. 7-6: Drive internal positive direction definition
The positive direction is specified by the manufacturer for MHD-, MKD

and MKE motors. Asynchronous motors and linear synchronous motors
should be set in this direction during installation. (see "other motor
encoder characteristics"). The command polarity and actual value polarity
of the drive is thereby fixed.
If the drive's definition of the positive direction does not conform to the
requirements of the machine, the parameters
• S-0-0055, Position Polarity Parameter
• S-0-0043, Velocity polarity parameter
• S-0-0085, Torque/Force polarity parameter
can invert the command and actual value polarities.
Note: If the polarity needs to be changed, all 3 parameters should

always be inverted at the same time, so that the polarities of the
position, velocity, and torque/force have the same sign.
The following illustration shows the operating characteristics of the

polarity parameters.
S-0-0047 S-0-0048 S-0-0036 S-0-0037 S-0-0080
S-0-0055, S-0-0055, S-0-0043 S-0-0043 S-0-0085,

Bit 0 Bit 1 Bit 0 Bit 1 Bit 0
Position Velocity Torque/force

controller controller controller
- - -
Position
S-0-0055, feedback
S-0-0051 Velocity Torque/force
Bit 2 value - 1
feedback feedback
S-0-0053 S-0-0055, Position value value
Bit 3 feedback S-0-0043, S-0-0085,
value -2 Bit 2 Bit 2
S-0-0040 S-0-0084
Fig. 7-7: Polarity parameter operating characteristics
The polarity parameters affect only the display values, not the control
feedback values.
The drive software only allows all bits within a polarity parameter to be
inverted. If bit 0 is inverted, all other bits of the parameter are also
inverted. This prevents setting positive feedback in the regulator loops
because of faulty command and feedback value polarities.
Mechanical Transmission Elements

Mechanical transmission elements are gearboxes and feed mechanisms
between the motor shaft and the load. Entering these data is necessary
for the load to convert the position, velocity, and acceleration physical
values, if these are scaled for the load. (See also "Adjustable Scaling for
Position, Velocity, and Acceleration Data".) To see if this parameter has
been entered correctly, move the shaft and compare the path followed
with the position feedback value and the path actually taken.
Transmission Ratio
The transmission ratio can be determined with the parameters
• S-0-0121, Input revolutions of load gear

• S-0-0122, Output revolutions of load gear
The ratio between transmission input and transmission output is

parameterized here.
Example:
Transmission input=
motor shaft
Transmission output
Fs5003f1.fh5
Fig. 7-8: Transmission ratio parameterization
In the illustration above, 5 transmission input revolutions ( = motor

revolutions) were equivalent to 2 transmission output revolutions. The
proper parameterization for this would be :
S-0-0121, Input revolutions of load gear = 5

S-0-0122, Output revolutions of load gear = 2
Feed Constant
The feed constant defines which linear path the load should follow per
transmission output revolution. It is specified in the parameter S-0-0123,
Feed constant.
The value programmed here is used along with the transmission ratio for
converting the position, velocity, and acceleration data from motor
reference to load reference.
Example:
Transmission output
Carriage
Feed module
AP5030f1.fh5
Fig. 7-9: Feed constant parameterization
In the illustration above, the feed module would cover 10 mm per

transmission output revolution. The proper parameterization for this
would be :
S-0-0123, Feed Constant = 10 mm/Rev
Modulo Feature
When the modulo function is activated, all position data are displayed in
When the modulo function is
the range 0..(modulo value-1). This makes it possible to have shafts
activated, all position data
continuously moving in one direction without an overflow in the position
within the modulo range are data.
displayed.
The modulo value is set with the parameter S-0-0103, Modulo Value.
The modulo function is activated by the parameter S-0-0076, Position
Data Scaling Type.
(See also "Display Format of Position Data".)
S-0-0076, Position data scaling mode

0: absolute format
1: modulo format
Fig. 7-10: Setting absolute format - modulo format
Note: Modulo processing of position data according to is only allowed

with rotary motor types. This is checked in S-0-0128, C200
Communication phase 4 transition check and acknowledged
by the command error C213 Position Data Scaling Error if
necessary.
The following illustration elucidates the difference in displaying the

position data in absolute format and modulo format:
Position
display
value Position data with
modulo function
Modulo
value
Absolute position of
the measurement
system
Position data with
absolute format
Fig. 7-11: Display value of positions in absolute format and modulo format
Modulo Processing-Limiting Conditions

If modulo processing of position data is selected, in connection with
• the active operating mode and
• the selected position scaling
the following limiting conditions for error-free processing of the position
data must be observed. Compliance with the limiting conditions is
checked in S-0-0128, C200 Communication phase 4 transition check,
and the command is terminated with the error C227 Modulo Range
Error if necessary.
The limiting conditions for error-free modulo value processing are as
follows:
• The modulo range S-0-0103, Modulo Value may not be greater than
half the maximum travel range. The maximum travel range depends
on the motor feedback being used (see also "Drive-internal format of
position data").
• If rotary or linear position scaling with load reference and without
angle synchronization is used as the operating mode, the product of
S-0-0103, Modulo Value, S-0-0116, Resolution of motor feedback
and S-0-0121, Input revolutions of load gear must be smaller than
2^63.
• If rotary position scaling with load reference and angle synchronization
is used as the operating mode, the product of
S-0-0237, Slave drive 1 revs., S-0-0116, Resolution of motor
feedback and S-0-0121, Input revolutions of load gear must be
smaller than 2^63.
• If the angle synchronization operating mode is used, linear position
scaling may not be selected.
If, in addition to this, an external measurement system is used, the
additional requirements are:
• If rotary position scaling with motor reference and no angle
synchronization operating mode is used, the product of S-0-0103,
Modulo Value, S-0-0117, Resolution of external feedback and
S-0-0122, Output revolutions of load gear must be smaller than
2^63.
• If rotary position scaling with motor reference and angle
synchronization operating mode is used, the product of S-0-0237,
Slave drive 1 revs., S-0-0117, Resolution of external feedback and
S-0-0122, Output revolutions of load gear must be smaller than
2^63.
Processing Command Values in Modulo Format, Shortest

Path - Direction Selection
The interpretation of position command values such as S-0-0047,
Position Command Value and S-0-0258, Target Position when the
modulo function has been activated is dependent on the selected mode.
The following possibilities exist:
• Shortest Path
• Positive Direction
• Negative Direction
The parameter S-0-0393, Command value mode for modulo format

can be used to set the mode. This parameter is effective only if modulo
format has been activated in S-0-0076, Position Data Scaling Type.
The following settings can be entered:

S-0-0393: Meaning:
0 Shortest Path
1 Positive Direction
2 Negative Direction
Fig. 7-12: Selecting modulo mode
Modulo Mode "Shortest Path"

The next command value is reached with the shortest path. If the
difference between two successive command values is greater than half
of the modulo value, the drive moves toward the command value in the
opposite direction.
Modulo Mode "Positive Direction"

The command value is always approached in a positive direction,
regardless of whether or not the difference between two successive
command values is greater than half of the modulo value.
Modulo Mode "Negative Direction"

The command value is always approached in a negative direction,
regardless of whether or not the difference between two successive
command values is greater than half of the modulo value.
7.2 Setting the Measurement System

The following feedback systems can be evaluated with the DIAX series of
controllers:
• Digital servo feedback

• Resolver
• Incremental encoder with sine signals
• Incremental encoder with square-wave signals
• Indramat gearwheel-type encoder
• Measurement system with SSI interface
• Measurement system with EnDat interface

• Gearwheel encoder with 1Vpp signals
• Resolver without feedback memory
• Resolver with one pole pair without feedback data memory plus
incremental encoder with sine signals.
The drive is connected to an encoder interface (standard), either a digital

servo feedback or a resolver. Additional plug-in cards are available for
evaluating different types of encoders. Specifically, the following
measurement systems can be implemented with the corresponding
module shown below.
Value in
Feedback System: Module: P-0-0074/75
Digital servo feedback or resolver Standard 1
Incremental feedback with sine signal from DLF01.1M 2
the Heidenhain company, either µA or 1V
signals selectable
Indramat gearwheel encoder DZF02.1M 3
Digital servo feedback DFF01.1M 4
Incremental encoder with square-wave DEF01.1M 5
signals from the Heidenhain company
Incremental encoder with square-wave DEF02.1M 6
Encoder with SSI interface (only 4096 DAG01.2M 7
incr./rev.)
Encoder with EnDat interface DAG01.2M 8
Gearwheel encoder with 1Vpp signals DZF03.1M 9
Resolver without feedback memory Standard 10
Resolver without feedback memory plus Standard + 11
incremental encoder with sine signals DLF01.1M
Fig. 7-13: Feedback systems > necessary plug-in modules
Each module is assigned a number that determines the feedback

interface. The module number is entered into the following parameters:
• P-0-0074, Interface Feedback 1
• P-0-0075, Interface Feedback 2, external
(See also Possible error messages when reading and writing the
operating data).
This check is also made in the command S-0-0128, C200
Communication phase 4 transition check. The command error C203
Parameter Conversion Error (->S-0-0022) is generated there.
Displaying the position feedback values of the individual measurement
systems is done with the parameters
• S-0-0051, Position Feedback Value 1 (Motor Feedback)
• S-0-0053, Position Feedback Value 2 (Ext. Feedback)
Setting the absolute relationship of the position feedback values-1/2 to

the machine zero point is done with the commands
• S-0-0148, C600 Drive controlled homing procedure command, or
• P-0-0012, C300 Command 'Set absolute Measurement'
Limiting Conditions for Encoder Evaluation

The following limitations exist:
• The DLF, DZF, DEF 1 modules may not be simultaneously operated
within a controller.
⇒ Danger of Damage!
The combination of DLF and DZF is not possible. The DEF 2 module
can be used to operate an incremental feedback with square-wave
signals while a DLF or DZF is also being used.
• The DAG 1.2 contains a switch that allows the interface to be

changed to an SSI interface (7) or an EnDat interface (8). Make sure
that the switch is set correctly.
• If attempting to evaluate an external encoder with an SSI interface,
only measurement systems with a resolution of 4096 Incr./Rev. and
absolute resolution can be used. If the position loop is closed via this
measurement system, only a limited dynamic can be achieved
because of the serial transmission from the feedback to the controller.
• Only the standard module, DLF, DZF, or DAG 1.2 can be used to
evaluate a motor encoder.
• It is not possible to use a resolver as an external measurement system.
Motor Encoder
The measurement system which is directly coupled with the motor shaft
without a gearbox between is called the motor encoder. As the motor is
usually coupled to the load with a mechanical gearbox and probably a
feed unit, we call this also an indirect distance measurement. If a further
measurement system is attached directly to the load, we call this a direct
distance measuring (see "External Encoder"). Hereafter, we show typical
applications of indirect distance measurements.
DSS2.1
H3 ERR
2 3
4
01
5
6
9
8 7
2 3
4
01
5
6
9
8 7
X12
E1
E2
E3
E4
E5
E6
+U
OV
Carriage
1)
DANGE
High V oltage.
Do not touch electrical connec tions
for
manual,
1) Indirect position actual feedback acquisition via the drive's internal

position measuring system
Ap5044f1.fh7
Fig. 7-14: Application: Motor encoder with linear servo axis
DSS2.1
M
H3 ERR

2 3
4
01
5
6
9
8 7
2 3
4
01
5
6
9
8 7
X12
E1
E2
E3
E4
E5
E6
+U
OV
Rotary table
DANGE
High V oltage.
for
manual,
1)
1) Indirect position actual feedback acquisition via the drive's internal

position measuring system
Ap5045f1.fh7
Fig. 7-15: Application: Motor encoder with rotary servo axis
The following parameters

• P-0-0074, Interface Feedback 1
• S-0-0116, Resolution of motor feedback
• S-0-0277, Position feedback 1 type parameter
are used to parameterize the motor feedback. These specify the

interface number to which the measurement system is connected, the
motor feedback resolution, as well as the direction of movement, etc.
The parameter S-0-0051, Position Feedback Value 1 (Motor
Feedback) displays the position of the motor feedback.
The absolute Measurement relative to the machine zero point is set with
• S-0-0148, C600 Drive controlled homing procedure command
or, for absolute encoders,
Determining the Feedback Interface of the Motor Feedback

Determining the encoder interface of the motor encoder is done with the
parameter P-0-0074, Interface Feedback 1. Enter the number of the
module to which the motor feedback is connected in the parameter. The
motor encoder interface in P-0-0074 is automatically set with certain
types of motors.
(See also "Characteristics of the Different Motor Types".)
The following measurement systems and modules may be used with

motors with motor encoder interfaces that can be parameterized.
for Synchronous for Asynchronous
Feedback System Module Number motors motors
None (only with rotary -- 0 no yes
asynchronous motors)
Digital servo feed back or Standard 1 yes yes
resolver
Incremental encoder with sine DLF01.1M 2 no yes
signals from the Heidenhain
company, with either µA or 1V
signals
Indramat gear-type encoder DZF02.1M 3 no yes
Incremental encoder with DEF01.1M 5 no yes
square-wave signals from the
Heidenhain company
Encoder with EnDat interface DAG01.2M 8 yes yes
from the Heidenhain company
Gearwheel with 1Vpp signals DZF03.1M 9 no yes
Resolver without feedback data Standard 10 yes no
memory
Resolver without feedback data Standard + 11 yes no
memory plus incremental DLF01.1M
encoder with sine signals
Abb. 7-16: Determining the encoder interface for the motor encoder
Note: The motor encoder is only then unnecessary if you work with
a loadside motor encoder. This is only possible with rotary
asynchronous motors (P-0-4014, Motor Type = 2 or 6). In
this case, the external encoder is the only control encoder
(see also "External Encoder").
Motor Encoder Resolution

The motor encoder resolution is parameterized in the parameter S-0-
0116, Resolution of motor feedback. Enter the graduation scale of the
motor feedback. If using a measurement system with intrinsic feedback
data storage, the resolution will be taken from this and does not need to
be entered. Measurement systems with feedback storage are available if
• Standard (1) or
• DAG 1.2 (8)
is used as the motor encoder interface.
Depending on whether a rotary or linear motor is used, the units and the
number of decimal places are changed via S-0-0116, Resolution of
motor feedback.
(see also Linear-Rotational)
Other Motor Encoder Characteristics

To parameterize the other motor encoder characteristics, such as
• Direction of movement not-inverted/inverted
• Distance-coded reference mark yes/no
• Rotary / linear measurement system
• Absolute evaluation possible
• Absolute evaluation activated
use S-0-0277, Position feedback 1 type parameter. The structure of

this parameter is as follows:
S-0-0277, Pos.enc. type parameter 1
Bit 0 : Encoder type

0: rotary
1: linear
Bit 1 :Distance-coded reference marker
0: no distance-coded reference marker
1: distance-coded reference marker
Bit 3 :Rotational direction
0: non-inverted
1: inverted
Bit 6 :Absolute evaluation possible
0: Absolute evaluation not possible
1: Absolute evaluation possible
Bit 7 :Absolute evaluation activated
0: Absolute evaluation activated (only if bit 6 = 1 )
1: Absolute evaluation deactivated
The bits in the position encoder type parameter are partially set or
deleted by the drive itself.
There are following dependencies:
• If the connected motor has a motor feedback memory (MHD, MKD or
MKE), then bits 0, 1 and 3 are cleared.
• If the connected motor is a linear motor, then bit 0 is set to 1.
• Depending on the absolute encoder range and the maximum travel
range or modulo value, bit 6 is either set or cleared.
(See also "Other Settings for Absolute Measurement Systems".)
External encoder
The control with external encoder facilitates a higher contour precision of
the machined workpieces resp. a higher positioning accuracy. With
setting the operation mode, you can determine that the position control in
the drive is done with the position feedback of the external encoder.
Additionally, the velocity control can be completely or partially done with
the velocity feedback signal of this measurement system.
(See also "Operating Modes" and "Setting the Velocity Mix Factor".)
Typical application examples are shown in the following two pictures:
DSS2.1
M
H3 ERR

2 3
4
1
0
5
6
9
8 7
2 3
4
1
0
5
6
9
8 7
X12
E1
E2
E3
E4
E5
E6
+U
OV
carriage
Linear scale
DANGE
High V oltage.
for
1)
manual,
1) direct position actual feedback acquisition via an external

measuring system
Ap5042f1.fh7
Fig. 7-18: Application: External encoder with linear servo axis

DSS2.1
H3 ERR
2 3
4
01
5
6
9
8 7
2 3
4
01
5
6
9
8 7
X12
E1
E2
E3
E4
E5
E6
+U
OV
Rotary table
DANGE
High V oltage.
for
manual,
1)
1) direct position actual feedback acquisition via an external

measuring system
Ap5043f1.fh7
Fig. 7-19: Application: External encoder with rotary servo axis
The external encoder is parameterized with the
• P-0-0075, Interface Feedback 2, external

• S-0-0117, Resolution of external feedback
• P-0-0185, Function of ext. Encoder
parameters. These specify the interface number to which the

measurement system is connected, the resolution of the external
encoder, as well as the direction of movement, etc. The parameter
S-0-0053, Position Feedback Value 2 (Ext. Feedback) displays the
position of the external encoder.
Set the reference measure to the machine zero point as follows:
or, for absolute encoders,
The external encoder can be used for different purposes.

The evaluation mode for the external encoder is set in parameter
P-0-0185, Function of ext. Encoder.
Value in P-0-0185,
Function of ext. Encoder Definition
0 external encoder as additional load-side
control encoder for position and/or velocity
control loops
1 external encoder as master axis encoder
2 external encoder as only load-side control
encoder (only with rotary asynchronous
motors)
3 external encoder as measuring wheel
encoder
Fig. 7-20: Function of the external encoder
The use of the external encoder as master axis encoder is described in

the section on master axis encoder evaluation.
Determining the Encoder Interface of the External Encoder

• The encoder interface of the external encoder is determined with the
parameter P-0-0075, Interface Feedback 2, external
. The number of the module to which the external encoder is connected
must be entered in this parameter.
The following measuring systems and modules for the evaluation of an
external encoder are allowed:
Feedback System: Module: Number:
None -- 0
Digital servo feedback Standard 1
Incremental encoder with sine signals from the DLF01.1M 2
Heidenhain Company, with either uA or 1V
signals
Indramat gear-type encoder DZF02.1M 3
Digital servo feedback from the Heidenhain or DFF01.1M 4
Stegmann companies
Incremental encoder with square-wave signals DEF01.1M 5
Incremental encoder with square-wave signals DEF02.1M 6
Encoder with SSI interface DAG01.2M 7
Encoder with EnDat interface DAG01.2M 8
Gearwheel encoder with 1Vpp signals DZF03.1M 9
Fig. 7-21: Encoder interface of the external encoder
If 0 is entered as the module number, the encoder evaluation of the

external encoder is switched off.
Do not use an encoder with an SSI-interface in the

velocity control and position control operating
modes.
⇒ Long dead times occur when reading the SSI-
Warning interface.
External Encoder Resolution

To parameterize the resolution of the external encoder use the
parameter S-0-0117, Resolution of external feedback. This parameter
indicates the number of lines of the external encoder. If using a
measurement system with intrinsic feedback data storage, the resolution
will be taken from this and does not need to be entered. Measurement
systems with feedback storage are available if
• Standard (1) ,
• DFF (4) or
• DAG 1.2 (8)
is used as the external encoder interface.
Depending on whether a rotary or linear measurement system was
parameterized in bit 0 of S-0-0115, Position feedback 2 type
parameter, the unit and number of digits after the decimal is switched by
S-0-0117, Resolution of external feedback.
Rotary: Cycles/Rev.
Linear: 0.00001 mm
Actual Feedback Value Monitoring

In applications where an external measurement system is used, the
position feedback monitor can offer an additional margin of safety. The
position feedback monitor can diagnose the following errors of the axis:
• Slip in the drive mechanical system
• Measurement system errors (as far as this is not recognized by the
other measurement system monitors)
To set the monitor function use the parameter
• S-0-0391, Monitoring Window ext. feedback
If an error occurs, the error message F236 Excessive Position

Feedback Difference is generated.
Basic Operating Characteristics of the Position Feedback Monitor

The position feedback monitor compares the position feedback value of
the motor encoder with the external encoder. If the deviation of both
position values is greater than S-0-0391, Monitoring Window ext.
feedback, the error F236 Excessive Position Feedback Difference is
generated. As a result, the motor and external encoder position status’
are cleared.
The position feedback value is only active if an external encoder is
available and evaluated and if S-0-0391, Monitoring Window ext.
feedback is not parameterized with a 0.
Position feedback value - 1, motor encoder

position feedback value (S-0-0051)
Position feedback value - 2,

external encoder position
feedback value (S-0-0053)
S-0-0391, Monitoring
window ext. feedback
The error F236 Excessive

position feedback difference is
generated
Fig. 7-22: Position feedback value monitoring schematic
Setting the Position Feedback Monitoring Window

The requirements for setting the position feedback value monitor are:
• All drive regulator loops must be set correctly.
• The axis mechanical system must be in its final form.
• The axis must be homed.
The monitoring window must be determined according to the application.

The following basic procedure is recommended for doing this:
• Run a typical operating cycle. While doing this, set the planned
acceleration and velocity data of the axis.
• Enter progressively smaller values in the parameter S-0-0391,
Monitoring Window ext. feedback until the drive gives the error
message F236 Excessive Position Feedback Difference.
Depending on the mechanical system, you should start with 1..2 mm
and decrease the window in steps of 0.3 ... 0.5 mm.
• The value at which the monitor is triggered should be multiplied with a
tolerance factor of 2 ... 3 and entered in parameter S-0-0391,
Monitoring Window ext. feedback.
When determining the monitoring window, make sure that the position
feedback monitor works dynamically. This means that even dynamic
deviations of both position feedback values in acceleration and braking
phases are registered. This is why it is not enough to use statical axis
errors as the basis for the setting.
Deactivating the Position Feedback Monitor

It is possible to turn off the position feedback monitor in applications
where the externally connected measurement system does not control
the axis position but is used for other measurements. To do this, enter 0
in the parameter S-0-0391, Monitoring Window ext. feedback.
Other External Encoder Characteristics

To parameterize any other characteristics of the external encoder, such
as
• Direction of movement not-inverted/inverted
• Distance-coded home mark yes/no
• Rotary / linear measurement system
• Absolute evaluation possible
• Absolute evaluation activated
use S-0-0115, Position feedback 2 type parameter

The structure of this parameter is as follows:
S-0-0115, Position feedback 2 type parameter

0: rotary
1: linear
Bit 1 : Distance-coded reference mark
0: no distance-coded reference mark
1: distance-coded reference mark
Bit 3 : Rotational direction

0: non-inverted
1: inverted
Bit 6 : Absolute evaluation possible
0: Absolute evaluation not possible
1: Absolute evaluation possible
Bit 7 : Absolute evaluation deactivated
0: Absolute evaluation activated (only if bit 6 = 1 )
The bits in the position encoder type parameter are partly set or cleared
by the drive itself. There is following dependency:
• Depending on the absolute encoder range and the maximum travel
range or modulo value, bit 6 is either set or cleared.
(See also "Other Settings for Absolute Measurement Systems".)
Actual Feedback Values of Non-Absolute Measurement Systems After

Initialization
If an absolute measurement system is not available, then the position
feedback values in the command S-0-0128, C200 Communication
phase 4 transition check are initialized as shown below, depending on
whether the parameter P-0-0019, Position Start Value was written in the
previous communication phase 2 or 3 or not.
P-0-0019 Position feedback Position feedback
written: value 1 value 2
no init. motor encoder raw value init. motor encoder raw value
yes position start value position start value
Fig. 7-24: Non-absolute measurement system position feedback values after
initialization
No valid position feedback values exist before the

measurement system is initialized.
The initialization is done in the transition check for
communication phase 4.
Warning
Some measurement systems have limitations
concerning the maximum velocity during their
initialization.
Measurement system Max. initialization velocity

DSF 300 Rpm
EnDat Initialization should occur at standstill
Multiturn resolver 300 Rpm
Fig. 7-25: Velocity allowed during initialization
Drive-internal format of position data

There are two different formats in the drive used to display position data.
We differentiate between
• display format and
• drive-internal format.
The display format defines the unit, i.e., the LSB value with which the
position data are exchanged between drive and control/surface. When a
position data parameter such as, S-0-0051, Position Feedback Value 1
(Motor Feedback) is read, it is sent in this format to the control. The
display format is set with parameter S-0-0076, Position Data Scaling
Type, S-0-0077, Linear Position Data Scaling Factor, S-0-0078,
Linear Position Data Scaling Exponent and S-0-0079, Rotational
position resolution. The control generally sets the format.
(See also "Physical Values Display Format“.)
The drive-internal positon The drive-internal format determines the LSB value, the position
resolution depends on the command and feedback value editing as well as how the position control
travel range to be described loop in the drive is performed. The drive uses the value of parameter
S-0-0278, Maximum travel range to calculate the drive-internal format.
Note: If the value set in S-0-0278, Maximum travel range is used

as set at delivery, then the drive-internal format generally
meets most demands given a sufficiently high resolution. Only
if excessively high demands are made of the drive-internal
format of the position data or with very long travel ranges it
becomes necessary to optimize the setting.
Functional principle of the drive-internal position data

formats
Position data processing in the drive has a constant data width from
which the resolution of the position data to cover the travel range of the
axis depends.
It applies:
Note: The longer the distance to be represented, the smaller the

drive-internal position resolution.
These parameter values are used to compute the drive-internal

resolution:
• S-0-0116, Resolution of motor feedback and
• S-0-0256, Multiplication 1.
The parameters for the encoder resolution are listed in the data sheets of
the measuring system or they are automatically read out of the feedback
memory if such a measuring system is present. The number of lines per
encoder revolution or the grid constant of a linear scale (distance per
division period) is set there. The parameter values for the multiplication
are calculated by the drive during command S-0-0128, C200
Communication phase 4 transition check. They describe the
resolution per division period.
It thus applies for the drive-internal resolution:

for rotary motors:
 Incr 
Resolution = encoder resolution × multiplication  
 rev 
Resolution: drive-internal resolution of position data
multiplication: value in S-0-0256 or S-0-0257
encoder resolution: value in S-0-0116 or S-0-0117
Fig. 7-26: Drive-internal resolution of rotary motors
and for linear motors:
multiplication  Incr 
Resolution =
encoder resolution  mm 
Resolution: drive-internal resolution of positon data
Fig. 7-27: Drive-internal resolution of linear motors
Examples:
1. MKD motor, S-0-0116 = 4, S-0-0256 = 32768, therefore: drive-
internal resolution = 131072 increments/motor revolution, therefore,
an LSB value of 0.00275 degrees.
2. Linear scale as external measuring system, S-0-0117 = 0.02 mm
(grid division = 20µm), S-0-0257 = 32768, therefore: drive-
internal resolution of approximately 1638400 increments/mm,
therefore, an LSB value of 0.00061 µm (How to compute the drive-
internal resolution if an external encoder is used, is described in
greater detail below).
Note: The value for the multiplication is limited to

4 .. 4194304
for technical reasons.
Setting the drive-internal position data format

To set the drive-internal resolution, use the parameter
S-0-0278, Maximum travel range.
Setting the maximum travel This parameter must be set at the time where an axis is commissioned to
range at start-up a value that equals at least the distance that the axis must travel. While
executing the command S-0-0128, C200 Communication phase 4
transition check, the drive computes the values for S-0-0256,
Multiplication 1 and, if an external measuring system is mounted, for
S-0-0257, Multiplication 2 as well. These parameters thus help to
display the resolution.
Multiplication is only reduced if The maximum possible resolution of the position feedback value of a
the travel range can no longer position encoder for technical reasons equals 32768 increments per
be described division period of the measuring system. This maximum resolution is only
reduced if the travel range is set so large that it can no longer be
described with the maximum resolution.
To compute the multiplication, the following calculations are conducted

in the command S-0-0128, C200 Communication phase 4 transition
check:
for rotary measuring systems:
2 31
multiplication =
travel range × encoder resolution
travel range: travel range shown in encoder revolutions
Fig. 7-28: Relationship between maximum travel range and multiplication with
rotary measuring systems
Examples:
1. MHD motor with S-0-0116 = 512, maximum travel range 2048 motor
revolutions, therefore, a multiplication of 2^31 / (2048 • 512) = 2048.
2. MHD motor with S-0-0116 = 512, maximum travel range 20 motor
revolutions, therefore, a multiplication of 2^31 / (20 • 512) = 209715.
The next higher value equals 32768, thus a multiplication = 32768.
for linear scales:
2 31 × encoder resolution
multiplication =
travel range
travel range: travel range shown in mm
Fig. 7-29: Relationship between maximum travel range and multiplication in
linear scales
Example:
Linear scale with 0.02mm grid division, maximum travel range 5m,
therefore a multiplication of 2^31 × 0.02 / 5000 = 8589 (→ 8192).
This results in a resolution of 0.02mm / 8192 = 0.002441 µm.
Note: When computing multiplication always use the next lower

binary value of the precise results.
Drive internal representation of position data when an

external encoder is present
If an external encoder is If there is an external measuring system, then the multiplication of this
mounted, the multiplication of encoder is computed as per the above formula in terms of the travel
the motor encoder is guided by range set. The multiplication of the motor encoder is calculated so that it
the external encoder also covers this travel range. This means that values exceeding 32768
can be generated depending on the mechanical transformation elements!
Example: MKD motor with rotary external encoder

motor encoder resolution =4
external encoder resolution = 1000
travel range = 50 revolutions
gear ratio = 1:1
1. Calculating the multiplication of the external encoder:
2^31 / (1000 • 50) = 42949, technical maximum 32768, thus
S-0-0257 = 32768.
This results in a resolution of 0.00001098 Degrees.
2. Calculating the multiplication of the motor encoder
2^31 / (4 • 50) = 10737418, the next smaller binary value = 8388608,
thus S-0-0256 = 8388608. However, the technical maximum resolution is
4194304. Therefore, we set the value in S-0-0256 to 4194304. The
resolution is 0.0002146 Degrees.
The resolution can never exceed 4194304 • S-0-0116!
Example: MHD motor with linear external encoder

Resolution of the motor encoder = 256
Resolution of the external encoder = 0.02 mm
Travel range =5m
feed constant = 10 mm
Gear transmission ratio = 3:1
1. Calculating the multiplication of the ext. encoder :
2^31 • 0.02mm / 5000mm = 8589
Technically reasonable is a maximum of 8192, therefore
S-0-0257 = 8192. This gives a resolution of 0.00244 µm.
2. Calculation of the Multiplication of the motor encoder:

5m of travel range give 500 gear output revolutions and therefore 1500
gear input revolutions (motor revolutions).
2^31 / (256 • 1500) = 5592, the nearest smaller binary value = 4096,
therefore S-0-0256 = 4096.
This results in a resolution of 0.000343 Degrees referred to the motor
shaft.
Processing format of the drive-internal position command

interpolator
In the drive-internal position command interpolator, the position
command profile for the drive-controlled travel commands such as drive
halt, drive-controlled homing, operating mode drive-internal interpolation
and so on are generated. The format of the drive-internal position data
affect the maximum acceleration limit which can be pre-defined for the
interpolator.
The limits are not valid for The following relationships apply:
cyclic command values, e.g. in
for rotary motors:
operation mode Position
control. 51.471.854.040  rad 
amax =
encoder resolution × multiplication  s² 
amax: maximum acceleration of position command of the interpolator
encoder resolution: value in S-0-0116
multiplication: value in S-0-0256
Fig. 7-30: Maximum acceleration of the position command interpolator as
dependent on the drive-internal position data format
for linear motors:
8.192.000.000 × encoder resolution  mm 

amax =  s² 
multiplication  
amax: maximum acceleration of position command of the interpolator
encoder resolution: value in S-0-0116 in mm
multiplication: value in S-0-0256
Fig. 7-31: Maximum acceleration of the position command interpolator as
dependent on the drive-internal position data format
Example:
MHD motor with S-0-0116 = 512, multiplication = 32768, equalling a
maximum acceleration of the position command interpolation of 3067
rad/s².
7.3 Other Settings for Absolute Measurement Systems

As motor and/or external measuring system those measuring systems
Motor and/or external
can be used that supply absolute position information within one or
encoders can be used as
several revolutions (single or multiturn encoder) or a within a specific
absolute encoders traversing distance (absolute linear scales). These measuring systems
need not be homed after every drive firmware initialization or power on.
The feedback position relative to the machine zero point is available after
initialization. It is necessary to run the setup (homing procedure) only
once.
Whether a motor or an external measuring system is evaluated as an

absolute encoder depends on the following:
• the absolute range of the encoder, i.e., how many revolutions or the
path that the encoder can describe in absolute terms;
• the selected position scaling (position described absolute or modulo)
in S-0-0076, Position Data Scaling Type;
• the travel range set in S-0-0278, Maximum travel range or
• the modulo value set in parameter S-0-0103, Modulo Value.
Note the following relationships:

Position scaling S-0-0278, S-0-0103, Absolute encoder
(bit 6 of S-0-0076) Max. travel range Modulo value evaluation possible
Absolute format <= ½ Absolute range not relevant yes
> ½ Absolute range not relevant no
Modulo format S-0-0103 <= Absolute range yes
S-0-0103 > Absolute range no
Fig. 7-32: Absolute encoder evaluation in terms of position format, modulo format
and maximum travel range
The check whether a measuring system can be evaluated as an absolute

system or not is conducted during command S-0-0128, C200
Communication phase 4 transition check. The results are displayed in
bit 6 of the relevant position encoder type parameter
(S-0-0277 / S-0-0115).
Activating the absolute encoder If the absolute evaluation of a measuring system is possible but not
evaluation wanted, this can be deselected in bit 7. The measuring system is then
treated as if it were a non-absolute (single turn) encoder.
The position encoder type parameter is structured as follows:
S-0-0277/S-0-0115, Position encoder type parameter 1/2

0: rotary
1: linear
Bit 1 :Distance-coded reference marker
0: no distance-coded reference marker
Bit 3 :Rotational direction
0: non-inverted
1: inverted
Bit 6 :Absolute evaluation possible
0: absolute evaluation not possible
1: absolute evaluation possible
Bit 7 :Absolute evaluation deactivated

0: Absolute evaluation activated (only if bit 6 = 1)
Fig. 7-33: Structure of the position encoder type parameter
The following table shows which absolute measuring system can be used
as a motor encoder or external encoder and which plug-in module is
needed for it:
as motor as external
Measuring system: Module (no.) encoder: encoder:
Single/Multiturn DSF Standard(1) yes yes
Single/Multiturn DSF DFF01.1U(4) no yes
Single/Multiturn resolver Standard(1) yes no
SSI encoder with 4096 incr/rev DAG01.2U(7) no yes
Linear scale from Heidenhain with EnDat interface DAG01.2U(8) yes yes
Single/multiturn rotary encoder from Heidenhain with DAG01.2U(8) yes yes
EnDat interface
Fig. 7-34: Modules needed for absolute measuring systems
Except for the SSI-encoder, the measurement systems have a data

memory, from where the drive can read the information on whether the
measurement is absolute or not.
Conditions for absolute encoder evaluation

The evaluation of the absolute encoder is only functional as long as the
surrounding conditions do not change. Only in this case it is possible to
use the raw position feedback value initialized in command S-0-0128,
C200 Communication phase 4 transition check of the absolute
measuring system to determine the machine zero point related position
feedback value. The conditions for the conversion of the machine zero
point related position feedback value are made up of:
Monitoring the conditions for • the rotational direction of the measuring system set in bit 3 of
absolute encoder evaluation parameters S-0-0277, Position feedback 1 type parameter or
S-0-0115, Position feedback 2 type parameter;
• the position polarities set in S-0-0055, Position Polarity Parameter
as well as
• the multiplication determined from S-0-0278, Maximum travel range
displayed in parameters S-0-0256, Multiplication 1 or S-0-0257,
Multiplication 2.
If one of these three conditions changes, then the position status of the
relevant measuring systems is cleared (S-0-0403, Position feedback
value status = 0) and the error F276 Absolute encoder error, position
deviation > P-0-0097.
Set Absolute Measuring

When an absolute measuring system is installed, its position feedback
value displays a value that is arbitrary and has no relationship to the
machine's zero point. In this case, the value of the S-0-0403, Position
feedback value status parameter is 0.
In contrast to non-absolute measuring systems, the absolute dimensions
in absoute measuring systems are established only once at the initial
start-up of an axis.
The position feedback value of this measurement system can be set to
the desired value with the command "Set Absolute Measuring." After
absolute measuring (dimension) is set, the position feedback value of the
encoder has a defined relationship to the machine's zero point.
All information will be available after reset because all necessary data
from the absolute dimension system is stored in encoder data memory or
in parameter data memory. The position feedback value retains its
reference to the machine's zero point.
The following parameter is available for executing the function:

In addition, the following parameters are needed or are affected by the
function:
• S-0-0147, Homing Parameter
• S-0-0052, Reference distance 1
• S-0-0054, Reference distance 2
• S-0-0403, Position feedback value status
"Set Absolute Measuring" Functional Principle

The feedback connected to the mechanical system is brought to an
exactly measured position. The value desired for the position feedback
value of the measurement system is entered in the parameter S-0-0052,
Reference distance 1 (for motor encoder) or S-0-0054, Reference
distance 2 (for external encoder). Then the command P-0-0012, C300
Command 'Set absolute Measurement' is started. The position
feedback value is set to the value in the respective reference distance
and the position status becomes 1.
If only one absolute measurement system is available, the command
automatically refers to this measurement system. If 2 absolute
measurement systems are connected, the selection is conducted
according to bit 3 of S-0-0147, Homing Parameter.
When the command is executed, 3 different cases can be distinguished :
1. Set absolute measuring without drive enable.
2. Set absolute measuring with drive enable, function executed by
subsequently starting the command "Drive Controlled Homing
Procedure".
3. Set absolute measuring with drive enable, function executed by
subsequently clearing the drive enable.
Set absolute measuring without controller enable

When absolute measuring is set without drive enable, the axis is moved
to the exactly measured position and, while the drive enable is turned off,
the command P-0-0012, C300 Command 'Set absolute Measurement'
is started, after the reference distance has been written with the desired
position feedback value at this position.
The command immediately sets the position feedback value of the
measurement system to the reference distance, and the position status
becomes 1. The command is finished in the drive and can be cleared.
Normally, this simple method of executing the command is all you need.
However, if the application is dealing with a "vertical axis" (vertical) or if
the approached position cannot be held without drive enable for another
reason, the command can also be done with drive enable under specific
conditions.
(See 2. or 3. from: Set Absolute Measuring Functional Principle.)
Setting Absolute Dimension Under Controller Enable and

Subsequent "Drive-Controlled Homing"
Homing: Setting absolute dimension command, the position feedback
value of a controlled axis can be changed. This may be necessary with
"vertical axis," for example.
The procedure is as follows :

• Move the axis to the measured position.
• Enter the desired position feedback value in the appropriate reference
distance parameter.
• Start the command P-0-0012, C300 Command 'Set absolute
Measurement' The position data will not be switched yet.
• Start the command S-0-0148, C600 Drive controlled homing
procedure command this feature recognizes that it is dealing with an
absolute measurement system and executes "Set Absolute

Dimension" or, in other words, the position feedback value is set to
the reference distance. The position command value (S-0-0147,
Homing Parameter) is simultaneously set to the same value. As with
each execution of "drive-controlled homing," the position command
value is read via the service channel and the control system's position
command value is set to this value before the homing command is
cleared.
Warning:
Make sure that the encoder to be set is selected in bit 3 of S-0-0147,
Homing Parameter
• Clear the command P-0-0012, C300 Command 'Set absolute
Measurement'
Set absolute dimension (measuring) during controller enable,

then turn off the controller enable
Setting absolute measuring: with CE and subsequent CE switch off, the
position feedback value of a controlled axis can be changed. Switching
the position feedback value occurs after the drive enable is turned off.
The procedure is as follows :
• Move the axis to the measured position
• Enter the desired position feedback value in the appropriate reference
distance parameter.
• Start the command P-0-0012, C300 Command 'Set absolute
Measurement' (Measuring). The position data will not be switched
yet.
• Turn off the drive enable, the position feedback value is set to the
reference distance, the command is terminated in the drive.
• Clear the command P-0-0012, C300 Command 'Set absolute
Measurement'
Set the actual feedback values according to the absolute

dimension
The state of the position feedback values from the motor encoder and, if
present, from the external encoder after executing the set absolute
dimension command, depends on bit 3 in S-0-0147, Homing Parameter
and the availability of an absolute encoder as the motor encoder or
external encoder.
Position Position
Motor External S-0-0147 feedback feedback
encoder: encoder: bit 3: value 1: value 2:
Absolute Non-absolute Any value Reference Reference
or not distance 1 distance 1
available
Non- Absolute Any value Reference Reference
absolute distance 2 distance 2
Absolute Absolute 0 Reference Unchanged
distance 1
Absolute Absolute 1 Unchanged Reference
distance 2
Fig. 7-35: Set position feedback values according to absolute measuring
Actual feedback values from absolute encoder after switching

on
(See also "Position Feedback Values of Absolute Measurement Systems
After Initialization".)
Possible error messages when setting the absolute

dimension
While the command is being executed, the following command error(s)
can occur:
• C302 Absolute measuring system not installed. The command

P-0-0012, C300 Command 'Set absolute Measurement' has been
started without an absolute measurement system being available.
Absolute Encoder Monitoring

If the absolute evaluation of a measuring system has been activated
(position encoder type parameter S-0-0277 or S-0-0115 = 01xx.xxxxb),
then the command S-0-0128, C200 Communication phase 4 transition
check re-initialization of the position feedback value can be monitored.
The monitoring principle functions as follows:
Functional principle of the When turning off the drive's power supply, the current actual position of
absolute encoder monitor the axis is loaded into resident memory. When switching the axis back
on, the difference of the stored position and the newly initialized position
of the measuring system is built. If this difference is greater than the
parameterized position window in parameter P-0-0097, Absolute
encoder monitoring window, the error message F276 Absolute
Encoder Error, Deviation > P-0-0097 is given.
Note: The monitor is deactivated if 0 is parametrized in P-0-0097,

absolute encoder monitoring window.
The absolute encoder monitor is appropriate for the following

applications:
• The motor is equipped with a holding brake.

• The drive mechanical system is self-locking and cannot be moved
manually.
Note: If two absolute measuring system are mounted (motor and

external encoder) then the monitor is only set to the encoder
selected with bit 3 of S-0-0147, Homing Parameter.
Setting the Absolute Encoder Monitor

The absolute encoder monitoring window must be set by the user. Set
the window according to how much the axis may move when it is turned
off. Assuming that the axis has a brake or is self-locking, you can enter
0.1 motor revolutions (36° in reference to the motor shaft) as a standard
value for the parameter P-0-0097, Absolute encoder monitoring
window.
Absolute encoder monitoring with two absolute encoders

If there are absolute measuring systems and the absolute encoder
monitor of the position data is activated, then the following restriction
applies:
If both motor encoder and the external encoder are absolute measuring
systems, then only that one is monitored as an absolute encoder that has
been set in bit 3 of parameter S-0-0147, Homing Parameter.
See also absolute encoder monitoring.
Deactivating the Absolute Encoder Monitor

The absolute encoder monitor cannot be effectively used with axis that
can or must be moved manually when switched off. The absolute
encoder monitor should be turned off in such situations in order to
prevent unnecessary error conditions.
The absolute encoder monitor can be turned off by writing 0 to P-0-0097.
Modulo Analysis of Absolute Measurement Systems

If there are absolute measuring systems and the modulo evaluation of
the position data is activated, then the following restriction applies:
If both motor encoder and the external encoder are absolute measuring
systems, then only that one is taken as an absolute encoder that has
been set in bit 3 of parameter S-0-0147, Homing Parameter.
(See also "Modulo Feature" on page 7-8).
Actual Feedback Values of Absolute Measurement Systems After

Initialization
The condition of the position feedback values of the motor feedback and,
if available, of the external feedback after initializing the position
feedback values in the command S-0-0128, C200 Communication
phase 4 transition check depends on:
• Bit 3 in S-0-0147, Homing Parameter
• Availability of an absolute feedback as the motor or external
feedback.
Motor External S-0-0147 S-0-0051, Position S-0-0053, Position S-0-0403,
feedback: feedback: Bit 3: feedback value 1: feedback value 2: Pos. status:
absolute not absolute 0 absolute value of absolute value of 1
motor feedback motor feedback
absolute not absolute 1 absolute value of absolute value of 0
motor feedback motor feedback
not absolute absolute 0 absolute value of absolute value of 0
external feedback external feedback
not absolute absolute 1 absolute value of absolute value of 1
external feedback external feedback
absolute absolute arbitrary absolute value of absolute value of 1
motor feedback external feedback
Fig. 7-36: Position feedback values of absolute measurement systems after
initialization
Note: Absolute position is lost with changes in polarity, scaling,

gearbox and so on.
7.4 Lead Drive Feedback Analysis

This function analyzes a lead drive feedback in the control drive. The
lead drive feedback can be evaluated to the motor measurement system
and/or the external measurement system on an optional basis and
serves to determine the position of the vertical shaft under partial
electronic coupling of pressure pumps or cylinders.
The position feedback value of the lead drive feedback is available in
P-0-0052, Position feedback value 3. Normally this parameter is
configured in the drive telegram as cyclical data, thus making it available
to the control system. The control system sends the parameter as P-0-
0053, Master drive position to the control drives as the command value
for the transmission operating types.
The following measurement systems are approved as lead drive
feedbacks
Measurement System: Module: Number:
digital servo feedback Standard 1
digital servo feedback DFF01.1M 4
Feedback with SSI interface DAG1.2M 7
(only 4096 incr./rev.)
Feedback with EnDat-interface DAG1.2M 8
(only 2^n incr./rev.)
Fig 7-1: Approved measurement systems for lead drive feedbacks
Parameterizing the Lead Drive Feedback

To parameterize the lead drive feedback, the parameters
• P-0-0075, Interface feedback 2, external
are available.
The parameter P-0-0052, Position feedback value 3 displays the
position of the lead drive feedback. It is intended that only absolute
measurement systems above at least one feedback revolution (single-
turn-range) will be used as lead drive feedbacks. The position feedback
value-3 which is obtained is therefore absolutely within a feedback
revolution.
The position feedback value-3 can be given an offset. Use the parameter
P-0-0087, Offset position feedback value 3 to do this.
20
The format of the position feedback value 3 is 2 increments per
revolution, and the format cannot be changed.
DAG-1,2
7 or 8 S-0-0115, Position feedback 2 type parameter
Standard Bit 3
interface
1
DFF-1 Lead drive P-0-0052,

4 feedback analysis + Position
+ Feedback Value 3
Not available
0
P-0-0087, Offset position feedback value 3
P-0-0076, Interface position feedback value 3
Fig 7-37:Lead drive feedback analysis principle
Determining the Feedback Interface of the Lead Drive

Feedback
The feedback interface of the lead drive feedback is determined with the
parameter P-0-0076, Interface position feedback value 3. Enter the
number of the module to which the lead drive feedback is connected in
this parameter.
If a "0" is entered as the module number, the feedback analysis is turned off.
Lead Drive Feedback Resolution

It is not necessary to parametrize the resolution of the master axis
encoder as only such measuring systems are permitted as master axis
encoder that are equipped with a feedback data memory or those in
which the resolution is fixed (SSI encoder).
Other Characteristics of the Lead Drive Feedback

P-0-0077, Position feedback 3 type parameter is used to parameterize
the lead drive feedback direction of movement.
7.5 Drive Limitations
Current Limit
The current limit limits the command current to the parameters
• P-0-4046, Active peak current or
• P-0-4045, Active permanent current
The active continuous current designates the current that can be

continuously taken from the drive, whereas the active peak current is
only available for short periods of time.
If the peak current is demanded from the drive for longer periods of time,
the drive controller's internal thermal load monitor will make sure that the
allowable output current is reduced from the active peak current to the
active continuous current. Both parameters are produced from the
applicable drive controller data, such as the peak amplifier current
(S-0-0110, Amplifier Peak Current) etc., as well as the contents of the
following parameters:
• P-0-4004, Magnetizing current (for asynchronous motors)

• S-0-0111, Motor Current at Standstill
• S-0-0092, Bipolar Torque/Force Limit
• P-0-0109, Torque/force peak limit
• P-0-4011, Switching Frequency
Setting the Active Peak Current

The parameter P-0-4046, Active peak current may not be set
separately, but is instead a result of the following parameters:
• S-0-0110, Amplifier Peak Current

• S-0-0092, Bipolar torque/force limit value
• In addition:The allowable peak amplifier current is limited to the

S-0-0109, Motor Peak Current, if this is smaller.
• As the process continues, the value determined in the step before is
reduced in connection with P-0-4004, Magnetizing current. The
magnetizing current is 0 if there is a synchronous motor.
• Limit to P-0-0109, Torque/force peak limit and S-0-0092, Bipolar
Torque/Force Limit Value (See also Torque/Force Limiting)
• Dynamic reduction during operation by monitoring the thermal load of
the drive controller. (See also "Monitoring the Thermal Load" on page
7-35)
Thermal Thermal
load of the load of the
controller motor
S-0-0110 Amplifier Peak Current P-0-0109, Peak
Torque/Force Limit
S-0-0109 Motor Peak Current
P-0-4004, S-0-0092, Bipolar
Magnetizing Torque/Force Limit
Current
P-0-4046,
Active Peak
MIN Current
Smallest value of Reduction in Dynamic reduction Reduction by

S-0-0109 and dependence on because of thermal bipolar torque/force
S-0-0110 magnetizing current overload limit
Fig. 7-38: Determining the torque-producing peak current
Setting the Active Continuous Current

The content of the parameter P-0-4045, Active permanent current is a
result of the following parameters:
• P-0-4011, Switching Frequency
• P-0-4046, Active peak current
To obtain this:
• The corresponding continuous current is determined from the
selected switching frequency via the applicable drive controller data.
• As the process continues, the value determined under 1. is reduced in
connection with P-0-4004, Magnetizing current. The magnetizing
current is 0 if there is a synchronous motor.
• The determined value is limited to the P-0-4046 Active peak current.
P-0-4011, P-0-4004, P-0-4046,

Switching Frequency Magnetizing Current Active Peak Current
P-0-4045,
Active
Permanent
Current
Selection of permanent Reduction by

current from switching magnetizing current
frequency and device
data
Fig. 7-39: Setting the active continuous current
Monitoring the Thermal Load

The thermal drive controller load indicates how much the drive
controller's power stage unit is loaded by the delivered command current.
To do this, information from the
• drive controller specific data ,

• the command current profile and
• the selected switch frequency
is used to continually calculate the power transistors’ chip

overtemperature. This may not become greater than the allowed chip
overtemperature. If this condition is reached, the control drive will react
by dynamically reducing the command current.
(See also Setting the Active Peak Current on page 7-34.)
The drive controller will generate the warning E257 Continuous Current
Limit active.
For diagnostic purposes, a warning threshold can be set with P-0-0127,
Overload warning. For practical purposes, a value of 80% thermal load
is parameterized here. This value should not be exceeded during normal
drive operation. If the thermal load exceeds the value parameterized in
P-0-0127, Overload warning, the drive controller will generate the
warning E261 Continuous Current Limit Warning.
Chip over- Thermal

temperature overload
dTMax
dTpre- warn
Duration current
limiting and Duration current
prewarning active limiting active (E257)
(E261)
0
P-0-4046,
Peak current
Command Current Profile
P-0-4045,
Duration
current
t
Sv5031f1.fh5
Fig. 7-40: Monitoring the thermal load and continous current limit
Checking the Thermal Load

The parameter P-0-0141, Thermal drive load is for diagnostic purposes.
In this parameter, 0% corresponds to a chip overtemperature of 0 Kelvin,
100% corresponds to the maximum chip overtemperature. The thermal
load should not exceed a value of 80% for the applied operating cycles if
the drive is set up correctly. It typically takes about 10 minutes to warm
up a drive controller’s power stage to its final temperature. To check the
thermal load of a drive during installation without having to run operating
cycles during this period of time, the drive controller load can be preset
with 80%. This can happen by writing an arbitrary value to the parameter
P-0-0141, Thermal drive load. A typical operating cycle must be
simultaneously run for a short while. The thermal load should be
observed while this is being done, and it should show a falling tendency.
Otherwise the drive is incorrectly set up for the application.
To check the thermal load for further increase above 80%, the
• Overload warning by means of P-0-0127, Overload warning and/or
• the output of the thermal load at the analog output
may be used. The following illustration shows the typical process of the
thermal load, as it can be observed by means of the analog output.
During the execution of an operating cycle, the load is preset with 80% by
writing to P-0-0141.
Thermal Tendency of the thermal overload

Overload (P-0-0141) to fall during a typical
in per cent operation cycle
100
80
Treshold for overload
prewarning (P-0-0127)
0
t
Writing an arbitrary value to P-0-0141,
thereby setting the thermal overload at 80 per cent
Sv5032f1.fh5
Fig. 7-41: Checking the Thermal Load
Monitoring of the thermal Motor Load

The motor may be loaded with 4 times the S-0-0111, Motor Current at
Standstill for 400 ms. The permanently permissible current is 2.2 times
that value. If the motor overload limit is active, then the warning E225,
Motor Overload is generated, and the bit 0 (overload warning) is set in
S-0-0012, Class 2 Diagnostics. The limited peak current is displayed in
P-0-4046, Active peak current.
Torque/Force Limiting
The maximum allowable torque can be limited by the user with the
parameters
• S-0-0092, Bipolar Torque/Force Limit Value

These parameters determine what percentage of S-0-0111, Motor

Current at Standstill is made available to the user.
The parameter S-0-0092, Bipolar Torque/Force Limit Value is
designed to allow variable limits of the maximum drive torque to values
smaller than the maximum allowable drive torque while it is in operation.
This is useful when temporarily moving toward a positive stop, for
example.
Each drive produces a specific peak torque based on the maximum
allowable current of the applicable motor/drive controller combination,
which is desirable for acceleration procedures in many applications.
Nevertheless, there are times when the maximum peak torque must be
limited to lesser values for technical reasons specific to an application.
The maximum peak torque of a drive can be limited as appropriate for an
application with the parameter P-0-0109, Torque/force peak limit. The
parameter overrides everything else to ensure that the maximum peak
torque allowed for the application cannot be exceeded even if S-0-0092,
Bipolar Torque/Force Limit Value is set arbitrarily high.
The maximum output current is thus determined together with the current
limit, which is displayed in P-0-4046, Active peak current.
(See also Current Limit)
The following illustration shows the connection between the current limit
and the torque/force limit of the maximum allowed torque in determining
the maximum output current.
Torque/Force producing
Command Value command current
IqCOM
Imax - P-0-4946, Active

Peak Current
MIN Current limit from

torque/force
limiting
Current limit from
current limiting
Current limiting Torque/force

limiting
P-0-4046,
Active Peak
Current
P-0-4045, MIN
Active
permanent
Current
S-0-0092,
Torque/Force
Limit
P-0-0109, Torque/Force
Peak Limit
Fig. 7-42: Current limitation and torque/force limitation
The current limit and the torque/force limit both affect the torque-
producing command current limit.
The active value is always the smaller value of
• Current limit value from current limitation

• Current limit value from torque/force limitation
This is displayed in the parameter P-0-4046, Active peak current.
Limiting Velocity
The following parameters limit the velocity of the drive:
• S-0-0113, Maximum Motor Speed (nmax)
• S-0-0091, Bipolar Velocity Limit Value
The parameter S-0-0091, Bipolar Velocity Limit Value is designed to
allow variable limits of the maximum velocity to values smaller than the
maximum allowable velocity during operation.
The parameter S-0-0113, Maximum Motor Speed (nmax) designates
the maximum possible motor velocity. It is contained in the motor
encoder data storage of MHD-, MKD and MKE motors and does not
need to be entered, but with other types of motors this value must be
taken from the motor parameter specifications.
Limiting to Maximum Motor Velocity

The maximum motor velocity defines the maximum velocity of the drive.
It becomes active and is included in the calculation of
• the maximum value entered in the parameter S-0-0091, Bipolar
Velocity Limit Value
Limiting to Bipolar Velocity Limit Value

The bipolar velocity limit value defines the maximum velocity of the drive
for the user. It becomes active as
• the monitor of the encoder velocity in the torque control operating mode
• the limit for the resulting command value in the velocity controller
• the monitor of the position command value difference in the position
control operating mode (see also "position command value
monitoring")
• the limit of S-0-0036, Velocity Command Value in the velocity
control operating mode
Monitoring the Feedback Velocity in the Torque Control Operating
Mode
Monitoring the Feedback Velocity in the Torque Control operating mode
occurs at 1.125 times the value of S-0-0091, Bipolar Velocity Limit
Value. If this value is exceeded, the fatal error
• F879 Velocity limit S-0-0091 exceeded
is generated. The drive switches to torque-free operation afterwards.
Limiting the Resulting Command Value in the Velocity Controller

In all operating modes in which the velocity controller is active (all
operating modes except for Torque Control), the given velocity
command value is limited to the value of S-0-0091, Bipolar Velocity
Limit Value. If this condition is reached, the warning
• E259 Command Velocity Limit active
is generated.
Limiting S-0-0036, Velocity Command Value in the Velocity Control
Operating Mode
In the velocity control operating mode, the input of S-0-0036, Velocity
Command Value is limited to S-0-0091, Bipolar Velocity Limit Value. If
the value entered in S-0-0036 exceeds this limit, the warning
• E263 Velocity command value > limit S-0-0091
is generated.
Travel Range Limits

To avoid accidents and damages to the machine, many safety
precautions are provided. A part of these safety measures refers to
limiting the allowed working range. These limits can be introduced by
following measures :
• Software limits in the control (only active with axis in reference)

• Position limits in the drive (only active with axis in reference)
• Limit switches in the drive
• Safety limit switches (in the emergency/safety chain)
Type of working Working range limitations Effect of working

range limitation range limitation
Working range
Machine table
Software limitation Software limit switches Axis shut-down

via NC control unit active after (see NC control
homing cycle unit manual)
Position limit value
Software limitation active Power down drive package,
via drive controller after homing cycle see Section 7.6)
Travel range Power down, drive

Switch: evaluation limit switch package brakes at
by drive controller maximum acceleration.
Switch: incorporated Safety limit switch Master

in master E-Stop circuit,
E-Stop circuit power down
Xx0002f1.fh5
Fig. 7-43: Effect and ways of limiting the working range
In the drive itself, there exist two methods..

These are the monitors for
• Travel zone limit switches and

• Position Limit Values for the axis
The travel range is exceeded when either a travel zone limit switch is
activated or one of the two axis limit values is exceeded by the homed
position feedback value that is, the value referring to the machine zero
point.
The drive's response to exceeding the travel range is selectable. The
following possibilities exist:
• An error with a "Set Velocity Command Value to Zero" reaction and

automatic drive enable shutoff
• A warning with a "Set Velocity Command Value to Zero" reaction and
automatic reset when the error conditions are gone.
This is set in bit 2 of P-0-0090, Travel limit parameter:
Bit 0 : Negation
0: E2/3 not inverted,
24V => travel range exceeded
1: E2/3 inverted,
0V => travel range is exceeded
Bit 1 : Activation
0: Travel range switch is not active
1: Travel range switch is active
Bit 2 : Response
0: Exceeded travel range is handled as error
1: Exceeded travel range is handled as warning
Fig. 7-44: Setting the drive reaction to exceeding the travel range (bit 2)
Note: It is not possible to bring the axis to a standstill with a command

ramp (slope) over P-0-1201, Ramp 1 pitch (velocity ramp 1)
(Best possible standstill = 2)! The braking to standstill always
occurs with the maximum allowable torque/force. (See P-0-4046,
Active peak current.)
Exceeding the Travel Range as an Error

If a 0 is entered in bit 2 of P-0-0090, then exceeding the travel range is
handled as an error with the reaction of the velocity command value
being set to zero. (See also "Velocity Command Value Reset".)
After the velocity command value has been set to zero, the drive turns off
the internal drive enable and becomes torque-free. The ready-to-operate
contact opens.
For re-installation
• Clear the error with the command S-0-0099, C500 Reset class 1
diagnostic or press the S1 button.
• Reactivate the drive with the 0-1 edge of the drive enable signal.
If the error condition is still present, that is, if the limit switch is still
activated or if the axis limits are still exceeded, only command values that
go back into the allowable range will be accepted. Monitoring the
command values is dependent on the active operating mode.
Operating Mode: Command Value Check:
Torque control Polarity of S-0-0080, Torque/Force
Command
All operating modes with drive- Polarity of the internal velocity
internal velocity control command value
All operating modes with drive- Polarity of the velocity created by the
internal position control given position command values
Fig. 7-45: Monitoring the command values in error conditions
If command values are given that would lead out of the allowable travel
range, the travel range error will be generated again.
Exceeding the Travel Range as a Warning

If a 1 is entered in bit 2 of P-0-0090, Travel limit parameter, then
exceeding the travel range as a warning is handled with setting the
velocity command value to zero.
The drive does not turn off its internal drive enable. If the error condition
is still present, that is, if the limit switch is still activated or if the axis limits
are still exceeded, only command values that go back into the allowable
range will be accepted. Monitoring the command values is dependent on
the active operating mode. (See previous chapter.)
Travel Zone Limit Switch Monitoring

The monitor for exceeding the travel zone limit switch is only activated if
• the monitor is switched on in bit 1 of P-0-0090, Travel limit
parameter
Exceeding the travel zone limit switch is recognized when these are
activated. The diagnostic message depends on the type of reaction:
How handled: SS display: Diagnostic message:
As an error F643 F643 Positive travel range limit
switch activated/detected
F644 F644 Negative travel range limit
As a warning E843 E843 Positive travel range limit
E844 E844 Negative travel range limit
Fig. 7-46: Diagnostic message when travel zone limit switch is exceeded
Travel Zone Limit Switch - Connection

The drives in the DIAX family have 2 binary inputs available for
connecting travel zone limit switches. These can be found in the DSS 2.1
plug-in module. The inputs are galvanically isolated and must be supplied
with +24V by the same connector (X 12).
DSS2.1
H3 ERR
connector X12
2 3
4
01
on DSS 2.1
6
9
8 7
2 3
4
01
65
9
8 7
positive limit E1
switch connection E2 X12
E1
negative limit E3 E2
E3
switch connection E4 E4
E5 E5
E6
E6 +U
OV
+UL
0VL
View to front plate
EK5010f1.fh7
Fig. 7-47: Connecting the limit switches to X12

The travel zone limit switches are connected to the E2 and E3 inputs of
the X12 connector.
Travel Zone Limit Switches - Activation and Polarity

The travel zone limit switches are activated with the parameter P-0-
0090, Travel limit parameter. Additionally, the inputs can be inverted in
this parameter ( 0V on E2/3 -> Travel range exceeded ).
Bit 0 : Negation
24V => travel range exceeded
1: E2/3 inverted,
0V => travel range is exceeded
Bit 1 : Activation
Bit 2 : Response
Fig. 7-48: Activating and negating the limit switches (bit 0 or 1)
If the monitor in bit 1 of P-0-0090 is turned on, the +24V DSS 2.1 +UL
input monitor is simultaneously activated, if it was not already activated
by using other X12 connector ports.
I.e.: if the +UL voltage falls below +18V, the error F271 Error power
supply travel limit switch is generated.
Axis Limit Values

The monitor for exceeding the axis limit parameters:
• S-0-0049, Positive position limit value
• S-0-0050, Negative position limit value
is executed only if
• the encoder system of the active operating mode has been homed,
i.e. the position encoder values are in relation to the machine’s zero
point. The S-0-0403, Position feedback value status is therefore 1
AND
• the monitor for the axis limit values in S-0-0055, Position Polarity
Parameter, bit 4 was activated.
It is recognized that the axis limit values have been exceeded if the
position feedback value of the active operating mode exceeds the travel
range set by the axis limit values.
Bit 3 of the parameter S-0-0147, Homing Parameter determines
whether the position feedback value of the motor encoder or of the
external encoder is monitored. If drive-internal interpolation is used as
the active operating mode, the drive checks to see if the target position is
outside of the axis limit values. If it is, the drive will not move and the
warning E253, Target Position outside of Travel Zone is generated,
and bit 13 in parameter S-0-0012, Class 2 Diagnostics is also set.
The diagnostic message for the case that the axis limit values have been
exceeded depends on the type of reaction:
How handled: SS display: Diagnostic message:
As an error F629 F629 Positive position limit value
exceeded
F630 F630 Negative position limit value
exceeded
As a warning E829 E829 Positive position limit value
exceeded
E830 E830 Negative position limit value
exceeded
Fig. 7-49: Diagnostic message when axis limits have been exceeded
Axis Limit Values - Activation

The axis limit value monitor is activated in bit 4 of S-0-0055, Position
Polarity Parameter.
Bit 4 : Position limit values

0 : not active
1 : active
Fig. 7-50: Activating the axis limits
7.6 Drive Interlock Open

Manufacturing systems, transfer lines and tool machines often consist of
physically separate work areas such as processing units, transport,
distribution, and storage systems.
Persons in one of these areas must often do work in danger areas, while
other parts of the machine continue to operate. If persons will be in the
working area of a motor, it should be brought to a standstill and secured
against inadvertent operation.
The drive interlock provides a security margin for inadvertent operation of
a connected motor when an error occurs. It ensures that separate work
areas in a machine or system are turned off.
The drive controllers of type DDS and DKR are equipped with a drive
interlock. Activating the drive interlock separates the power output control
electronics from the power output with a relay contact.
Danger of accidents through uncontrolled axis

movements !
The drive interlock is not for stopping an axis that is in
motion.
DANGER
If the drive interlock is activated, the drives cannot be
moved with the control system. The motor becomes
torque-free instantly, and the axis can no longer be
brought to a controlled stop.
With vertical axis, secure the axis with a mechanical
brake before activating the drive interlock.
On motors with brakes, this occurs by clearing the drive
enable. Only activate the drive interlock after this has
been done.
Activating the Drive Interlock

The drive interlock is activated by putting a voltage of +24V on the AS+
and AS- connecting terminals of the X3 connector. The starting lockout
relay found in the drive controller is switched by closing the potential-free
acknowledgement contact (output ASQ -ASQ) starting at the control
system.
X3
1
AK1
X2 2
DSS 1.1
OV M
3
AK2
H2
4
H3
0V M
CHK
5
X 10 TX
6
2 3 Bb
X3
S3 HIGH
4
7
1
5
0
Bb
6
9
8 7
2 3
8
4
1
S2 LOW
AS+
5
0
6
9
1)
8 7
9
X 11 RX
AS-
10
E1
E2
ASQ
E3
11 2)
E4
E5
ASQ
X 12
+U L
0VL 3)
X4
1) AS+, AS-, Control input for delay spools

Voltage 20-30V DC
Power 1.5W
2) ASQ, ASQ -potential- free acknowlegement contact
24V, 1A
3) Contact for controlling the power electronics
Ap5007d2.fh7
Fig. 7-51: Drive interlock control output and status output on the drive controller
When the drive interlock is activated, the control drive's H1 status display
shows the message "AS".
The diagnostic message reads: A011 Drive Interlock open
Notes
7.7 Drive Error Reaction

If an error is recognized in the drive controller, a preset error response
The error response depends
occurs.
on the current error class.
This drive error response depends on
- the error class of the current error

and the setting of the parameters
- P-0-0117, NC Reaction on Error

- P-0-0118, Power off on Error
- P-0-0119, Best Possible Deceleration
Note: The error class determines whether the reaction parametrized

as above can be done in case of error or not.
There are 4 error classes, which have different priorities.

(see also "Error Classes")
Error Diagnostic
Class Messages Drive Response
Fatal F8xx The error response parameter settings in P-0-0117, Activation of NC
Response During an Error and P-0-0119, Best Possible Deceleration will
be ignored, since a driver response is impossible. Torque/force is instantly
cut off.
Travel range F6xx Independently from the settings in parameters P-0-0117, NC Reaction
on Error and P-0-0119, Best possible deceleration, the velocity
command value is immediately set to zero. This response corresponds
to the setting
P-0-0117 = 0 (no NC Reaction)
P-0-0119 = 0 (Velocity Command Value Reset). This setting provides
the fastest stop of the axis if the drive range is exceeded.
Interface F4xx A response from the control is impossible, since the communication to
the control became inoperative. The drive proceeds instantly with
P-0-0119, Best possible Deceleration.
Non-fatal F2xx The drive conducts the decel procedure set in P-0-0117, NC reaction
F3xx on error and P-0-0119, Best possible deceleration. If NC reaction is
set as an error response, then the drive continues to operate for 30
seconds after detecting an error, as if no error had been detected. The
NC has this time to bring the axis to a controlled standstill. The drive
then conducts the response set in P-0-0119.
Fig. 7-51: Error Response of the Drive
Best Possible Deceleration

The drive's response to interface and non-fatal errors can be
parameterized by P-0-0119, Best possible Deceleration .
At the end of each error response, the drive's torque is cut off.
The following settings are possible:

Value of P-0-0119: Response
0 Velocity Command Value Reset
1 Torque Disable
2 Velocity command value to zero with
command ramp and filter
3 Return motion
Fig. 7-52: Setting options for Best possible Deceleration
The drive response, which is defined as "Best possible Deceleration,"

controls the response of the drive if
• the drive enable signal changes from 1 to 0
(disable the drive enable)
• the operating mode is switched to parameter mode while the drive is
enabled. (Reset of the communication phase)
Velocity Command Value Reset

If 0 is set for "Best Possible Deceleration," the drive will stop the velocity
control in case of an error with the command value = 0. The drive stops
with its maximum permissible torque/force.
(see also Current Limit)
The proceeding for the motor brake (if mounted) and the enable for the
power stage during velocity command value deceleration to zero is
displayed in the following picture.
Activating the set

velocity command
1 value
to zero
0
maximum braking time P-0-0126
Vbrems= Velocity profile

10Rpm
0
1 Control of the
motor brake
0
1 End stage release

0
P-0-0526, Motor brake lag time
t / ms
Sv5033f1.fh5
Fig. 7-53: Time sequence of the velocity command value reset
If P-0-0126, Maximum braking time is set too low:

Danger of damaging the motor brake
⇒ The value for P-0-0126, Maximum braking time
always must be set greater than the time needed
WARNING to decelerate the axis through the velocity
command value reset, taking into consideration
the max. possible velocity.
If the setting in P-0-0126 is too low, then the error reaction may finish
before the axis has stopped. The holding brake will then be activated at a
velocity > 0, which, in the long run, leads to damage of the brake.
Activating the set

velocity command
value
1 to zero
0
maximum braking time P-0-0126
Vbrems= Velocity profile

10Rpm
0
1 Control of the
motor brake
0
1 End stage release

0
P-0-0526, Motor brake lag time
t / ms
Sv5034f1.fh5
Fig. 7-54: Time sequence of the velocity command value reset, in case of setting
the maximum brake time too low
Disable Torque
If "Best Possible Deceleration" is set to 1, then the drive is set to torque
The response "disable torque"
disable in case of an error. The brake will be activated instantly.
is not recommended when a
motor has a brake
Disable torque as error response when motor

brake is connected
Danger of damaging the motor brake
⇒ Avoid setting this error reaction.
WARNING
Activating the set

velocity command
1 value to zero
0
Velocity profile
1 Control of the
motor brake
0
1 End stage release

0
t / ms
Sv5035f1.fh5
Fig. 7-55: Time sequence of torque disable
Velocity command value reset with filter and slope

If the setting for the "Best possible Deceleration" is 2, the drive will do a
deceleration ramp to 0 velocity, if an error occurs. The acceleration or
deceleration of the ramp is set with the parameter P-0-1201, Ramp 1
pitch. The velocity command passes through a jerk-limiting filter, whose
time constant is defined with P-0-1222, Velocty command filter.
The velocity profile is equal to the profile of the velocity control with
comparison and filter with a preset value of 0.
Activating the set

velocity command
value to zero with
slope and filter
V Rounding by command
value filter (P-0-1222)
Delay by
slope(s) (P-0-1201)
Rounding by command
value filter (P-0-1222)
t
Maximum braking
Delay without time
slope and filter P-0-0126 >= t
DG5000D2.fh5
Fig. 7-56: Time sequence of velocity with activated filter
Note: You must ensure that the P-0-0126, Max. braking time is
greater than the time needed by the drive to decelerate from
its max. velocity to v = 0.
Example: Vmax = 1000 Rev/min

ramp deceleration = 100 rad/s²
Time from 1000 Rpm to 0 Rpm =
[Re v / s] × 2 × π[rad / Re v]
1000
60 = 105
[ ]
. s
100 rad / s 2
For the max. braking time in the previous example, we would propose
1.5s.
The time sequence of the control for the motor brake (if mounted) and
the enable for the power stage is the same as for the velocity command
reset.
(See also "Velocity Command Value Reset".)
Return motion
If a 3 has been set for "Best possible Deceleration" as a return motion,
then the drive generates a position command profile to complete the
desired travel distance in the case of an error. In other words, in the case
of an error a specific process (travel) block is activated.
This travel block is defined by the parameters
• P-0-0096, Distance to move in error situation

• S-0-0091, Bipolar velocity limit value
• S-0-0138, Acceleration bipolar
• S-0-0349, Jerk limit bipolar
Once the drive has covered the distance, i.e., has reached the desired
target position, then the motor holding brake is activated (if mounted) and
the drive is switched torque free at the end of the motor brake delay time.
The distance to move is considered as completed, i.e., the motor holding
brake is activated, if
• target position = active position command value, i.e., bit 12 in

S-0-0013, class 3 diagnostics = 1 and
• Vactual = 0, i.e., bit 1 in S-0-0013, class 3 diagnostics = 1
(feedback velocity smaller than S-0-0124, Standstill window).
P-0-0126, maximum braking time
Start of error reaction
S-0-0091, bipolar velocity limit value
Velocity command profile
S-0-0138, bipolar acceleration

S-0-0349, jerk limit bipolar
Motor holding brake control
P-0-0526, Brake control delay
Power stage enable is switched off.
Fig. 7-57: Time sequence of the error reaction "return motion“
Error reaction "Return motion" with position limit values activated

If the drive-internal position limit values (S-0-0049, positive position
limit value and S-0-0050, negative position limit value) have been
activated, in other words,
• in S-0-0055, position polarity parameter bit 4 for "activating the
position limit value" has been set to 1 and
• the encoder set in S-0-0147, homing parameter, bit 3 is in reference
(S-0-0403, position status = 1),
then the drive will not leave the travel range set when executing the error
reaction "return motion". If the drive is in a position that would take it
outside of the position limit values when executing a return motion, then
the drive will, in this case, move to a position just in front of the relevant
position limit value (precisely by S-0-0057, Positioning window in front
of the position limit value.
Power Supply Shutdown in Error Situation

In the case of modular units, via a signal line of the control voltage bus,
the power supply unit can be informed as to whether the drive has
detected an error that should lead to powering down. If the power supply
unit receives such a message, then it shuts the DC bus voltage off. All
other drives connected to the same power supply module also conduct
the drive reaction as set in P-0-0119, Best possible deceleration. This
signalling of a drive error to the power supply unit can be set in the
parameter P-0-0118, Power off on error.
Structure of the parameter:

P-0-0118, Power off on error
Bit 0: Message to power supply module on

error
0 : no message via X1.2 on error
1 : message via X1.2 on error
Bit 1 : First signal to power supply module
0 : first signal if no error and comm. phase 4
(X1.2 is 1, if communications phase 4
reached for first time and no class 1
diagnostics)
1 : first signal if no error („passive axis“)
(X1.2 is 1, if no class 1 diagnostics error
Bit 2 : Time of power off in the case of error
(only if bit 0 = 1)
0: X1.2 immediately goes to 0 on error,
package reaction of all controllers on the
same module, preferred setting for modular
units
1: X1.2 goes first to 0 on error, if drive goes
torque-free, preferred setting for compact
units (DKR)
Bit 3 : Reaction to DC bus voltage
0: undervoltage treated as non-fatal error
1: undervoltage treated as fatal warning and
motor cannot operate
Bit 4 : Automatic reset of undervoltage error
0: Undervoltage error is stored.
1: Undervoltage error is cleared by drive
when switching off the drive enable signal.
Bit 5 : Undervoltage as warning
0: undervoltage with reaction
1: undervoltage error treated as
non-fatal warning
Fig. 7-58: P-0-0118, Power off on error
Units with extrinsic power supplies are signalled through connector X1,
pin 2. If power off on error has been set, then bit 2 of compact units
should be set to 1. The error message of the drive causes a mains
separation meaning that the energy generated during braking cannot be
fed back into the mains. Without a braking resistor (bleeder), the drives
then coast to a standstill.
Using bit 1 of P-0-0118 it is possible to set when the error message from
the drive to the power supply unit can be removed for the first time. If this
bit is 1, then immediately after the basic initialization of the drive, the
error reaction is removed and powering up thus becomes possible
already in communications phase 0. If bit 1 = 0, then the drive must be in
communications phase 4 and error free before the error message to the
power supply unit can be removed for the first time.
Reaction to undervoltage
Bits 3 , 4 and 5 of parameter P-0-0118 offer the options on how to handle
the undervoltage. Undervoltage happens when the drive is enabled (with
torque) and signal for the DC bus voltage goes down.
With bit 3 = 1, undervoltage can be treated as a "fatal warning". This
makes sense if the energy in the DC bus must be retained for that period
of time which a control needs to start the synchronized deceleration of
several drives. The drive, in this case, does not signal a class 1
diagnostics error, and the reaction parametrized in P-0-0119, best
possible standstill is not executed. Shutting the motor off brings about
a slower drop in the DC bus voltage. This means that asynchronous
motors can still retain a magnetic field once the control begins to bring
the drives to a synchronized standstill. Braking takes place in generator
mode.
If the undervoltage is treated as an error (bit 3, 5 = 0), then bit 4 can be
used to set whether the error automatically clears itself once the control
switches off the drive enable. This makes sense if the error also occurs
during the course of a normal shutdown caused by the fact that the
control does not clear the enable quickly enough.
With bit 5 = 1, you can suppress any reaction to the state of
undervoltage. In this case, only a warning is generated.
NC Response in Error Situation

If the drive control device recognizes an error, it sends a message to the
NC response during an error
control (CNC) . The control can then decelerate the servo axis of the
situation is only possible
machine without possible damage.
during non-fatal errors.
Otherwise the drive reacts If this is desired, you have to delay the drive error reaction to allow the
immediately with an error axis to continue movement to the values set by the control. This is
response. achived by setting the time delay between the recognition of the error and
the drive's error reaction. This can be set in parameter P-0-0117, NC
Reaction on Error.

Value of P-0-0117 Function
0 Drive proceeds the error reaction immediately
after recognition of the error.
1 Drive continues for 30 sec in the selected
operating mode, then follows the "best possible
deceleration".
Fig. 7-59: NC Reaction on Error
Note: Activating the "NC Reaction on Error" is only recommended

for controls that have a corresponding error reaction
procedure.
Emergency stop feature

The emergency stop feature is used to shutdown the drive through a
hardware input on the drive controller. Parameter P-0-0008, Activation
E-stop function is used to set this function.
After activation of the E-Stop Input (bit 0 = 1), the drive is prompted to
perform the selected procedure to shutdown the drive. This reaction at
first depends on bit 2 of P-0-0008.
If the interpretation "fatal warning" has been parametrized there (bit 2 =

1), then the drive responds as with switching off the external drive enable
with the reaction parametrized in P-0-0119, Best possible standstill.
The warning diagnosis E834 Emergency-Stop appears. Bit 15 is set in
S-0-0012, Class 2 diagnostics (manufacturer specific warning).
Simultaneously, the bit "change bit class 2 diagnostics“ is set in the drive
status word. This change bit is cleared by reading S-0-0012, Class 2
diagnostics. Using parameter S-0-0097, Mask class 2 diagnostic,
warnings can be masked in terms of their effects on the change bits. The
functional principle at work when actuating the E-Stop input is that of a
series connection to an external drive enable. In other words, when
activating the E-Stop input, the drive responds as if the external drive
enable had been switched off.
To re-activate the drive, the E-Stop input must become inactive, and
another 0-1 edge must be applied to the external drive enable.
If bit 2 has been set to treat it as an error, then the reaction selected in bit
1 is performed. The error diagnosis F434 Emergency-Stop (or F634
Emergency-Stop), E-stop activated appears, and bit 15 is set in
parameter S-0-0011, class 1 diagnostics . Bit 13 is set in the drive
status word of the drive telegram, i.e., drive interlock, error with class 1
diagnostics is set. The error can be cleared via command S-0-0099,
Reset class 1 diagnostics, or key S1 on the drive controller if the E-
stop input is no longer activated.
This function basically works as if an error had occurred in the drive. The
drive reaction is immediate and without delay, independent of parameter
P-0-0117, NC reaction on error.
If bit 1 = 0, the drive shuts down according to P-0-0119, Best possible
Deceleration. The diagnosis upon activating the E-stop input then reads
F434 Emergency-Stop.
If bit 1 is set to 1 , then the drive is braked at maximum torque, if an E-
Stop of the drive is triggered, until the speed = 0, regardless of the error
reaction set in parameter P-0-0119. This corresponds to the best
possible standstill "Velocity command value to zero". The diagnosis with
the activation of the E-Stop input then reads F434 Emergency-Stop.
Activation and Polarity of the E-Stop Input

For the activation of the E-Stop input and the selection of a response for
shutdown of the drive, use parameter
P-0-0008, Activation of the E-Stop-Function.
P-0-0008, Activating E-stop function
Bit 0 : Activating E-Stop

0: inactive
1: active
Bit 1 : Error class with interpretation as

error (Bit 2 = 0)
0: best possible standstill (P-0-0119)
1: velocity command value to zero
Bit 2 : Interpretation
0: as non-fatal error
1: fatal warning
Fig. 7-60: P-0-0008, Activation of E-Stop-Function
The input polarity cannot be selected. It is always 0-active; i.e., 0 V on E6

of the connector means the E-Stop is active.
If the evaluation of the E-Stop signal is activated, the monitoring of +UL
(external +24 V) is also activated, if it has not yet been active.
Connection of the Emergency-Stop Input

The drive controllers are provided with a binary input for the emergency-
stop signal. You can find it on the plug-in module DSS 2.1. The input is
galvanically separated and has to be supplied through the same
connector (X 12) with +24 V.
DSS2.1
H3 ERR
Connector 12
2 3
4
01
5 6
on DDS
9
8 7
2 3
4
01
5 6
9
8 7
E1 X12
E2 E1
E3 E2
E3
E4 E4
E5
E5 E6
E- Stop Signal E6
+U
OV
connection +UL
0VL
View to front plate
EK5007f1.fh5 Fig. 7-
61: Connection of E-Stop-Signal to X12
If the emergency stop input was activated but the 24 V supply failed, then
the error F273 Error power supply E-Stop is generated.
7.8 Control Loop Settings
General Information for Control Loop Settings

The control loop settings in a digital drive controller are important for the
characteristics of the servo axis. Determining the control loop settings
requires expert knowledge.
For this reason, application-specific control parameters are available for

"Optimizing" the regulator
all digital INDRAMAT drives. These parameters can be retrieved from the
settings is generally not
motor data sheet. They are activated with the Command basic load.
necessary! (See also Load Default Feature)
In some exceptions, however, it may be necessary to adjust the control

loop settings for a specific application. The following section gives a few
simple but important basic rules for setting the control loop parameters in
such cases.
In every case, the given methods should only be seen as guidelines that
lead to a robust control setting. Specific aspects of some applications
may require settings that deviate from these guidelines.
The control loop structure is made up of a cascaded (nested) position,
velocity and torque/force loop. Depending on the operating mode, only
the torque control loop or the torque and velocity control loops can
become operative. The control is structured as depicted below:
position control
KB= S-0-0348
S-0-0032, Bit 3 acceleration feed forward
5: pos. com.val.diff.
velocity control
current control
d: velocity command value
f
7-58 Basic Drive Functions
TN= S-0101 TNi= S-0-0107

position P-0-0180 current
command P-0-0181 command
S-0-0032, E259 P-0-0181 value
value
Xcom Bit 3 Iqcom
- -
S-0-0047 S-0-0036 -
Kv S-0-0104 TGL= Kp= Kpi= S-0-0106
nlimit= P-0-0004 S-0-0100 P-0-4046
S-0-0189 S-0-0084
S-0-0091
act. current value
actual S-0-0040 Iqact
position S-0-0080 TGL=
value Xact S-0-0032 ...35, S-0-0037 P-0-0004 sampling time: 125 usec
S-0-0051
Fig. 7-62: Control structure

P-0-0121
0 - 100 %
S-0-0053
vist vist
motor ext. encoder
sampling time: 250 usec
sampling time: 250 usec
S-0-0032 Primary mode of operation S-0-0080 Torque/force command S-0-0189 Following error
S-0-0036 Velocity command value S-0-0084 Torque/force feedback value S-0-0348 Acceleration feedforward prop. gain
S-0-0037 Additive velocity command value S-0-0091 Bipolar velocity limit value P-0-0004 Velocity loop smoothing time constant
S-0-0040 Velocity feedback value S-0-0100 Velocity loop proportional gain P-0-0121 Velocity mixfactor feedback 1 & 2
S-0-0047 Position command value S-0-0101 Velocity loop integral action time P-0-0180 Rejection frequency velocity loop
S-0-0051 Position feedback value 1 (motor) S-0-0106 Current loop proportional gain 1 P-0-0181 Rejection bandwith velocity loop
S-0-0053 Position feedback value 2 (ext.) S-0-0107 Current loop integral action time 1 P-0-4046 Active permanent current
P-0-0421/424 d: velocity command value
P-0-0420/423 ID no. and disignation of signal for analog output
S-0-0036
Fp5007f1.fh7
DIAX04 Drive With Electric Gear Function
Load Default
With the command Basic Load, you can activate the default control
parameters for motor types with motor feedback data memory such as
• MHD
• MKD/MKE
With these parameters, the relevant control parameters for the
appropriate motor type used can be set. The parameters are pre-defined
by the manufacturer for the moment of inertia relationship of Jown = Jload.
Most applications can work with these values.
Default values can be set for the following parameters:
• S-0-0106, Current Loop Proportional Gain

• S-0-0107, Current Loop Integral Action Time
• S-0-0100, Velocity Loop Proportional Gain
• S-0-0101, Velocity Loop Integral Action Time
• P-0-0004, Smoothing Time Constant
• S-0-0104, Position Loop Kv Factor
• P-0-0180, Rejection frequency velocity loop
• P-0-0181, Rejection bandwidth velocity loop
The feature Load Default Settings can be activated in two different ways:
• Automatic activation during the command procedure S-0-0128, C200

Communication phase 4 transition check for the first operation of
this motor type with this drive.
• With the command procedure S-0-0262, C700 Basic Load
Automatic Execution of the Load Default Feature

The drive recognizes a motor type the first time the drive is used. The
drive compares parameter S-0-0141, Motor type while processing the
command S-0-0128, C200 Communication Phase 4 Transition Check.
If these parameters are different, then the message F208 UL The motor
type has changed. is generated. The message "UL" appears on the
seven-segment display.
The user can save the current drive parameters before resetting the error
to start the load default process.
Error F208 UL The motor type has changed can be reset in two
different ways:
1) Run the command S-0-0099, Reset Class 1 Diagnostics or
2) press the S1 key.
In either case, the command Basic Load is activated.
If the default settings cannot be activated, then the relevant command
error messages appear.
(See also "Error Conditions of the Load Default Settings Procedure)"
Run the Load Default Settings feature as a command

With parameter S-0-0262, C700 Basic load, the feature can be run as a
command. This might be useful if manually changed control parameters
are to be set back to the default values.
This command cannot be run when the control enable signal is applied.
Error Conditions of the Load Default Settings Procedure

If the feature started by running the command S-0-0262, C700 Basic
load is not successfully processed, then the reason for this error is
displayed either on the 7-segment display or with the diagnostic
parameter S-0-0095.
The following could cause an error during basic load:
SS Display Diagnostic Message: Cause:

C701 Basic load (= load At the start of the command,
defaults) not possible if the controller enable is set,
drive is enabled which is not allowed
C702 Default parameters not Basic load (or load defaults)
available is impossible for the motor
type selected, only for MHD-,
MKD and MKE
C703 Default parameters invalid Connection of drive to motor
encoder data memory is
interrupted or feedback is
defective
C704 Parameters not copyable The existing default value
cannot be processed since,
for example, the extreme
value limit was exceeded in
the default value
C705 Locked with password A customer password has
been set which locks out
changes to parameters
Fig. 7-63: Possible errors during Basic Load command
If an error occurs during this procedure, then the default values for the
indicated invalid parameters can be set. This serves safety purposes and
helps in diagnosing additional errors.
Setting the Current Controller

The parameters for the current loop are set by INDRAMAT and cannot
be adjusted for specific applications. The parameter values set at the
factory are activated with the command S-0-0262, C700 Command
basic load for MKD/MHD motors or must be retrieved from the motor
data sheet.
The parameters for the current controller are set via the parameters
• S-0-0106, Current loop proportional gain
• S-0-0107, Current Loop Integral Action Time
Changing the values defined by INDRAMAT

can result in damages to the motor and the drive
controller.
⇒ Changes to the current controller parameters are not
Warning permitted.
Setting the Velocity Controller

Pre-requisites:
The current control must be correctly set.
The velocity controller is set via the parameters

• S-0-0100, Velocity Loop Proportional Gain
• S-0-0101, Velocity Loop Integral Action Time
• P-0-0004, Smoothing Time Constant
as well as the parameters
These can be set either by running once the load default feature or by
following the procedure hereafter.
Preparations for Setting the Velocity Controller

A number of preparations must be made in order to be able to set the
velocity loop (controller):
• The mechanical system must be set up in its final form in order to
have original conditions while setting the parameters.
• The drive controller must be properly connected as described in the
user manual.
• The safety limit switches must be checked for correct operation (if
available)
• The velocity control operating mode must be selected in the drive.
The controller setting must be selected for the start of parameterization

as follows:
S-0-0100, Velocity Loop Proportional Gain = default value of the
connected motor.
S-0-0101, Velocity Loop Integral Action Time = 6500 ms
P-0-0004, Smoothing Time Constant = Minimum value (250 µs)
P-0-0181, Rejection bandwidth velocity loop = 0 Hz
Note: When determining the velocity control parameters, no

compensation function should be active.
Definition of the Critical Proportional Gain and P-0-0004,

Smoothing Time Constant
• After turning on the controller enable, let the drive move at a low
velocity. Rotational motors: 10...20RPM, linear-Motors: 1...2 m/min)
• Raise the S-0-0100, Velocity loop-proportional gain until unstable
behavior (continuous oscillation) begins.
• Determined the frequency of the oscillation by oscilloscoping the
actual velocity (see also "Analog Output"). If the frequency of the
oscillation is much higher than 500Hz, raise the P-0-0004,
Smoothing Time Constant until the oscillation ends. After this,
increase the S-0-0100, Velocity Control Proportional Gain until it
becomes unstable again.
• Reduce the S-0-0100, Velocity loop proportional gain until the
oscillation ends by itself.
The value found using this process is called the "critical velocity loop
proportional gain".
Determining the Critical Integral Action Time

• Set S-0-0100, Velocity Loop Proportional Gain = 0.5 x critical
proportional gain
• Lower S-0-0101, Velocity controller integral action time until
unstable behavior results.
• Raise S-0-0101, Velocity controller integral action time until
continuous oscillation vanishes.
The value found using this process is called the "Critical Integral Action
Time."
Determining the Velocity Controller Setting

The critical values determined before can be used to derive a control
setting with the following features:
• Independent from changes to the axis since there is a large enough
safety margin to the stability boundaries.
• Safe reproduction of the characteristics in series production
machines.
The following table shows many of the most frequently used application
types and the corresponding control loop settings.
Velocity controller Velocity loop

Application Type: proportional gain Integral Action Time: Comments:
Feed axis on standard Kp = 0.5 • Kpcrit Tn = 2 • Tncrit Good stiffness and good
tool machine command response
Feed axis on perforating Kp = 0.8 • Kpcrit Tn = 0 High proportional gain; no I-
press or chip-cutter part, to achieve shorter
machines transient periods.
Feed drive for flying Kp = 0.5 • Kpcrit Tn = 0 Relatively undynamic control
cutting devices setting without I-part, to avoid
structural tension between
the part to cut off and the
machine.
Fig. 7-64: Identification of Velocity Controller Settings
See also Supplement B, Diagnostic Explanations: F878 Velocity loop

error.
Filtering oscillations from mechanical resonance

DIAX drives are able to suppress oscillations caused by the drive train
(gear) between the motor and the axis or by the spindle mechanics even
in a narrow band. Thus, an increased drive dynamics with good stability
can be achieved.
The mechanical system of rotor-drive train-load is induced to generate
mechanical oscillations as a result of position/velocity feedback in a
closed control loop. This behavior identified as a "two mass oscillator" is
generally within the 400 to 800 Hz range, depending on the rigidity (or
elasticity) and spatial volume of the mechanical system.
This "two mass oscillation" usually has a clear resonance frequency

which can be specifically suppressed by a notch filter (band suppressor)
provided in the drive.
By suppressing the rejection frequency the dynamics of the velocity and
position control loops in terms of control can be significantly improved
compared to without a band suppression filter.
This results in greater contour accuracy and smaller cycle times for
positioning processes, leaving sufficient stability margin.
The rejection frequency and bandwidth can be set. The rejection
frequency is the one with highest attentuation, the bandwidth determines
the frequency range, at whose borders the attenuation is 3dB less.
Greater bandwidth leads to smaller band attenuation of the center
frequency!
The following parameters can be used to set both:
Attenuation in dB Bandwidth Frequency f
0
-3
Rejection frequency fsperr
Sv5052f1.fh7
Fig. 7.65: Amplitude response of the rejection filter in terms of bandwidth -

qualitative
To set the band filter, we recommend the procedure described as

follows:
Pre-settings ⇒ Set rejection filter inactive. Set 0 in parameter P-0-0181 Rejection
bandwidth velocity loop.
Determing resonance frequency ⇒ Connect oscilloscope to analog output channels. Assign velocity
feedback value to analog output 1 (in P-0-0420, Analog output 1,
signal selection "S-0-0040" and in P-0-0422, Analog output 1
scaling enter the scaling, e.g., 100 Rpm / 10 Volts.
- or -
⇒ Use the oscilloscope function of the drive to display velocity feedback
value.
⇒ Excite the drive mechanics, e.g., tap lightly with a rubber hammer.
⇒ Record the time of the velocity oscillations with an oscilloscope or
oscilloscope function and analyze the clearly salient frequencies. If the
oscilloscope function is used, then the resonance frequency can be
directly read out of the frequency readout.
Determining the initial state of ⇒ Set the drive enable signal and optimize the velocity loop with inactive
the loop rejection filter (see "Setting the Velocity Controller").
⇒ Record step response of the velocity feedback and the torque/force

generating command current with a small velocity command step.
(The torque-generating command current may not enter the limit
during this process.)
Turn rejection filter on and ⇒ Enter the most salient frequency in Hz in parameter P-0-0180,
check the effect Rejection frequency velocity loop.
⇒ Enter a minimum bandwidth in parameter P-0-0181, Rejection
bandwidth velocity loop, e.g., 25 Hz.
⇒ Record the previous step response again.
If the step response features less overshoot and shorter periods of
oscillation, then:
⇒ Check whether increasing the value of P-0-0181, Rejection
bandwidth velocity loop causes an improvement
- or -
⇒ check whether a change in the value of P-0-0180, Rejection
frequency velocity loop means an improvement.
If the step response results in the same behavior, then:
⇒ Check the resonance frequency analysis
- or -
⇒ clearly increase the value in P-0-0181, Rejection bandwidth
velocity loop.
Optimize rejection filter or ⇒ with the pre-optimized values of P-0-0180, Rejection frequency
velocity loop velocity loop and P-0-0181, Rejection bandwidth velocity loop,
optimize the velocity controller again (see above).
The step responses defined above must have a similar appearance
with higher values for S-0-0100 Velocity loop proportional gain and
/ or smaller values for S-0-0101 Velocity loop integral action time.
An additional optimizing run may be necessary for P-0-0180 Rejection

frequency velocity loop and P-0-0181, Rejection bandwidth velocity
loop using the step response (see above).
Optimizing the Notch Filter or ⇒ With the pre-optimized values of P-0-0180, Rejection frequency
the Velocity Controller velocity loop and P-0-0181, Rejection bandwidth velocity loop,
optimize again the velocity controller (as above).
The transient response defined above must have a similar aspect at
higher values for S-0-0100 Velocity loop proportional gain and/or
smaller values for S-0-0101 Velocity loop integral action time.
⇒ If necessary, run another optimization for P-0-0180 Rejection

frequency velocity loop and P-0-0181, Rejection bandwidth
velocity loop according to the transient response.
⇒ Optimization of the control loop with a notch filter (band suppression)

Filtering with double does not always make the regulation good enough. This happens for
smoothing filter example when the closed loop does not have significant resonance
frequencies. Activation of a second smoothing filter (with low pass
response) can, depending from the case, improve the regulation
quality as desired.
⇒ To do this, set the parameter P-0-0181, Rejection bandwidth

velocity loop to -1. The notch filter as well as the assigned parameter
P-0-0180, Rejection frequency velocity loop are deactivated.
Instead of the notch filter, a smoothing filter is activated in the control
loop. This uses the same smoothing time constant Tgl as the
smoothing filter with P-0-0004 Velocity loop smoothing time
constant. Together with the smoothing filter at the input of the
velocity controller, you obtain a low pass filter of 2nd order (2 poles).
Frequencies greater than the cutoff frequency fg = 1/2πTgl are much
more suppressed and cannot excite oscillations in the control loop any
more. The parameter for the filter is P-0-0004 Velocity loop
smoothing time constant.
A
dB
0,1 1 10 100
0
f
fg
-20 0,1
-40 0,01
Sv5053f1.fh7
Fig. 7-66: Frequency response of low pass filters with 1 pole and with 2 poles
Note: The adjustment is the same as described under

"Determining the critical proportional Gain and P-0-0004,
Velocity loop smoothing time constant".
Setting the position controller

Pre-requisite:
Current and speed control must be correctly set.
The position controller can be set with the parameter
• S-0-0104, Position Controller Kv Factor
This can be set by either executing the load default settings procedure or
by following the process below.
Preparations for Setting the Position Control Loop

A number of preparations must be made in order to be able to set the
position controller properly:
• The mechanical system must completely assembled and ready for
operation.
• The drive controller must be properly connected as described in the
user manual.
• The safety limit switches must be checked for correct operation (if
available)
• The position control operating mode must be selected in the drive.
• The velocity controller must be properly tuned. The start value chosen
for the Kv-factor should be relatively small (Kv = 1).
• For the determination of the position controller parameter, no
compensation function should be activated.
Determing the Critical Position Controller Gain

• Operate the drive in a mode that closes the position loop in the drive.
• Move axis at a slow velocity, i.e., with a jog function at a connected
NC Control (Rotating Motors: 10...20 Rpm, linear-Motors: 1...2m/min).
• Raise the Kv-factor until instability appears.
• Reduce the Kv-factor until the continuous oscillation ends by itself.
The Kv factor determined through this process is the "Critical position
control loop gain".
Determining the Position Controller Setting

In most applications, an appropriate position controller setting will lie
between 50% and 80% of the critical position controller loop gain.
This means: S-0-0104, Position Loop KV-Factor = 0.5..0.8 • Kvcrit
Position Control Loop Monitoring

The position control loop monitor helps to diagnose errors in the position
control loop.
Reasons for errors in the position control loop can be:
• Exceeding the torque or acceleration capability of the drive.
• Blocking of the axis’ mechanical system
• Disruptions in the position encoder
The monitoring of the position circuit is only active when an operation
mode with closed position loop is active in the drive. To set and check
the monitoring function, two parameters are used:
• S-0-0159, Monitoring Window
• P-0-0098, Max. Model Deviation
If the drive detects an error in the position control loop, the error message
• F228 Excessive deviation
is issued.
General Operating Characteristics of Position Control Loop

Monitoring
To monitor the position control loop, a model actual position value is computed,
which depends only on the commanded position profile and the set position
loop parameters. This model position is compared continuously to the actual
position. If the deviation exceeds S-0-0159, Monitoring Window for more than
4 ms, an error F228 Excessive deviation will be generated.
Position command value Position feedback value

Position Motor and
controller mechanical system
Position
controller loop
S-0-0159,
model
Monitoring
Window
Peak value detector
P-0-0098,
Maximum Model The error F228, Excessive
Deviation Control Deviation is generated
Fig. 7-67: Schematic of Position Control Loop Monitoring
For accurate monitoring, always the actual feedback value from the
position control is used. This means that for position control with the
motor encoder, position feedback value-1 is used; and for position
control with the external encoder, the position feedback value-2 is used.
Setting the Position Control Loop Monitor

Requirements for the setup of the position loop monitoring are
• Check the velocity and position control loops for their appropriate
settings.
• The axis in question should be checked mechanically and should be
in its final state.
The position control loop monitor settings are performed:
• Through the connected control, you should proceed in a typical
operation cycle. In this mode, move at the maximum projected
velocity.
• In parameter P-0-0098, Max. Model Deviation, the maximum
deviation between the actual feedback value and the expected
feedback value is always displayed. (Note: The contents of this
parameter are not saved. After enabling the drive, this parameter
equals zero.)
• This value can be used to help set the monitoring window. Parameter
S-0-0159, Monitoring Window should be set to P-0-0098, Max.
Model Deviation multiplied by a safety factor. A safety factor
between 1.5 and 2.0 is recommended.
Example:
Content of P-0-0098, Maximum Model Deviation:
0.1 mm
⇒ Determination for the parameter S-0-159, Monitoring Window:
0.2 mm (= 2 x 0.1 mm)
Deactivation of the Position Control Loop Monitoring

It is strongly recommended to activate the position loop monitoring.
However, there are exceptions for which the position loop monitoring
must be deactivated. You can do that with the parameter S-0-0159,
Monitoring Window, if it is set to very high values.
Setting the Acceleration Feed Forward

For Servo applications, where high precision at high speeds counts, you
have the option to improve by far the precision of an axis during
acceleration and brake phases through activation of the acceleration feed
forward.
Typical applications for the use of the acceleration feed forward:
• Free form surface milling
• Grinding
To set the acceleration feed forward, use the parameter
• S-0-0348, Proportional Gain Acceleration Feed Forward
This value can be determined as follows.
Requirements for a Correct Setting of the Acceleration Feed

Forward
• Velocity and position loop have to be set appropriately.
• For the position controller, a lagless operation mode must be
selected.
• If frictional torque compensation should be activated, you must set
this before setting the acceleration feed forward. A reversed
procedure can limit the action of the acceleration feed forward.
Setting the Acceleration Feed Forward

Setting the correct acceleration feedforward can only be done by the user
since it depends on the inertia.
The setting is done in two steps:
• Calculation of the preset value for the acceleration feedforward. For
this purpose, you need the size of the complete inertia momentum
translated to the motor shaft ( JMotor+JLoad ) of the axis. This value is
known approximately from projecting the axis. Additionally, you need
the torque constant of the used motor. This data can be retrieved
from the motor data sheet or the parameter P-0-0051, Torque-/Force
Constant Kt. The preset value is calculated as:
JMotor + J Actuated
Acceleration Feedforward = × 1000
Kt
Acceleration Feedforward [mA/(rad\s²)]
JMotor: Inertia momentum of the motor [kg m²]
JLoad: Inertia momentum of the load [kg m²]
Kt: Torque constant of the motor [Nm/A]
Fig.7-68: Value for the Acceleration Feedforward
The determined value is entered in parameter S-0-0348, Acceleration

Feedforward prop. Gain.
Checking the effect of the acceleration feedforward and, if
necessary, fine tuning of the parameter S-0-0348, Acceleration
Feedforward prop. Gain:
The deviation of the actual feedback value to the position command can
be displayed through the analog diagnostic output of the drive controller.
To check the effect of the acceleration feed forward, you must
oscilloscope the signal during movement of the axis along the desired
operation cycle. In acceleration and brake phases, the feedforward must
reduce the control deviation drastically.
Setting the Velocity Mix Factor

With the help of the velocity mix factor, you can combine the velocity
feedback value, used for velocity control, from the motor and the external
measurement system. This might be an advantage, when there is play or
torsion between motor and load. To set the mixing ratio, use the
parameter
• P-0-0121, Velocity Mixfactor Feedback1 & 2
Precondition: The function is only applicable when ther is an external
measurement system. If this is not available, P-0-0121 is automatically
set to 0 % .
The mixture of the velocity feedback value can be continuously varied

between:
• 100% Velocity feedback value of the motor encoder
/
0% actual value of the external encoder (P-0-0121 = 0)
and
• 0% Velocity feedback value of the motor encoder
/
100% actual value of the external encoder (P-0-0121 = 100 %)
carriage
0 100
P-0-0121,
Velocity mixfactor feedback 1 & 2
Ap5048f1.fh7
Fig. 7-69: Velocity Mixture Diagram
7.9 Drive Stop

The drive halt feature serves to stop the axis with defined acceleration
and defined jerk.
The feature is activated either through deletion of the /drive_halt bit (bit
13) in the master control word or through interruption of the drive control
commands (i.e., drive-controlled homing).
The following parameters are used:
• S-0-0138, Bipolar Acceleration Value
For diagnostics, the following parameters
• S-0-0124, Standstill Window
• S-0-0182, Manufacturer Class 3 Diagnostics
are used.
Drive Halt Feature Description

If in the master control word bit 13 is changed from 1 to 0, then this
feature will be activated. The drive no longer follows the command values
of the active operating mode, but changes to position control and
decelerates the axis with the parameters S-0-0138, Bipolar
Acceleration Value and S-0-0349, Jerk limit bipolar. The LEDs display
AH, and the diagnostic message in S-0-0095 is A010 Drive HALT.
If the actual velocity falls below the value of the parameter S-0-0124,
Standstill Window, the bit "Drive Halt Confirmation will be set in
S-0-0182, Manufacturer Class 3 Diagnostics.
.
If bit 13 in the master control word is reset to 1, the selected operation
mode will be reactivated.
Jerk according to S-0-0349, Acceleration according to S-0-0138,
Jerk limit bipolar bipolar acceleration limit value
Velocity
V command
value
Drive
stop
0
Master control Master control Master control
word= word= word=
OxExxx OxCxxx OxExxx
t / ms
Sv5037f1.fh5
Fig. 7-70: Drive Halt Diagram
The position-controlled deceleration is done with lag, if the previous

operating mode was with a lag. In the other case, this feature proceeds
without lagless control.
7.10 Drive-Controlled Homing

The position feedback value of the measuring system to be referenced
forms a coordinate system. This system does not comply with the
machine coordinate system after the drive has been initialized, as long as
no absolute encoders are used. To establish congruence between drive
(measuring system) and machine coordinate system use the S-0-0148,
C600 drive-controlled homing procedure command.
Drive-controlled homing means that the drive independently creates the
necessary motion, which corresponds to the homing velocity settings and
homing acceleration settings.
This feature can be executed for either the motor encoder or the external
encoder.
To run this feature, use the following parameters:
• S-0-0148 C600 Drive-controlled Homing Command

• S-0-0147, Homing Parameter
• S-0-0298, Reference Cam Shifting
• S-0-0299, Home Switch Offset
• S-0-0052, Reference Distance 1
• S-0-0054, Reference Distance 2
• S-0-0150, Reference Offset 1
• S-0-0151, Reference Offset 2

• S-0-0041, Homing Velocity
• S-0-0042, Homing Acceleration
• P-0-0153, Optimal Distance Home Switch - Reference Mark
• S-0-0177, Absolute distance 1
• S-0-0178, Absolute distance 2
• S-0-0165, Distance coded reference offset 1
• S-0-0166, Distance coded reference offset 2
The following parameters
• S-0-0108, Feedrate Override
• S-0-0057, Positioning Window
• P-0-0099, Position Command Smoothing Time Constant
• S-0-0403, Position Feedback Value Status
also can be used.
Setting the referencing parameters

The basic sequence is dependent on how parameter S-0-0147, Homing
parameter has been parametrized.
The following settings are performed:
• referencing direction positive/negative
• referencing with motor or external encoder
• evaluation of the home switch yes/no
• evauation of the marker yes/no
The parameter is structured as follows:
S-0-0147, Homing Parameter
Bit 0: Start direction

0: positive = clockwise with view
towards motor shaft
1: negative = counter-clockwise with view
towards motor shaft
Bit 3: Feedback selection
Homing
0: with motor feedback
1: with external feedback
Bit 5: Home switch evaluation
The home switch is
0: detected.
1: not detected.
Bit 6: Reference mark evaluation

The Reference mark is
0: detected.
1: not detected.
Bit 7: Position after homing
The drive is
0: at any position.
1: the reference point.
Fig. 7-71: Structure of parameter S-0-0147, Homing parameter
The sequence also depends on the type and arrangement of the

reference markers in terms of the referenced encoder. For distance-
coded reference marks (type 4), the reference switch is not evaluated,
even if this is selected in S-0-0147.
Overview about Type and Configuration of Homing Marks in the

Measurement System
For better understanding, you can divide the measurement systems into
4 groups according to the type and configuration of their reference
marks.
• Type 1: Measurement systems with absolute singleturn range, such
as the Singleturn DSF or Resolver. These measurement systems
have an absolute range of one encoder revolution or fractions of it
(resolver). Typical systems are the encoders for the MHD, MKD and
MKE motors and the GDS measurement system.
• Type 2: Incremental rotational measurement systems with a
reference mark for each encoder rotation, such as the ROD or RON
types from the Heidenhain Company.
• Type 3: Incremental translation measurement systems with one or
several reference marks, such as the LS linear scaling of the
Heidenhain Company.
• Type 4: Incremental measurement systems with distance coded
reference marks, such as the LSxxxC linear scaling of the Heidenhain
Company.
The drive-internal detection for the configuration of the reference marks
is done with the settings of the corresponding position encoder type
parameter S-0-0277, Position feedback 1 type parameter (for motor
encoder) or S-0-0115, Position feedback 2 type parameter (for
external encoder).
In these parameters, you set with bit 0 whether it’s a rotary or a linear
measurement system, and bit 1 decides whether the measurement
system has distance-coded reference markers.
Bit 0 : encoder type

0: rotary
1: linear
Bit 1 : distance-coded measuring system
0 : no distance-coded reference marker
(S-0-0165, S-0-0166)
Bit 3 : direction of movement
0: non-inverted
1: inverted
Bit 7 - 6: absolute evaluation

x 0 : no absolute evaluation possible
(Bit 7 irrelevant)
0 1 : absolute evaluation possible and permitted
> encoder treated as absolute encoder
1 1 : absolute evaluation possible, but not permitted
Fig. 7-72: Structure of the position feedback type parameters S-0-0115 / S-0-
0277
For measurement systems with their own data memory (Type 1), this
setting is done automatically.
See also "Setting the Measurement System".
Functional principle of drive-controlled referencing

To establish congruency between drive (measuring system) and machine
coordinate system it is necessary that the drive has precise information
about its relative position within the machine coordinate system. The
drive receives this information by detecting the home switch edge and/or
the reference mark.
Note: To evaluate only the home switch is not recommended as the

position of the home switch edge has a lesser precision
compared to the detection of the reference mark!
Coordinate system compensation is achieved by comparing the desired

feedback position at a specific point within the machine coordinate
system with the actual feedback position ("old" drive coordinate system).
A differentiation in this case is made between "Evaluation of a reference
mark/home switch edge" (type 1 .. 3) and "Evaluation of distance-coded
reference marks".
• With "Evaluation of a reference mark/home switch edge" the "specific"
point within the coordinate system is the so-called reference point.
The desired feedback position is set at this point via parameter S-0-
0052, Reference distance 1 (for motor encoders) or S-0-0054,
Reference distance 2 (for external encoders). The physical position
of the reference point derives from the position of the reference
marker plus the value in S-0-0150, Reference offset 1 or S-0-0151,
Reference offset 2. Once the reference marker is detected, the drive
knows the position of this marker and therefore also that of the
reference point in the "old" drive coordinate system. The desired
position is in parameter S-0-0052/ S-0-0054.
• With "Evaluation of distance-coded reference marks" the "specific"
point is the zero point (position of the first reference mark) of the
distance-coded measuring system. By detecting the position
difference between two adjacent reference marks the position of the
first reference marker in the "old" drive coordinate system can be
determined. The desired feedback position at this point is defined by
the position of the first reference mark in the machine coordinate
system at this point plus the value in S-0-0177, Absolute distance 1
(for motor encoders) or S-0-0178, Absolute distance 2 (for external
encoders).
In both cases, the difference between both coordinate systems is added
to the "old" drive coordinate system. The coordinate systems will then
comply.
By switching the position command and feedback value, S-0-0403,
Position feedack value status is set to 1. This means that the feedback
position value now refers to the machine zero point.
Note: If the drive, once the reference command has been

conducted, is in parameter mode again, then parameter
S-0-0403, position feedback value status is set to 0,
because the feedback values in command S-0-0128, C200
Communication phase 4 transition check are re-initialized.
Sequence control "Drive-Controlled Homing"

The command profile depends on the parameters
• S-0-0041 Homing velocity ,

• S-0-0108 Feed rate override and
• S-0-0042 Homing acceleration.
To limit the acceleration changes, you can additionally activate a jerk

limit. You can do this by entering the parameter P-0-0099, Position
command smoothing time constant.
The following diagram explains this:
S-0-0042, S-0-0108, S-0-0041,
V
Homing
acceleration
Feedrate-
Override * Homing
velocity
0
X
Starting point Home point
Sv5038f1.fh5
Fig. 7-73: Position command profile with homing velocity and homing
acceleration
The maximum velocity is influenced, like with all drive-controlled

functions, by the feedrate. The effective maximum velocity is the result of
the product of S-0-0041, Homing velocity and S-0-0108, Feedrate-
Override.
If the parameter S-0-0108, Feedrate-Override has been set to zero, the
warning E255 Feedrate-override S-0-0108 = 0 will be displayed.
The motional process during drive-controlled homing can be made up of

up to three processes:
• If the home switch evaluation process has been activated and there
are no distance-coded reference markers, then the drive accelerates
to the homing velocity in the selected homing direction until the
positive home switch edge is detected. If the drive is already on the
home switch at the start of drive-controlled referencing (S-0-0400,
Home switch = 1), the drive at first accelerates in the opposite
direction until the negative home switch edge is detected, and then
reverses the direction.
⇒ Make sure that the home switch edge is within the

reachable travel range.
WARNING
• If real reference markers are available (type 2 to 4, see above), and if

the reference marker evaluation is activated, then the drive runs in
homing direction until it detects a reference marker. In distance-coded
measuring systems (type 4), two sequential reference markers must
be passed. The reference markers are always evaluated there
(independent of bit 6 in S-0-0147).
• The further action depends on how bit 7 has been set in S-0-0147,
Homing parameter. If 0 is programmed there ("any position after
homing"), then the drive brakes with the programmed homing
acceleration up to standstill. If the value of the velocity feedback is
less than the value set in S-0-0124, Standstill window, then the
coordinate system of the referenced encoder is set, and the
command is signalled as completed. If a 1 is set in bit 7, ("Drive
travels to reference point“), then the drive positions to the reference
point. The reference point in encoders of the types 1 to 3 is defined by
the position of the reference mark plus the relevant reference offset
(S-0-0150 / S-0-0151). In the case of distance-coded reference
markers, the drive runs to the second detected mark. The coordinate
system switch and the completion message of the command are
generated as soon as the drive-internal position command has
reached the target value and the difference between feedback and
target value is less than the value set in S-0-0057, Position window.
The following illustrates the sequence for "Drive goes to reference point"
V S-0-00057,
Position window
Switching the position command

and feedback values
Report command as completed
Position status= 1
0
S-0-0052/54, Reference distance X
Machine Home point
zero point Sv5039f1.fh5
Fig. 7-74: Switching of position command and actual feedback values
Actual Feedback Values After the "Drive-Controlled Homing"

Command
The position feedback values from the motor and external encoders,
after the drive-controlled homing command is processed, depend on bit 3
in S-0-0147, Homing Parameter and on the availability of an absolute
encoder as a motor or external encoder.
Actual Actual
Motor Ext. S-0-0147 feedback feedback
encoder: encoder: Bit 3: value 1: value 2:
absolute not 1 unchanged reference
absolute distance 2
not absolute 0 reference unchanged
absolute distance 1
not not 0 reference reference
absolute absolute distance 1 distance 1
not not 1 reference reference
absolute absolute distance 2 distance 2
Fig. 7-75: Position feedback values after the drive-controlled homing command
Commissioning with "Evaluation of reference marker/home switch

edge"
If the encoder does not have distance-coded reference marks (type 1 to
3), then select in S-0-0147, Homing parameter whether
• home switch evaluation is desired or not and/or
• reference mark evaluation is desired.
Additionally,
• in which direction the drive should move with the start of the
command "Drive-controlled homing" as well as whether
• the drive should go to the reference point or not.
If a home switch evaluation becomes necessary, then the necessary

settings must first be made (see "Evaluation of the Home Switch"). All
additional steps can then be conducted as follows:
⇒ Check the relevant position encoder type parameter
(S-0-0277 / S-0-0115) to make sure it has been correctly set.
⇒ Parametrize S-0-0052, Reference distance 1 or S-0-0054,
Reference distance 2 as well as parameter S-0-0150, Reference
offset 1 or S-0-0151, Reference offset 2 with 0.
⇒ Set parameters S-0-0041, Homing velocity and S-0-0042, Homing
acceleration to small values (e.g., S-0-0041 = 10 Rpm, S-0-0042 =
10 rad/s².
⇒ Conduct the drive-controlled homing command.
Note: If the command is cleared, then the original operating mode

becomes active. If drive-internal interpolation is set, then
the drive immediately runs to the value set in S-0-0258, target
position. This value relates to the new (machine zero point)
coordinate system!
The command should be completed without error. The machine zero

point is at the position of the home switch or the referencing point as the
reference distances (S-0-0052/54) have been parametrized with 0. The
position feedback value in S-0-0051 Position feedback value 1 or S-0-
0053, Position feedback value 2 should now have absolute reference to
this preliminary machine zero point.
To set the correct machine zero point, you can now conduct the following
steps:
⇒ Run the axis to the desired machine zero point and set the feedback
position value displayed there with opposite sign in S-0-0052,
Reference distance 1 or S-0-0054, Reference distance 2.
Or:
⇒ Run the axis to position feedback value = 0, measure the distance
between the current position and the desired machine zero point.
Enter the distance in S-0-0052, Reference distance 1 or S-0-0054,
Reference distance 2.
Once the drive-controlled reference command is again completed, the

position feedback value should refer to the desired machine zero point.
The reference point can be shifted relatively to the reference mark (see
"Consideration of the reference offset").
Parameter S-0-0041, Homing velocity and S-0-0042, Homing
acceleration can now be set to their final values.
Consideration of the Reference Offset

If the evaluation of the reference mark is activated in the homing
parameter, then the reference point is always set on the position of the
selected reference mark. If a measurement system of type 1..3 is present
(not distance-coded), you can shift the position of the reference point
relatively to the reference marker. Doing so, you can select any position
after homing.
The offset is set with the parameters
• Reference Offset 1 (for motor encoder)

• Reference Offset 2 (for external encoder)
If the reference offset is positive, then its drive-internal direction is

positive (see "Command Polarities and Actual Value Polarities"). In other
words, the reference point is moved in terms of the reference mark in a
clockwise direction when looking towards the motor shaft. If the homing
direction is also positive, then the drive does not reverse the direction
after passing the reference marker.
Reference distance offset

V
0
X
Starting Reference marker Home point
Sv5040f1.fh5
Fig. 7-76: Command value profile for positive reference offset and positive
homing direction
If the reference direction is negative, then the drive can reverse the
direction (with types 2 and 3) after passing the reference marker.
Reference Offset
V
0
X
Reference Reference point Starting point
Sv5043f1.fh5
Fig. 7-77: Command profile for positive reference offset and negative homing
direction
If the reference offset is negative, then its drive-internal direction is

negative (see "Command Polarities and Actual Value Polarities"). In other
words, the reference point is shifted counterclockwise looking towards
the motor shaft. If the reference direction is negative, then the drive does
not reverse the travel direction once it has passed the reference marker.
Reference offset
V
0
X
Reference point Reference mark Starting point
Sv5042f1.fh5
Fig. 7-78: Command profile with negative reference offset and negative homing
direction
If the referencing direction is positive, then the drive can reverse the
travel direction (with types 2 and 3) after passing the reference marker.
Reference distance
V
0
X
Starting point Reference marker Home point
Sv5041f1.fh5
Fig. 7-79: Command profile with negative reference offset and positive homing
direction
Evaluation of the Home Switch

A home switch can label a specific marker, if the configuration of several
reference marks for the homing is ambiguous. If the home switch is
evaluated (bit 5 in S-0-0147 = 0), then that reference mark will be
evaluated, which follows the positive edge of the home switch (if the drive
is moving towards the homing point).
The home switch input is pictured in parameter S-0-0400, Home switch.
Example: Homing of a motor encoder with 1 reference mark per
revolution
Slide
represented reference marker selected by

home switch
Ap5047f1.fh7
Fig. 7-80: Selection of a reference mark depending on the homing direction
If home switch evaluation is activated, the drive searches at first for the
positive edge of the home switch. If the home switch is not actuated at the
beginning of the command, the drive moves in the preset homing direction.
The homing direction must be set so that the positive edge can be found.
Command
value profile
0
X
Home switch
Homing direction at start

Sv5048f1.fh5
Fig. 7-81: Correct setting of homing direction
If the homing direction setting is incorrect, the drive

command value moves away from the positive home
switch edge. In this case the danger exists that the drive
reaches the travel range limits. This may result in
WARNING damage to the system!
Command
value profile
0
X
Home switch

Sv5049f1.fh5
Fig. 7-82: Incorrectly set homing direction
Command value profile with actuated home switch at the

start of the command
If the home switch is actuated already when the command is started, the
drive generates command values in the opposite direction to move away
from the home switch. As soon as a 1-0 edge from the home switch is
detected, the drive reverses its direction and continues as if started
outside the home switch range.
0
Command Starting point t
value profile
Home switch

Sv5047f1.fh5
Fig. 7-83: Command profile with start position on the home switch
Monitoring the Distance Between Home switch and Homing

Mark
If the distance becomes too small between the home switch edge and
the reference mark, then it is possible that the home switch edge will only
be detected after the reference mark has already passed. This leads to a
detection of the following reference mark, and the reference mark
detection becomes ambiguous.
Reference marker selected by

= 1 Motor home switch
revolution
Inaccuracy of the home switch detection
Homing direction
SV5070f1.fh7
Fig. 7-84: Ambiguous detection of reference markers at small distances between

home switch edge and reference mark
The distance between the home switch edge and the reference mark is
monitored for this reason.
If the distance between the home switch edge and the reference mark
becomes smaller than a certain value, the command error C602
Distance home switch - reference mark erroneous will be generated.
The Critical Range for the distance is:

0.25 • Distance between reference markers
Optimaler distance= critical distance=
0,5 *Distance of reference marks 0,25 * Distance of reference marks
Distance of the
reference marks
Home switch in critical area
Home switch in allowed area
Homing direction
SV5071f1.fh7
Fig. 7-85: Critical and optimal distance between home switch and reference mark
The optimal distance between the home switch edge and the reference
marker is:
0.5 • Distance between reference markers
To monitor the distance between the home switch and the reference
mark, the optimal distance is entered in P-0-0153, Optimal Distance
Home Switch - Reference Mark.
The following requirements apply:

P-0-0153, Optimal
Distance Home
Encoder Switch-Reference
type Mark Function
Rotary 0 The distance home switch - reference mark will be monitored. The
optimal spacing will be calculated internally and amounts to a 1/2
encoder rotation for DSF or incrementally rotational encoders, or 1/2
encoder revolution / S-0-0116, Resolution of motor feedback for
resolvers.
Rotary x The distance home switch - reference mark will be monitored. Half the
reference mark spacing must be entered in P-0-0153, Optimal
Distance Home Switch - Reference Mark.
Linear 0 The distance home switch - reference mark will not be monitored. The
linear scale does not affect reference marks with consistent intervals.
The real distance between the home switch and the reference mark
must be big enough to achieve a sure recognition of the home switch
edge when considering the maximum homing velocity and the cycle
time for the home switch input polling.
Linear x The distance home switch - reference mark will be monitored. Half the
reference mark spacing must be entered in P-0-0153, Optimal
Distance Home Switch - Reference Mark.
Fig. 7-86: Monitoring the distance Home switch-Reference Mark
For every homing with home switch evaluation, the difference between
actual distance and optimal distance is monitored. The difference is
saved in parameter S-0-0298, Reference Cam Shifting. The home
switch edge can be shifted mechanically for this value.
To avoid a mechanical shifting of the home switch edge, you can set this
procedure in the software with the parameter S-0-0299, Home Switch
Offset. The value in parameter S-0-0298, Reference Cam Shifting is
transferred to parameter S-0-0299, Home Switch Offset.
Optimal distance=
0,5 * Distance of reference marks
Distance of
reference marks
S-0-0299, Home switch offset

Actual home switch
effective home switch

SV5072f1.fh7
Fig. 7-87: Operation of parameter S-0-0299, Home Switch Offset
The parameter S-0-0299, Home Switch Offset can be set as follows:

• Running the homing command with S-0-0299, Home Switch Offset = 0.
• If the distance is not in the range between 0.5..1.5 * P-0-0153,
Optimal Distance Home Switch - Reference Mark, the error
message C602 Distance home switch - reference mark erroneous
will be generated. In this case, you have to enter the value S-0-0298,
Reference Cam Shifting into S-0-0299, Home Switch Offset.
• Check: You should see a 0 displayed in S-0-0298, Reference Cam
Shifting when homing is restarted.
Connection and Configuration of the Home switch

The home switch is connected on pin E1 of the X12 connector on the
DSS module. If evaluation of the home switch is activated in the homing
parameter, then the external power supply is monitored on the X12
connector.
DSS2.1
M
H3 ERR

2 3
Plug 12
4
1
5
0
6
9
8 7
on DDS 2 3
4
1
5
0
6
9
8 7
Home switch E1 X12
E2 E1
E2
E3 E3
E4 E4
E5
E5 E6
+U
E6 OV
+UL
0VL
View to front plate
EK5009f1.fh7
Fig. 7-88: Connection of the home switch to the DSS
Note: The home switch should be set up far enough that the
"actuated" range covers more than the permissible motion
range. Otherwise, the travel range may be overrun at
command start if the start position is in an unfavorable
position. Damage to the system is possible !
Travel range limits
Correct home switch order
Incorrect home switch order

SV5073f1.fh7
Fig. 7-89: Configuration of the home switch in reference to the travel range
If the drive-controlled homing and zero-switch evaluation feature is

activated, and if the 24V supply is missing, then error F270 Error power
supply home switch is generated.
Commissioning with "Evaluation of distance-coded reference marker"

If the encoder has distance-coded reference markers (type 4), then set in
S-0-0147, Homing parameter
• whether the home switch should be evaluated and/or
• in which direction the drive should move at the start of the command
"Drive-controlled homing" ,
• whether the drive should to move to the second passed reference
mark or not.
In the parameters
• S-0-0165, Distance-coded reference offset 1 and
• S-0-0166, Distance-coded reference offset 2
the greater and smaller distance of the reference mark must be entered.
These values can be retrieved from the encoder specification.
501 502 503
1001 1001
1000 1000
„Distance-coded reference dimension 2“ „Distance-coded reference dimension 1“

(smaller value) SERCOS-ID No.:S-0-0166; (larger value) SERCOS ID No. S-0-0165.
Input unit: pitch Input unit: pitch unit
The manufacturer of the length
For Heidenhein length measuring system the
measuring system indicates:
larger value is the product of:
distance travelled up to the absolute
(distance travelled + pitch unit):
position value: 20 mm
pitch unit, therefore:
pitch unit: 20 µm (0-02 mm)
20.02 mm: 0.02 mm = 1001 pitch units
20 mm: 0.02 mm = 1000 pitch units
This value (1001 pitch units) is to be entered
This value (1000 pitch units) is to be in parameter ID No. S-0-0165.
entered in parameter ID No. S-0-0166.
Setting up of distance-coded Heidenhain length measuring systems

(taken from: Catalog for NC length measuring systems, September 1993):
Length measuring Distance Pitch unit: Input in: Input in:

system Type travelled: in mm in µm ID No.: S-0-0166 ID No.: S-0-0165
LS 403C
LS 406C
LS 323C 20 20 1000 1001
LS 623C
LS 106C
ULS 300C
LS 103C
LS 405C 10 10 1000 1001
ULS 300C
LID 311C
LID351C 20 10 2000 2001
Pi5005f1.fh5
Fig. 7-90: Distance-coded measuring system specified with greater and smaller
distance
In S-0-0165, Distance-coded reference offset 1 the greater distance is

entered, in S-0-0166, Distance-coded reference offset 2 the smaller
distance. The unit of these two parameters is (division) periods. Typical
vaues for a linear scale with distance-coded reference marks are 20.02
mm for the greater distance and 20.00 mm for the smaller distances with
a resolution of 0.02mm. In parameter S-0-0165/166 enter the value 1001
or 1000.
The further steps are outlined below.

⇒ Check the relevant position encoder type parameter (S-0-0277/S-0-
0115) to the correct setting.
⇒ The parameters S-0-0177, Absolute distance 1 or S-0-0178,
Absolute distance 2 must be parametrized with 0.
⇒ The parameters S-0-0041, Homing velocity and S-0-0042, Homing
accelerating must be set to smaller values (e.g., S-0-0041 = 10 rpm,
S-0-0042 = 10 rad/s².
⇒ Execute command drive-controlled reference
Note: If the command is cleared, then the original operating mode

becomes active again. If drive-internal interpolation is set,
then the drive immediately goes to the value set in S-0-0258,
target position. This value relates to the new (machine zero
point related) coordinate system!
The command should be completed without error. The machine zero

point is at the position of the first reference mark of the distance-coded
measuring system as the absolute offset (S-0-0177/0178) was
parametrized with 0. The relevant position feedback value in S-0-0051
Position feedback value 1 or S-0-0053, Position feedback value 2
should now have the absolute reference to this preliminary machine zero
point. To set the correct machine zero point, the following steps can be
conducted:
⇒ Move the axis to the desired machine zero point and enter the position
feedback value displayed there with the opposite qualifying sign in
S-0-0177, Absolute offset 1 or S-0-0178, Absolute offset 2.
Or:
⇒ Run the axis to position feedback value = 0 and measure the distance
between the current position and the desired machine zero point.
Enter the distance in S-0-0177, Absolute offset 1 or S-0-0178,
Absolute offset 2.
Once the drive-controlled reference command is again completed, the

position feedback value should refer to the desired machine zero point.
Parameters S-0-0041, Homing velocity and S-0-0042, Homing
acceleration can now be set to their final values.
Home switch Evaluation with Distance coded Reference

Markers
To evaluate a home switch together with homing of a distance coded
measuring system is only for one purpose: staying within the allowed
travel range.
Higher security with a If the home switch is not evaluated, the drive always covers with the
home switch selected homing direction the distance which is necessary to capture 2
adjacent marker positions. This distance is
v2
S Re f max = S − 0 − 0165 +
2a
S-0-0165: Value in the parameter S-0-0165, Distance coded reference offset 1
v : value in S-0-0041, Homing velocity
a : value in S-0-0042, Homing acceleration
sRe f max : maximum travel distance for homing with distance coded reference
markers
Fig. 7-91: Travel distance for homing with distance coded reference markers
If the drive is closer to the travel limit in homing direction than the
necessary travel distance SRefmax, it can leave the allowed travel range
and do mechanical damage to the machine. To avoid this,
• make sure that the distance of the axis to the travel limit at start of the
command S-0-0148, C6 Drive controlled homing is greater than the
max. necessary travel distance SRefmax, or
• evaluate the home switch.
If the home switch is evaluated, the drive automatically starts in the

opposite homing direction, if at command start the home switch is
actuated (S-0-0400, Home switch = 1).
Therefore, the home switch must be mounted in such a way that it covers
at least the max. necessary travel distance SRefmax until reaching the
travel range limit in the homing direction.
travel range limits
SRefmax
correct mounting of the home switch
incorrect mounting of the home switch
Homing direction
SV5074f1.fh7
Fig. 7-92: Mounting the home switch with distance coded reference markers
Functions of the Control During "Drive-Controlled Homing"

During "drive-controlled homing", the drive independently generates its
The control's interpolator must
position command values. Preset command values of the control will be
be set to the position
ignored. If the command is confirmed by the drive as completed, the
command value read from the position command value corresponding to the machine zero point will be
drive.
made available in parameter S-0-0047, Position command value. This
value must be read through the service channel by the control before
ending the command, and the control interpolator must be set to this
value. If this command is completed by the control and if the command
values of the control for the drive become active again, these values
should be added to the value read out of the drive.
Starting, interrupting and completing the command "Drive-

Controlled Homing"
This feature is implemented as a command.
To start the feature, you must set and execute the command by writing to
the parameter S-0-0148, C6 Drive-controlled homing ( Input = 3 =
11bin ). The drive confirmation has to be received from the data status
out of the same parameter. The command is finished when the
command-change bit in the drive status word is set and the confirmation
changes from in process ( 7 = 111bin ) to command executed ( 3 =
11bin) or to command error
( 0xF =1111bin ).
If the command is interrupted (Input = 1) during processing ( when
confirmation = 7 = 111bin ), the drive responds by activating the drive halt
feature. The program continues if the interruption is canceled.
(See also "Drive Stop".)
Possible Error Messages During "Drive-Controlled Homing"

During the execution of the command, the following command errors can
occur:
• C601 Homing only possible with drive enable

While starting the command, the controller enable was not set.
• C602 Distance home switch - reference mark erroneous
The distance between home switch and reference mark is too small,
see Monitoring the Distance Between Home switch and Homing Mark
on page 7-80
• C604 Homing of absolute encoder not possible
The homing encoder is an absolute encoder. The command "Drive-
Controlled Homing" was started without first starting the command
"Set Absolute Measuring".
Homing of Gantry axis

Gantries are used to process workpieces with large surfaces. The digital
AC servo drive with SERCOS interface is equipped with a "Gantry Axis"
function allowing gantries to be traversed without the danger of skewing.
Digital
AC-servo drive
gantry axis X1-X2
DSS2.1
DSS2.1
M
M
H3 ERR H3 ERR

2 3 2 3
4
1
1
0
5
6
6
9
9
8 7 8 7
2 3 2 3
4
1
1
0
5
6
6
9
9
8 7 8 7
X12 X12
E1 E1
E2 E2
E3 E3
E4 E4
E5 E5
E6 E6
+U +U
OV OV
DANGE DANGE
High V oltage. High V oltage.
Danger of electrical shock. Danger of electrical shock.
Do not touch electrical connec tions Do not touch electrical connec tions
for for
5 minutes after switching power 5 minutes after switching power
Read and follow "Safety Read and follow "Safety
Instructions for Electrical Drives" Instructions for Electrical Drives"
manual, manual,
DOK-GENERL-DRIVE******-SVS... DOK-GENERL-DRIVE******-SVS...
Motor 1 with Motor 2 with

absolute absolute
encoder encoder
feedback feedback
1) 2)
Ref
Ref
3)
X1 X2
1), 2) Optional direct position measurement using ternal measurement

systems for high- precision positioning
3) Evalution of the reverence point switch
Ap5041f1.fh7
Fig. 7-93:Schematics of a "Gantry" axis with digital intelligent INDRAMAT AC

servo drives
"Gantry" axes have an inherent "skewing" problem. This

skewing must always be tolerated by the mechanical
structure of the machine in such a way that the machine
will never under any circumstances be damaged.
Pre-requisites for operating "Gantry" axes

• Both "Gantry" axes are registered as a single axis in the NC control.
• The axis are identically parametrized.
• The "Gantry" drives are equipped with absolute encoders.

• The guide rails of the gantries (X1; X2) must be parallel.
Setting up "Gantry" axes Procedure:

I. Align the gantry axis at right angles to the traversing direction. This
can be done manually or by jogging the axis.
Ref
Ref
X1 X2
1) 1)
ϕ1 ϕ2
Traversing
direction
Motor 1 Motor 2
1) ϕ 1 = ϕ 2 = 90°
Ap5037f1.fh5
Fig. 7-94: Rectangular aligning of "Gantry" axis
II. Set absolute reference dimension

1. Record the distance from the gantry axis to the machine zero
point.
2. Enter distance A to machine zero point in parameter S-0-0052
Reference distance 1.
3. Trigger command P-0-0012 Set absolute Measurement.
4. Cancel the drive enable signal.
The value entered in parameter "Reference distance 1" is
transferred to S-0-0051 feedback value 1.
5. Reset the command.
Drive contollers
Axis X1 Axis X2
DSS2.1
DSS2.1
M
M

2 3 2 3
4
1
1
0
5
6
6
9
9
8 7 8 7
E1
2 3
E1 2 3
4
1
1
0
5
6
6
9
9
8 7 8 7
E2 E2
E3 E3
E4 E4
E5 E5
+UL +UL
0VL 0VL
+24V ±10%
External
power
Motor 1 Motor 2
supply
1)
2)
R
R
3)
A
X1 X2
1) one home switch for both drive controllers

2) R = reference mark
3) A = recorded distance A from machine zero point
Ap5038f1.fh5
Fig. 7-95:Connecting the home switch to the drive controllers of gantry axis
X1/X2
III. Setting the reference distance of the direct position measuring

system (if installed).
Procedure:
• Set the homing procedure parameters
S-0-0041 homing velocity
S-0-0042 homing acceleration
S-0-0147 homing parameter
S-0-0108 feedrate override
in both axis to the same values. Check the connection of the

home switch as illustrated below.
• Check that the home switch works correctly.
Home switch
function check
Parameter S-0-0400,Home switch
If necessary, move the axis away from the reference cam
Parameter no Home switch not

S-0-0400, functioning correctly,
Home switch= 0 please remedy
yes
Move the axis to the home switch
Parameter
no Check the home switch
S-0-0400, for correct function and
Home switch= 0 wiring
yes
Move the axis away from home switch
Parameter
no
S-0-0400,
Home switch= 0
yes
Function check
completed
Fd5021f1.fh5
Fig. 7-96:Checking the function of the home switch
• Detecting the reference mark positions of external feedback systems

S
R X1
Motor 1
X1
X2
Motor 2
R X2
S = Position offset of reference marks in the direct

measuring systems of gantry axis X1 / X2
Ap5039f1.fh5
Fig. 7-97: Position offset of reference marks in the direct measuring system of
gantry axes X1/X2
Procedure:
1.Trigger command P-0-0014 Determine marker position in both axis
(see control manual).
2.Move both axis towards the reference marks by forwarding the same
position command values through the NC control.
Note The direction of travel must be the same as that of the

subsequent homing cycle.
(Bit 0, S-0-0147 homing parameter)
On reaching the relevant reference mark of the linear scale, each of the
two drives stores the actual position feedback value 2 in the relevant
corresponding marker position (S-0-0173 Marker position A). Once the
reference marks have been acquired, the drive acknowledges the
command "Determine marker position". When both gantry axes have
acknowledged the command, the NC control must brake the drives to a
standstill.
3.Determining the reference mark offset (∆S):
∆S = Markerposition axis X1 - Marker position axis X2
(S-0-0173, Marker position A) (S-0-0173 Marker position A)
• Compute and enter reference offset 2 of each axis.
For the axis whose reference mark occurs first, it applies:
Vref 2
S - 0 - 0151, Reference offset 2 ≥ + ∆S
2 × a ref
∆S reference mark spacing

Vref S-0-0041, Homing velocity
aref S-0-0042, Homing acceleration
Fig. 7-98: Computing S-0-0151, reference offset 2 for the axis whose reference
mark occurs first
For the axis whose reference mark occurs last, it applies:
Vref 2
S-0- 0151, Reference offset 2 ≥
2 × a ref
Vref S-0-0041, reference travel velocity

aref S-0-0042, reference travel acceleration
Fig. 7-99:Computing S-0-0151, reference offset 2 for the axis whose reference
marks occurs last
Danger:
A reversal of direction of travel of one of the two
drives may lead to accidents. This will happen when
the values entered in Reference Offset 2 are lower
than the computed ones.
The polarity of parameter S-0-0151 reference offset 2

must be selected so that the reference point
shifts in the direction of the reference travel. That
means, with negative homing direction in one or
both axis, also the reference offset must be input
with neg. sign. This avoids a direction reversal
after passing the reference mark
(See "Consideration of the Reference Offset".)

Reference
Axis X1 pulse offset
Braking
vref distance
Reference pulse 1 t
Axis X2
Braking
vref distance
Reference pulse 2 t
t = time
vref = homing velocity
Sv5023f1.fh5
Fig. 7-100: Velocity paths of gantry axis during homing
7.11 Language Selection

With the parameter S-0-0265, Language Selection you can switch
between several languages for
• Parameter names and units

• Diagnostic texts
At this time, the following languages are implemented:

Value of S-0-0265: Language:
0 German
1 English
2 French
3 Spanish
4 Italian
Fig. 7-101: Language Selection
Notes
DIAX04 Drive With Electric Gear Function Extended Drive Functions 8-1
8 Extended Drive Functions
8.1 Analog Output

With the help of the function "Analog output" drive-internal signals and
state variables can be generated as analog voltage signals. These can
be examined with an oscilloscope connected to the analog outputs.
The conversion of the digital values from the drive is done via two 8 bit
digital-to-analog converters. The maximum output voltage equals +/- 10
volts. There is an output every 250 µs.
Possible output functions

1. Direct writing into the analog outputs
2. Assigning ID numbers to analog outputs
3. Output of pre-set signals
4. Byte output of RAM memory cell
5. Bit output of RAM memory cells
To parametrize the function, the following parameters are available:
• P-0-0139, Analog output 1

• P-0-0140, Analog output 2
• P-0-0420, Analog output 1, signal selection
• P-0-0421, Analog output 1, expanded signal selection
• P-0-0422, Analog output 1, scaling per 10V full scale
• P-0-0423, Analog output 2, signal selection
• P-0-0424, Analog output 2, expanded signal selection
• P-0-0425, Analog output 2, scaling per 10V full scale
• P-0-0426 Analog outputs, IDN list of assignable parameters
Direct analog outputs

• With the parameters P-0-0139, Analog output 1 and P-0-0140,
Analog output 2 it is possible for the control to use the two 8 bit
digital/analog converters of the drive. Voltage values written into these
parameters, ranging between -10.000 volts and +10.000 volts, are
output by the drive to the analog outputs. The quantization equals 78
mV.
A precondition for the use of an analog output is that the signal selection
(P-0-0420 or P-0-0423) and the expanded signal selection (P-0-0421 or
P-0-0424) were deactivated by inputting 0 for the used channel.
8-2 Extended Drive Functions DIAX04 Drive With Electric Gear Function
Analog output of existing parameters

All parameters in the list P-0-0426 Analog output, IDN list of
assignable parameters can be output analog.
This first requires that their ID number be input in the signal select for
channel 1 (P-0-0420) or 2 (P-0-0423). The unit and the attribute (number
of decimal places) of the relevant scaling (P-0-0422 or P-0-0425) is set
as per the selected parameter. If the selected parameter depends on a
scaling mode, then the settings there apply to the scaling as well.
With P-0-0422 Analog output 1, scaling per 10V full scale or P-0-
0425, Analog output 2, scaling per 10V full scale is it then fixed at
what value 10 volts are output.
For example, for rotary preferred position scaling and signal selection
position command (S-0-0047), the unit of the scaling factor is set to
degrees, and the number of decimal places is set to four. Inputting
90.0000 degrees in the evaluation factor means that 10 volts per 90
degrees at the load will be output .
If signals with a binary format are selected (e.g., S-0-0134, Master
control word) then the display format of the scaling is set to decimal
without fractional part. There is no unit. With this scaling, a bit number
between 0 and 15 is selected. The state of this bit of the set parameter is
then output in such a way that for 0 -10 volts are output and for 1 +10
volts (bit output).
See also Control loop structure in chapter General Information for

Control Loop Settings
Outputting pre-set signals

To be able to show such signals in an analog manner, which do not exist
as a parameter, there a way to select these via predefined signal
numbers and to output these via the expanded analog output. The
parameters P-0-0421, Analog output 1, expanded signal selection
and P-0-0424, Analog output 2, expanded signal selection do the
selection.
The expanded output only functions if the signal select for the channel
used (P-0-0420 or P-0-0423) is deactivated by inputting the ID number 0.
The following list shows which signal is output with which signal number.
Signal number Reference unit:

P-0-0421/424 Output signal Evaluation factor 1.0000
0x00000001 motor encoder sine 0.5V/10V
signal
0x00000002 motor encoder 0.5V/10V
cosine signal
0x00000003 Ext. enc. sine signal 0.5V/10V
0x00000004 Ext. enc. sine cosine 0.5V/10V
0x00000005 Position command rot. ⇒ 1000rpm/10V
difference on the
lin. ⇒ 100m/min/10V
pos. controler
0x00000006 DC bus power 1kW/10V
0x00000007 absolute DC bus 1kW/10V
power amount
0x00000008 effective current S-0-0110/10V
0x00000009 relative current S-0-0110/10V
0x0000000a thermal load 100 % / 10V
0x0000000b motor temperature 150°C/10V

0x0000000c magnetizing current S-0-0110/10V
0x0000000d velocity command at rot. ⇒ 1000rpm/10V
the velocity controller
lin. ⇒ 100m/min/10V
FREE
FREE
...
0x00000014 synchronous rot. => 360°/10V
position command lin. => 1mm/10V
value
0x00000015 synchronous velocity rot. => 1000rpm/10V
lin. => 100m/min
0x00000016 master axis position 2^20/10V
fine interpolation
0x00000017 master axis speed in rot. => 1000rpm/10V
the NC cycle
Fig. 8-1: Signal selection list with pre-defined signal selection
See also Control loop structure in chapter General Information for

Control Loop Settings
This information is scaling independent and always relates to the motor

shaft. The scaling of the signals is possible via the parameters P-0-0422
Analog output 1, scaling per 10V full scale and P-0-0425 Analog
output 2, scaling per 10V full scale. These have been set as factors
with 4 decimal places in the expanded signal selection. If the evaluation
factors are 1.0000, then the standards specified in the table apply.
Example:
Output of the position command difference with a value of 150rpm/10V
on channel 1.
Input:
P-0-0420, Analog output 1, signal selection = S-0-0000
P-0-0421, Analog output 1, expanded signal selection = 0x00000005
P-0-0422, Analog output 1, scaling per 10V full scale = 0.1500
Bit and byte outputs of the data memory

This function can only be used with the information about the structure of
the memory of the drive processor. The structure, however, changes with
each version. The function can thus only be used by the relevant
developers.
The bit and byte output is only possible if the signal selection for the used
channel (P-0-0420 or P-0-0423) is deactivated by inputting the ID number
0.
The selection of the function and the storage address takes place in the
parameters P-0-0421, Analog output 1, expanded signal selection
and P-0-0424, Analog output 2, expanded signal selection. In the high
nibble (half byte with bits 28..31), byte output is activated with a 1 and bit
output with a 2. The low word of the parameter inputs the storage
address.
31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1

0
Bit 28..31:
Bit output : 0x2
Byte output : 0x1
Bit 0..15:
word address
Fig. 8-2: Parametrizing bit or byte output
The parameters P-0-0422, Analog output 1, scaling per 10V full scale
and P-0-0425, Analog output 2, scaling per 10V full scale either select
the bit to be output or it can be determined from which (least signifiant)
bit on the byte to be generated will start. When selecting the bit number,
only values between 0 and 15 make sense. If greater values are entered,
then only bits 0..3 are used.
When outputting bits, -10 volt (bit = 0) or +10 volt ( bit = 1) is output.
With byte outputs, the MSB of the byte to be output is interpreted as sign
bit. Voltages ranging from -10 to +10 volts are output.
Terminal assignment - analog output

The output of the analog signals uses connector X3 of the basic unit.
X3
Ak1
OVM
AK2
OVM
Bb
Bb
As+
AS-
ASQ
ASQ
X4
plug in X3
EK5011f1.fh7
Fig. 8-3: Terminal assignment of analog output
8.2 Analog Inputs

Using the function "Analog inputs", two analog inputs can be shown via
analog/digital converters in one parameter each. The analog voltages, in
the form of both of these parameters, can then either be
• transmitted to the control and supports the control as an analog input
function or
• it can be assigned in the drive to a different parameter taking a
settable scaling and a settable offset into account.
The following parmeters are available for the function:
• P-0-0210, Analog input 1

• P-0-0212, Analog inputs, IDN list of assignable parameters
• P-0-0213, Analog input 1, Assignment
• P-0-0214, Analog input 1, Scaling per 10V
• P-0-0215, Analog input 2, Assignment
• P-0-0216, Analog input 2, Scaling per 10V
• P-0-0217, Analog input 1, Offset
• P-0-0218, Analog input 2, Offset
Functional principle of the analog inputs

This function needs the plug-in module DAE02.1. At the connector X75
of this module, the two differential inputs E1+ / E1- and E2+ / E2- are
located.
E1+
+
A
P-0-0210
E1- Dcmpl2 Analog input 1
- 16
E2+
+
A
P-0-0211
E2- Analog input 2
- Dcmpl2
16
connector X75 on DAE02.1
Fig. 8-4: Functinal principle of the analog inputs
The digitalized voltages of both differential inouts are displayed in the

parameters P-0-0210, Analog input 1 and P-0-0211 Analog input 2.
The analog/digital conversion is performed via a two channel 14Bit ADC
with fourfold oversampling.
Assignment of analog inputs to parameters

Both P-0-0210, analog input 1 and P-0-0211 analog input 2, which
depict the analog-to-digital converted voltages, can be assigned to other
drive parameters, i.e., they can be cyclically copied while taking
• an offset and
• a selectable scaling
into account.
Note: Analog channel 1 is processed every 250 µs, channel 2 every

8 ms.
The assignment applies the following principle:
A +
P-0-0210, Analog input 1
D -
P-0-0217, Analog input 1, Offset
P-0-0214, Analog input 1, scaling per 10V P-0-0213, Analog input 1,

assignment
Fig. 8-5: Functional principle of assigning analog input 1 to a parameter
The converted voltage signals of both differential inputs are stored in

parameter P-0-0210, Analog input 1 or P-0-0211, Analog input 2
respectively. An assignment of an analog input to a parameter is
activated if in parameter P-0-0213, Analog input 1, assignment or P-0-
0215, Analog input 2, Assignment a value not equal to S-0-0000 has
been parametrized. The contents of P-0-0210, Analog input 1 or
P-0-0211, Analog input 2 minus the contents of P-0-0217, Analog input
1, Offset or P-0-0218, Analog input 2, Offset is scaled with the scaling
factor set in P-0-0214, Analog input 1, Scaling per 10V or
P-0-0216, Analog input 2, scaling per 10V and then copied into the
parameter with the ID number set for the assignment in P-0-0213,
Analog input 1, Assignment or P-0-0215, Analog input 2,
Assignment.
The unit of the parameter P-0-0214, Analog input 1, Scaling per 10V or
P-0-0216, Analog input 2, Scaling per 10V complies with the unit of the
assigned parameter.
Only those parameters can be assigned that are listed in P-0-0212,
Analog inputs, IDN list of assignable parameters.
Example: Assignment of analog input 1 to S-0-0036, velocity command

value with 10 V equal to 1000 rpm
Parameter setting:
P-0-0213, analog input 1 = S-0-0036
P-0-0214, analog input 1, evaluation per 10V = 1000.0000 rpm
8.3 Digital Input/Output

The "digital input/output" feature allows for binary inputs and outputs
through the DEA plug-in modules. DEAs 4, 5 and 6 offer 15 binary inputs
and 16 binary outputs each. DEAs 8, 9 and 10 have 32 inputs and 24
outputs each.
The following DEA modules are supported:
• DEA 4.1
• DEA 5.1
• DEA 6.1
• DEA 8.1
• DEA 9.1
• DEA 10.1
There may not be two interface cards of the same kind in a drive
controller. Each drive controller can have a maximum of 96 inputs (3•32)
and 72 outputs (3•24).
The following parameters are available for this feature:
• P-0-0081, Parallel I/O Output 1

• P-0-0082, Parallel I/O Input 1
• P-0-0124, Assignment IDN -> DEA-Output
• P-0-0125, Assignment DEA-Input -> IDN
It is also possible to assign a DEA output or DEA input to the current

value of a parameter.
Digital I/O Functional Principle
The binary in- and outputs are reflected in the parameters "Parallel input"
The parameters "parallel
and "Parallel output".
input" and "parallel output"
can be configured cyclically. Two parameters are available for each DEA. The following assignment
applies:
Parameter for Parameter for

DEA Module: Input: Output:
DEA 4.1 P-0-0082 P-0-0081
DEA 5.1 P-0-0111 P-0-0110
DEA 6.1 P-0-0113 P-0-0112
DEA 8.1 P-0-0171 P-0-0170
DEA 9.1 P-0-0173 P-0-0172
DEA 10.1 P-0-0175 P-0-0174
Fig. 8-6: Digital Input/Output: Assigned Parameters
By reading the parameter "parallel input", you can obtain an image of the
existing binary inputs of a DEA. By writing the parameter "parallel output",
the binary outputs are updated.
The assignment of individual binary inputs and outputs to the bit numbers
of the corresponding parameters for DEAs 4, 5 and 6 are defined as
follows:
Pin No. Input: Bit No. in the Parameter: Pin No. Output:
1 0 (LSB) 16
2 1 17
3 2 18
4 3 19
5 4 20
6 5 21
7 6 22
8 7 23
9 8 24
10 9 25
11 10 26
12 11 27
13 12 28
14 13 29
15 14 30
-- 15 (MSB) 31
Fig. 8-7: Digital Input/Output: Bit Output Assignment - DEA 4, 5, 6-Module
This applies for the DEAs 8 , 9 and 10:

Pin no. input: Bin no. in parameter: Pin no. output:
1 0 (LSB) 12
2 1 13
3 2 14
4 3 15
5 4 16
6 5 17
7 6 18
8 7 19
9 8 33
10 9 34
11 10 35
22 11 36
23 12 37
24 13 38
25 14 39
26 15 40
27 16 53
28 17 54
29 18 55
30 19 56
31 20 57
32 21 58
43 22 59
44 23 60
45 24 -
46 25 -
47 26 -
48 27 -
49 28 -
50 29 -
51 30 -
52 31 -
Fig. 8-8: Digital input/output: Assigning bit output - DEA 8, 9, 10 module
The parameter "parallel output" is copied to the DEA port every 250 µs.
Likewise, the DEA port is copied to the "parallel input" every 250 µs.
Note: An external power supply must be connected to operate a

DEA card.
It applies to DEA 4, 5 and 6:

Pin 37: 24 Vext
Pin 35 0 Vext.
It applies to DEA 8, 9 and 10:
Pin 41, 61: 24 Vext
Pin 21, 42, 62 0 Vext.
If the power supply is missing, the F233 External power supply error
will be generated.
Allocating ID Number - Parallel I/O

The current value of any desired parameter can be exported to the binary
output of a DEA. Likewise, the binary inputs of a DEA can be mapped
onto the current value of any desired parameter.
This feature is set with the parameters:
• P-0-0124, IDN -> DEA-Output Assignment

• P-0-0125, DEA-Input -> IDN Assignment
The parameters are structured as follows:

31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1
0
Bits 0..15:
ID number of the assigned
parameter
Bits 16..19:
DEA selection
4: DEA 4.1 8: DEA 8.1
5: DEA 5.1 9: DEA 9.1
6: DEA 6.1 10: DEA 10.1
Fig. 8-9: Structure of Parameters P-0-0124 and P-0-0125
IDN -> DEA-Output Assignment

With the IDN -> DEA-Output Assignment, the current value of the
assigned parameter is copied to the DEA output parameter; this is
exported to the DEA outputs.
MSB
16 or
24
DEA module
Bit 0
Operating data of the ID Operating data of

number assigned to the the parameter’s
parameter parallel output
Fig. 8-10: Principle of assigning an ID number to a DEA output
If the data length of the current value for the assigned ID number is
greater than 16 bits, then the upper bits of the current value will be
truncated.
When the parameter P-0-0124, Assignment IDN -> DEA-Output is

written, then the following will be checked:
Input P-0-0124
Is the selected DEA no No error,

available? cancel assignment
yes
Is the parameter with no Error

the ID no. to be assigned data not correct
available?
yes
Is the
param. "Parallel output" yes Error
assigned to the DEA data not correct
available in the cyclical
MDT data?
no
Everything in order,
do assignment
Fig. 8-11: Checks when inputting parameter P-0-0124, assigning ID number ->
DEA- output
DEA-Input -> IDN Assignment

During the "DEA Input -> ID Number" assignment, all binary inputs of the
DEA are mapped onto the "DEA Input" parameter; the parameter is then
copied to the current value of the assigned parameter.
Bit 15
15 or
32
DEA module
Bit 0
Operating data of the Operating data of

parameter’s assigned the parameter’s
ID number parallel input
Fig. 8-12: Diagram for DEA-Input -> IDN Assignment
If data length of the current value for the assigned ID number exceeds 16
bits, then the upper bits of the operating data in DEA 4, 5 and 6 are cut
off (truncated).
If the parameter P-0-0125, Assignment DEA-Input -> IDN is written,
then the following will be checked:
Input P-0-0124
no No error,
Is the selected DEA
cancel assignment
available?
yes
Is the parameter with no Error

the ID number to be data not correct
assigned available?
yes
Is the assigned parameter yes Error

writable in phase 4? data not correct
no
Everything in order,
do assignment
Fig. 8-13: Checks during input of the Parameter P-0-0125, Assignment DEA-
Input -> IDN
8.4 Oscilloscope Feature

The oscilloscope feature is used to diagram internal and external signals
and output variables. Its function is comparable to a simple 2-channel
oscilloscope. The following parameters are available to set the
oscilloscope feature:
• P-0-0021, List of Scope Data 1 (always 4-byte data)

• P-0-0022, List of Scope Data 2 (always 4-byte data)
• P-0-0023, Signal Select Scope Channel 1
• P-0-0024, Signal Select Scope Channel 2
• P-0-0025, Trigger Source
• P-0-0026, Trigger Signal Selection

• P-0-0027, Trigger Level for Position Data
• P-0-0028, Trigger Level for Velocity Data
• P-0-0029, Trigger Level for Torque/Force Data
• P-0-0030, Trigger Edge
• P-0-0031, Timebase
• P-0-0032, Size of Memory
• P-0-0033, Number of Samples after Trigger
• P-0-0035, Delay from Trigger to Start (cannot be written)
• P-0-0036, Trigger Control Word
• P-0-0037, Trigger Status Word
• P-0-0145, Expanded Trigger Level
• P-0-0146, Expanded Trigger Address
• P-0-0147, Expanded Signal K1 Address
• P-0-0148, Expanded Signal K2 Address
• P-0-0149, List of selectable signals for oscilloscope function
• P-0-0150, Number of valid Samples for Oscilloscope Function
Main Functions of the Oscilloscope Feature

The oscilloscope feature can be activated with the parameter P-0-0036,
Trigger Control Word by setting bit 2. From then on, all data will be
recorded that were selected through the parameters P-0-0023, Signal
Selection Channel 1 and P-0-0024 Signal Selection Channel 2. The
selection will be defined with numbers that are assigned to various
signals.
The triggering is activated by setting the bit 1 in the "Trigger Control
Word" parameter. The trigger conditions can be set with the parameters
P-0-0025, Trigger Source, P-0-0026, Trigger Signal Selection and
P-0-0030 Trigger Edge. The signal amplitude that releases the trigger
can be set with the parameters P-0-0027 - P-0-0029 Trigger Level.
If a trigger event is recognized, the number of values in the parameter
P-0-0033 Number of Samples after Trigger will be recorded, and the
function will end. Parameters P-0-0031 Timebase and P-0-0032 Size of
Memory can define the recording duration and the time intervals for the
measurement samples.
The sampled values are stored in the P-0-0021 and P-0-0022 List of
scope data and can be read by the control.
Parameterizing the Oscilloscope Feature

Oscilloscope feature with defined recording signals
Preset signals and state variables can be selected through the P-0-0023
and P-0-0024 Signal Selection Parameters. The selection can be made
by entering the signal number (hex format) in the corresponding signal
selection parameter. The selected signal number defines the unit of data
stored in the list of scope data.
The following signals are predefined with numbers.

Number: Signal selection: Unit of the probe value list:
0x00 Channel not activated --
0x01 Actual position feedback dependent on position scaling
value dependent on
operating mode
S-0-0051 or S-0-0053
0x02 Velocity feedback value velocity scaling dependent
Parameter (S-0-0040)
0x03 Velocity control velocity scaling dependent
deviation (S-0-0347)
0x04 Following error dependent on position scaling
Parameter (S-0-0189)
0x05 Torque/Force command Percent
value
Parameter S-0-0080
0x06 not yet used
Fig. 8-14: Selection of predefined signals
The parameter P-0-0149, Signal Selection List for Oscilloscope

Feature was introduced so the control can recognize if the number of
preset numbers changes. The parameter is structured as a list parameter
and transmits the ID numbers of possible signals.
List entries: ID number from:
1 S-0-0051 or S-0-0053
2 S-0-0040
3 S-0-0347
4 S-0-0189
5 S-0-0080
6 S-0-0051
7 S-0-0053
8 P-0-0147
9 P-0-0148
Fig. 8-15: Parameter P-0-0149 Occupancy
Expanded Oscilloscope Recording Function

In addition to the oscilloscope feature with preset signals, DIAX also
allows for recording of any desired internal signals. Use of this feature is
meaningful only with information about the structure of the internal data
memory; therefore, this feature can be used effectively only by the
corresponding developer. The feature can be activated with the Signal
Selection P-0-0023 & P-0-0024 parameters by setting bit 12 = "1". The
format for the data to be saved can be defined with bit 13.
P-0-0023 & P-0-0024, Oscilloscope Function Signal Selection
Bit 12: Expanded

oscilloscope function
"ON"
Bit 13: Data width of the
measurement values
0 = 16 Bit
1 = 32 Bit
Fig. 8-16: Structure of Parameters P-0-0023 and P-0-0024
If the expanded signal selection is parameterized, then the desired signal

address can be defined in the parameters P-0-0147, Expanded signal
K1 address and P-0-0148, Expanded signal K1 address. During
recording, the contents of the selected addresses are saved in the lists of
scope data.
Note: If a 16-bit data width is selected, then the signal data will be
stored as sign-extended 32-bit values.
Oscilloscope Feature Trigger Source

With the P-0-0025 Trigger Source parameter, you can choose between
two trigger types.
External trigger (P-0-0025 = 0x01)

The trigger is activated by the control through bit 0 in the Trigger
Control Word. This makes it possible to transmit a trigger event to
several drives. This parameterization supports parameter P-0-0035,
which is necessary to visualize the recording data.
Internal trigger: (P-0-0025 = 0x02)

Triggering occurs through the monitoring of the parameterized trigger
signal. If the selected edge is recognized, then the trigger will be
released. The "Delay from Trigger to Start" parameter will be set to zero.
Selection of Trigger Edges

Various trigger edges can be selected with the parameter P-0-0030
Trigger Edge. The following options are available:
Number: Trigger Edge:
0x01 Triggering on the positive edge of the trigger signal
0x02 Triggering on the negative edge of the trigger signal
0x03 Triggering on both the positive and negative edge of the trigger
signal
0x04 Triggering when the trigger signal equals the trigger level
Fig. 8-17: Trigger edge selection
Selection of Fixed Trigger Signals

The parameter P-0-0026 Trigger Signal Selection determines the
signal that is monitored for the parameterized edge reversal. Just as for
the signal selection, there are drive-internal fixed trigger signals for the
trigger signal selection. These are activated by entering the
corresponding number.
The following signal numbers are possible:

Trigger signal Associated
number: Trigger signal: trigger edge:
0x00 no trigger signal not defined
0x01 Actual position feedback Position data (P-0-0027)
according to active
operating mode
0x02 Velocity feedback value Velocity data (P-0-0028)
Parameter S-0-0040
0x03 Velocity deviation Velocity data (P-0-0028)
Parameter S-0-0347
0x04 Following error Position data (P-0-0027)
Parameter S-0-0189
0x05 Torque command value Torque data (P-0-0029)
Parameter S-0-0080
Fig. 8-18: Selection of fixed trigger signals
Selection of Expanded Trigger Signals

In addition to a trigger signal selection with preset signals, DIAX also
allows for triggering on any desired internal signal. Use of this feature is
meaningful only with information about the structure of the internal data
memory; therefore, this feature can be used effectively only by the
corresponding developer. This feature can be activated with the
P-0-0026 Trigger Signal Selection parameter by setting bit 12 to 1.
P-0-0026, Trigger Signal Selection
Bit 12: Expanded trigger

function "ON"
Fig. 8-19: Structure of parameter P-0-0026
If the expanded trigger feature is activated, then the trigger signal

address must be defined via the parameter P-0-00146 Expanded
Trigger Address. The associated trigger level is entered in the
parameter P-0-0145 Expanded Trigger Level. This parameter is
defined as follows:
P-0-0145, Trigger Level for Expanded Oscilloscope Function

31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1
0
16 Bit mask for 16 Bit threshold for

trigger signals trigger signals
Fig. 8-20: Structure of parameter P-0-0145

The 16-bit value of the trigger edge is monitored, and the trigger signal
will be ANDed with the trigger signal screen mask.
Setting the Time Resolution and the Memory Depth

The recording ranges for the oscilloscope feature can be defined with the
parameters P-0-0031 Timebase and P-0-0032 Size of Memory. The
maximum memory depth is 512 samples. If you need fewer samples, you
can chang the value in the memory size parameter.
The time resolution can be set from 250 µs to 100 ms in steps of 250 µs.
This determines the time intervals in which the samples are recorded.
The minimum recording duration is 128 ms; the maximum recording
duration is 51.2 s.
In general:
Re cording duration = Time resolution × Size of Memory [µs]
Fig. 8-21: Determining of the recording duration
Setting the Trigger Delays

By setting the parameter P-0-0033 Number of Samples after Trigger, it
is possible to record probe values before the trigger event (trigger delay
function of an oscilloscope). The setting occurs in units of the
parameterized time resolution. The input value determines the number of
probe values still recorded after a trigger event. By entering 0 • [time
resolution], only data available before a trigger event will be recorded. If
the value of the P-0-0032 Size of Memory parameter is entered, then
only the probe values occurring after the trigger event will be recorded.
Trigger threshold
Trigger signal
Trigger status
(Bit 0)
P-0-0033 Number of
Samples after Trigger
Trigger delay
Recording length
Fig. 8-22: Trigger delay - Number of samples after trigger
Activating the Oscilloscope Feature

The oscilloscope feature can be activated with the parameter P-0-0036
Trigger Control Word. The parameter is defined as follows:
P-0-0036, Trigger Control Word
Bit 0: Trigger action

(Input with external
triggering)
Bit 1: Trigger release
Bit 2: Oscilloscope
function active
Fig. 8-23: Structure of Parameter P-0-0036

The oscilloscope feature is activated by writing bit 2 with "1"; i.e. the
internal probe value memory is continually written with the selected
measurement signals. If bit 1 is set, then the trigger monitor is activated,
and the oscilloscope feature waits for the selected edge to occur. If a
valid edge is recognized, then the probe value memory will be completed
as set in parameter P-0-0033, and the oscilloscope feature will be
deactivated by resetting bits 1 & 2 in the trigger control word.
Oscilloscope Feature With External Trigger and Internal

Trigger Condition
If triggering is selected in parameter P-0-0025 Trigger Source with the
control bit of the trigger control word, then the trigger will be initiated with
the 0→1 (rising) edge of bit 0 in the trigger control word.
With this drive, it is also possible to monitor a trigger signal for the trigger
condition. If the trigger condition is recognized, then bit 0 will be set in the
trigger status, but it won’t trigger. In this way, it is possible to signal the
trigger event for several drives simultaneously with the real-time status
and control bits via the control and to release the trigger .
Since there is a delay between the recognition of the trigger event and
enabling the trigger, the delay is measured by the drive controller and
stored in the parameter P-0-0035, Delay from Trigger to Start. A time-
correct display of the signal can be guaranteed by using this parameter
for the visualization of the probe values.
Trigger
threshold Trigger signal
Trigger status
(Bit 0)
P-0-0033: Number of
Samples after Trigger
Trigger delay
Trigger control
(Bit 0)
P-0-0035 Delay
from Trigger to Start
Recording length
Fig. 8-24: Delay from trigger to start
Status Messages for the Oscilloscope Feature

Information about the status of the oscilloscope feature is shared with the
control through the parameter P-0-0037, Trigger Status Word.
P-0-0037, Trigger Status Word

external: message to control
system
internal: activating the trigger
delay function
Bit 1: Signal < Trigger threshold
Bit 2: Recording is running
Bit 3: Signal > Trigger threshold
Fig. 8-25: Structure of Parameter P-0-0037
Number of Valid Probe Values

As soon as bit 2 is set by the P-0-0036, Trigger Control Word, the drive
starts to record probe values.
If the trigger event is recognized after the bit is set, the oscilloscope
feature records the number of samples after the trigger event and then
stops recording.
The total probe value memory for the current measurement will not
always be written, dependent on the memory size setting, the time
resolution, the number of samples after trigger and the time when the
trigger event occurs.
That means that the memory can contain samples which are not valid for
the measurement.
The parameter P-0-0150, Number of valid Samples indicates the
number of valid samples for the current recording.
8.5 Programmable Limit Switch

The "Programmable Limit Switch" feature allows for 8 PLS points. An
individual on- and off-switch position and a delay time are available for
each PLS point.
The reference signal can be either
The reference signal for the
PLS can be selected S-0-0051, Position feedback value 1 (motor feedback) or
S-0-0053, Position feedback value 2 (ext. feedback).
The cycle time for evaluation is 2msec.
The corresponding PLS bit can be inverted depending on how the on-
and off-switch level is set.
The following parameters are available for this feature:
• P-0-0131, Signal select position switch

• P-0-0132, Switch on threshold position switch
• P-0-0133, Switch off threshold position switch
• P-0-0134, Position switch lead times
• P-0-0135, Status position switch
Function diagram for the Programmable Limit Switch
This feature shows whether the selected reference signal lies within the
range between the on- and off-switch position.
Reference value
Switch off position
Switch on position
Time
PLS bit x
Fig 8-1: General Function Diagram for the Programmable Limit Switch
The corresponding bit in the status position switch can be inverted by

Inverting occurs by
setting the on- and off-switch level.
exchanging the on- and off-
switch level There are two different situations that apply.
Switch-on position smaller than the switch-off position

If the switch-on position is programmed smaller than the switch-off
position, then the following applies:
The position switch is "1" if:
• Reference signal > Xon
AND
• Reference signal < Xoff
Reference value
Time
Xon Xoff
Fig 8-2: Programmable Limit Switch With Xon < Xoff
Switch-on Position larger than the switch-off Position

The programmable limit switch is "1" if the following applies:
• Reference signal > Xon
OR
• Reference signal < Xoff
Reference value
Switch
Time
hysteresis
Xoff Xon
Fig 8-3: Programmable Limit Switch With Xon > Xoff

A switch hysteresis is available to avoid position-switch flickering when
the on- or off-switch level is reached. The size of the switch hysteresis
depends on the type of encoder used and it is listed in the following table:
Measurement system Switch hysteresis
DSF 0.176 Degrees
Resolver 0.0078
Gear-wheel encoder (DZF) 0.25 TP
High-resolution sine encoder (DLF) 0.50 TP
Fig 8-1: Switch Hysteresis for Programmable Limit Switch
The following graphic shows the relation between the PLS bit and the
switch hysteresis for the on- or off-switch level. A DSF was used to
measure the size of the switch hysteresis.
X Reference
0..176
Xoff degrees
Switch
hysteresis
Xon 0..176
degrees
PLS bit
Time
Fig 8-4: Illustration of the Switch Hysteresis for the On- or Off-Switch Level
Programmable Limit Switch Lead Time

By setting a lead time, compensation can be made for the delay of an
The velocity of the drive
external switch element that is controlled by a PLS bit. In that way, a
should remain constant while
theoretical adjustment value can be calculated from the lead time and the
using the lead time. current drive velocity for the on- and off-switch positions. The PLs bit
switches by the lead time before reaching the corresponding position.
The assumption is that the velocity is constant in the range between the
theoretical and real on- or off-switch position.
Reference value
Theoretical reference value
Actual reference
value
On or off switch threshold
Time
Cam switch bit with Derivative action time x = 0

and without derivative
action time
Derivative action time x
Fig 8-5: Diagram for the Programmable Limit Switch Lead Time
Parameterizing the Programmable Limit Switch

The P-0-0131, Signal select position switch parameter is used to
activate the programmable limit switch and to select a signal. The
following values can be entered:
P-0-0131: Feature:
0 The programmable limitswitch is not activated.
1 The programmable limit switch is activated; the
reference signal is S-0-0051, Position Feedback
Value 1.
2 The programmable limit switch is activated; the
reference signal is S-0-0053, Position Feedback
Value 2.
Fig 8-2: Programmable Limit Switch: Activation and Setting the ReferenceSignal
The programmable limit switch parameters P-0-0132, Switch-On

The P-0-0134Programmable
position, P-0-0133, Switch-Off position and P-0-0134, Lead Time can be
Limit Switch Lead Time
used to set the on- and off-switch thresholds as well as the lead time.
parameter always should be
parameterized completely Each of these parameters contains 8 elements. Element 1 is assigned
(i.e., with all 8 elements), even for position switch bit 1, element 2 for bit 2, and so forth.
if not using the delay..
If one or more switch bits are not given a delay, then "0" should be set for
these elements in P-0-0134, Position switch lead times.
The status of the position switch bits is shown in parameter P-0-0135,

Status position switch. The following diagram shows the structure of
this parameter.
P-0-0135, PLS Control Mechanism-Status Word
Bit 0 : PLS bit 1 status

Fig 8-6: Position Switch Status
8.6 Probe Input Feature

For position and time measurements using two binary input signals, there
are two probe inputs on the communication control module DSS 2.1 that
can be used to measure
• the position feedback value 1/2 or

• the relative internal time in [µs]
• the master axis position
Measurements are made at a time defined by the signal edges on the

two inputs.
Note: The sampling of the probe inputs occurs every 1 µs. The
measurement signal actual feedback value 1 or 2 is
generated every 250 µs. Between these samplings, linear
interpolation is done with a precision of 1 µs.
You can read the absolute values of these signals at the time of a
positive or negative edge as well as their difference by parameters.
The following parameters are available for the feature:
• S-0-0170, Probing cycle procedure command

• S-0-0401, Probe 1
• S-0-0402, Probe 2
• S-0-0169, Probe control parameter
• P-0-0200, Signal select probe 1
• P-0-0201, Signal select probe 2
• P-0-0204, Start position for active probe
• P-0-0205 End position for active probe
• S-0-0405, Probe 1 enable
• S-0-0406, Probe 2 enable
• S-0-0130, Probe value 1 positive edge
• S-0-0131, Probe value 1 negative edge
• P-0-0202, Difference probe values 1
• S-0-0409, Probe 1 positive latched
• S-0-0410, Probe 1 negative latched
• S-0-0411, Probe 2 positive latched
• S-0-0412, Probe 2 negative latched
Main Function of the Probe Analysis

S-0-0170, Probing cycle procedure command Command activates the
feature. The feature is activated as a command, but does not send a
command acknowledgment. The Command Change (KÄ) bit is not used.
To activate the feature, S-0-0170 must be written with 3 (decimal) = 11
binary.
From this point on, the status of the probe signals will be displayed in the
parameters S-0-0401, Probe 1 and S-0-402, Probe 2.
A probe input is enabled with parameter S-0-0405, Probe 1 Enable or
S-0-0406, Probe 2 Enable. With a 0-1 switch of the signal, the trigger
mechanism is activated to evaluate the positive and/or negative edge of
the probe signal.
From this point on, when a probe signal edge is recognized, the selected
signal will be stored in the positive or negative probe value parameter. At
the same time, the difference between the positive probe value and the
negative probe value will be computed and saved in the probe value
difference parameter. The following status messages will be set to 1:
S-0-0409, Probe 1 positive latched and S-0-0410, Probe 1 negative
latched or S-0-0411, Probe 2 positive latched and S-0-0412, Probe 2
negative latched.
When the probe enable is cancelled, the following status messages will
be erased: S-0-0409, Probe 1 positive latched and S-0-0410, Probe 1
negative latched or S-0-0411, Probe 2 positive latched and S-0-0412,
Probe 2 negative latched.
Note: Only the first positive and the first negative signal edge of the
input will be evaluated after the 0→1 (rising) edge of the
probe enable. For each new measurement, the probe enable
must be reset to 0 and then to 1. When the probe enable is
cancelled, the corresponding probe-value latched parameters
are also cancelled.
Probing Cycle Procedure Command

3
Time
Probe Enable
Probe
Probe negative latched
Probe positive latched
Latching the selected signal Latching the selected signal

here at the negative edge here at the positive edge
creates a new measurement creates a new measurement
difference. difference.
Fig. 8-7: Evaluation of probe signal edges, when positive and negative signal
edge evaluation are set in the probe control parameter
Results of Writing "3" to the S-0-0170, Probing Cycle

Procedure Command
The probe feature begins when 3 (decimal) = 11 binary is written into
the parameter S-0-0170, Probing cycle procedure command Probing
Cycle Procedure. The following will happen:
• The data status will be set to 7 by S-0-0170, Probing cycle
procedure command.
• All probe values and probe value differences will be set to 0.
• All "probe ... latched“ parameters will be cancelled.
• The external voltage monitor will be activated (if it has not yet been
activated).
Signal Edge Selection for the Probe Inputs

A positive probe value and a negative probe value are available for every
probe input. The positive probe value is assigned the 0→1 (rising) edge
of the probe signal, and the negative probe value is assigned the 1→0
(falling) edge. The S-0-0169, Probe control parameter determines
whether both occurring edges will be evaluated and will lead to the
positive/negative probe values being saved.
The parameter should be set before activating this feature. The
parameter is structured as follows:
S-0-0169, Probe Control Parameter
Bit 0: Activating Positive Edge Probe 1

0: positive edge is not analyzed
1: positive edge is analyzed
Bit 1: Activating Negative Edge Probe 1

0: negative edge is not analyzed
1: negative edge is analyzed
Bit 2: Activating Positive Edge Probe 2

0: positive edge is not analyzed
1: positive edge is analyzed
Bit 3: Activating Negative Edge Probe 2

0: negative edge is not analyzed
1: negative edge is analyzed
Bit 4: Position Feedback Value Selection
0: S-0-0053 is always used as the
measurement, if an external feedback
is connected and position feedback
values are chosen in the signal selection.
1: S-0-0051 is always used as the measurement,
if position feedback values are chosen in the
signal selection.
Fig. 8-8: Structure of Parameter S-0-0169, Probe Control
Signal Selection for the Probe Inputs

The following signals are available for measurement:
• Actual feedback value 1 (motor encoder)
• Actual feedback value 2 (external encoder, only if available)
• Internal time
• master axis position
The selection can be made with the parameters P-0-0200, Signal select
probe 1 and P-0-0201, Signal select probe 2, and with bit 4 of the
S-0-0169, Probe control parameter.
In P-0-0200 and P-0201, you can indicate individually for the probe inputs
whether a position feedback value or an internal time will be measured.
Value of P-0-0200: Signal:
0 actual position value 1/2
1 time
2 master axis position
3 actual position values 1 or 2 with
active monitoring window
4 master axis position with active
monitoring window
Fig. 8-9: Test probe function signal determination for test probe 1
Value of P-0-0201: Signal:

0 actual position value 1/2
1 time
2 master axis position
Fig. 8-10: Test probe function signal determination for test probe 2
Depending on this selection, the units and decimal places of parameter

measured value positive, measured value negative, measured value
difference, start position of test probe function active and end position of
test probe function active of the relevant test probes are switched.
If the position feedback value is selected in the signal selection
parameter, then bit 4 in the S-0-0169, Probe control parameter will
determine whether S-0-0051, Position feedback value 1 (motor
feedback) or S-0-0053, Position feedback value 2 (ext. feedback) will
be used as the signal.
For probe 1 there is the possibility to determine, that only master axis
positions or actual positions are latched which lie within a certain range
(signal selection 3 or 4). The range is defined by the parameters P-0-
0204, Start position for active probe and P-0-0205 End position for
active probe
Connecting the Probe Inputs

The probe can be connected to E4 or E5 at connector X12 on the DSS
2.1 plug-in module.
DSS2.1
H3 ERR
2 3
Connector12
4
1
5
0
6
9
8 7
on DDS 2 3
4
1
5
0
6
9
8 7
E1 X12
Probe1 E2 E1
E2
connection E3 E3
E4 E4
E5
Probe2 E5 E6
+U
connection E6 OV
+UL
0VL
View to front plate
EK5008f1.fh7
Fig. 8-11: Connecting the probes to the DSS
The following levels are valid for the probe inputs:

Low: 0..+6V
High: +14V..Uext(max)
The inputs need an external power supply (with voltage Uext) because
they are electrically isolated.
32V = Max.
Uext. 24V = Nom.
18V = Min.
Fig. 8-12:Permissible input voltage range of the external power supply
If the external voltage is not in this range, then the error message:
F272 Error power supply probe input will be generated.
8.7 Masteraxis position output
The drive control device offers the option to output the Master-drive
position in SSI format. The Master-drive position is transmitted by the
control with the parameter P-0-0053, Master Drive Position.
The DSA slide-in module is needed for that function.
The drive automatically recognizes that a DSA module is connected and

activates the output of the Master-drive position.
Parameter P-0-0059, SSI-Emulator-Solution can be used to determine
with how many increments per encoder rotation the Master-drive position
will be exported in SSI format through the DSA interface.
The following displays an impulse diagram of a position output in SSI

format.
T Tp >tm-T/2
Cycle +
tm-T/2
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 1 2
Data 1 1 G23 G22 G21 G20 G19 G18 G17 G16 G15 G14 G13 G12 G11 G10 G9 G8 G7 G6 G5 G4 G3 G2 G1 G0 PFB 0 1 1 G23 G22
Resolution for 4096 revolutions Resolution for 1 revolution
Cycle Tp
tv tm
Serial data
G23 G22 G0 PFB

Monoflop P / S m
G0 = lowest value bit in the Gray-Code

G23 = highest value bit in the Gray-Code
m = saved parallel information
T = cycle signal period duration
tm = monoflop time 15µs to 25µs
Tp = cycle rest
tv = delay time for the first cycle max. 540ns, for all others max. 360ns
PFB = Power Failure Bit (is not used and is logically always... "0")
ap5002d1.fh7
Fig 8-13: SSI Format as an Impulse Diagram
8.8 Command - detect marker position

The command "Determine marker position" is used to check the correct
detection of the reference markers of an incremental measuring system.
This does not include an evaluation of the zero switch.
The following parameters are provided for this function:
• S-0-0173, Marker position A

• P-0-0014, D500 Command determine marker position
Functional principle of command detect marker position

Once the command P-0-0014, D500 Command determine marker
position is activated, the following is done:
Only possible with incremental • The diagnosis D500 command get marker position is generated.
measuring systems
• Check whether the encoder selected by bit 3 of S-0-0147, Homing
parameter is an incremental measuring system. Incremental
measuring systems are those connected via one of the encoder
interfaces listed below. If this is not the case, then the command error
message D501 Incremental encoder required is generated. The
command cannot be executed any further.
• If an incremental measuring system is selected, then the detection of
a reference marker is activated, and the drive waits for the next
reference marker.
• If a reference marker is detected, then its position feedback value is

stored in parameter S-0-0173, Marker position A. This command is
now signalled as completed.
Note: No command values are generated. The mode active at

command start remains unchanged. To override the
reference marker, the control must generate command
values, e.g., by jogging.
Possible encoder interfaces of incremental measuring systems:

Encoder interface Number
DLF01.1 2
DZF02.1 3
DEF011 5
DEF02.1 6
DZF03.1 9
Fig. 8-14: Possible encoder interfaces of incremental measuring systems
Additional uses of parameter "S-0-0173, Marker position A"

In parameter S-0-0173, Marker position A, the position of the reference
marker is also stored during the command S-0-0148, C600 command
drive-controlled homing. This relates, however, to the "old" coordinate
system (before the coordinate system was switched while performing a
homing function).
8.9 Command Parking Axis

The command "Parking Axis" supports the operational decoupling of an
axis. This may, for example, be necessary if an axis is temporarily
brought to a standstill. The start of the command switches off all
monitoring functions of the measuring system and the control loops.
The following parameter is available for this function:
• S-0-0139, D700 Command Parking axis
The functional principle of the command parking axis

The command can only be started in parameter mode (communications
Command can only be
phases 2 or 3). Once S-0-0139, D700 Command Parking axis is
executed in parameter mode
started, the following is executed:
• The measuring system monitors ,

• the control loop monitors and
• the temperature monitors
are deactivated. The measuring system initializations are not executed in
command S-0-0128, C200 Communication phase 4 transition check.
"PA" appears at the 7-segment display. The drive no longer accepts the
drive enable signal.
All active commands in the drive are cancelled when switching the
communications phases back. If this command was activated, followed
by a progression into communications phase 4 (operating mode), then
there is no need to cancel the command, as the cancelling is only
possible in communications phases 2 or 3, and any phase regression will
also inevitably cancel all commands.
8.10 Measuring Wheel Mode

Roll feed drives convey material that is processed further down the line
(e.g., the cutting of tin). The motor encoder, in this case, is not suited for
measuring material lengths if lag occurs between the material and the
drive. In cases such as these, it is possible to use an external encoder, a
measuring wheel encoder. Ideally, there is no slip between machine and
material so that sections of length can be precisely measured.
Temporarily, the measuring wheel encoder can have no contact to the
material. Any closing of the position control loop with actual position
value 2 must, in this case, be avoided. The absolute position of this
encoder is not important nor that of the motor encoder.
Measuring wheel implements parameters

• P-0-0185, Function of ext. encoder
• P-0-0220, D800 Command Measuring wheel operation mode
• P-0-0221, Actual position filter time const. for measuring wheel
mode
Activating the Function

The external encoder must be registered as a measuring wheel encoder.
This is performed by inputting a 3 in Function of external encoder.
The function is activated with the command measuring wheel mode.
Prerequisite for the command is the position control with actual position
feedback 1 must be active. When starting the command measuring
wheel mode, the drive sets actual position value 2 on value 1 and then
switches to positoin control with encoders 1 and 2. The drive confirms the
changeover with command acknowledge 7 (processing command).
Negative effects due to a poor coupling of encoder 2 to the motor shaft
(due to the material) are to be alleviated by attenuating the actual
position value differences. The difference is smoothed by a filter of the
first order. The filter time constant is set in parameter P-0-0221, Actual
position filter time const. for measuring wheel mode
P-0-0221
act. pos. val. 2
act. pos. val. 1
Fig. 8-15: Generating the actual position value in measuring wheel mode
Position control using the measuring wheel encoder remains active as

long as the command is set.
When clearing the command, the drive sets actual position value 1 to 2
and switches back to position control with the motor encoder.
The command measuring wheel mode may only be started if
• there is material in the feed rollers and under the measuring wheel,
• the feed rollers are close and
• the measuring wheel encoder is being pressed against the material.
Parametrizing the Measuring Wheel Encoder

A measuring wheel encoder is parametrized like a normal external
encoder if the path parametrized in parameter S-0-0123, Feed constant
has been completed with one encoder revolution. The rotary encoder is
set in paramter S-0-0115, Position feedback 2 type parameter.
Encoder resolution is set in parameter S-0-0117, Resolution of external
feedback.
If this condition is not met, then the encoder must be parametrized as a
linear encoder. The encoder resolution is the quotient of the
circumference of the measuring wheel and the number of encoder cycles
/ revolutions.
Diagnostic Messages
Possible command error diagnoses:
D801 Measuring wheel operation not possible
Cause :
• a measuring wheel encoder has not been parameterized in parameter
P-0-0185.
• Function of ext. encoder evaluation of an external encoder not
active (P-0-0075 = 0).
• Position control with feedback position value 1 not active.
Recovery:
Eliminate the known causes.
D802 Operation mode cancelled

Cause:
The mode was ended by switching operating modes, removing the drive
enable signal or an error reaction.
8.11 Incremental Encoder Emulation

Incremental encoder emulation is a simulation by the drive controller of a
real incremental encoder. It is possible to emulate either a master axis
position or a motor position. The selected position is then output by
means of incremental encoder compatible signals via the DAE02.1M
interface, connector X76.
Note: If actual position feedback 1 is emulated then only the motor

can be referenced the load cannot, i.e., a gear or a feed
constant cannot be taken into account. Relevant inputs S-0-
0076, Position data scaling type are not taken into
consideration for the incremental encoder emulator.
The following parameters are a part of this function:

• P-P-0-0502, encoder emulation resolution
• P-0-0503, marker pulse offset

• P-0-0505, signal selection incremental encoder
How it Works and Hardware Prerequisites

A hardware prerequisite is module DAE02.1M.
The function can neither be used nor parametrized without the interface.
Use parameter P-0-0505, signal selection incremental encoder to
select the position to be emulated:
0 no emulation
1 simulated master axis position
2 simulated motor position
Fig. 8-1: Selecting incremental encoder signal
Note: If emulation is not needed then an ´0´ must be entered here

as the emulator needs execution time.
With parameter P-0-0502, Encoder emulation, resolution the

resolution can be set, input ranges from 1 to 2^18. The unit of P-0-0502
depends on S-0-0076, Position data scaling type. It can be lines /
revolutions or lines / mm or lines / inches.
Use parameter P-0-0503, marker pulse offset to shift the zero pulse of
the incremental encoder in the range of 0 to 360 degrees.
Note: If a motor is used and the motor position selected with a

resolver feedback, then the emulator will generate as many
pulses as there are resolver pole pairs. Note that the input for
P-0-0502, encoder emulation resolution can be divided
without remainder by the number of resolver pairs, otherwise
the "the zero pulse will run away".
Diagnostic Messages
SS
display Diagnosis Cause / Solution
F2/53 incremental Number of lines to be generated in a 250µsec
encoder interval is too high
emulator or => the incremental encoder can generate
frequency too up to 253 lines/250µsec interval. Decrease
high
P-0-0502 input.
Reduce travel speed
F2/54 incremetnal => the output of all lines in the interval is
encoder monitored and was faulty here so that a
emulator position offset occurred
hardware
error replace DAE
Fig. 8-1: Diagnostic message
Incremental Encoder Emulation Restrictions

In contrast to conventional incremental encoders in which the pulse
output frequency can be altered practically infinitely closely stepped, in
other words, the pulse edges are always allocated to fixed positions, an
emulated incremental encoder signal is subject to certain restrictions.
These are primarily the result of the digital way in which the encoder
emulation card DAE01.2M and the drive controller work.
Number of Lines
The number of encoder lines generally equals between 16 and 262144 -
taking the maximum output frequency into consideration, see below -
which can be freely selected as needed.
Exception: When emulating actual position value 1, gained from a non-
absolute resolver, the number of lines must be divisible by the number of
resolver pole pairs.
Maximum Output Frequency

The pulse output register on the DAE02.1M has a width of ten (10) bits.
This means that per control cycle (250µs) it can process a maximum of
10
2 -1 = 1023 increments. The maximum pulse frequency which can thus
be output equals 1023/4 = 256 per 250µs = 1.023 MHz. If this frequency
is exceeded, then pulses can fail. The non-fatal error F2/53
„Incremental encoder emulator: Frequency too high“ is generated. A
position offset of the emulated in contrast to the real position occurs.
1. 023 MHz ∗ 60
I max =
nmax
Imax: maximum number of lines
nmax: required maximum speed
Fig. 8-2: Computing maximum number of lines
Running Time Between Real and Emulated Positions

If real position detection occurs at point in time tn then an internal
computation is initiated. Starting at point in time tn+1 the computer number
of increments is generated. Output is completed no later than point in
time tn+2.
At present, there is no running time compensation.
Depending on control's sampling point, minimum running time thus
equals 250µs, maximum 500µs (average 375µs).
Position detection n Position detection n+1 Position detection n+2 Position detection n+3
Comp. time n-1 Comp.time n Comp.time n+1 Comp.time n+2 Comp.time n+3
Pulse output n-2 IPulse output n-1 Pulse output n Pulse output n+1 Pulse output n+2
250µs 250µs 250µs
Fig. 8-3: Timing pulse output
Note: If the master axis position is emulated, then the lacking

running time compensation of the emulation does not lead to
a permanent error as the master axis position in the drives is
also processed in the drives with a delay.
Rounding Off the Incremental Number in Short Intervals

In a short interval of 250µs (= internal control cycle) only one whole
number of incrementals (1 increment = ¼ line) can be output. The
remainder, which cannot be output, is added to the next interval. If

another rest of 0<rest<1 follows this one, then it is added to the next
interval and so on.
The results of this effect is that the „emulated speed“ may be precise in
its average but it can be a maximum of one incremental to small in each
250µs interval.
Pulse Breaks at the End of the Control Cycle

The duration of an increment can only be a whole multiple of the quartz
oscillation period (T=50ns). This is why the number of increments of the
current speed can be output prior to the end of the time interval of 250µs.
This means that at the end of each interval, the signal levels for a
specific period can remain constant. The output frequenca cannot be
changed during the interval of 250µs.
This effect is especially effective at high frequencies, i.e., with a high
number of lines and/or high speeds.
1 Strich 1 Inkrement
250µs 250µs
Fig. 8-4: Output signals of the incremental encoder emulator
Maximum Gap The largest pulse break occurs if 1001 increments are generated per
cycle. This equals an output frequency of 1.001 MHz.
Example:
Speed n = 3003 min-1, number of lines 20000
The required increment duration equals T = 0.2497µs. The duration
which can be output equals T = 4 * 50ns = 0.2µs.
After T = 1001 increments * 0.2µs = 200.2µs output is completed. A
pulse duration of 49.8µs thus remains.
Note: Pulse breaks can cause fluctuations in position detection

especially if the system pulse of the control unit performing
the sampling is not a whole number multiple of the system
pulse of the drive controller. (This is always the case as the
quartzes have tolerances and both systems are not
synchronized.)
The following illustration clarifies the effects of the pulse breaks in a

control unit.
pulse break
Count of a
counter of
the pulse pulse break maximum
counter of a position
control error
pulse break
pulse break
pulse break
250µs 250µs 250µs 250µs 250µ t
Fig. 8-5: Error during cyclical position detection caused by pulse breaks
Maximum output frequency If a pulse break exceeding one increment is to be prevented under all
without pulse breaks circumstances, then a specific maximum frequency may not be
exceeded.
This maximum frequency equals f = 76 kHz.
A maximum speed, fixed by the application, equals the resulting
maximum number of lines that can be input:
76 kHz * 60
Imax =
nmax
Imax: maximum number of lines without pulse breaks
nmax: application-dependent maximum speed
Fig. 8-6: Maximum number of lines without pulse breaks
Example:
Speed n = 1000 min-1, frequency f = 76 kHz
I = 4560 number of lines
DIAX04 Drive With Electric Gear Function Glossary 9-1
9 Glossary
Data status
Every parameter has at its disposal a data status. It can be read by the
control via the required data channel. The information on the validity of
the parameter or the command acknowledgment of the command are
contained therein.
Error reaction or response

If an error is detected in the drive, then the drive reacts independently by
executing an error reaction. At the end of each error reaction there is a
deactivation of the drive. The error reaction type is dependent on the
error class of the error that occurred as well as the setting in parameters
P-0-0117..119.
E-Stop
E-Stop (Emergency Stop) is the determination for a hardware input at the
drive controller. It is used to trigger the emergency stop function in the
drive.
External encoder
An external measuring system is optional. It is generally mounted directly
to the load. The actual feedback value of the encoder can be seen in S-
0-0053, Actual feedback value 2. By activating the position control
operating mode with encoder 2, the position control loop is closed with
the help of the actual feedback value of the external encoder.
Ident Number
Every parameter is designated unambiguously by its ident number (IDN).
It consists of these 3 components: S-Sercos/P-Product specific,
parameter set (0..7) and a number (1..4096).
Load default or basic load

The control parameters are stored in the motor feedback data memory in
both MHD and MKD motors. This makes it possible for the drive
controller to work trouble-free with this motor. The control parameters
have not been optimized for the application.
Modulo format
Both actual feedback and command values can be processed in modulo
or absolute format. If modulo processing has been set, then the position
data move within the range of 0..S-0-0103, modulo value. With this
function, it is possible to realize an endlessly turning axis.
Motor encoder
The motor encoder is the measuring system that is used during
commutation. A measuring system is absolutely necessary. The actual
feedback value of the encoder can be seen in S-0-0051, Actual position
value 1. By activating the position control operating mode with encoder 1,
the position control loop is closed with the help of the actual position of
the motor encoder.
Operating data
The operating data is data block element 7 of a parameter. The value of
the parameter is stored there.
9-2 Glossary DIAX04 Drive With Electric Gear Function
Operating mode
Operating mode is set in parameters S-0-0032..35. It determines in what
way a command value is processed in the drive and eventually initiates
an axis movement. The operating mode does not define how the
command value reaches the drive.
Parameterization mode
The drive is in parameterization mode if communication phases 1..3 have
been set. The drive cannot be activated (drive enable signal applied).
Operating mode must first be switched into. Some parameters can only
be written into during parameterization mode.
Programming module
The programming module contains the software and parameter memory.
It is mounted in slot U5. When exchanging the controller, a simple
insertion of the programming module out of the old into the new unit
means that the features of the replaced unit have been transferred to the
new one.
Reference Switch
If during the command S-0-0148, C600 Drive controlled homing
several reference marks can be reached within the travel range, it’s the
reference switch which must specify one singular mark. The reference
switch is connected to the respective input at the drive and activated by
bit 5 in S-0-0147, Homing Parameter. This input is mirrored in the
parameter S-0-0400, Home switch.
Scaling
The combination of unit and number of decimal places of a parameter
are defined as scaling. It can be set for position, velocity and acceleration
data.
SERCOS-INTERFACE
Digital interface for communication between control and drives in
numerically controlled machines. One or multiple ring structures are
implemented. The physical connection of the participants generally
implements a fiber optic cable.
Service Channel
The non-cyclic reading and writing of parameters via the SERCOS-
Interface is done in the service channel
DIAX04 Drive With Electric Gear Function Index 10-1
Setting the Drive Reaction 7-

10 Index 48
velocity command value set to
1 zero with filter + ramp
(slope) 7-50
1MB 1-2, 5-1, 5-5
Bipolar Velocity Limit
Limiting the Command Value
2 6-3
2AD 1-2, 5-1, 5-5 Bipolar Velocity Limit Value
2AD with PTC sensor 5-5 Limiting Velocity 7-39
Monitoring of the actual
7 velocity in the torque/force
control 6-1
7-Segment Display
Brake
Diagnostic Number 3-14
Switch to torque disable 7-49
with velocity command value
A set to zero 7-48
Acceleration Feed Forward
Setting 7-67 C
Activating the Oscilloscope Checking the Thermal Load 7-
Feature 8-18 36
Activation and Polarity of the E- Class 1 Diagnostics 3-15
Stop Input 7-56
Class 2 and 3 Diagnostic
Actual Feedback Value Change Bits in the Drive
Monitoring 7-18 Status Word 3-16
Actual feedback values from Class 3 Diagnostics 3-16
absolute encoder after
Class Diagnostics
switching on 7-30
Class 1 Diagnostics 3-15
ADF 1-2, 5-1
Analog output
bit and byte output 8-3
Manufacturer Class 3
function principle 8-1
Diagnostics 3-17
Relevant parameters 8-1
Mask Class 2 Diagnostics 3-
terminal assignment 8-4 16
Automatic Execution of the Mask Class 3 Diagnostics 3-
Load Default Feature 7-59 16
Axis Limit Values Reset Class 1 Diagnostics 3-5
Monitoring the allowable travel Clearing Errors 3-5
range 7-40
Clearing Errors When Controller
Axis Limit Values 7-43 Enable Is Set 3-5
Axis Limit Values - Activation 7- Command Input and
44 Acknowledgment 3-7
Command Types 3-6
B Command value profile with
actuated home switch at
Best Possible Deceleration
the start of the command
as torque disable 7-49 7-79
as velocity command value Commands
decelerated to zero 7-48
Change Bit Command 3-7
Drive Error Reaction 3-5
Command Input and
SERCOS Interface Error 4-10 Acknowledgment 3-7
10-2 Index DIAX04 Drive With Electric Gear Function
Command Types 3-6 Determining the Critical Integral

Drive-Controlled Homing Action Time 7-62
Command 7-70 Determining the Encoder
Load Default Command 7-59 Interface of the External
Encoder 7-17
Probing Cycle Procedure
Command 8-26 Determining the Feedback
Interface of the Lead Drive
Communication Phase Feedback 7-33
Operating Mode 3-20 Determining the Feedback
Parameterization Phase 3-20 Interface of the Motor
Confirmation of the Drive Feedback 7-13
Enable 4-4 Determining the Position
Connection and Configuration Controller Setting 7-66
of the Home switch 7-82 Determining the Velocity
Connection of the Emergency- Controller Setting 7-62
Stop Input 7-56 DFF Module
Current Controller Limiting Conditions 7-10
Associated Parameters 6-4 Setting the Encoder Interface
Block diagram 6-4 7-10
Setting the Current Controller Diagnostic message 3-14
7-60 Composition of the Diagnostic
Current Limit 7-33 Message 3-14
Diagnostic message display 3-
13
D
Diagnostic Number 3-14
DAE02.1M-Interface 8-32 Diagnostic Message Number 3-
DAG Module 14
Limiting Conditions 7-10 Diagnostic Messages
Setting the Encoder Interface Diagnostic of the Interface
7-10 Condition 4-10
Data Block Structure 3-1 Digital Input/Output
DEA Module Associated Parameters 8-7
Associated Parameters 8-7 DEA Input > IDN 8-11
Connector Assignment 8-8 DEA Module Connector
Number of Inputs and Outputs Assignment 8-8
8-7 IDN > DEA Output 8-10
Use 8-7 Number of Inputs and Outputs
Deactivation of the Position 8-7
Control Loop Monitoring 7- Disable Torque 7-49
67 Display Format
DEA-Input -> IDN Assignment of the Acceleration Data 7-5
8-11
of the Position Data 7-2
DEF Module
of the Velocity Data 7-4
Limiting Conditions 7-10
Distortion display 4-6
Setting the Encoder Interface
7-10 DLF Module
Definition of the Critical Limiting Conditions 7-10
Proportional Gain and P-0- Setting the Encoder Interface
0004, Smoothing Time 7-10
Constant 7-61 DRF Module
Determing the Critical Position Limiting Conditions 7-10
Controller Gain 7-66
Drive enable 4-2
Drive Halt encoder with sine signals

Associated Parameters 7-69 7-11
Functional Principle 7-69 Resolver without feedback
memory 7-11
Drive Internal Interpolation
EnDat Interface
Associated Parameters 6-8
Parameterizing the Encoder 7-
Block Diagram 6-8 10
Diagnostic Messages 6-8 Error
Drive Status Word Cancel Error 3-5
Structure 4-3 Drive Error Reaction 3-5
Drive-Controlled Homing 7-75 Error Counter for Telegram
Drive's Error Response 3-5 Interrupts 4-10
DSS 2.1 Module Error Classes 3-5
Connection of the Emergency- Error Conditions of the Load
Stop Input 7-56 Default Settings Procedure
Drive Address 4-6 7-60
Transmission Rate 4-7 Error messages
DSS 2.1-Module during drive-controlled homing
7-86
Home switch 7-82
when reading and writing the
Probe 8-27 operating data 3-2
Travel Zone Limit Switch 7-42 when setting absolute
Dynamic synchronization in the dimension 7-30
electronic cam shaft Error Number 3-14
operating mode 6-22
Error Reaction
Dynamic synchronization in the
pattern control operating as torque disable 7-49
mode 6-25 Drive Error Reaction 3-5
Dynamic Synchronization in the NC Response in Error
Phase Synchronization Situation 7-54
Operating Mode 6-16 Power off 7-52
Dynamic synchronization in the SERCOS Interface Error 4-10
velocity synchronization
operating mode 6-14 to velocity command value
deceleration to zero 7-48
DZF Module
Velocity command value set to
Limiting Conditions 7-10 zero with filter + ramp
Setting the Encoder Interface (slope) 7-50
7-10 Errors
Error Classes 3-5
E E-Stop
Emergency Stop Activation and Polarity 7-56
Connection to the DSS 2.1 7- Connection to the DSS 2.1 7-
56 56
Emergency-Stop Exceeding the Travel Range
Activation and Polarity 7-56 Warning 7-42
Encoder Exceeding the Travel Range as
gearwheel with 1Vpp signals a Warning 7-42
7-11 Exceeding the Travel Range as
one pole pair an Error 7-41
resolver without feedback Expanded Oscilloscope
memory plus incremental Recording Function 8-14
External Encoder
Characteristics 7-20 Use during Homing 7-78

Encoder Interface 7-17 Homing
Limitations 7-12 Error Messages 7-86
Parameterization 7-16 Functional principle 7-70
Resolution 7-18 Home switch 7-78
External Encoder Resolution 7- Position Feedback Values 7-
18 75
Reference Offset 7-77
F
Feed Constant 7-7 I
Fiber optics IDN -> DEA-Output Assignment
connection to a SERCOS 8-10
interface 4-6 Incremental Interface
for write access 3-2 Parameterizing the Encoder 7-
Frictional Torque Compensation 10
7-68 Integral Action Time
Determing the Critical Integral
Action Time 7-62
G
Interface
Gear-Type Encoder
Start Up for the SERCOS
Parameterizing the Encoder 7- Interface 4-5
10
Interface Error
General Operating
Characteristics of Position SERCOS Interface Error 4-10
Control Loop Monitoring 7-
66
L
Generator Feature
LAF 1-2, 5-1
Position Command Value
Interpolator 6-5 Language Selection 7-93
Generator Function LAR 1-2, 5-1
Drive Internal Interpolation 6-8 lead drive feedback
Phase synchronization 6-16 analysis function principle 7-
32
Velocity synchronization 6-13
feedback interface 7-33
Generator function Velocity
control 6-2 Lead Drive Feedback
Resolution 7-33
Geschwindigkeitsbegrenzung
Limiting the Velocity
Zugehörige Parameter 8-32
of the command value in the
Geschwindigkeitsgrenzwert velocity controller 7-39
bipolar
Limiting to Bipolar Velocity Limit
Geschwindigkeitsbegrenzung Value 7-39
8-32
Limiting to Maximum Motor
Glass fiber LWL 4-8 Velocity 7-39
Gripping angle determination 6- Limiting Velocity
26
Bipolar Velocity Limit Value 7-
H 39
H1-Display 3-14 Maximum Motor Velocity 7-39
Home switch Monitoring 7-39
Connection to the DSS 2.1 7- Linear - Rotary Scaling 7-2
82 LSF 1-2, 5-1
M Motor Function Parameter 1 5-

13
Master Control Word
Motor Reference - Load
Structure 4-2 Reference 7-2
MBS 1-2, 5-1, 5-5 Motor Types
MBW 1-2 Characteristics of the Motors
MHD 5-1 5-1
Automatic Setting of the Motor Linear-Rotary 5-2
Type 5-4 Setting the Motor Type 5-4
Temperature Monitoring 5-3 Supported Motor Types 5-1
MKD Synchronous-Asynchronous
Automatic Setting of the Motor 5-3
Type 5-4
Temperature Monitoring 5-3 N
MKD/MKE 5-1
Non-Volatile Parameter Storage
MKE Registers 3-2
Motor feedback-data memory notch filter 6-3, 7-64
5-2
Number of Valid Probe Values
Modulo Feature 8-19
Command Value Processing
7-10
O
Modulo Processing-Limiting
Conditions 7-9 Operating Modes
Modulo Range Error 3-23 Determining the Active
Modulo Processing-Limiting Operating Mode 6-28
Conditions 7-9 Primary Operating Mode 6-1
Monitoring Secondary Operating Mode 1
Actual velocity in the 6-1
torque/force control 6-1 Secondary Operating Mode 2
Axis Limit Values 7-43 6-1
Position Command Values 6-7 Setting the Operating Mode
Parameters 6-1, 6-27
Position Feedback Value 7-18
Oscilloscope Feature
Position Loop 7-66
Activating the Feature 8-18
Monitoring the Distance
Between Home switch and defined recording signals 8-13
Homing Mark 7-80 Expanded Function 8-15
Monitoring the Thermal Load 7- Expanded Trigger Signals 8-
35 16
Motor Brake External Trigger and Internal
Switch to torque disable 7-49 Trigger Condition 8-18
with velocity command value Fixed Trigger Signals 8-16
set to zero 7-48 Functional Principle 8-13
Motor Encoder Status Messages 8-19
Characteristics 7-14 Trigger Delay 8-17
Encoder Interface 7-13 Trigger Edge 8-15
Parameterization 7-13 Triggering 8-15
Resolution 7-14 Oscilloscope Feature Trigger
Motor Encoder Resolution 7-14 Source 8-15
Motor feedback Oscilloscope feature with
defined recording signals
Saved parameters 5-2 8-13
Oscilloscope Feature With position switch

External Trigger and function principles 8-20
Internal Trigger Condition
8-18 lead time 8-22
Other Characteristics of the parameterizing 8-23
Lead Drive Feedback 7-33 parameters 8-20
Other External Encoder switch-off level 8-21
Characteristics 7-20 switch-on level 8-21
Other Motor Encoder Possible Error Messages when
Characteristics 7-14 Reading and Writing the
Overload Warning Operating Data 3-2
Parameterizing the Warning possible error messages when
Threshold 7-36 setting the absolute
dimension 7-30
P Power off
Power off on error 7-52
P-0-4045, Active (Duration)
Continuous Current 7-34 Preferred Scaling - Parameter
Scaling 7-2
Parameter Storage in Motor
Feedback 3-3 Preparations for Setting the
Position Control Loop 7-65
Parameters Stored in DSM
Programming Module 3-3 Preparations for Setting the
Velocity Controller 7-61
Parameters Stored in the Digital
Drive 3-2 Probe
Peak current Connection to the DSS 2.1 8-
27
Saving in the motor feedback
5-2 Main Function 8-25
Plastic fiber LWL 4-7 Probing Cycle Procedure
Command 8-26
Polarity
Signal Edge Selection 8-26
Actual Value Polarity 7-6
Signal Selection 8-27
Command Value Polarity 7-6
Probe Inputs
Position Command Value
Interpolator Associated Parameters 8-24
Associated Parameters 6-5 Processing Command Values in
Modulo Format, Shortest
Block diagram 6-5 Path - Direction Selection
Position Command Value 7-10
Monitoring 6-6, 6-7 Programmable Limit Switch
Position Control Lead Time 8-22
Associated Diagnostic Programming Module
Messages 6-5 Parameter Storage 3-3
Block diagram 6-5 Proportional Gain
Setting the Position Controller Determining the Critical
7-65 Proportional Gain 7-61
Position Controller
R
Block diagram 6-6
Rated current
Critical Position Controller
Gain 7-66 Saving in the motor feedback
5-2
Setting the Acceleration Feed
Forward 7-67 Read access 3-17
position feedback values Real-Time Control Bit 4-4
after switching on 7-31 Real-Time Status Bit 4-4
Referencing Start Up for the SERCOS

parametrization 7-71 Interface 4-5
reference marker 7-71 Servo Feedback
rejection filter 7-64 Parameterizing the Encoder 7-
10
Requirements for a Correct
Setting of the Acceleration Set Absolute Dimension
Feed Forward 7-68 Error Messages 7-30
Resolver Functional Principle 7-27, 7-28
Parameterizing the without drive enable 7-28
Measurement System 7-10 Set absolute dimension
Results of Writing 8-26 (measuring) during
ring structure 4-6 controller enable, then turn
off the controller enable 7-
Run the Load Default Settings 29
feature as a command 7-
60 Set absolute measuring without
controller enable 7-28
Set the actual feedback values
S according to the absolute
S-0-0012, Class 2 Diagnostics dimension 7-29
3-15 Setting absolute dimension
S-0-0127, C1 Communication with CE and subsequent
Phase 3 Transition Check homing 7-28
3-21 Setting Absolute Dimension
S-0-0128, C2 Communication Under Controller Enable
Phase 4 Transition Check and Subsequent 7-28
3-21 Setting Position Command
S-0-0182, Manufacturer Class 3 Value Monitoring 6-8
Diagnostics 3-17 Setting the Acceleration Feed
Scaling Forward 7-68
Linear - Rotary 7-2 Setting the Active Continuous
Motor Reference - Load Current 7-34
Reference 7-2 Setting the Active Peak Current
of the Acceleration Data 7-5 7-34
of the Position Data 7-2 Setting the Position Control
Loop Monitor 7-67
of the Velocity Data 7-4
Setting the Time Resolution and
Preferred Scaling - Parameter the Memory Depth 8-17
Scaling 7-2
Setting the Trigger Delays 8-17
Scaling Factor Pre-Magnetizing
5-12 Smoothing Time Constant
Selection of Trigger Edges 8-15 Determining the Smoothing
Time Constant 7-61
SERCOS Interface
Limiting the command value
Allocation of Real-Time for current control 6-3
Control Bit 4-4
SSI-Interface
Allocation of Real-Time Status
Bit 4-4 Parameterizing the Encoder 7-
10
connection of fiber optic
cables 4-6 Starting, interrupting and
completing the command
Drive Status Word 4-3 7-86
Master Control Word 4-2 Status Messages for the
Transmission Rate 4-7 Oscilloscope Feature 8-19
SERCOS-Interface Switch-on Position larger than
the switch-off Position 8-21
Switch-on position smaller than Transmission Ratio 7-7

the switch-off position 8-21 Travel Range Limits
synchron kit motor 5-1 Monitoring as a Warning 7-42
Synchronization status Parameterization 7-40
message during the
velocity synchronization Travel Zone Limit Switch
operating mode 6-14 Connection to the DSS 2.1 7-
Synchronization status 42
message for the phase Monitoring the allowable travel
synchronization operating range 7-40
mode 6-19 Travel Zone Limit Switch -
Connection 7-42
T Travel Zone Limit Switch
Monitoring 7-42
Tables 6-27
Travel Zone Limit Switches
Target Position Selection 6-26
Activation 7-43
Telegram Configuration
Polarity 7-43
SERCOS Telegram
Configuration 4-8 Travel Zone Limit Switches -
Activation and Polarity 7-43
Telegram Contents 4-9
Telegram Transmit and
Receive Times 4-8 V
Temperature Monitoring Velocity Command Value Home
of the motor temperature 5-3 switching
The Data Status 3-1 Drive Error Reaction 7-48
The generator function Velocity Command Value Reset
7-48
cam shaft 6-22
Velocity command value reset
The Pattern Control Generator with filter and slope 7-50
Feature 6-25
Velocity Command Value Set to
Thermal Load Zero
Checking the Drive Controller Time Elapsed 7-48
7-36
Velocity Control
Torque Disable
Block diagram 6-3
Parameterizing Drive Error
Reaction 7-49 Diagnostic Messsages 6-2
Torque/Force Control Limiting the Command Value
6-2
Velocity Controller 6-3, 6-4
Block diagram 6-1
Block diagram 6-3
Diagnostic Messsages 6-1
Settings 7-61
Limiting the Command Value
6-1 Velocity Limit of the Command
Value in the Velocity
Monitoring of the actual Controller 6-3
velocity 6-1
Velocity Mix Factor
Torque/Force Controller 6-1
Functional Principle 7-68
Torque/Force Limit
of the maximum allowed
torque 7-38 W
Transmission Warning Classes 3-6
Feed Constant 7-7 Warnings 3-6
Transmission Ratio 7-7 Exceeding the Travel Range
Transmission power 4-7 7-42
Warning Classes 3-6
DIAX04
Drive With Electric
Gear Function
Supplement A
Parameter Description
ELS 05VRS
DIAX04 Drive With Electric Gear Function About this Documentation
DIAX04 Drive With Electric Gear Function Contents I
Contents
1 General Information 1
Using This Manual ........................................................................................................................... 1
Definitions......................................................................................................................................... 1
2 Standard Parameters 3
S-0-0001, NC Cycle time (TNcyc).................................................................................................... 3
S-0-0002, SERCOS Cycle time (Tscyc)........................................................................................... 3
S-0-0003, Minimum AT transmit starting time (T1min) .................................................................... 4
S-0-0004, Transmit/receive transition time (TATMT)....................................................................... 4
S-0-0005, Minimum feedback acquisition time(T4min).................................................................... 4
S-0-0006, AT Transmission starting time (T1)................................................................................. 5
S-0-0007, Feedback acquisition starting time (T4) .......................................................................... 6
S-0-0008, Command valid time (T3)................................................................................................ 6
S-0-0009, Beginning address in master data telegram.................................................................... 7
S-0-0010, Length of master data telegram ...................................................................................... 7
S-0-0011, Class 1 diagnostics ......................................................................................................... 8
S-0-0012, Class 2 diagnostics ......................................................................................................... 9
S-0-0013, Class 3 diagnostics ....................................................................................................... 10
S-0-0014, Interface status.............................................................................................................. 11
S-0-0015, Telegram type parameter .............................................................................................. 12
S-0-0016, Custom amplifier telegram configuration list ................................................................. 13
S-0-0017, IDN-list of all operation data .......................................................................................... 13
S-0-0018, IDN-list of operation data for CP2 ................................................................................. 14
S-0-0019, IDN-list of operation data for CP3 ................................................................................. 14
S-0-0021, IDN-list of invalid op. data for comm. Ph. 2................................................................... 15
S-0-0022, IDN-list of invalid op. data for comm. Ph. 3................................................................... 15
S-0-0024, Config. list of the master data telegram ........................................................................ 16
S-0-0025, IDN-list of all procedure commands .............................................................................. 16
S-0-0026, Configuration list signal status word.............................................................................. 17
S-0-0028, MST error counter ......................................................................................................... 17
S-0-0029, MDT error counter ......................................................................................................... 18
S-0-0030, Manufacturer version..................................................................................................... 18
S-0-0032, Primary mode of operation ............................................................................................ 19
S-0-0033, Secondary operation mode 1 ........................................................................................ 20
S-0-0036, Velocity command value ............................................................................................... 23
S-0-0037, Additive velocity command value .................................................................................. 23
S-0-0040, Velocity feedback value................................................................................................. 24
II Contents DIAX04 Drive With Electric Gear Function
S-0-0041, Homing velocity ............................................................................................................. 24

S-0-0042, Homing acceleration...................................................................................................... 25
S-0-0043, Velocity polarity parameter ............................................................................................ 25
S-0-0044, Velocity data scaling type .............................................................................................. 26
S-0-0045, Velocity data scaling factor............................................................................................ 27
S-0-0046, Velocity data scaling exponent ...................................................................................... 27
S-0-0047, Position command value ............................................................................................... 28
S-0-0048, Position command value additional............................................................................... 28
S-0-0049, Positive position limit value............................................................................................ 28
S-0-0050, Negative position limit value .......................................................................................... 29
S-0-0051, Position feedback value 1 (motor feedback) ................................................................. 30
S-0-0052, Reference distance 1 .................................................................................................... 30
S-0-0053, Position feedback value 2 (ext. feedback) .................................................................... 31
S-0-0054, Reference distance 2 .................................................................................................... 31
S-0-0055, Position polarity parameter............................................................................................ 32
S-0-0057, Position window............................................................................................................. 33
S-0-0076, Position data scaling type.............................................................................................. 34
S-0-0077, Linear position data scaling factor................................................................................. 35
S-0-0078, Linear position data scaling exponent ........................................................................... 36
S-0-0079, Rotational position resolution ........................................................................................ 36
S-0-0080, Torque/force command ................................................................................................. 37
S-0-0084, Torque/force feedback value......................................................................................... 37
S-0-0085, Torque/force polarity parameter .................................................................................... 38
S-0-0086, Torque/force data scaling type ...................................................................................... 39
S-0-0088, Receive to receive recovery time (TMTSG) .................................................................. 39
S-0-0089, MDT Transmit starting time (T2) ................................................................................... 40
S-0-0090, Command value transmit time (TMTSG) ...................................................................... 40
S-0-0091, Bipolar velocity limit value ............................................................................................. 41
S-0-0092, Bipolar torque/force limit value ...................................................................................... 41
S-0-0093, Torque/force data scaling factor.................................................................................... 42
S-0-0094, Torque/force data scaling exponent .............................................................................. 42
S-0-0095, Diagnostic message ...................................................................................................... 43
S-0-0096, Slave arrangement (SLKN) ........................................................................................... 43
S-0-0097, Mask class 2 diagnostic ................................................................................................ 44
S-0-0098, Mask class 3 diagnostic ................................................................................................ 44
S-0-0099, C500 Reset class 1 diagnostic ...................................................................................... 45
S-0-0100, Velocity loop proportional gain ...................................................................................... 47
S-0-0101, Velocity loop integral action time ................................................................................... 47
S-0-0103, Modulo value ................................................................................................................. 48
S-0-0104, Position loop Kv-factor .................................................................................................. 48
S-0-0106, Current loop proportional gain 1 .................................................................................... 49
S-0-0107, Current loop integral action time 1 ................................................................................ 49
S-0-0108, Feedrate override .......................................................................................................... 50
S-0-0109, Motor peak current ........................................................................................................ 51
S-0-0110, Amplifier peak current ................................................................................................... 51
S-0-0111, Motor current at standstill .............................................................................................. 52
S-0-0112, Amplifier nominal current............................................................................................... 52
DIAX04 Drive With Electric Gear Function Contents III
S-0-0113, Maximum motor speed (nmax) ..................................................................................... 53

S-0-0115, Position feedback 2 type parameter.............................................................................. 53
S-0-0116, Resolution of motor feedback ....................................................................................... 54
S-0-0117, Resolution of external feedback .................................................................................... 54
S-0-0121, Input revolutions of load gear ........................................................................................ 55
S-0-0122, Output revolutions of load gear ..................................................................................... 55
S-0-0123, Feed constant................................................................................................................ 56
S-0-0124, Standstill window ........................................................................................................... 57
S-0-0125, Velocity threshold nx ..................................................................................................... 57
S-0-0127, C100 Communication phase 3 transition check............................................................ 57
S-0-0128, C200 Communication phase 4 transition check............................................................ 58
S-0-0130, Probe value 1 positive edge .......................................................................................... 59
S-0-0131, Probe value 1 negative edge......................................................................................... 59
S-0-0132, Probe value 2 positive edge .......................................................................................... 59
S-0-0133, Probe value 2 negative edge......................................................................................... 60
S-0-0134, Master control word....................................................................................................... 60
S-0-0135, Drive status word........................................................................................................... 61
S-0-0138, Bipolar acceleration limit value ...................................................................................... 61
S-0-0139, D700 Command Parking axis ....................................................................................... 62
S-0-0140, Controller type ............................................................................................................... 63
S-0-0141, Motor type...................................................................................................................... 63
S-0-0142, Application type ............................................................................................................. 64
S-0-0143, System interface version ............................................................................................... 64
S-0-0144, Signal status word ......................................................................................................... 65
S-0-0147, Homing parameter......................................................................................................... 65
S-0-0148, C600 Drive controlled homing procedure command..................................................... 66
S-0-0150, Reference offset 1 ......................................................................................................... 67
S-0-0151, Reference offset 2 ......................................................................................................... 67
S-0-0157, Velocity window ............................................................................................................. 68
S-0-0159, Monitoring window......................................................................................................... 68
S-0-0160, Acceleration data scaling type....................................................................................... 69
S-0-0161, Acceleration data scaling factor .................................................................................... 70
S-0-0162, Acceleration data scaling exponent............................................................................... 70
S-0-0165, Distance coded reference offset 1 ................................................................................ 71
S-0-0166, Distance coded reference offset 2 ................................................................................ 71
S-0-0169, Probe control parameter................................................................................................ 71
S-0-0170, Probing cycle procedure command............................................................................... 72
S-0-0173, Marker position A .......................................................................................................... 73
S-0-0177, Absolute distance 1 ....................................................................................................... 74
S-0-0178, Absolute distance 2 ....................................................................................................... 74
S-0-0182, Manufacturer class 3 diagnostics .................................................................................. 75
S-0-0183, Velocity synchronization window ................................................................................... 76
S-0-0185, Length of the configurable data record in the AT .......................................................... 77
S-0-0186, Length of the configurable data record in the MDT ....................................................... 77
S-0-0187, List of configurable data in the AT................................................................................. 78
S-0-0188, List of configurable data in the MDT.............................................................................. 78
S-0-0189, Following error............................................................................................................... 79
IV Contents DIAX04 Drive With Electric Gear Function
S-0-0191, D600 Cancel reference point procedure command ...................................................... 80

S-0-0192, IDN-list of backup operation data .................................................................................. 80
S-0-0193, Positioning Jerk ............................................................................................................. 81
S-0-0201, Motor warning temperature ........................................................................................... 81
S-0-0204, Motor shutdown temperature ........................................................................................ 82
S-0-0228, Position synchronization window ................................................................................... 82
S-0-0236, Master drive 1 revs........................................................................................................ 83
S-0-0237, Slave drive 1 revs. ......................................................................................................... 84
S-0-0256, Multiplication 1............................................................................................................... 84
S-0-0257, Multiplication 2............................................................................................................... 85
S-0-0258, Target position............................................................................................................... 85
S-0-0259, Positioning Velocity ....................................................................................................... 86
S-0-0260, Positioning Acceleration ................................................................................................ 86
S-0-0262, C700 Command basic load ........................................................................................... 86
S-0-0265, Language selection ....................................................................................................... 87
S-0-0267, Password....................................................................................................................... 88
S-0-0269, Parameter buffer mode ................................................................................................. 88
S-0-0277, Position feedback 1 type parameter.............................................................................. 89
S-0-0278, Maximum travel range................................................................................................... 90
S-0-0282, Travel distance .............................................................................................................. 91
S-0-0292, List of all operation modes ............................................................................................ 91
S-0-0298, Reference cam shift by.................................................................................................. 92
S-0-0299, Home switch offset ........................................................................................................ 92
S-0-0301, Allocation of real-time control Bit 1................................................................................ 93
S-0-0303, Allocation of real-time control Bit 2................................................................................ 94
S-0-0305, Allocation of real-time status Bit 1 ................................................................................. 94
S-0-0307, Allocation of real-time status Bit 2 ................................................................................. 95
S-0-0328, Config. list signal status word, bit number..................................................................... 95
S-0-0346, Setup flag for relative command values ........................................................................ 96
S-0-0347, Speed deviation............................................................................................................. 96
S-0-0348, Acceleration feedforward prop. gain.............................................................................. 97
S-0-0349, Jerk limit bipolar ............................................................................................................ 98
S-0-0382, Intermediate power........................................................................................................ 98
S-0-0383, Motor temperature......................................................................................................... 98
S-0-0390, Diagnostic message number......................................................................................... 99
S-0-0391, Monitoring window ext. feedback .................................................................................. 99
S-0-0393, Command value mode for modulo format................................................................... 100
S-0-0400, Home switch................................................................................................................ 101
S-0-0401, Probe 1 ........................................................................................................................ 101
S-0-0402, Probe 2 ........................................................................................................................ 102
S-0-0403, Position feedback value status.................................................................................... 103
S-0-0405, Probe 1 enable ............................................................................................................ 103
S-0-0406, Probe 2 enable ............................................................................................................ 104
S-0-0409, Probe 1 positive latched .............................................................................................. 105
S-0-0410, Probe 1 negative latched............................................................................................. 105
S-0-0411, Probe 2 positive latched .............................................................................................. 106
S-0-0412, Probe 2 negative latched............................................................................................. 107
DIAX04 Drive With Electric Gear Function Contents V
S-7-0109, Motor peak current ...................................................................................................... 108

S-7-0111, Motor current at standstill ............................................................................................ 108
S-7-0113, Maximum motor speed (nmax) ................................................................................... 109
S-7-0116, Resolution of motor feedback ..................................................................................... 109
S-7-0141, Motor type.................................................................................................................... 109
3 Product-specific parameters 111

P-0-0004, Velocity loop smoothing time constant ........................................................................ 111
P-0-0008, Activation E-Stop function ........................................................................................... 111
P-0-0009, Error message number ............................................................................................... 112
P-0-0010, Excessive position command value ............................................................................ 113
P-0-0011, Last valid position command value ............................................................................. 113
P-0-0012, C300 Command 'Set absolute measurement'............................................................. 114
P-0-0014, D500 Command determine marker position ............................................................... 115
P-0-0015, Memory address.......................................................................................................... 115
P-0-0016, Content of memory address ........................................................................................ 116
P-0-0018, Number of pole pairs/pole pair distance...................................................................... 116
P-0-0019, Position start value ...................................................................................................... 116
P-0-0021, List of scope data 1 ..................................................................................................... 117
P-0-0022, List of scope data 2 ..................................................................................................... 117
P-0-0023, Signal select scope channel 1..................................................................................... 118
P-0-0024, Signal select scope channel 2..................................................................................... 119
P-0-0025, Trigger source ............................................................................................................. 120
P-0-0026, Trigger signal selection ............................................................................................... 120
P-0-0027, Triggerlevel for position data ....................................................................................... 121
P-0-0028, Triggerlevel for velocity data........................................................................................ 121
P-0-0029, Triggerlevel for torque/force data ................................................................................ 122
P-0-0030, Trigger edge ................................................................................................................ 122
P-0-0031, Timebase..................................................................................................................... 123
P-0-0032, Size of memory ........................................................................................................... 123
P-0-0033, Number of samples after trigger.................................................................................. 125
P-0-0034, Position command additional actual value .................................................................. 126
P-0-0035, Delay from trigger to start............................................................................................ 126
P-0-0036, Trigger control word .................................................................................................... 127
P-0-0037, Trigger status word...................................................................................................... 128
P-0-0049, Target position pattern ctrl profile................................................................................ 128
P-0-0051, Torque/force constant ................................................................................................. 129
P-0-0052, Position feedback value 3 ........................................................................................... 129
P-0-0053, Master drive position ................................................................................................... 130
P-0-0059, SSI-Emulator resolution .............................................................................................. 130
P-0-0060, Filter time constant additional pos. command............................................................. 131
P-0-0061, Angle offset begin of profile......................................................................................... 131
P-0-0062, Pattern ctrl profile 2A................................................................................................... 132
P-0-0063, Pattern ctrl profile 2A, switch angle 1 .......................................................................... 132
P-0-0064, Pattern ctrl profile 2B................................................................................................... 133
P-0-0065, Pattern ctrl profile 2B, switch angle 1 .......................................................................... 133
P-0-0066, Pattern ctrl profile 3A................................................................................................... 134
VI Contents DIAX04 Drive With Electric Gear Function

P-0-0069, Pattern ctrl profile 3B................................................................................................... 135
P-0-0072, Cam shaft profile 1 ...................................................................................................... 136
P-0-0074, Interface feedback 1.................................................................................................... 137
P-0-0075, Interface feedback 2, external..................................................................................... 137
P-0-0079, Info destination position............................................................................................... 138
P-0-0081, Parallel I/O output 1..................................................................................................... 139
P-0-0082, Parallel I/O input 1 ....................................................................................................... 140
P-0-0083, Gear ratio fine adjust ................................................................................................... 140
P-0-0085, Dynamical phase offset ............................................................................................... 140
P-0-0087, Offset position feedback value 3 ................................................................................. 141
P-0-0088, Cam shaft control ........................................................................................................ 142
P-0-0089, Cam shaft status ......................................................................................................... 142
P-0-0090, Travel limit parameter.................................................................................................. 143
P-0-0092, Cam shaft profile 2 ...................................................................................................... 144
P-0-0093, Cam shaft distance...................................................................................................... 144
P-0-0094, Cam shaft switch angle ............................................................................................... 144
P-0-0096, Distance to move in error situation.............................................................................. 145
P-0-0097, Absolute encoder monitoring window.......................................................................... 146
P-0-0098, Max. model deviation .................................................................................................. 146
P-0-0099, Position command smoothing time constant............................................................... 147
P-0-0108, Master drive polarity .................................................................................................... 147
P-0-0109, Torque/force peak limit................................................................................................ 147
P-0-0117, NC reaction on error.................................................................................................... 149
P-0-0118, Power off on error........................................................................................................ 150
P-0-0119, Best possible deceleration .......................................................................................... 152
P-0-0121, Velocity mixfactor Feedback 1 & 2 .............................................................................. 153
P-0-0123, Absolute encoder buffer .............................................................................................. 153
P-0-0124, Assignment IDN -> DEA-output .................................................................................. 154
P-0-0125, Assignment DEA-input -> IDN..................................................................................... 154
P-0-0126, Maximum braking time ................................................................................................ 155
P-0-0127, Overload warning ........................................................................................................ 156
P-0-0131, Signal select position switch........................................................................................ 157
P-0-0132, Switch on threshold position switch............................................................................. 157
P-0-0133, Switch off threshold position switch............................................................................. 158
P-0-0134, Position switch lead times ........................................................................................... 158
P-0-0135, Status position switch .................................................................................................. 159
P-0-0139, Analog output 1 ........................................................................................................... 159
P-0-0140, Analog output 2 ........................................................................................................... 160
P-0-0141, Thermal drive load....................................................................................................... 160
DIAX04 Drive With Electric Gear Function Contents VII
P-0-0142, Synchronization acceleration....................................................................................... 161

P-0-0143, Synchronization velocity .............................................................................................. 161
P-0-0144, Cam shaft distance switch angle................................................................................. 162
P-0-0145, Expanded trigger level................................................................................................. 162
P-0-0146, Expanded trigger address ........................................................................................... 163
P-0-0147, Expanded signal K1 address....................................................................................... 164
P-0-0148, Expanded signal K2 address....................................................................................... 164
P-0-0149, List of selectable signals for oscilloscope function...................................................... 164
P-0-0150, Number of valid samples for oscilloscope function ..................................................... 165
P-0-0151, Synchronization init window for modulo format ........................................................... 166
P-0-0153, Optimal distance home switch - reference mark......................................................... 166
P-0-0154, Synchronization direction ............................................................................................ 167
P-0-0155, Synchronization mode ................................................................................................. 168
P-0-0156, Master drive gear input revolutions ............................................................................. 169
P-0-0157, Master drive gear output revolutions ........................................................................... 169
P-0-0158, Phase offset velocity.................................................................................................... 171
P-0-0159, Slave drive feed travel ................................................................................................. 171
P-0-0180, Rejection frequency velocity loop ................................................................................ 174
P-0-0181, Rejection bandwidth velocity loop ............................................................................... 175
P-0-0185, Function of ext. encoder.............................................................................................. 175
P-0-0190, Operating hours control section .................................................................................. 176
P-0-0191, Operating hours power section ................................................................................... 177
P-0-0192, Error recorder, diagnosis number ............................................................................... 177
P-0-0193, Error recorder, operating hours control section........................................................... 178
P-0-0200, Signal select probe 1 ................................................................................................... 178
P-0-0201, Signal select probe 2 ................................................................................................... 179
P-0-0202, Difference probe values 1 ........................................................................................... 179
P-0-0203, Difference probe values 2 ........................................................................................... 180
P-0-0204, Start position for active probe...................................................................................... 180
P-0-0205, End position for active probe....................................................................................... 181
P-0-0210, Analog input 1.............................................................................................................. 181
P-0-0211, Analog input 2.............................................................................................................. 182
P-0-0212, Analog inputs, IDN list of assignable parameters........................................................ 182
P-0-0213, Analog input 1, assignment ......................................................................................... 183
P-0-0214, Analog input 1, scaling per 10V full scale.................................................................... 183
P-0-0215, Analog input 2, assignment ......................................................................................... 184
P-0-0216, Analog input 2, scaling per 10V full scale.................................................................... 184
P-0-0217, Analog input 1, offset................................................................................................... 185
P-0-0218, Analog input 2, offset................................................................................................... 185
P-0-0220 D800 Command Measuring Wheel Operation ............................................................ 186
P-0-0221, Actual position filter time const. for measuring wheel mode ....................................... 186
VIII Contents DIAX04 Drive With Electric Gear Function
P-0-0420, Analog output 1 signal selection.................................................................................. 187

P-0-0421, Analog output 1, expanded signal selection ................................................................ 187
P-0-0422, Analog output 1, scaling per 10V full scale ................................................................. 189
P-0-0423, Analog output 2, signal selection................................................................................. 190
P-0-0424, Analog output 2, expanded signal selection ................................................................ 190
P-0-0425, Analog output 2, scaling per 10V full scale ................................................................. 192
P-0-0426, Analog outputs, IDN list of assignable parameters ..................................................... 193
P-0-0502, Encoder emulation, resolution..................................................................................... 193
P-0-0503, Marker pulse offset...................................................................................................... 195
P-0-0505, Signal selection incremental encoder.......................................................................... 195
P-0-0508, Commutation offset ..................................................................................................... 197
P-0-0509, Slot angle..................................................................................................................... 197
P-0-0510, Moment of inertia of the rotor ...................................................................................... 198
P-0-0511, Brake current............................................................................................................... 198
P-0-0518, Amplifier nominal current 2.......................................................................................... 198
P-0-0519, Amplifier peak current 2 .............................................................................................. 199
P-0-0523, Commutation, probe value .......................................................................................... 199
P-0-0524, Commutation command .............................................................................................. 200
P-0-0525, Type of motor brake .................................................................................................... 200
P-0-0526, Brake control delay...................................................................................................... 201
P-0-0530, Slip increase ................................................................................................................ 201
P-0-0531, Stall current limit.......................................................................................................... 202
P-0-0532, Premagnetization factor .............................................................................................. 202
P-0-0533, Flux loop prop. gain ..................................................................................................... 203
P-0-0534, Flux loop integral action time....................................................................................... 203
P-0-0535, Motor voltage at no load .............................................................................................. 203
P-0-0536, Motor voltage max....................................................................................................... 204
P-0-0537, S1-Kink-speed............................................................................................................. 204
P-0-0538, Motor function parameter 1 ......................................................................................... 205
P-0-1201, Ramp 1 pitch ............................................................................................................... 205
P-0-1222, Velocity command filter ............................................................................................... 206
P-0-4000, Current-zero-trim phase U........................................................................................... 206
P-0-4001, Current-zero-trim phase V........................................................................................... 207
P-0-4002, Current-amplify-trim phase U ...................................................................................... 207
P-0-4003, Current-amplify-trim phase V ...................................................................................... 208
P-0-4004, Magnetizing current ..................................................................................................... 208
P-0-4011, Switching frequency .................................................................................................... 208
P-0-4012, Slip factor .................................................................................................................... 209
P-0-4014, Motor type.................................................................................................................... 209
P-0-4015, Intermediate voltage.................................................................................................... 210
P-0-4021, Baud rate RS-232/485................................................................................................. 210
P-0-4022, Drive address .............................................................................................................. 211
P-0-4023, C400 Communication phase 2 transition .................................................................... 211
P-0-4035, Trim-current................................................................................................................. 212
P-0-4036, Contacted motor type .................................................................................................. 212
P-0-4045, Active permanent current ............................................................................................ 213
P-0-4046, Active peak current...................................................................................................... 213
DIAX04 Drive With Electric Gear Function Contents IX
P-0-4094, C800 Command Base-parameter load ....................................................................... 214

P-7-0018, Number of pole pairs/pole pair distance...................................................................... 214
P-7-0051, Torque/force constant ................................................................................................. 214
P-7-0508, Commutation offset ..................................................................................................... 215
P-7-0509, Slot angle..................................................................................................................... 215
P-7-0510, Moment of inertia of the rotor ...................................................................................... 216
P-7-0511, Brake current............................................................................................................... 216
P-7-0512, Default value for Kv-factor of position control.............................................................. 216
P-7-0513, Feedback type ............................................................................................................. 218
P-7-0514, Absolute encoder offset............................................................................................... 218
P-7-4028, Impulse wire feedback - offset .................................................................................... 219
P-7-4029, Impulse wire feedback - PIC counter value................................................................. 219
P-7-4037, Velocity loop prop. gain, default .................................................................................. 219
P-7-4038, Velocity loop integral action time, default .................................................................... 221
P-7-4039, Current loop prop. gain, default................................................................................... 221
P-7-4042, Speed control smoothing time, default ........................................................................ 222
P-7-4047, Motor inductance......................................................................................................... 222
P-7-4049, Current loop integral action time, default..................................................................... 222
4 Index 4-1
X Contents DIAX04 Drive With Electric Gear Function
Notes
DIAX04 Drive With Electric Gear Function Supplement A: Parameter Description 1
1 General Information
Using This Manual
All standard and product specific parameters are listed in this chapter in
a numerically ascending order.
This chapter supplements the feature description and represents a
complete description of all parameters used in the DIAX04 software.
The description of the individual parameters is divided into two
subsections.
1) General description
This section contains the feature or meaning of the parameter and tips
for setting parameters.
2) Description of attributes
The characteristic values or features listed here help to classify the
parameter. They are necessary for a complete description of the
parameter. However, they are not required to get a general idea of the
meaning of the parameter.
Definitions
The following abbreviations are used:
Data length:
2-byte - the data length for the operating data is 2 bytes.
4-byte - the data length for the operating data is 4 bytes.
1-byte variable - this is a piece of operating data of variable length (list).
The length of a data unit is 1 byte.
The length of a data unit is 2 bytes.
The length of a data unit is 4 bytes.
Format:
BIN - the display format for the operating data should be binary.
HEX - the display format for the operating data should be hexadecimal.
DEC_OV - The display format for the operating data should be decimal
without a sign.
DEC_MV - The display format for the operating data should be decimal
with a sign.
ASCII - the operating data is an ASCII string.
IDN - the operating data is an ID number (IDN).
Editability:
No - the operating data cannot be edited.
P2 - The operating data can only be edited in communications phase 2.
P23 - The operating data can only be edited in communications phases 2
and 3.
P234 - The operating data can be edited in any communications phase.
2 Supplement A: Parameter Description DIAX04 Drive With Electric Gear Function
Memory:
fixed - the operating data is programmed in the drive (fixed value).
no - The operating data is not buffered in the drive; the value is
undefined after the drive controller is switched on.
Param. EE - The operating data is buffered in E²prom of the
programming module (DSM).
Ampl. EE - The operating data is buffered in E²prom of the drive
controller.
Feedb. EE - The operating data is buffered in the E²prom of the motor
feedback data memory (only in MHD- and MKD motors).
Validity check:
no - the operating data is not checked for validity.
Phase2 - the operating data is checked in the "Communications phase 3
transition check" command.
Phase3 - the operating data is checked in the "Communications phase 4
transition check" command.
Extreme value check:

no - the operating data is not checked for its extreme values when it is
written to.
yes - the operating data is checked for its extreme values when it is
written to.
Combination check:
no - the operating data is not checked (bitwise) for a valid combination
with other parameter values when it is written to.
yes - The operating data is checked (bitwise) for a valid combination with
other parameter values when it is written to.
Cyc. transmittable:
no - The operating data cannot be configured as cyclical data in the
master data telegram or in the drive telegram.
AT - The operating data can be configured as cyclical data in the drive
telegram.
MDT - The operating data can be configured as cyclical data in the
master data telegram.
Default Value:
The default value indicates the value of the parameter loaded into fixed
memory with the current version of firmware installed on the drive
following the PL program load command and prior to user edits or
loading saved parameter files.
2 Standard Parameters
S-0-0001, NC Cycle time (TNcyc)
The NC cycle time indicates the time intervals between new command
values being made available by the NC. The NC cycle time must be
transmitted in communications phase 2 from the master to the slave;
from communications phase 3 on it must be considered in the slave. The
NC cycle time must be an integral multiple of S-0-0002, SERCOS Cycle
time (Tscyc).
TNcyc = TScyc • j, where j = 1,2,3...
See also the functional description: "Position Command Value Monitoring"
S-0-0001 - Attributes
Para. Name: DE NC-Zykluszeit (TNcyc)
EN NC Cycle time (TNcyc)
FR Durée de cycle de la commande numérique (TNcyc)
ES Tiempo de ciclo NC (TNcyc)
IT Tempo Ciclo NC (TNcyc)
Function: Parameter Editability: P2
Data length: 2Byte Memory: Param. EE
Format: DEC_OV Validity check: Phase2
Unit: us Extrem value check: yes
Decimal places: 0 Combination check: no
Input min/max: 500 / 65000
Default value: 2000 Cyc. transmittable: no
S-0-0002, SERCOS Cycle time (Tscyc)

The interface cycle time indicates the time intervals for cyclical data
transfer. The interface cycle times are set to 500µs, 1ms, 2ms, ... to
65ms in increments of 1ms. The SERCOS cycle time must be
transmitted from master to slave in communications phase 2; and from
communications phase 3 on it must be activated in both.
See also the functional description: "Configuration of the Telegram Send
and Receive Times"
Para. Name: DE SERCOS-Zykluszeit (TScyc)
EN SERCOS Cycle time (Tscyc)
FR Durée de cycle de transmission SERCOS (TScyc)
ES Tiempo de ciclo SERCOS (TScyc)
IT Tempo Ciclo SERCOS (TScyc)
S-0-0003, Minimum AT transmit starting time (T1min)

The slave uses this parameter value to indicate the minimum time
requirement between the end of the received master synchronization
telegram and the transmission of the drive telegram.
The time T1min is read in communications phase 2 by the master to
calculate the time to send the drive telegram T1 S-0-0006, AT
Transmission starting time (T1).
and Receive Times"
Para. Name: DE Sende-Reaktionszeit AT (T1min)
EN Minimum AT transmit starting time (T1min)
FR Temps de réaction à l'émission AT (T1min)
ES Tiempo de reaccion de emision AT (T1min)
IT Tempo di Partenza Trasmissione mini. AT (T1min)
Function: Parameter Editability: no
Data length: 2Byte Memory: no
Format: DEC_OV Validity check: no
Unit: us Extrem value check: no
Input min/max: --- / ---
S-0-0004, Transmit/receive transition time (TATMT)

This parameter indicates the time required for the slave to switch to
reception of the master data telegram after sending the drive telegram.
The transmission/reception transition time is read in communications
phase 2 by the master to calculate the time to send the master data
telegram T2 S-0-0089, MDT Transmit starting time (T2).
and Receive Times"
Para. Name: DE Umschaltzeit Senden-Empfangen (TATMT)
EN Transmit/receive transition time (TATMT)
FR Temps de transition entre transmission et réception (TATMT)
ES Tiempo de conmutacion emision-recepcion (TATMT)
IT Tempo di Transizione Trasmis./Ricez. (TATMT)
Default value: --- Cyc. transmittable: no
S-0-0005, Minimum feedback acquisition time(T4min)

This is the minimum time requirement between feedback-value
acquisition and the end of the master synchronization telegram. This
value is indicated by the drive in such a manner that the current feedback
values can be transmitted to the NC in the next drive telegram.
The master reads this value in communications phase 2 to set the
acquisition starting time of the feedback values T4 S-0-0007, Feedback
acquisition starting time (T4) for all drives.
and Receive Times"
Para. Name: DE Mindestzeit Istwerterfassung(T4min)
EN Minimum feedback acquisition time(T4min)
FR Temps mini. d'acquisition des données retour (T4min)
ES Tiempo minimo registro de valor real(T4min)
IT Tempo di Acquisizione Feedback Minimo (T4min)
S-0-0006, AT Transmission starting time (T1)

The transmission starting time determines when the slave must send its
drive telegram in communications phases 3 and 4, after the end of the
master synchronization telegram.
This parameter is transmitted from the master to the slave in
communications phase 2 and is active from communications phase 3 on.
The transmission time drive telegram must be set equal to or greater
than the transmission reaction time S-0-0003, Minimum AT transmit
starting time (T1min).
The following must apply:
T1min ≤ T1
and Receive Times"
Para. Name: DE Sendezeitpunkt Antriebs-Telegramm (T1)
EN AT Transmission starting time (T1)
FR Temps de départ de transmission de l'AT (T1)
ES Punto temporal de emision telegrama de accionamiento (T1)
IT Tempo di Partenza Trasmissione AT (T1)
S-0-0007, Feedback acquisition starting time (T4)

This is the feedback acquisition starting time set by the master after the
end of the master synchronization telegram. Thus, the master can set the
same feedback acquisition starting time for all drives that work together.
This guarantees synchronized feedback-value acquisition among the
affected drives. Also, the cyclically transferred command values are
processed at time T4.
The master must set the feedback acquisition starting time equal to or
less than the difference between the S-0-0002, SERCOS Cycle time
(Tscyc) and the polled S-0-0005, Minimum feedback acquisition time
(T4min).
The following must apply:
T4 ≤ TScyc - T4min
and Receive Times"
Para. Name: DE Messzeitpunkt Istwerte (T4)
EN Feedback acquisition starting time (T4)
FR Temps de départ d'acquisition des données retour (T4)
ES Punto temporal de medicion valores reales (T4)
IT Tempo di Part. Acquisizione Feedback (T4)
S-0-0008, Command valid time (T3)

The "command valid time" indicates the time after which the drive may
access new command values.
Thus, the master can set the same "command valid time" for all drives
that work together. The drive activates the "command valid time"
beginning with communications phase 3.

and Receive Times"
Para. Name: DE Zeitpunkt für Sollwert gültig (T3)
EN Command valid time (T3)
FR Temps pour consigne valide (T3)
ES Punto temporal para valor nominal valido (T3)
IT Tempo di Comando Valido (T3)

S-0-0009, Beginning address in master data telegram

This parameter displays the start address of a drive's data record in the
Master Data Telegram, expressed as a byte position. It begins with 1 for
the first data byte after the address field in the MDT.
The start address of the drive's data record in the MDT is transmitted to
each drive by the master in communications phase 2. The address is
activated beginning with communications phase 3.
and Receive Times"
Para. Name: DE Anfangsadresse im Master-Daten-Telegramm
EN Beginning address in master data telegram
FR Adresse de départ dans le MDT
ES Direccion inicial en telegrama de datos maestro
IT Indirizzo iniziale del Telegramma Dati Master
Unit: -- Extrem value check: yes
S-0-0010, Length of master data telegram

The length in bytes of the Master Data Telegram contains the data
records of all the drives. The MDT length is transmitted by the master to
all drives in communications phase 2. It is activated by the master and
slave beginning with communications phase 3.
and Receive Times"
Para. Name: DE Länge Master-Daten-Telegramm
EN Length of master data telegram
FR Longueur du MDT
ES Longitud telegrama de datos maestro
IT Lunghezza del Telegramma Dati Master
S-0-0011, Class 1 diagnostics

Function: Drive lock.
A Class 1 diagnostic error situation discovered by the drive leads to:
1. The drive's error response, as described in the functional
description under "Error".
2. Setting the static error bits to 1 for Class 1 diagnostic in the drive
status. The error bit will not be set back to 0 by the drive until no
Class 1 diagnostic error remains and command S-0-0099, C500
Reset class 1 diagnostic has been received by the drive via the
service channel.
Parameter structure:
Bit 1: Amplifier over-temperature

shutdown
Bit 2:: Motor over-temperature shutdown
(see also S-0-0204)
Bit 4: Control voltage error
Bit 5 : Feedback error
Bit 9 : Under-voltage error
Bit 11: Excessive control deviation
Bit 12 : Communication error
Bit 13 : Position limit has been exceeded
Note: Only the bits indicated here are supported by the software.
See also the functional description: "S-0-0011, Class 1 Diagnostics"
Para. Name: DE Zustandsklasse 1
EN Class 1 diagnostics
FR Diagnostic de classe 1 (C1D)
ES Diagnosticos clase 1
IT Diagnostica Classe 1
Format: BIN Validity check: no
Unit: -- Extrem value check: no

Function: Shutdown warning.
When a warning appears or disappears in Class 2 diagnostics, the
change bit in the drive status word will be set to 1. When Class 2
diagnostics are read over the service channel, the change bit is reset to 0.
Bit 0 : Overload warning

Bit 1 : Amplifier over-temperature warning
Bit 2 : Motor over-temperature warning
Bit 3 : Cooling error warning
Bit 4 : reserved
Bit 5 : Positioning velocity > nlimit
Bit 6: reserved
Bit 7: reserved
Bit 8: reserved
Bit 9 : reserved
Bit 10: reserved
Bit 11: reserved
Bit 12 : reserved
Bit 13 : Target position outside of position limits
Bit 14 : reserved
Bit 15 : Manufacturer warning

Function: Operating status messages.
When a message appears or disappears in Class 3 diagnostics, the
change bit for Class 3 diagnostic in the drive status word will be set to 1.
When Class 3 diagnostics are read via the service channel, the change
bit is reset to 0.
Bit 0 : velocity feedback value=

velocity command value
|S-0-0040-S-0-0036| <= |S-0-0036|+S-0-0157
Bit 1: |Feedback velocity| < Standstill
window (S-0-0124)
Bit 2 : | velocity feedback value | <
velosity threshold |S-0-0040| < S-0-0125
Bit 4: |Md| ≥ |MdLIMIT (S-0-0092) |
Bit 6: In position
|Following error (S-0-0189)|<
Position window (S-0-0057)
Bit 12: Target position reached

Internal position command value = target position
(S-0-0258)
Fig. 2-3: S-0-0013, Class 3 Diagnostics
S-0-0014, Interface status

This parameter indicates in the bits 3-15 whether a communication error
occurred.
Note that: All bits 3 .. 15 = 0 ⇒ no error
One bit in 3 .. 15 = 1 ⇒ error pending
If a communications error occurs, then bit 12 will be set in the Class 1

diagnostic parameter (S-0-0011). The drive will not reset the
communication error to 0 until no interface error remains and command
S-0-0099, C500 Reset class 1 diagnostic has been received via the
service channel.
The current communications phase can be examined through the first
three bits (0, 1, 2).
Bits 0-2: Communication phase
Bit 3 : Double MST failure

Bit 4 : Double MDT failure
Bit 5 : Invalid phase (phase > 4)
Bit 6: Error while switching to higher phase
(order)
Bit 7: Error while switching to lower phase
(not to phase 0)
Bit 8: Phase switching without ready message
Bit 9 : reserved
Bit 10: reserved

Bit 11: reserved
Bit 12 : reserved
Bit 13 : reserved
Bit 14 : reserved
Bit 15 : reserved
Fig. 2-4: S-0-0014, Interface status
See also the functional description: "Diagnostic of the interface Status"
Para. Name: DE Schnittstellen-Status
EN Interface status
FR Etat d'interface
ES Estado de interfaces
IT Stato Interfaccia

S-0-0015, Telegram type parameter

In this parameter, you can choose between priority telegrams and the
configured telegram.
The telegram type that is selected will be activated in the master and
slave only from communications phase 3 on.
Bit 0 - 2: Priority-telegram-selection,
resp. configured telegram
selection
Bit 3 0 : Position-feedback 1
(Motor feedback)
1 : Position-feedback-2
(external)
Fig. 2-5: S-0-0015, Telegram type parameter
Telegrams:
Bit
0-2: MDT: AT:
0 PT 0 No cyclical data No cyclical data
1 PT 1 DF1: S-0-0080 Torque command No cyclical data
2 PT 2 DF1: S-0-0036, Velocity command value DF1: S-0-0040 Velocity feedback value
3 PT 3 DF1: S-0-0036, Velocity command value DF1: S-0-0051/S-0-0053 Position feedback
value 1
4 PT 4 DF1: S-0-0047, Position command value DF1: S-0-0051/S-0-0053 Position feedback
value 1
5 PT 5 DF1: S-0-0047, Position command value DF1: S-0-0051/S-0-0053 Position feedback
DF2: S-0-0036, Velocity command value value 1
DF2: S-0-0040 Velocity feedback value
6 PT 6 DF1: S-0-0036, Velocity command value No cyclical data
7 Configurable telegram
Fig. 2-6: Supported bits
where PT : Priority telegram

DF1/2: Data field 1/2
See also the functional description: "Configuration of Telegram Contents"
Para. Name: DE Telegrammarten-Parameter
EN Telegram type parameter
FR Paramètre de type de télégramme
ES Parametros de tipo de telegrama
IT Parametri Tipo Telegramma
Format: BIN Validity check: Phase2
S-0-0016, Custom amplifier telegram configuration list

If a configured telegram is set in S-0-0015, Telegram type parameter,
then this list will be used for application-specific configuration of the data
record in the AT.
The list can contain only operating data that are listed in the parameter S-
0-0187, List of configurable data in the AT.
Para. Name: DE Konfig.-Liste Antriebs-Telegramm
EN Custom amplifier telegram configuration list
FR Liste de configuration d'AT
ES Telegrama de accionamiento lista de conf.
IT Configurazione personalizzata Telegramma
Data length: 2Byte variabel Memory: Param. EE
Format: IDN Validity check: Phase2
S-0-0017, IDN-list of all operation data

The ID numbers for all parameters with operation data available in the
drive are accessible in this IDN list.
See also the functional description: "Parameter"
Para. Name: DE IDN-Liste aller Betriebsdaten
EN IDN-list of all operation data
FR Liste des IDN de toutes les données d'exploitation
ES Lista IDN de todos los tipos de servicio
IT IDN Lista di tutti i Dati operativi

Data length: 2Byte variabel Memory: no
Format: IDN Validity check: no
S-0-0018, IDN-list of operation data for CP2

The data of the IDN-list contains the ident-numbers of all parameters that
the drive checks in the transition command for phase 3. Only when the
data of the listed ident-numbers are correct, the transition command can
be acquitted positive, and the transition to communications phase 3 can
be allowed.
Para. Name: DE IDN-Liste Betriebsdaten Kommunikationsphase 2
EN IDN-list of operation data for CP2
FR Liste IDN des données d'exploitation relatives à CP2
ES Lista IDN datos de servicio fase de comunicación 2
IT IDN Lista di tutti i Dati per fase di comm. 2
Data length: 2Byte variabel Memory: constant
S-0-0019, IDN-list of operation data for CP3

The data of the IDN-list contains the ident-numbers of all parameters that
the drive checks in the transition command for phase 4. Only when the
data of the listed ident-numbers are correct, the transition command can
be acquitted positive, and the transition to communications phase 4 can
be allowed.
Para. Name: DE IDN-Liste Betriebsdaten Kommunikationsphase 3
EN IDN-list of operation data for CP3
FR Liste IDN des données d'exploitation relatives à CP3
ES Lista IDN datos de servicio fase de comunicación 3
IT IDN Lista di tutti i Dati per fase di comm. 3
S-0-0021, IDN-list of invalid op. data for comm. Ph. 2

The drive checks whether all communications parameters are complete
and correct before executing a delayed phase switch from 2 to S-0-0127,
C100 Communication phase 3 transition check with the control
system-driven transition check command.
If the drive identifies one or more IDNs as invalid, it will write the
operating data that is still needed or is invalid to this ID No. list. This will
be displayed to the drive by command error diagnostic message C101
Invalid communication parameter (S-0-0021).
See also the functional description: "S-0-0127, C1 Communication Phase
3 Transition Check"
Para. Name: DE IDN-Liste ungültige Betriebsdaten Phase 2
EN IDN-list of invalid op. data for comm. Ph. 2
FR Liste des IDN-données d'exploitation invalides phase 2
ES Lista IDN de datos de servicio no validos fase 2
IT IDN Lista dei Dati oper. invalidi per Comm. in Fase 2
S-0-0022, IDN-list of invalid op. data for comm. Ph. 3

Before the drive executes a delayed phase switch from 3 to S-0-0128,
C200 Communication phase 4 transition check with the control
system-driven transition check command, the drive will check parameters
for the following conditions:
• Validity of the parameter
• The parameter value is found within the valid input range.
• Compatibility with other parameters.
If the result of a parameter check is negative, this operating data will be
entered in the ID No. (IDN) list.
The drive then responds to the transition command with the
communications error diagnostic messages
• C201 Invalid Parameter(s) (->S-0-0022) or
• C202 Parameter limit error (->S-0-0022) or
• C203 Parameter calculation error (->S-0-0022)
4 Transition Check"
Para. Name: DE IDN-Liste ungültige Betriebsdaten Phase 3
EN IDN-list of invalid op. data for comm. Ph. 3
FR IDN-Liste données d'exploitation invalides phase 3
ES Lista IDN de datos de servicio no validos fase 3
IT IDN Lista dei Dati oper. invalidi per Comm. in Fase 3

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

If the configured telegram is set in S-0-0015, Telegram type parameter,
then the configurable data record in the MDT will be configured
application-specifically using this list.
The list can contain only operating data that are listed in the parameter
S-0-0188, List of configurable data in the MDT.
Para. Name: DE Konfig.-Liste Master-Daten-Telegramm
EN Config. list of the master data telegram
FR Liste de configuration du MDT
ES Configuracion lista de telegramas de datos maestros
IT Lista Config. del Telegramma Dati Master
Format: IDN Validity check: Phase2
S-0-0025, IDN-list of all procedure commands

The data of the IDN-list contains the ident-numbers of all commands in
the drive controller.
See also the functional description: "Commands"
Para. Name: DE IDN-Liste aller Kommandos
EN IDN-list of all procedure commands
FR Liste des IDN de toutes les commandes
ES Lista IDN de todos los comandos
IT IDN Lista di tutti i Comandi
Input min/max: -/-
S-0-0026, Configuration list signal status word

The data of the parameters stores the ident-numbers of the signals or
bits which the signal status word (S-0-0144) contains.
The order of the ident-numbers in the configuration list determines the bit
enumeration, beginning with the LSB in the signal status word.
That means, the first ident-number in S-0-0026 defines the bit 0, the
second ident-number in S-0-0026 defines bit 1 in the parameter S-0-
0144, Signal status word, and so on.
See also the functional description: "Configurable signal status word"
Para. Name: DE Konfigurations-Liste Signal-Statuswort
EN Configuration list signal status word
FR Liste de configuration pour mot d'état de signal
ES Lista de configuración estado de señal
IT Lista di Configurazione della Parole di Stato Segnali
Format: IDN Validity check: Phase 3
Input min/max: -- / --
S-0-0028, MST error counter

The MST error count counts all invalid Master Synchronization
Telegrams in communications phases 3 and 4.
If two MSTs fail in direct succession, then error F401 Double MST error
shutdown will be generated and the operation will return to phase 0.
The MST error count has a limit stop at (2^16) - 1. This means that
during a highly distorted transfer the MST Error count will show the value
65535 after a long time.
See also the functional description: "Error Count for Telegram Interrupts"
Para. Name: DE Fehlerzähler MST
EN MST error counter
FR Compteur de MST erronés
ES Contador de errores MST
IT Contatore errori MST
Format: DEC_0V Validity check: no
S-0-0029, MDT error counter

This parameter counts all invalid Master Data Telegrams in
communications phases 3 and 4.
If two MDTs fail in direct succession, then error F401 Double MST error
shutdown will be generated, and the operation will return to phase 0.
The MDT error counter has a limit stop at (2^16) - 1. This means that
during a highly distorted transfer the MDT error count will show a value of
65535 after a long time.
See also the functional description: "Error Count for Telegram Interrupts"
Para. Name: DE Fehlerzähler MDT
EN MDT error counter
FR Compteur de MDT erronés
ES Contador de errores MDT
IT Contatore errori MDT
S-0-0030, Manufacturer version

The version of the drive firmware can be read from this parameter as
plain text. The structure of the manufacturer version is defined as
follows:
DSM2.3-SSE-02V22
Release stand
V- official Version
T - Test version
Version number
Derivate (function)
Product label
Fig. 2-7: Manufacturer Version
Examples:
DSM2.3-SSE-01V02
DKC01.1-ASE-04V01
See also the functional description: "Firmware Overview".
Para. Name: DE Hersteller-Version
EN Manufacturer version
FR Version du fabriquant
ES Version de fabricante
IT Versione Costruttore
Format: ASCII Validity check: no
S-0-0032, Primary mode of operation

The mode of operation defined in this parameter will be activated in the
drive when
• The primary mode of operation is selected in the master control
word (bits 8 and 9 = 00).
• The control and power sections are ready for operation.
• The controller enable RF is set.
The operating mode can be selected by entering a bit list. Specific
positions are defined in the bit list.
In bit 3, you can choose between working with position control without
following (lag) error or with following error.
The following applies for bit 3:
Bit 3 = 0 position control with following error
Bit 3 = 1 position control without following error
Bit list: Meaning:
0000,0000,0000,0001 Torque control
0000,0000,0000,x011 Position control with encoder 1(motor encoder)
0000,0000,0000,x100 Position control with encoder 2(ext encoder)
0000,0000,0001,x011 Drive-controlled interpolation, encoder 1
0000,0010,0001,x011 Relative drive-controlled Interpolation, encoder 1
1010,0000,0000,x010 Velocity synchronization with virtual master
1001,0000,0000,x011 Phase synchronization with virtual master, using
feedback 1 (for control loops)
1000,0100,0000,x011 Pattern transmission with virtual master,
feedback 1
feedback 2
1000,1000,0000,x011 Cam follower with virtual master, feedback 1
Fig. 2-8: Bit list S-0-0032
See also the functional description: "Setting the Operating Mode Parameters"
Para. Name: DE Hauptbetriebsart
EN Primary mode of operation
FR Mode de fonctionnement primaire
ES Tipo de servicio principal
IT Modo operativo primario
Decimal places: 0 Combination check: yes
Default value: 0010b Cyc. transmittable: no
S-0-0033, Secondary operation mode 1

The mode of operation defined in this parameter will be activated in the drive if:
• The primary mode of operation is selected in the master control word
(bits 8 and 9 = "01")
Bit list: Meaning:
0000,0000,0000,0001 Torque control
feedback 1
feedback 2
Fig. 2-9: Bit list S-0-0033
See also the functional description: "Setting the Operating Mode

Parameters"
Para. Name: DE Nebenbetriebsart 1
EN Secondary operation mode 1
FR Mode de fonctionnement secondaire 1
ES Tipo de servicio secundario 1
IT Modo operativo secondario 1

The mode of operation defined in this parameter will be activated in the drive if:
• The main operating mode is selected in the master control word
(bits 8 and 9 = "10")
Bit list: Meaning:
0000,0000,0000,0001 Torque control
feedback 1
feedback 2
Fig. 2-10: Bit list S-0-0034

Parameters"

The mode of operation defined in this parameter will be activated in the
drive if:
• The primary mode of operation is selected in the master control word
(bits 8 and 9 = "11")
Bit list: Meaning:
0000,0000,0000,0001 Torque control
feedback 1
feedback 2
Fig. 2-11: Bit list S-0-0035

Parameters"
S-0-0036, Velocity command value

This parameter is used to set the velocity command value. This together
with S-0-0037, Additive velocity command value determines the
effective Velocity Command Value for the drive.
In the position control operating modes, this parameter displays the
output error signal of the position controller.
See also the functional description: "Velocity Control"
Para. Name: DE Geschwindigkeits-Sollwert
EN Velocity command value
FR Valeur de commande de vitesse
ES Valor nominal de velocidad
IT Valore di Velocità comandato
Format: DEC_MV Validity check: no
Unit: S-0-0044 Extrem value check: yes
Decimal places: S-0-0044 Combination check: no
Input min/max: S-0-0044 / S-0-0044
Default value: --- Cyc. transmittable: MDT
S-0-0037, Additive velocity command value

The additional velocity command value is added to the S-0-0036,
Velocity command value in the drive.
Para. Name: DE Geschwindigkeits-Sollwert additiv
EN Additive velocity command value
FR Valeur de commande de vitesse supplémentaire
ES Valor nominal adicional de velocidad
IT Comando di Velocità addizzionale

Input min/max: S-0-0044 / S-0-0044
S-0-0040, Velocity feedback value

The velocity feedback value can be transferred from the drive control
device to the control system either cyclically or via the service channel.
See also the functional description: "Preparations for Setting the Velocity
Controller"
Para. Name: DE Geschwindigkeits-Istwert
EN Velocity feedback value
FR Valeur de retour de vitesse
ES Valor real de velocidad
IT Feedback di Velocità
Unit: S-0-0044 Extrem value check: no
Default value: --- Cyc. transmittable: AT
S-0-0041, Homing velocity

The product of S-0-0041, Homing velocity and the S-0-0108, Feedrate
override forms the velocity at which the drive executes the command S-
0-0148, C600 Drive controlled homing procedure command.
See also the functional description: "Drive-Controlled Homing"
Para. Name: DE Referenzfahr-Geschwindigkeit
EN Homing velocity
FR Vitesse de prise d'origine
ES Velocidad de puesta a cero
IT Velocità per Azzeramento
Input min/max: 0 / S-0-0044
S-0-0042, Homing acceleration

This parameter indicates the acceleration value at which the drive
executes the command S-0-0148, C600 Drive controlled homing
procedure command.
Para. Name: DE Referenzfahr-Beschleunigung
EN Homing acceleration
FR Accélération de prise d'origine
ES Aceleracion de puesta a cero
IT Accellerazione per Azzeramento
S-0-0043, Velocity polarity parameter

This parameter is used to switch the polarity of the velocity data in
relation to the application.
Polarities are switched externally, at the input and output of a control
system rather than inside the system.
The following applies to rotary motors:

Clockwise rotation when facing the motor shaft is the rule for a positive
velocity command value and a positive polarity.
The following applies to linear motors:

The positive direction is used when the primary is moving toward the
linear motor power cable side.
Bit 0: Velocity command value

0: positive polarity
1: negative polarity
Bit 1: Velocity command value, additive
Bit 2: Velocity feedback value
Fig. 2-12: S-0-0043, Velocity polarity parameter
Note: The bits 1 and 2 are copies of bit 0. Only changes of bit 0
have an effect. Different settings of the single bits are not
possible!
See also the functional description: "Command Polarities and Actual

Value Polarities"
Para. Name: DE Geschwindigkeits-Polaritäten-Parameter
EN Velocity polarity parameter
FR Paramètre de polarité de vitesse
ES Parametros de polaridad de velocidad
IT Parametro Direzione Velocità
Input min/max: 0/7
S-0-0044, Velocity data scaling type

Various scaling types can be defined for the velocity data in the drive.
Bits 2-0: Type of scaling

000: unscaled
001: linear scaling
010: rotary scaling
Bit 3:
0: meter [m]
1: inch [in]
0: revolution
1: reserved
Bit 5: Unit of time
0: minute [min]
1: second [s]
Bit 6: Data reference
1: to the load
Bit 15 - 7: reserved
Fig. 2-13: S-0-0044, Velocity data scaling type
See also the functional description: "Velocity Data Display Format"
Para. Name: DE Wichtungsart für Geschwindigkeitsdaten
EN Velocity data scaling type
FR Type de calibrage pour données de vitesse
ES Tipo de escala de datos de velocidad
IT Tipo di Scala per Dati di Velocità

Default value: 0100 0010b Cyc. transmittable: no
S-0-0045, Velocity data scaling factor

This parameter defines the scaling factor for all velocity data in the drive.
If preferred scaling is set with S-0-0044, Velocity data scaling type, this
parameter will be set to 1.
Para. Name: DE Wichtungs-Faktor für Geschwindigkeitsdaten
EN Velocity data scaling factor
FR Facteur de calibrage pour données de vitesse
ES Factor de escala para datos de velocidad
IT Fattore di Scala per Dati Velocità
S-0-0046, Velocity data scaling exponent

This parameter defines the scaling exponent for all velocity data in the
drive.
Para. Name: DE Wichtungs-Exponent für Geschwindigkeitsdaten
EN Velocity data scaling exponent
FR Exposant de calibrage pour données de vitesse
ES Exponente de escala para datos de velocidad
IT Esponente per Dati Velocità
Format: DEC_MV Validity check: Phase3
Input min/max: -32 / 32
Default value: -4 Cyc. transmittable: no
S-0-0047, Position command value

In position control operating mode, this parameter is transferred from the
control system to the drive every NC cycle time.
See also the functional description: "Generator Feature: Position
Command Value Interpolator"
Para. Name: DE Lage-Sollwert
EN Position command value
FR Valeur de commande de position
ES Valor nominal de posicion
IT Valore di Posizione Comandato
Input min/max: S-0-0076 / S-0-0076
S-0-0048, Position command value additional

If a synchronization operating mode with position control is selected, then
the additional position command value is added to the S-0-0047,
Position Command Value in the drive. This is used to establish a
position offset between the master axis encoder and the following axis.
Para. Name: DE Lagesollwert additiv
EN Position command value additional
FR Valeur de commande de position supplémentaire
ES Valor nominal de posicion adicional
IT Valore di Posizione Comandato Addizionale
Input min/max: -2147483648 / 2147483647
S-0-0049, Positive position limit value

The "positive position limit value" describes the maximum extent of travel
in the positive direction.
The position limit value is active only when all position data refers to the
homing point (bit 0 is set to 1 in parameter S-0-0403, Position feedback
value status). The position limit values can be switched off using bit 4 in
S-0-0055, Position polarity parameter.
If a Target position, S-0-0258 beyond the positive position limit value is
set for the drive, then the drive sets warning bit 13 in S-0-0012, Class 2
diagnostic and also generates warning E253 Target position out of
travel zone.
If the positive position limit value is exceeded, the drive sets error bit 13
in S-0-0011, Class 1 diagnostic.
See also the functional description: "Axis Limit Values"
Para. Name: DE Lage-Grenzwert positiv
EN Positive position limit value
FR Limite de position positive
ES Valor limite de posicion positivo
IT Limite positivo di Posizione
Input min/max: S-0-0076 / S-0-0076
S-0-0050, Negative position limit value

The "negative position limit value" describes the maximum extent of
travel in the negative direction.
The position limit value is active only when all position data refers to the
homing point (bit 0 is set to 1 in parameter S-0-0403, Position feedback
value status). The position limit values can be switched off using bit 4 in
S-0-0055, Position polarity parameter.
If a target position beyond the negative position limit value is set for the
drive, then the drive sets warning bit 13 in S-0-0012, Class 2 diagnostic
and also generates warning E253 Target position out of travel zone.
If the negative position limit value is exceeded, the drive will set error bit
13 in S-0-0011, Class 1 diagnostics.
Para. Name: DE Lage-Grenzwert negativ
EN Negative position limit value
FR Limite de position négative
ES Valor limite de posicion negativo
IT Limite negativo di Posizione
Input min/max: S-0-0076 / S-0-0076
S-0-0051, Position feedback value 1 (motor feedback)

Position feedback value 1 represents the current position of the motor
encoder. The initialization of the position feedback happens during the
execution of S-0-0128, C200 Communication phase 4 transition
check; that means, the feedback positions are only initialized after
successful execution of the command.
If an absolute encoder is present, the value in S-0-0051, Position
Feedback Value 1 then shows the absolute position referred to the
machine’s zero-point, provided that during the first setup the command
P-0-0012, C300 Command 'Set absolute measurement' has been
executed once.
In the other case, the initialization value depends on whether the
parameter P-0-0019, Position start value has been written to during the
phase progression or whether the motor feedback is an absolute
encoder.
See also the functional description: "Setting the Measurement System"
Para. Name: DE Lage-Istwert 1 (Motorgeber)
EN Position feedback value 1 (motor feedback)
FR Valeur de retour de position 1 (du moteur)
ES Valor real de posicion 1
IT Feedback di Posizione Valore 1 (al Motore)
S-0-0052, Reference distance 1

The parameter displays the distance between the machine zero-point
and the homing point for the motor measurement system (Position
feedback value 1). The parameter is used for the execution of the
commands
S-0-0148, C600 Drive controlled homing procedure command and P-
0-0012, C300 Command 'Set absolute measurement'.
During the command S-0-0148, C600 Drive controlled homing
procedure command, the distance between the homing point and the
machine zero-point is written there. If homing is done with run to the
homing point, the drive goes to the homing point, and S-0-0051, Position
feedback value 1 contains the value of S-0-0052, Reference distance
1.
For the command P-0-0012, C300 Command 'Set absolute
measurement', the desired value for S-0-0051, Position feedback
value 1 is written there. After successful execution of ‘Setting absolute
measurement’, S-0-0051, Position feedback value 1 shows the value of
S-0-0052, Reference distance 1.
Para. Name: DE Referenzmaß Lage-Istwert 1
EN Reference distance 1
FR Distance de référence 1
ES Medida de referencia valor de posicion 1
IT Distanza di Riferimento 1
Input min/max: S-0-0076 / S-0-0076
S-0-0053, Position feedback value 2 (ext. feedback)

Position feedback value 1 represents the current position of the optional
external encoder. The initialization of the position feedback happens
during the execution of S-0-0128, C200 Communication phase 4
transition check; that means, the feedback positions are only initialized
after successful execution of the command.
If an absolute optional encoder is present, the value in S-0-0053,
Position Feedback Value 2 then shows the absolute position referred to
the machine’s zero-point, provided that during the first setup the
command P-0-0012, C300 Command 'Set absolute measurement' has
been executed once.
In the other case, the initialization value depends on whether the
parameter P-0-0019, Position start value has been written to during the
phase progression or whether an existing optional feedback is an
absolute encoder.
See also the functional description: "Setting the Measurement System"
Para. Name: DE Lage-Istwert 2 (ext. Geber)
EN Position feedback value 2 (ext. feedback)
FR Valeur de retour de position 2 (externe)
IT Feedback di Posizione Valore 2 (esterno)
S-0-0054, Reference distance 2

The parameter displays the distance between the machine zero-point
and the homing point for the external measuring system (Position
feedback value 2). The parameter is used for the execution of the
commands
S-0-0148, C600 Drive controlled homing procedure command and P-
0-0012, C300 Command 'Set absolute measurement'.
During the command S-0-0148, C600 Drive controlled homing

procedure command, the distance between the homing point and the
machine zero-point is written there. If homing is done with run to the
homing point, the drive goes to the homing point, and S-0-0053, Position
feedback value 2 contains the value of S-0-0054, Reference distance
2.
For the command P-0-0012, C300 Command 'Set absolute
measurement', the desired value for S-0-0053, Position feedback
value 2 is written there. After successful execution of ‘Setting absolute
measurement’, S-0-0053, Position feedback value 2 shows the value of
S-0-0054, Reference distance 2.
Para. Name: DE Referenzmaß Lage-Istwert 2
EN Reference distance 2
FR Distance de référence 2
ES Medida de referencia valor de posicion 2
IT Distanza di Riferimento 2
Input min/max: S-0-0076 / S-0-0076

This parameter can be used to invert the polarities of the given position
data. These polarities are switched outside of the control system (i.e., at
the input and output of the control system).
Note: The polarity of the position must be determined during the first
setup of an axis before establishing a zero reference for the
measurement systems, because changing the polarity results
in different position values.
Note the following in reference to rotary motors:

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

linear motor power cable side
Bit 4 is used to activate or deactivate software position limits.
Bit 0 : Position feedback value

Bit 1 : Position feedback value additive
Bit 2 : Position command value 1
Bit 3 : Position command value 2
Bit 4 : Position limits
0 : not active
1 : active
Fig. 2-14: S-0-0055, Position polarity parameter
Note: - Only the bits indicated here are supported by the software.
- If bit 0 is changed by the control system, bits 1 - 3 will also
be set to the value of bit 0 by the drive!

Value Polarities"
Para. Name: DE Lage-Polaritäten-Parameter
EN Position polarity parameter
FR Paramètre de polarité de position
ES Parametros de polaridad de posicion
IT Parametro Direzione Posizionamento
S-0-0057, Position window

The parameter S-0-0057, Position window, is used for following
functions:
• Status In Position,
|following error (S-0-0189)| < Position window (S-0-0057)
→ bit 6 in S-0-0013, Class 3 Diagnostics
• Status ITP,
|Target - act.pos.| < Position window (S-0-0057) &&
|following error| < Position window &&
|act. speed| < Standstill window (S-0-0124)
→ bit 6 in S-0-0182, Manufacturer class 3 diagnostics
• Status In_Target_Position,
|Target - act.pos.| < Position window (S-0-0057)
→ Bit 10 in S-0-0182, Manufacturer class 3 diagnostics
• During the execution of the command S-0-0148, C600 Drive

controlled homing procedure command, the drive reports
completion of the command, when the internal command generator
has reached its target value and the difference between this value and
the actual position is smaller than the position window.
• As a hysteresis window for the position limits. I.e., when the drive has
gone beyond the limit, the travel range is additionally limited by the
position window.
See also the functional description: "S-0-0182, Manufacturer Class 3
Diagnostics"
Para. Name: DE Positionierfenster
EN Position window
FR Fenêtre de positionnement
ES Ventana de posicionamiento
IT Finestra di Posizionamento
S-0-0076, Position data scaling type

The position data scaling type determines, in which format position data
are communicated between drive and control or display surface. When
position parameters (e.g. S-0-0051, Position feedback value 1) are
read, the drive displays them with the selected scaling. The scaling
selection is usually preset by the PLC.
The following settings can be made:
Bit 2 - 0: Scaling type

0 0 0: unscaled
0 0 1: linear scaling
0 1 0: rotary scaling
Bit 3 :
0: meter [m]
1: inch [in]
0: degree angles
1: reserved
Bit 5: reserved
1: to the load

0: absolute
1: modulo
Bit 15 - 8: reserved
Fig. 2-15: S-0-0076, Position data scaling type
Note: Only the bits mentioned here are supported by the firmware.
1) See also S-0-0045, Scaling factor for velocity data.
2) See also the example S-0-0077, Scaling of position
data.
See also the functional description: "Display Format of Position Data"
Para. Name: DE Wichtungsart für Lagedaten
EN Position data scaling type
FR Type de calibrage pour données de position
ES Tipo de escala para datos de posicion
IT Tipo di Scala per Dati Posizionamento
S-0-0077, Linear position data scaling factor

The parameter S-0-0077, Linear position data scaling factor determines
together with S-0-0078, Linear position data scaling exponent and the
selection of the physical unit m (meters) or inch in S-0-0076, in which unit
the present position parameters in the drive are displayed, when linear
scaling is selected.
If "preferred scaling“ is chosen in S-0-0076, Position data scaling
type (bit 3 = 0), the values in S-0-0077 and S-0-0078 are set by the drive.
If "parameter scaling“ is chosen in S-0-0076, Position data scaling
type (bit 3 = 1), the settings in S-0-0077 and S-0-0078 are taken.
Example for the display of position data for linear scaling:
- Physical position of the motor feedback equals 0.12 m (meter).
A) Selected scaling = linear preferred scaling (S-0-0077 = 1,
S-0-0078 = -7). This gives for S-0-0051, Position feedback value 1 a
value of 1200000 with unit meters and 7 places after the decimal.
B) Selected scaling = linear parameter scaling (S-0-0077 = 3,
Para. Name: DE Wichtungs-Faktor transl. Lagedaten
EN Linear position data scaling factor
FR Facteur de calibrage pour données de posit. lin.
ES Factor de escala datos de posicion lineales
IT Fattore di Scala per Posizionamenti lineare

S-0-0078, Linear position data scaling exponent

The parameter S-0-0078, Linear position data scaling exponent
determines together with S-0-0077, Linear position data scaling factor
and the selection of the physical unit m (meters) or inch in S-0-0076, in
which unit the present position parameters in the drive are displayed,
when linear scaling is selected.
If "preferred scaling“ is chosen in S-0-0076, Position data scaling
type (bit 3 = 0), the values in S-0-0077 and S-0-0078 are set by the drive.
If "parameter scaling“ is chosen in S-0-0076, Position data scaling
type (bit 3 = 1), the settings in S-0-0077 and S-0-0078 are taken.
Example for the display of position data for linear scaling:

- Physical position of the motor feedback equals 0.12 m (meter).
A) Selected scaling = linear preferred scaling (S-0-0077 = 1,
B) Selected scaling = linear parameter scaling (S-0-0077 = 1,
Para. Name: DE Wichtungs-Exponent transl. Lagedaten
EN Linear position data scaling exponent
FR Exposant de calibrage pour données de posit. lin.
ES Exponente de escala datos de posicion lineales
IT Esponente per Dati Posizionamento lineare
Input min/max: -32768 / 32768
S-0-0079, Rotational position resolution

If rotary position scaling is selected, the LSB valence for all position data
will be set in this parameter. The valence of the LSB in the drive’s
position data results in
1 Re volution
LSB valence =
Rotational position resolution
where bit 6 of S-0-0076, Position data scaling type selects whether the
LSb valence refers to one motor revolution or one load revolution.
If you work with preferred rotary scaling, the value in S-0-0079,
Rotational position resolution is fixed at 3 600 000. Thus, the LSB bit of
all rotary position data is fixed at 0.0001 degrees of angle.
Para. Name: DE Rotations-Lageauflösung
EN Rotational position resolution
FR Résolution de position rotationnelle
ES Resolucion de posicion de rotacion
IT Risoluzione per Posizionamenti circolari
Input min/max: 1 / 4294967295
S-0-0080, Torque/force command

In the torque control operating mode, the torque command values are
transferred by the control system to the drive.
If the velocity controller is active, the torque required for the
corresponding velocity can be derived from this parameter.
At present, only the percentage-based scaling is supported.
The date value corresponds to the current command value in respect to
the motor current at standstill (S-0-0111).
The value can be converted to a torque or force value by multiplying the
command current by the torque/force constant (P-0-0051).
See also the functional description: "Torque/Force Controller"
Para. Name: DE Drehmoment/Kraft-Sollwert
EN Torque/force command
FR Valeur de commande de couple/force
ES Valor nominal de par de giro/fuerza
IT Comando Coppia/Forza
Input min/max: S-0-0109/110 / S-0-0109/110
S-0-0084, Torque/force feedback value

The current torque/force feedback value can be derived from this
parameter.
The shown values depend from the torque/force scaling. At present, only
the percentage-based scaling is supported.
The data value corresponds to the measured feedback current; 100%
are equal to the motor current at standstill, S-0-0111.
The value can be converted to a torque or force value by multiplying the
command current by the torque/force constant P-0-0051.
See also the functional description: "Torque/Force Controller"
Para. Name: DE Drehmoment/Kraft-Istwert
EN Torque/force feedback value
FR Valeur de retour de couple/force
ES Par de giro/valor de retroalimentacion de fuerza
IT Valore di Feedback Coppia/Forza
S-0-0085, Torque/force polarity parameter

The polarities for the given torque data as related to the application can
be switched in this parameter.
Polarities are switched externally, at the input and output of a control
system rather than inside the system.
The following applies to rotary (turning) motors:

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

linear motor power cable side
Bit 0 : Torque command value

Bit 1 : Torque command value additive
Bit 2 : Torque feedback value

Fig. 2-16: S-0-0085, Torque/force polarity parameter
Note: If bit 0 of the control system is changed, then bits 1 - 2 of the

drive will also be set to the value in bit 0.

Value Polarities"
Para. Name: DE Drehmoment/Kraft-Polaritäten-Parameter
EN Torque/force polarity parameter
FR Paramètre de polarité de couple/force
ES Par de giro/fuerza parametro de polaridad
IT Polarità Coppia/Forza
Input min/max: 0/7
S-0-0086, Torque/force data scaling type

At present, only the percentage scaling for torque/force data is
supported.
100 % = S-0-0111, Motor current at standstill
See also the functional description: "Adjustable Scaling for Position,

Velocity, and Acceleration Data"
Para. Name: DE Wichtungsart für Drehmoment-/Kraftdaten
EN Torque/force data scaling type
FR Type de calibrage pour données de couple/force
ES Par de giro/fuerza tipo de escala de datos
IT Tipo di Scala per Dati Coppia/Forza
S-0-0088, Receive to receive recovery time (TMTSG)

This parameter defines the time needed for the slave to switch to
readiness for the next master synchronization telegram after receiving a
master data telegram.
The parameter is read by the control system in phase 2 to calculate the
time slot parameters.
and Receive Times"
Para. Name: DE TMTSY Erholzeit Empfangen-Empfangen
EN Receive to receive recovery time (TMTSG)
FR Temps de récupération entre deux réceptions (TMTSY)
ES TMTSY Tiempo de recuperacion recepcion-recepcion
IT Tempo di Recupero Ricettore a Ricettore (TMTSG)
S-0-0089, MDT Transmit starting time (T2)

This is the transmit starting time for the master data telegram after the
end of a master synchronization telegram. The value is transferred from
the master to the slave in communications phase 2 and is activated in
phase 3.
and Receive Times"
Para. Name: DE T2 Sendezeitpunkt MDT
EN MDT Transmit starting time (T2)
FR Temps du départ de transmission du MDT (T2)
ES T2 Punto temporal de emision MDT
IT MDT Tempo Partenza Trasmissione (T2)
S-0-0090, Command value transmit time (TMTSG)

This is the time required by the slave to prepare the command values for
the drive after reception of the master data telegram.
and Receive Times"
Para. Name: DE TMTSG Kopierzeit Sollwerte
EN Command value transmit time (TMTSG)
FR TMTSG Temps de recopie de consigne
ES TMTSG Tiempo de copia valores nominales
IT Tempo di Trasmissione Valore comandato (TMTSG)


The "bipolar velocity limit value" describes the maximum permissible
velocity, symmetrical in both directions. The max. input value is
determined by the S-0-0113, Maximum motor speed (nmax).
The entered value generates the maximum value for all other speed
parameters.
See also the functional description: "Limiting Velocity"
Para. Name: DE Geschwindigkeits-Grenzwert bipolar
EN Bipolar velocity limit value
FR Limite de vitesse bipolaire
ES Valor limite de velocidad bipolar
IT Valore di Velocità Limite
Default value: 1000000 Cyc. transmittable: MDT
S-0-0092, Bipolar torque/force limit value

This parameter describes the maximum allowable torque symmetrical in
both directions ( accelerating, braking ).
The evaluation refers to the percentage of the motor current at standstill:
100 % = Motor current at standstill
Note: The maximum torque is also influenced by

• P-0-0006, Overload factor
• P-0-4011, Switching frequency
See also the functional description: "Torque/Force Limiting"
Para. Name: DE Drehmoment/Kraft-Grenzwert bipolar
EN Bipolar torque/force limit value
FR Limite de couple/force bipolaire
ES Valor limite par de giro/fuerza bipolar
IT Valore di Coppia/Forza Limite

Input min/max: S-0-0109/110 / S-0-0109/110
S-0-0093, Torque/force data scaling factor

The scaling factor for all torque/force data in the drive is set in this
parameter.
The parameter has no meaning at the present time, because only
percentage scaling can be set for torque and force data. Therefore,
only the value 1 is suitable.
Para. Name: DE Wichtungs-Faktor für Drehmoment-/Kraftdaten
EN Torque/force data scaling factor
FR Facteur de calibrage pour données de couple/force
ES Factor de escala para datos par de giro/fuerza
IT Fattore di Scala per Dati Coppia/Forza
Input min/max: 1/1
S-0-0094, Torque/force data scaling exponent

The scaling exponent for all torque/force data in the drive is set in this
parameter.
The parameter has no meaning at the present time, because only
percentage scaling can be set for torque and force data.
Para. Name: DE Wichtungs-Exponent für Drehmoment-/Kraftdaten
EN Torque/force data scaling exponent
FR Exposant de calibrage pour données de couple/force
ES Exponente de escala para datos de par de giro/fuerza
IT Esponente per Dati Coppia/Forza

Input min/max: -1 / -1
S-0-0095, Diagnostic message

This parameter contains the currently relevant operating status of the
drive in text form.
The respective diagnostic message number from S-0-0390, Diagnostic
message number will appear in front of the operating status.
Example:
A 0 1 0 D r i v e S t o p
11 00 28 00 41 30 31 30 41 6E 74 72 69 65 62 20 48 61 6C 74
Length of diagnostic message text

(15 characters)
Bytes 3 and 4 specify the maximum available length
for the operating data in the control drive; length
specifications = 40 bytes (=$0028)
Bytes 1 and 2 specify the length of the programmed operating
data in the control drive; length specifications = 16 bytes (0011)
Fig. 2-17: S-0-0095, Diagnostic message
See also the functional description: "Diagnostic Message Composition"
Para. Name: DE Diagnose
EN Diagnostic message
FR Message de diagnostic
ES Diagnostico
IT Messaggio di Diagnosi
S-0-0096, Slave arrangement (SLKN)

For Sercos: During initialization, the master must know which drives are
available under which slave numbers in order to execute an optimal
automatic time slot calculation.
The master uses this information to detect the address of the connected
slave.
Example for address 3:

03 03
See also the functional description: "Setting the Drive Address of the
SERCOS Interface"
Para. Name: DE Slavekennung (SLKN)
EN Slave arrangement (SLKN)
FR Reconnaissance d'esclave (SLKN)
ES Disposicion de esclavo (SLKN)
IT Preparazione Slave (SLKN)
Format: HEX Validity check: no
S-0-0097, Mask class 2 diagnostic

This parameter can be used to mask pre-warnings in S-0-0012, Class 2
diagnostics in the drive status according to their effect on the change
bit. When changes are made to the masked early warnings, the Class 2
diagnostic change bit will be set in the drive status.
The mask has no effect on the operating data of the Class 2 diagnostic.
See also the functional description: "Class 2 and 3 Diagnostic Change
Bits in the Drive Status Word"
Para. Name: DE Maske Zustandsklasse 2
EN Mask class 2 diagnostic
FR Diagnostic de classe 2, masque
ES Mascara diagnostico clase 2
IT Maschera Diagnosi Classe 2
S-0-0098, Mask class 3 diagnostic

This parameter can be used to mask pre-warnings in S-0-0013, Class 3
diagnostics in the drive status according to their effect on the change
bit. When changes are made to the masked early warnings, the Class 3
diagnostic change bit will be set in the drive status.
The mask has no effect on the operating data of the Class 3 diagnostic.
See also the functional description: "Class 2 and 3 Diagnostic Change

Bits in the Drive Status Word"
Para. Name: DE Maske Zustandsklasse 3
EN Mask class 3 diagnostic
FR Diagnostic de classe 3, masque
ES Mascara diagnostico clase 3
IT Maschera Diagnosi Classe 3
S-0-0099, C500 Reset class 1 diagnostic

If the drive receives this command via the service channel, then the
Class 1 diagnostic, the interface status, and the drive lock will be deleted
in the drive status, if no more errors are pending.
See also the functional description: "Clearing Errors"
Para. Name: DE C500 Reset Zustandsklasse 1
EN C500 Reset class 1 diagnostic
FR C500 Remise à zéro pour diagnostic de classe 1
ES C500 Reset diagnostico clase 1
IT C500 Cancellare Errori Classe 1
Function: Command Editability: P234
Notes
1 Standard Parameters
S-0-0100, Velocity loop proportional gain

This parameter contains the value for the velocity loop proportional gain.
The proportional gain unit depends on the contacted motor type.
Motor type: Unit:
Rotary motor: A*sec/rad
Linear motor: A*min/m
Fig. 2-18: Units for motor types
It is possible to load a default value for the parameter using the

command "Basic load", as long as a motor is available with feedback
memory (P-0-4014, Motor type: 1 or 5).
See also the functional description: "Setting the Velocity Controller"
Para. Name: DE Geschwindigkeitsregler-Proportionalverstärkung
EN Velocity loop proportional gain
FR Gain proportionnel de la boucle de vitesse
ES Amplificacion proporcional de regulador de velocidad
IT Guadagno proporzionale Anello di Velocità
Unit: As/rad Extrem value check: yes
Input min/max: 0 / 6553.5
S-0-0101, Velocity loop integral action time

The velocity controller forms a current command value from the
difference between the velocity command value and the velocity
feedback value
(= speed regulation deviation).
This current command value consists of a proportional component and
an integral component. The Velocity Loop Integral Action Time
corresponds to the time in which the integral component of the current
command value is growing on the value of the proportional component.
Definition of the Integral Action Time
icom
dω*kP = Integral component
dω*kP = Proportional component
TN = Integral t
action time with:
TN : Velocity controller action time [ms]
TN = KP / KI KP : Velocity controller proportional ampl.
[A*sec/rad]
KI : Integral ampl. [A/rad]
icom : Current command value
dω : Velocity controller deviation
Fig. 2-19: Integral Action Time
The value of the time axis for which the integral component is equal to
the proportional component is described as integral action time. This
represents the time that a pure I-controller would need until the controller
output variable is equal to the output variable of a P-controller at time t=0.
The integral gain component is disabled with an input value of 0.
Para. Name: DE Geschwindigkeitsregler-Nachstellzeit
EN Velocity loop integral action time
FR Temps d'action intégral de la boucle de vitesse
ES Tiempo de reajuste de regulador de velocidad
IT Tempo Integrazione Anello di Velocità
Unit: ms Extrem value check: yes
S-0-0103, Modulo value

When the modulo format is set (parameter S-0-0076, Position data
scaling type bit 7), the modulo value determines at which numeric value
the position data roll over (overflow) to 0.
See also parameter "S-0-0393, Command value mode for modulo
format"
See also the functional description: "Modulo Feature"
Para. Name: DE Modulowert
EN Modulo value
FR Valeur modulo
ES Valor de modulo
IT Valore Modulo
S-0-0104, Position loop Kv-factor

This parameter contains the value for the proportional gain of the position
controller.
It is possible to load a default value for the controller parameters using
the command "Basic load".
Motors with feedback memory (P-0-4014, Motor type 1 or 5), e.g. MKD,
have appropriate values for all controller settings in their feedback. These
are loaded after the initial connection (display UL) or with the command
"Basic load“.
See also the functional description: "Setting the position controller"
Para. Name: DE Lageregler Kv-Faktor
EN Position loop Kv-factor
FR Gain proportionnel de la boucle de position, Kv
ES Regulador de posicion factor Kv
IT Fattore Kv Anello di Posizione
Unit: 1000/min Extrem value check: yes
S-0-0106, Current loop proportional gain 1

The current controller proportional gain is determined for every motor-
drive combination. It depends on the type of the motor and may not be
changed. It is loaded from the motor feedback after the initial connection
(display UL) or using the command "Basic load".
Note: The values set at the factory should not be altered!
See also function description: "Setting the Current Controller"
Para. Name: DE Stromregler-Proportionalverstärkung 1
EN Current loop proportional gain 1
FR Gain proportionnel de la boucle de courant 1
ES Amplificacion proporcional 1 regulador de corriente
IT Guadagno proporzionale 1 Regolatore di Corrente
Unit: V/A Extrem value check: yes
S-0-0107, Current loop integral action time 1

The current loop integral action time is fixed for every motor-drive
combination. It depends on the type of the motor. The factory setting may
not be changed.
The basic setup for all controllers is loaded after the initial connection
(display UL) or with the command "Basic load“. For motors without
feedback memory, you can take the value from the motor’s data sheet.
See also function description: "Setting the Current Controller"
Para. Name: DE Stromregler-Nachstellzeit 1
EN Current loop integral action time 1
FR Temps d'action intégral de la boucle de courant 1
ES Tiempo de reajuste de regulador de corriente 1
IT Tempo Integrazione 1 Anello di Corrente
S-0-0108, Feedrate override

The feedrate override acts on drive controlled operation modes and
motion commands, like
• operating modes Drive internal interpolation and Relative drive
internal interpolation
• Programmed positioning block operating mode
• Jogging operation
• automatic control loop setting
• speed synchronization during angle synchronization
The versions have not implemented all operating modes and commands
at the same time.
The feedrate override has a multiplying effect on the parameters
• S-0-0041, Homing velocity
• Positioning block velocities
• Jog velocity
Note: Devices with analog interface are equipped with an analog

input for the feedrate override, see Project Manual. It is
activated by setting the bit 0 in the
function parameter, P-0-4027.
Bit 0 = 0: Feedrate override set in parameter S-0-0108
Bit 0 = 1: Feedrate override via analog channel
Para. Name: DE Feedrate-Override
EN Feedrate override
FR Atténuateur d'avance
ES Override de alimentacion
IT Riduzione Velocità Avanzamento

Unit: % Extrem value check: no
S-0-0109, Motor peak current

Specifies the maximum current which may flow through the motor for a
short period without damaging it.
If the motor's peak current is less than the amplifier's peak current, the
maximum output current will be automatically limited to the motor's peak
current.
This value is stored in the motor feedback for MHD, MKD and MKE
motors and will be uploaded from there when the amplifier is turned on
for the first time. For other motor types, the value must be taken from the
data sheet.
See also the functional description: "Setting the Active Peak Current"
Para. Name: DE Spitzenstrom Motor
EN Motor peak current
FR Courant crête du moteur
ES Corriente punta de motor
IT Corrente di Picco Motore
Unit: A Extrem value check: yes
Input min/max: 0.001 / 500.000
S-0-0110, Amplifier peak current

Peak current available from the drive controller. The value will be set by
the drive itself. This current is only available for short durations.
See also the functional description: "Current Limit"
Para. Name: DE Spitzenstrom Verstärker
EN Amplifier peak current
FR Courant crête du variateur
ES Corriente punta amplificador
IT Corrente di Picco Azionamento
Data length: 4Byte Memory: Verst. EE

Input min/max: 0.001 / 500.000
S-0-0111, Motor current at standstill

The motor current at standstill is the current from which the motor
continuously generates the standstill torque according to the motor data
sheet.
This value is stored in motor feedback for MHD, MKD and MKE motors
and will be loaded from there when the drive controller is turned on for
the first time. For other types of motors, this value must be taken from
the data sheet.
All torque/force data refer to this motor current at standstill = 100 %.
See also the functional description: "Motor Feedback-Data Memory"
Para. Name: DE Stillstandsstrom Motor
EN Motor current at standstill
FR Courant du moteur à l'arrêt
ES Corriente de parada motor
IT Corrente Motore con Asse fermo
Input min/max: 0.001 / 500.000
S-0-0112, Amplifier nominal current

Allowable continuous current output for the drive controller. The value will
be set by the drive itself.
See also the functional description: "Setting the Active Continuous
Current"
Para. Name: DE Nennstrom Verstärker
EN Amplifier nominal current
FR Courant nominal variateur
ES Corriente nominal amplificador
IT Corrente nominale Azionamento
Input min/max: 0.001 / 500.000
S-0-0113, Maximum motor speed (nmax)

The maximum velocity for the motor cannot be exceeded. It also limits
the S-0-0091, Bipolar velocity limit parameter.
This value is stored in the motor feedback of MHD, MKD and MKE
motors and will be loaded from there when the drive controller is turned
on for the first time. For other motor types, the value must be taken from
the data sheet.
In torque regulation, if the maximum motor speed is exceeded by more
than 12.5%, the drive will be switched into a torque free state and the
error message F879 Velocity limit S-0-0091 exceeded will result.
See also the functional description: "Limiting Velocity"
Para. Name: DE Maximalgeschwindigkeit des Motors
EN Maximum motor speed (nmax)
FR Vitesse maximale du moteur
ES Velocidad maxima del motor
IT Velocità massima Motore (nmax)
Input min/max: 0 / 214738.3647

Essential characteristics of the external encoder (position encoder 2) are
established is this parameter.
Bit 0: Feedback type

0: rotary
1: linear
Bit 1: Distance coded measuring system
0: no distance coded reference markers
1: distance coded reference markers
S-0-0165, S-0-0166
Bit 3: Direction of movement
0: not inverted
1: inverted
Bits 7 + 6: Absolute readout
x 0: No absolute readout possible.
(Bit 7 irrelevant)
0 1: Absolute readout possible and active,
encoder is treated as absolute.
1 1: Absolute readout possible, but not active.
Fig. 2-20: S-0-0115, Position feedback 2 type parameter
Remark:
For absolute measurement systems with data memory, bit 6 is set
automatically.
See also the functional description: "Other External Encoder

Characteristics"
Para. Name: DE Lagegeberart-Parameter 2
EN Position feedback 2 type parameter
FR Paramètre type codeur 2
ES Tipo de encoder de posicion parametro 2
IT Tipo di Feedback di Posizione 2
S-0-0116, Resolution of motor feedback

Depending on parameter P-0-4014, Motor type (rotary or linear motors),
the resolution of the motor encoder is indicated by S-0-0116, Resolution
of motor feedback.
This value contains the number of cycles per motor revolution for rotary
motors, or the segment spacing per mm for linear motors.
See also the functional description: "Motor Encoder Resolution"
Para. Name: DE Auflösung Motorgeber
EN Resolution of motor feedback
FR Résolution du codeur moteur
ES Resolucion encoder de motor
IT Risoluzione Feedback Motore
Unit: Cycles/rev Extrem value check: no
S-0-0117, Resolution of external feedback

The resolution of the external encoder contains the cycles per external
encoder revolution for rotational encoders. For linear external encoders,
the segment spacing is given, in mm.
See also the functional description: "External Encoder Resolution"
Para. Name: DE Auflösung externer Geber
EN Resolution of external feedback
FR Résolution du codeur externe
ES Resolucion encoder externo
IT Risoluzione Feedback esterno
Unit: Cycles/rev Extrem value check: no
S-0-0121, Input revolutions of load gear

A mechanical gear is often employed between the motor and the load.
The gear ratio is defined by:
S-0-0122, Output Revolutions of load Gear

S-0-0121, Input Revolutions of load Gear
Fig. 2-21: Gear Ratio
See also function description: "Transmission Ratio" and "Modulo

Processing-Limiting Conditions"
Example:
5 motor rotations result in 2 output gear rotations.
⇒ S-0-0121 : 5
S-0-0122 : 2
Para. Name: DE Lastgetriebe-Eingangsumdrehungen
EN Input revolutions of load gear
FR Nombre de tours d'entrée d'engrenages de charge
ES Giros de entrada de engranaje de carga
IT N di Giri in Ingresso al Riduttore
Input min/max: 1 / 4294967295
S-0-0122, Output revolutions of load gear

A mechanical gear is often employed between the motor and the load.
The gear ratio is defined by:
S-0-0122, Output Revolutions of load Gear

S-0-0121, Input Revolutions of load Gear
Fig. 2-22: Gear Ratio
See also function description: "Transmission Ratio" and "Modulo

Processing-Limiting Conditions"
Example:
5 motor rotations result in 2 output gear rotations.
⇒ S-0-0121 : 5
S-0-0122 : 2
Para. Name: DE Lastgetriebe-Ausgangsumdrehungen
EN Output revolutions of load gear
FR Nombre de tours de sortie d'engrenages de charge
ES Giros de salida de engranaje de carga
IT N di Giri in Uscita del Riduttore
Input min/max: 1 / 4294967295
S-0-0123, Feed constant

This parameter describes the conversion from rotary to linear motion. It is
defined as the linear displacement of the load during one revolution of
the gear drive shaft.
Characteristic value:
Ball screw spindle: Rack and pinion:
Feed constant = pitch of screw Feed constant =
(typical value 10.00 mm) effective pitch diameter of the pinion • π =
effective circumference of the pinion
Fig. 2-23: Characteristic values of the feed constant
Note: The unit is dependent on bit 4 in S-0-0076, Position data

scaling type.
Note that: S-0-0076 bit 4 = 0 → mm/rev

S-0-0076 bit 4 = 1 → inch/rev
See also the functional description: "Feed Constant"
Para. Name: DE Vorschubkonstante
EN Feed constant
FR Constante d'avance
ES Constante de avance
IT Costante di Avanzamento
S-0-0124, Standstill window

The motors standstill is an indication that the velocity feedback value,
(S-0-0040) has reached below the pre-define threshold level in S-0-0125.
Bit 1 of the S-0-0013, Class 3 diagnostics is set during standstill.
Diagnostics"
Para. Name: DE Stillstandsfenster
EN Standstill window
FR Fenêtre d'arrêt
ES Ventana de parada
IT Finestra di monitorizzazione Asse fermo
S-0-0125, Velocity threshold nx

If the S-0-0040, Velocity feedback value falls below the value of the
parameter S-0-0125, Velocity threshold nx, the drive sets the message
n_actual < nx (Bit 2 in S-0-0013, Class 3 Diagnostics).
3 Transition Check"
Para. Name: DE Geschwindigkeits-Schwelle nx
EN Velocity threshold nx
FR Seuil de vitesse nx
ES Umbral de velocidad nx
IT Finestra di Controllo Velocità
Data length: 4Byte Memory: Prog.-Modul
S-0-0127, C100 Communication phase 3 transition check

The master (control system) uses this command to tell the slave (drive)
that it has transmitted all of the necessary communications parameters
for communications phase 3. After receiving this command, the slave
checks to see whether error-free operation is possible in communication
phase 3 from the slave's point of view.
The command is completed error-free if the slave is ready to follow the
prompt in communication phase 3 MST and to maintain the structure of

the telegram. If this is not the case, then the command ends with an
error.
The control system erases the command after acknowledgement of a
positive command. Not until then does the control system move into
communications phase 3 in the MST.
3 Transition Check"
Para. Name: DE C100 Umschaltvorbereitung auf Komm.-Phase 3
EN C100 Communication phase 3 transition check
FR C100 Préparation transition phase de comm. 3
ES C100 Comprobacion de conmutacion a fase 3
IT C100 Check Transizione Fase di Comunicazione 3
S-0-0128, C200 Communication phase 4 transition check

The master (control system) uses this command to tell the slave (drive)
that it has transmitted all of the necessary communications parameters
for communications phase 4. After receiving this command, the slave
checks to see whether error-free operation is possible in communication
phase 4 from the slave's point of view.
The command will be completed error-free if the slave is ready for the
cyclical operation in communications phase 4.
The control system erases the command after acknowledgement of a
positive command. Afterwards the control system moves into
communications phase 4 in the MST.
4 Transition Check"
Para. Name: DE C200 Umschaltvorbereitung auf Komm.-Phase 4
FR C200 Préparation transition phase de comm. 4
ES C200 comprobacion de conmutacion a fase 4
IT C200 Check Transizione Fase di Comunicazione 4
S-0-0130, Probe value 1 positive edge

The drive uses the positive edge of the input signal from S-0-0130,
Probe value 1 positive edge, to store the instantaneous value of the
selected signal in this parameter.
The signal to be measured is determined by parameters P-0-0200,
Signal select probe 1 and S-0-0169, Probe control parameter.
See also the functional description: "Probe Input Feature"
Para. Name: DE Messwert 1 positiv
EN Probe value 1 positive edge
FR Mesure sonde 1 front montant
ES Valor de medicion 1 positivo
IT Misura Valore con Probe 1 positivo
Unit: S-0-0076/P-0-0200 Extrem value check: no
Decimal places: S-0-0076/P-0-0200 Combination check: no
S-0-0131, Probe value 1 negative edge

The drive uses the negative edge of the input signal from S-0-0401,
Probe 1, to store the instantaneous value of the selected signal in this
parameter.
Para. Name: DE Messwert 1 negativ
EN Probe value 1 negative edge
FR Mesure sonde 1 front descendant
ES Valor de medicion 1 negativo
IT Misura Valore con Probe 1 negativo
S-0-0132, Probe value 2 positive edge

The drive uses the positive edge of the input signal from S-0-0402,
parameter.

Para. Name: DE Messwert 2 positiv
EN Probe value 2 positive edge
FR Mesure sonde 2 front montant
ES Valor de medicion 2 positivo
IT Misura Valore con Probe 2 positivo
Function: Parameter Editability: -
S-0-0133, Probe value 2 negative edge

The drive uses the negative edge of the input signal from S-0-0402,
parameter.
Para. Name: DE Messwert 2 negativ
EN Probe value 2 negative edge
FR Mesure sonde 2 front descendant
ES Valor de medicion 2 negativo
IT Misura Valore con Probe 2 negativo
S-0-0134, Master control word

The parameter S-0-0134, Master control word, shows a copy of the
cyclically transmitted master control word of the Master Data Telegram.
For troubleshooting, the master control word can be read via the service
channel.
See also the functional description: "Master Control Word"
Para. Name: DE Master-Steuerwort
EN Master control word
FR Mot de contrôle maître
ES Palabra de mando maestro
IT Word di Controllo Master
S-0-0135, Drive status word

This makes it possible to display the drive status word via the service
channel on the display screen of the NC. Help for setup and
troubleshooting.
See also the functional description: "Drive Status Word"
Para. Name: DE Antriebs-Status
EN Drive status word
FR Etat entraînement
ES Estado de accionamiento
IT Stato Azionamento
S-0-0138, Bipolar acceleration limit value

The Bipolar acceleration limit value describes the maximum permissible
acceleration, symmetrical in both directions (acceleration and
deceleration).
The drive decelerates at this deceleration to the velocity = 0 when the
function "Drive stop" is executed.
See also the functional description: "Drive Stop"
Para. Name: DE Beschleunigung bipolar
EN Bipolar acceleration limit value
FR Accélération bipolaire
ES Aceleracion bipolar
IT Valore di Accellerazione Limite

Input min/max: 0 / S-0-0160/278
S-0-0139, D700 Command Parking axis

Setting and enabling the command Parking Axis switches off all the
monitoring functions related to the measurement system.
This affects position control, feedback monitoring and the monitoring of
the position window (S-0-0057).
When the command is active, the drive does not report any errors of
class 1 diagnostics.
The Position feedback value status (S-0-0403) is cleared by the drive.
The command is acknowledged positive, when the mentionend
surveillances are switched off.
Clearing the command switches all the mentioned surveillances on
again. To refer the position feedback values to the reference point again,
the drive must go to the reference again.
Bit 0 : Command in the drive

0: clear
1: set
Bit 1 : Command execution

0: suspended
1: execute
Fig. 2-24: S-0-0139, D700 Command Parking axis
See also the functional description: "Command Parking Axis"
Para. Name: DE D700 Kommando Parkende Achse
EN D700 Command Parking axis
FR D700 Commande stationnement axe
ES D700 Comando eje de estacionamiento
IT D700 Comando Stazionamento Asse
S-0-0140, Controller type

The device type of the manufacturer can be found in text form in the
operating data for the controller type.
Examples:
HDS02.1-W100-D
DKC01.1-040-7
See also the functional description: "Parameters Stored in the Digital
Drive"
Para. Name: DE Regelgerätetyp
EN Controller type
FR Type de variateur
ES Tipo de regulador
IT Tipo Azionamento
Data length: 1Byte variabel Memory: Verst. EE
Format: ASCII Validity check: Phase3
S-0-0141, Motor type

Here is the motor type of the connected motor in text form.
For MHD, MKD and MKE motors, this value is stored in the motor
feedback and will be loaded from there when the drive is started for the
first time.
Example:
MKD 071B-061-KP1-BN
MKE 096B-047-GG0-KN
See also the functional description: "Automatic Setting of the Motor Type
for Motors with Feedback Memory"
Para. Name: DE Motortyp
EN Motor type
FR Type de moteur
ES Tipo de motor
IT Tipo Motore
Default value: Default_Motor Cyc. transmittable: no
S-0-0142, Application type

A descriptive name text for the drive can be stored in this parameter
(e.g., swivel axis ). It has no functional significance.
Para. Name: DE Anwendungsart
EN Application type
FR Type d'application
ES Tipo de aplicacion
IT Tipo applicazione
Default value: Default Cyc. transmittable: no
S-0-0143, System interface version

The version of the SERCOS interface specifications is found in the
operating data.
Current valid settings:

V V 01.01: V 01.02:
SERCOS specification SERCOS SERCOS update
German 01.00: English specification German/English
Version 5/90 Version 4/91 Version 9/91
Fig. 2-25: S-0-0143, Version of the SERCOS interface specification
See also the functional description: "Overview of SERCOS

Communication"
Para. Name: DE Sercos Interface Version
EN System interface version
FR Version d'interface SERCOS
ES Version de Interface Sercos
IT Versione del Interfaccia Sercos
S-0-0144, Signal status word

With the help of the signal status word, real time signals can be
transferred from the drive to the PLC.
To do so, the signal status word must be configured as cyclic data in the
Drive Telegram.
The bits in the signal status word can be defined freely with the
parameters
• S-0-0026, Configuration list signal status word and
• S-0-0328, Config. list for signal status word, bit number.
Para. Name: DE Signal-Statuswort
EN Signal status word
FR Mot d'état de signal
ES Estado señal
IT Stato Segnali
S-0-0147, Homing parameter

This parameter contains operating sequences for S-0-0148, C6 Drive-
controlled homing procedure command in reference to the
equipment, NC and drive installation.
Bit 0: Start direction

0: positive = clockwise with view
towards motor shaft
1: negative = counter-clockwise with view
towards motor shaft
Bit 3: Feedback selection
Homing
0: with motor feedback
1: with external feedback
Bit 5: Home switch evaluation
The home switch is
0: detected.
1: not detected.
Bit 6: Reference mark evaluation

The Reference mark is
0: detected.
1: not detected.
Bit 7: Position after homing
The drive is
0: at any position.
1: the reference point.
Fig. 2-26: S-0-0147, Homing parameter
In addition, bit 5 activates the monitoring of the external 24V.
Para. Name: DE Referenzfahr-Parameter
EN Homing parameter
FR Paramètre d'origine
ES Parametro de puesta a cero
IT Parametri Azzeramento
S-0-0148, C600 Drive controlled homing procedure command

When this command is set and enabled, the drive switches automatically
into internal position control and accelerates using the S-0-0042,
Homing acceleration to the Homing velocity, S-0-0042 as long as it is
in operating status AF. Bit 0 in S-0-0403, Position feedback value
status will be deleted at first. As long as the command is active, changes
in the cyclic position command values will be ignored.
The process for the homing procedure can be specified with S-0-0147,
Homing parameter. After the command has been properly executed
(drive is at standstill and position feedback value is related to the homing
position), the drive sets bit 0 = 1 in parameter S-0-0403, Position
feedback value status.
The parameter "Position feedback value status“ reflects the signal
"In_Reference“.
See also the functional description: "Drive-Controlled Homing"and
"Commands"
Para. Name: DE C600 Kommando Antriebsgeführtes Referenzieren
EN C600 Drive controlled homing procedure command
FR C600 Commande prise origine pilotée par entraînement
ES C600 Comando puesta a cero por accionamiento
IT C600 Asse controllato durante la Procedura di Azzer.
S-0-0150, Reference offset 1

This parameter describes the distance between the position encoder
home reference marker 1 and S-0-0052, Reference distance 1.
The parameter makes it possible to shift the reference point in relation to
the reference marker to be detected. If bit 7 in S-0-0147, Homing
parameter is set to 1, then, during execution of the command S-0-0148,
C600 Drive controlled homing procedure command, the drive goes to
the reference point shifted from the reference mark by the value S-0-
0150, Reference Offset 1.
Para. Name: DE Referenzmaß Offset 1
EN Reference offset 1
FR Décalage d'origine 1
ES Medicion de referencia offset 1
IT Azzeramento Offset 1 (Feedback Motore)
Input min/max: S-0-0076 / S-0-0076
S-0-0151, Reference offset 2

This parameter describes the distance between the position encoder
home reference marker 2 and S-0-0054, Reference distance 2.
The parameter makes it possible to shift the reference point in relation to
the reference marker to be detected. If bit 7 in S-0-0147, Homing
parameter is set to 1, then, during execution of the command S-0-0148,
C600 Drive controlled homing procedure command, the drive goes to
the reference point shifted from the reference mark by the value S-0-
0151, Reference offset 2.
Para. Name: DE Referenzmaß Offset 2
EN Reference offset 2
FR Décalage d'origine 2
ES Medicion de referencia offset 2
IT Azzeramento Offset 2 (Feedback esterno)
Input min/max: S-0-0076 / S-0-0076
S-0-0157, Velocity window

The Velocity window refers to the absolute value of the S-0-0036,
Velocity Command Value.
If the velocity command value is whithin the calculated velocity window,
then the drive sets the bit 0 in S-0-0013, Class 3 diagnostics (Message
'n_actual = n_command').
Para. Name: DE Geschwindigkeits-Fenster
EN Velocity window
FR Fenêtre de vitesse
ES Ventana de velocidad
IT Finestra Velocità
Data length: 4Byte Memory: Prog.-Modul
S-0-0159, Monitoring window

When an operating mode with internal position control is activated in the
drive, the position loop is monitored. Therefore, a model value for the
actual position is calculated and compared with the real actual position.
The maximum tolerated deviation between the measured and calculated
actual feedback value is set with the help of the parameter S-0-0159,
Monitoring window. If the position deviation exceeds the monitoring
window, then the drive sets the error F228 Excessive deviation in the
class 1 diagnostics.
The greatest deviation that occurs will always be stored in parameter P-
0-0098, Max. model deviation.
See also the functional description: "Position Control Loop Monitoring"
Para. Name: DE Überwachungsfenster
EN Monitoring window
FR Fenêtre de contrôle
ES Ventana de control
IT Finestra di Monitoraggio
S-0-0160, Acceleration data scaling type

Various scaling types can be set for the acceleration data in the drive, as
described below.
Bits 2-0: Type of scaling

000: unscaled
001: linear scaling
010: rotary scaling
Bit 3 :
0: meter [m]
1: inch [in]
0: radian [rad]
1: reserved
Bit 5: Unit of time
0: second [s]
1: reserved
1: to the load
Bits 15-7: reserved
Fig. 2-27: S-0-0160, Acceleration data scaling type
See also the functional description: "Acceleration Data Display Format"
Para. Name: DE Wichtungsart für Beschleunigungsdaten
EN Acceleration data scaling type
FR Type de calibrage pour données d'accélération
ES Tipo de escala para datos de aceleracion
IT Tipo di Scala per Dati Accellerazione
S-0-0161, Acceleration data scaling factor

When parameter scaling is set in S-0-0160, Acceleration data scaling
type, the scaling factor for all of the acceleration data in the drive is
determined by this parameter.
Para. Name: DE Wichtungs-Faktor für Beschleunigungsdaten
EN Acceleration data scaling factor
FR Facteur de calibrage pour données d'accélération
ES Factor de escala para datos de aceleracion
IT Fattore di Scala per Dati Accellerazione
S-0-0162, Acceleration data scaling exponent

When parameter scaling is set in S-0-0160, Acceleration data scaling
type, the scaling exponent for all of the acceleration data in the drive is
determined by this parameter.
Para. Name: DE Wichtungs-Exponent für Beschleunigungsdaten
EN Acceleration data scaling exponent
FR Exposant de calibrage pour données d'accélération
ES Exponente de escala para datos de aceleracion
IT Esponente per Dati Accellerazione
Input min/max: -32768 / 32768
S-0-0165, Distance coded reference offset 1

With the help of this parameter, the greater distance between two
reference markers is programmed, if a measurement system with
distance coded reference markers is used.
Para. Name: DE Abstandskodiertes Referenzmaß 1
EN Distance coded reference offset 1
FR Marques de référence de distance codée 1
ES Marcas de referencia de distancia codificada 1
IT
Unit: Periods Extrem value check: no
Input min/max: 0 / 4294967295
S-0-0166, Distance coded reference offset 2

With the help of this parameter, the smaller distance between two
reference markers is programmed, if a measurement system with
distance coded reference markers is used.
Para. Name: DE Abstandskodiertes Referenzmaß 2
EN Distance coded reference offset 2
FR Marques de référence de distance codée 2
ES Marcas de referencia de distancia codificada 2
IT
Unit: Periods Extrem value check: no
Input min/max: 0 / 4294967295
S-0-0169, Probe control parameter

This parameter is used to specify whether one or both of the probe inputs
"probe 1" (DSS: X12-E4) and "probe 2" (DSS: X12-E5) are activated, and
which edge (positive/negative) should trigger the probe data acquisition.
Bit 0: Activation of positive edge probe 1

0: Positive edge is not analyzed.
1: Positive edge is analyzed.
Bit 1: Activation of negative edge probe 1
0: Negative edge is not analyzed.
1: Negative edge is analyzed.
Bit 2: Activation of positive edge probe 2
0: Positive edge is not analyzed.
1: Positive edge is analyzed.
Bit 3: Activation of negative edge probe 2
0: Negative edge is not analyzed.
1: Negative edge is analyzed.
Bit 4: Position feedback value selection

0: S-0-0053 is always used as the measurement, if
external feedback is present and position
feedback values are selected in signal
selection.
1: S-0-0051 is always used as the measurement, if
position feedback values are selected in
signal selection.
Fig. 2-28: S-0-0169, Probe control parameter
Para. Name: DE Messtaster-Steuerparameter
EN Probe control parameter
FR Paramètre de commande de la sonde
ES Parametros de mando de control de muestra
IT Parametro di Controllo Probe
S-0-0170, Probing cycle procedure command

By setting and enabling the command "probing cycle procedure," the
drive reacts to the following:
• S-0-0405, Probe 1 enable / S-0-0406, Probe 2 enable and
• S-0-0401, Probe 1, / S-0-0402, Probe 2.
as is programmed in S-0-0169, Probe control parameter.
The NC can perform multiple measurements while this command is
active. If the NC no longer wants new measurements, it clears the
command.
Bit 0: Command in drive

0: clear
1: set
Bit 1: Command execution
0: interrupt
1: execute
Fig. 2-29: S-0-0170, Probing cycle procedure command
Para. Name: DE Kommando Messtasterzyklus
EN Probing cycle procedure command
FR Commande cycle mesure de sonde
ES Comando ciclo de teclas de medicion
IT Comando per Procedura di Probe
S-0-0173, Marker position A

During the drive controlled homing with an incremental measuring
system, the position of the reference marker (zero pulse) is stored in
this parameter. This position feedback value still refers to the "old“
coordinate system (before switching the coordinate system with the
homing procedure).
Furthermore, the recognition of the reference mark can be activated by
the command P-0-0014, D500 Command determine marker position.
Then, as soon as the next reference pulse comes from the feedback, the
appropriate position value is stored in this parameter, and the command
gets a positive acknowledge.
See also the functional description: "Command - detect marker position"
Para. Name: DE Markerposition A
EN Marker position A
FR Position du marqueur A
ES Posición de marcador A
IT Posizione Marca A

S-0-0177, Absolute distance 1

The parameter is used for the homing procedure of a distance coded
motor feedback. It describes the offset between the zero point of the
motor feedback (position of the 1st reference marker of the motor
encoder) and the machine's zero-point.
Determining the right value for this parameter can be done in 2 steps.
First, write the value 0 into S-0-0177 and proceed the command S-0-
0148, C600 Drive controlled homing procedure command. The
position feedback value 1 in S-0-0051 then shows the actual position
refered to the machine’s zero point.
Then, when you jog the axis to the machine’s zero point, input the value
of S-0-0051 indicated there into S-0-0177 with inverted sign (+ ↔ -). After
another homing, the value in S-0-0051 displays the position in reference
to the machine’s zero point.
Para. Name: DE Absolutmaß-Offset 1
EN Absolute distance 1
FR Décalage absolu 1
ES Distancia absoluta 1
IT Offset 1 per Dimensionamenti assoluti (Feedback Motore)
Input min/max: S-0-0076 / S-0-0076
S-0-0178, Absolute distance 2

The parameter is used for the homing procedure of a distance coded
external feedback. It describes the offset between the zero point of the
external feedback (position of the 1st reference marker) and the
machine's zero-point.
Determining the right value for this parameter can be done in 2 steps.
First, write the value 0 into S-0-0178 and proceed the command S-0-
0148, C600 Drive controlled homing procedure command. The
position feedback value 2 in S-0-0053 then shows the actual position
refered to the machine’s zero point.
Then, when you jog the axis to the machine’s zero point, input the value
of S-0-0053 indicated there into S-0-0178 with inverted sign (+ ↔ -). After
another homing, the value in S-0-0053 displays the position in reference
to the machine’s zero point.
Para. Name: DE Absolutmaß-Offset 2
EN Absolute distance 2
FR Décalage absolu 2
ES Distancia absoluta 2
IT Offset 2 per Dimensionamenti assoluti (Feedback esterno)
Input min/max: S-0-0076 / S-0-0076
S-0-0182, Manufacturer class 3 diagnostics

Various messages regarding the operating status are stored here every
8ms. If the status of a message changes, this will not be signaled by a
change bit.
Bit 0 = 1: Drive lock active

Bit 1 = 1: |Feedback Velocity| < S-0-0124,
Standstill window
Bit 6: IZP
|S-0-0258, Target position - Feedback position| < S-0-0057, Position window
&&
|S-0-0189, Following error| < S-0-0057, Position window
&&
|S-0-0040, Feedback velocity| < S-0-0124, Standstill window
Bit 7: Message 90% load

Amplifier is producing 90% of its current maximum torque.
Bit 8: IN_SYNCHRONIZATION
Main operating mode with subordinated position control
|synch. position command value + Xadditive(S-0-0048) - Xfeed
(S-0-0051 or S-0-0053) | < S-0-0228, Position synchronization window
Main operating mode: velocity synchronization

|synch. velocity command value + velocity command value additive - velocity
feedback value| < S-0-0183, Synchronization velocity window
Bit 9 = 1: End of synchronization (synchronized)

Bit 10: IN_TARGET_POSITION
|S-0-0258, Target position - S-0-0051/51 Position feedback 1/2|
< S-0-0057 Position window
Bit 11: AHQ

Drive_stop && |Feedback velocity| < S-0-0124
Fig. 2-30: S-0-0182, Manufacturer class 3 diagnostics

Diagnostics"
Para. Name: DE Hersteller-Zustandsklasse 3
EN Manufacturer class 3 diagnostics
FR Diagnostic de classe 3 spéc. au fabriquant
ES Diagnostico fabricante clase 3
IT Diagnostica Classe 3 definita dal Costruttore
S-0-0183, Velocity synchronization window

If during the operating mode "velocity synchronization" the difference
between velocity command value and feedback value is smaller than the
synchronization window, then bit 8 in the S-0-0182, Manufacturer Class
3 Diagnostics will be set.

Bit 8 = 1, if | dXSynch + dXAdditive - dXFeedback | < S-0-0183
with dX Feedback: Velocity feedback value
dX Synch: Synchronized velocity command value,
produced
from actual master axis velocity
dX Additive: Additive velocity command value, S-0-0037
See also the functional description: "Synchronization status message
during the velocity synchronization operating mode"
and "Check-back with speed synchronization".
Para. Name: DE Synchronlauffenster Geschwindigkeit
EN Velocity synchronization window
FR Fenêtre de vitesse de synchronisation
ES Velocidad ventana de sincronizacion
IT Finestra di Sincronizzazione di Velocità
Input min/max: 0 / 2147483647
S-0-0185, Length of the configurable data record in the AT

In the operating data of the parameter with this ID number, the drive
indicates the maximum length in bytes which it can process in the
configurable data record of the drive telegram (AT).
Note: In the actual version of the firmware, the number of data in

the AT equals 24 bytes.
Para. Name: DE Länge des konfigurierbaren Datensatzes im AT
EN Length of the configurable data record in the AT
FR Longueur du registre de données configurables dans l'AT
ES Longitud del bloque de datos configurable en el AT
IT Lunghezza del Registro Dati in AT
S-0-0186, Length of the configurable data record in the MDT

In the operating data of the parameter with this ID number, the drive
indicates the maximum length in bytes which it can process in the
configurable data record of the Master Data Telegram.
Note: In the actual version of the firmware, the number of data in

the MDT equals 32 bytes.
Para. Name: DE Länge des konfig. Datensatzes im MDT
EN Length of the configurable data record in the MDT
FR Longueur du registre de données configurables dans le MDT
ES Longitud del bloque de datos configurable en el MDT
IT Lunghezza del Registro Dati in MDT
S-0-0187, List of configurable data in the AT

This list contains the ID numbers of the operating data which can be
configured in the drive telegram (AT).
• S-0-0040, Velocity feedback value
• S-0-0051, Position feedback value 1 (motor feedback)
• S-0-0053, Position feedback value 2 (ext. feedback)
• S-0-0084, Torque/Force feedback value
• S-0-0189, Following error
• P-0-0082, Parallel I/O input 1
Para. Name: DE Liste der konfigurierbaren Daten im AT
EN List of configurable data in the AT
FR Liste des IDN de données configurables dans l'AT
ES Lista de los datos configurables en el AT
IT Lista dei Dati configurabili in AT
S-0-0188, List of configurable data in the MDT

This list contains the ID numbers of the operating data which can be
configured in the Master Data Telegram.
• S-0-0036, Velocity command value
• S-0-0037, Additive velocity command value
• S-0-0047, Position command value
• S-0-0080, Torque/force command

• S-0-0092, Bipolar torque/force limit value
• S-0-0138, Bipolar acceleration limit value
• S-0-0193, Positioning Jerk
• S-0-0258, Target position
• S-0-0259, Positioning Velocity
• S-0-0260, Positioning Acceleration
• P-0-0081, Parallel I/O output 1
• P-0-0400, Pos. corr., external correction value
• P-0-0405, Pos. corr., actual temperature, position independent
Para. Name: DE Liste der konfigurierbaren Daten im MDT
EN List of configurable data in the MDT
FR Liste des IDN de données configurables dans le MDT
ES Lista de los datos configurables en el MDT
IT Lista dei Dati configurabili in MDT
S-0-0189, Following error

To this parameter, the drive writes the current difference between the
position command and the feedback position value (S-0-0051,
Position feedback value 1 or S-0-0053, Position feedback value 2).
See also the functional description: "Determining the Position Controller
Setting" and "P-0-0098, Max. model deviation" .
Para. Name: DE Schleppabstand
EN Following error
FR Ecart de poursuite
ES Error de seguimiento
IT Errore di Inseguimento

S-0-0191, D600 Cancel reference point procedure command

Setting and enabling the command Cancel reference point clears the bit
S-0-0403, Position feedback value status in the drive.
The command correctly completed in the drive, when the bit "Position
feedback value status“ has been set to 0 and the position value of the
active feedback does not refer any more to the machine’s zero point (=
no longer referenced).
Bit 0 : Command in the drive

0: cancel
1: set
Bit 1 : Command execution
0: suspend
1: execute
Fig. 2-31: S-0-0191, D600 Cancel reference point procedure command
Para. Name: DE D600 Kommando Referenzbezug löschen
EN D600 Cancel reference point procedure command
FR D600 Commande Annullation de l'origine
ES D600 Comando Borrar referencia
IT D600 Comando Anullazione Azzeramento
S-0-0192, IDN-list of backup operation data

The ID numbers for all operating data that must be loaded in the drive for
proper operation are kept in the IDN list. Generally these are the
parameters which are buffered in the programming module.
The control system uses this IDN list to create a backup copy of the drive
parameters.
If a customer password has been activated with the parameter S-0-0267,
Password, all parameters contained in S-0-0192, IDN List of backup
operation data are write protectednd.
See also the functional description: "Parameters Stored in DSM

Programming Module"
Para. Name: DE IDN-Liste der zu sichernden Betriebsdaten
EN IDN-list of backup operation data
FR Liste des IDN des données d'exploitation de sauvegarde
ES Lista IDN de los datos de servicio de seguridad
IT IDN-Lista dei Operativi salvati
S-0-0193, Positioning Jerk

The positioning jerk limits the acceleration change per time in the
operating modes with
• Drive internal interpolation and
• Relative drive internal interpolation.
Note: With the value 0, the jerk filter is off.
See also the functional description: "Generator Function: Drive Internal

Interpolation"
Para. Name: DE Positionier-Ruck
EN Positioning Jerk
FR Jerk de positionnement
ES Posicionamiento agitacion
IT Jerk per Posizionamento
Input min/max: 0 / 4000000.000
S-0-0201, Motor warning temperature

If the motor temperature exceeds the motor warning temperature, then
the motor warning high temperature bit will be set by the drive in
S-0-0012, Class 2 diagnostics.
This parameter will be set by the drive at 145° for MHD, MKD and MKE
motors.
See also the functional description: "Temperature Monitoring"
Para. Name: DE Motor-Warntemperatur
EN Motor warning temperature
FR Température de préalerte du moteur
ES Temperatura de aviso de motor
IT Preallarme Temperatura Motore
Unit: C Extrem value check: yes
Input min/max: 45.0 / S-0-0204
S-0-0204, Motor shutdown temperature

If the motor temperature exceeds the motor shutdown temperature, then
the motor overtemperature bit in S-0-0011, Class 1 diagnostics will be
set by the drive and the error F219 Motor overtemp. shutdown will be
generated.
In MHD, MKD and MKE motors, the drive sets this parameter at 155°.
Para. Name: DE Motor-Abschalttemperatur
EN Motor shutdown temperature
FR Température d'arrêt du moteur
ES Temperatura de desconexion de motor
IT Spegnimento per Sovratemp. Motore
Unit: C Extrem value check: yes
Input min/max: S-0-0201 / 155.0
S-0-0228, Position synchronization window

If the difference between the position command value and the feedback
value is smaller than the synchronization window during the
parameterized synchronization operating mode with underlying position
control, then bit 8 in the S-0-0182, Manufacturer Class 3 Status will be
set.

Bit 8 = 1, if | XSynch + XAdditive - XFeedback | < S-0-0228
with X Feedback: Position feedback value S-0-0051 or S-0-0053
X Synch: Synchronized position command value,

compiled
from the actual master axis position
X Additive: Additive position command value, S-0-0048
See also the functional description: "angular synchronization"and

"Synchronization status message for the phase synchronization operating
mode".
Para. Name: DE Synchronlauffenster Lage
EN Position synchronization window
FR Fenêtre de position de synchronisation
ES Posicion ventana de sincronizacion
IT Finestra di Sincronizzazione di Posizione
Decimal places: S-0-0076 Combination check: -
Input min/max: 0 / 2147483647
S-0-0236, Master drive 1 revs.

The gear ratio between the master drive 1 and the slave drive is
calculated as follows:
Slave drive revolutions-1 S-0-0237
Transmission ratio =
Master drive 1 revolutions S-0-0236
Fig. 2-32: S-0-0236, Gear Ratio
The Master Drive 1 Revolutions, S-0-0236 need integer input.

See also the functional description: "Velocity synchronization".
Para. Name: DE Leitantrieb 1 Umdrehungen
EN Master drive 1 revs.
FR Rotations entraînement guide 1
ES Rotacion accionamiento conductor 1
IT Rotazione Master 1
Decimal places: 0 Combination check: -
Input min/max: 1 / 4294967295
S-0-0237, Slave drive 1 revs.

The gear ratio between the master drive 1 and the slave drive is
calculated as follows:
Slave drive revolutions-1 S-0-0237
Transmission ratio =
Master drive 1 revolutions S-0-0236
Fig. 2-33: S-0-0237, Gear Ratio
The Slave Drive Revolutions, S-0-0237 need integer input.

See also the functional description: "Velocity synchronization".
Para. Name: DE Folgeantrieb 1 Umdrehungen
EN Slave drive 1 revs.
FR Rotations entraînement suiveur 1
ES Rotacion accionamiento esclavo 1
IT Rotazione Slave 1
Decimal places: 0 Combination check: -
Input min/max: 1 / 4294967295
S-0-0256, Multiplication 1
The parameter S-0-0256, Multiplication 1 determines, with which factor
the signals of the motor feedback are multiplied in the drive.
The internal resolution for the motor encoder in the drive is calculated
as follows:
S-0-0116 Resolution of motor feedback • S-0-0256 Multiplication 1
The multiplication 1 depends at first from the parameters S-0-0278,
Maximum travel range and S-0-0116, Resolution of motor feedback.
If there is an external encoder, the S-0-0257, Multiplication 2 is taken
into account as well.
See also the functional description: "Setting the drive-internal position
data format"
Para. Name: DE Vervielfachung 1
EN Multiplication 1
FR Multiplication 1
ES Multiplicación 1
IT Multiplicazione 1
S-0-0257, Multiplication 2
The parameter S-0-0257, Multiplication 2 determines, with which factor
the signals of the external feedback are multiplied in the drive.
The internal resolution for the external encoder in the drive is calculated
as follows:
S-0-0117 Resolution of external feedback • S-0-0257 Multiplication 2
The multiplication 2 depends on the parameters S-0-0278, Maximum
travel range and S-0-0117, Resolution of external feedback.
data format"
Para. Name: DE Vervielfachung 2
EN Multiplication 2
FR Multiplication 2
ES Multiplicación 2
IT Multiplicazione 2

The target position is assigned to the drive as a command value by the
controller in the operating modes with drive-controlled interpolation.
The drive moves to the target position taking into account the following
values:
In the operating mode "Position control with positioning interface"
(process blocks), the target position of the current position block will be
copied to parameter S-0-0258, target position.
Interpolation"
Para. Name: DE Zielposition
EN Target position
FR Position à atteindre
ES Posicion objeto
IT Posizione da raggiungere
Input min/max: S-0-0076 / S-0-0076
S-0-0259, Positioning Velocity

The Positioning Velocity is used in the operating mode "Drive-controlled
interpolation" to reach the S-0-0258, Target position.

Interpolation"
Para. Name: DE Positionier-Geschwindigkeit
EN Positioning Velocity
FR Vitesse de positionnement
ES Velocidad de posicionamiento
IT Velocità di Posizionameneto
S-0-0260, Positioning Acceleration

The Positioning acceleration is used in the operating mode "Drive-
controlled interpolation" to accelerate to the S-0-0259, Positioning
Velocity.

Interpolation"
Para. Name: DE Positionier-Beschleunigung
EN Positioning Acceleration
FR Accélération de positionnement
ES Aceleracion de posicionamiento
IT Accellerazione per Posizionamento
Input min/max: 0 / S-0-0160/278
S-0-0262, C700 Command basic load

When this command is set and enabled, the default parameters in the
motor feedback for current, velocity and position control loop settings
will be loaded and activated. These default parameters are not optimized
for the specific application. They establish a stable control loop status.
⇒ When this command is executed, parameters

that have already been optimized may be
overwritten.
ATTENTION
See also Function description: "Load Default Feature"and "Commands"
Para. Name: DE C700 Kommando Urladen
EN C700 Command basic load
FR C700 Commande chargement initial
ES C700 Comando carga base
IT C700 Comando Caricamento Base
S-0-0265, Language selection

All parameter names, units and diagnostic warning messages within the
drive controller are stored in several languages. This parameter
determines the output language for the text.
• 0: German
• 1: English
• 2: French
• 3: Spanish
• 4: Italian
See also the functional description: "Language Selection" and

"Commands"
Para. Name: DE Sprach-Umschaltung
EN Language selection
FR Sélection de langue
ES Cambio de idioma
IT Selezione di Lingua
Input min/max: 0/4

S-0-0267, Password
With this parameter, a customer password can be activated. This is used
to lock the editability of all important parameters specific for the axis. The
parameters which are locked by activating the customer password, can
be seen in the parameter S-0-0192, IDN-List of backup operation data.
Moreover, the parameter can unlock service capabilities.
See also the functional description: "Password"
Para. Name: DE Passwort
EN Password
FR Mot de passe
ES Contraseña
IT Parola Chiave
Unit: Extrem value check: no
S-0-0269, Parameter buffer mode

The Parameter buffer mode is used to determine whether the data
transmitted through the service cannel (or serial interface) will be stored
temporarily (in RAM) or permanently (in EEPROM).
1: Data will not be stored permanently. (Data are volatile.)

0: Data will be stored permanently. (Data are resident.)
After the control voltage supply has been switched on, the drive will
initialize bit 0 to 0. To activate temporary storage mode, bit 0 must be
forced to 1 after switching on.
Note: For applications that write cylic or frequent updates to

buffered parameters: Parameter buffer mode = 1 (temporary)
should be activated by the initialization procedure in the
machine control. This mode ensures that the write cycle life of
the EEPROM is not exceeded. Must be re-programmed after
complete power shut down.
See also the functional description: "Parameters Stored in DSM

Programming Module"
Para. Name: DE Speicherungsmode
EN Parameter buffer mode
FR Mode d'enregistrement
ES Modo de buffer
IT Buffer Modo Parametri
Input min/max: 0/1

This parameter is used to determine the significant properties of the
motor encoder (Position encoder 1).
Bit 0: Feedback type

0: rotary
1: linear
Bit 1: Distance coded measuring system
0: no distance coded reference markers
1: distance coded reference markers
S-0-0165, S-0-0166
Bit 3: Direction of movement
0: not inverted
1: inverted
Bits 7 + 6: Absolute readout
x 0: No absolute readout possible.
(Bit 7 irrelevant)
0 1: Absolute readout possible and active,
encoder is treated as absolute.
1 1: Absolute readout possible, but not active.
Fig. 2-34: S-0-0277, Position feedback 1 type parameter
Remark:
For absolute measurement systems with data memory, bit 6 is set
automatically.
When MHD-, MKD and MKE motors are used, bits 0, 1, and 3 are set
and write-protected by the drive.
See also the functional description: "Other Motor Encoder

Characteristics"
Para. Name: DE Lagegeberart-Parameter 1
EN Position feedback 1 type parameter
FR Paramètre type codeur 1
ES Parametro de tipo de encoder de posicion 1
IT Tipo Parametri Feedback Posizione 1
S-0-0278, Maximum travel range

The parameter S-0-0278, Maximum travel range defines the maximum
possible mechanical move of the machine. Depending on the selected
scaling, modulo or absolute format (see also S-0-0076, Position data
scaling type), the input is unipolar (positive only) or bipolar (with sign).
The parameter S-0-0278, Maximum travel range affects the parameters
S-0-0256, Multiplication 1 and S-0-0257, Multiplication 2 and therefore
the internal position resolution in the drive.
Moreover, the limits for velocity and acceleration of the drive internal
position command generator are influenced by the maximum travel
range. Among others, the max. input values for S-0-0259, Positioning
Velocity and S-0-0260, Positioning Acceleration depend from the
value in S-0-0278 !
Note: The greater the parametrized maximum travel range, the

smaller is the multiplication and the drive internal position
resolution and the higher are the limits of the acceleration and
velocity data.
Additionally, the parameter S-0-0278, Maximum travel range affects the

bit 6 "Absolute readout possible“ in the respective Position feedback
type parameter (S-0-0277 or S-0-0115). If the parametrized maximum
travel range is greater than the absolute numerical range of the used
encoder, then the bit 6 for "Absolute readout possible“ is reset to 0. Vice
versa, the bit 6 is set as soon as a travel range less than the absolute
numerical range of the encoder is recognized.

data format"
Para. Name: DE Maximaler Verfahrbereich
EN Maximum travel range
FR Champs de déplacement maxi.
ES Campo máximo de desplazamiento
IT Campo di Movimento mass.

Input min/max: 0 / 214748.3647
S-0-0282, Travel distance

The control gives to the drive the travel distance in the operating mode
Relative internal Interpolation as a relative command value.
When the parameter S-0-0346, Setup flag for relative command
values is toggled (= changed), the drive adds the travel distance to the
target position. The resulting absolute target position is displayed in in the
parameter S-0-0258, Target position. Then, the drive performs the
travel distance, with regard to
See also the functional description: "Relative drive-internal interpolation"
Para. Name: DE Verfahrweg
EN Travel distance
FR Distance à parcourir
ES Recorrido de desplazamiento
IT Distanza movimento
Input min/max: S-0-0076 / S-0-0076
S-0-0292, List of all operation modes

In this list, all operation modes are named, which the drive supports. The
operation modes are listed by their codings, as they are input in the
parameters S-0-0032..35 (primary and secondary operation modes).
See also the functional description: "Basic Operating Modes"
Para. Name: DE Liste der unterstützten Betriebsarten
EN List of all operation modes
FR Liste de tous les mode d'opération
ES Lista de todos los modos de operación
IT Lista di tutti i Modi operativi

S-0-0298, Reference cam shift by..

For the drive controlled homing, if there is more than one reference
marker in the travel range of the axis during homing, it is necessary to
evaluate a reference switch. In this case, the 0->1 rising edge of the zero
switch specifies the relevant reference marker.
To do this, the distance between zero switch and reference marker may
not be below a certain value, because otherwise the reference marker is
ambiguous. Therefore, the drive monitors the distance. If the distance is
outside the allowed range, the command S-0-0148, C600 Drive
controlled homing procedure command ends up with the error C602
Distance zero switch - reference marker wrong.
In this case, this parameter shows the distance, by which the zero switch
must be shifted, to get the optimal distance.
You can either
• input the value in the parameter S-0-0299, Home switch offset to
shift the active zero switch (virtually) referred to the real one, or
• shift the zero switch mechanically by the value displayed in S-0-0298.
If the distance between zero switch and reference marker is good, then
S-0-0298, Reference cam shift by.. displays a 0.
Para. Name: DE Verschiebung des Referenznockens um..
EN Reference cam shift by..
FR Décalage de la came d'origine de..
ES Desplazamiento de la leva de origen a..
IT
S-0-0299, Home switch offset

For the drive controlled homing, if there is more than one reference
marker in the travel range of the axis during homing, it is necessary to
evaluate a reference switch. In this case, the 0->1 rising edge of the zero
switch specifies the relevant reference marker.
To do this, the distance between zero switch and reference marker may
not be below a certain value, because otherwise the reference marker is
ambiguous. Therefore, the drive monitors the distance. If the distance is
outside the allowed range, the command S-0-0148, C600 Drive
controlled homing procedure command ends up with the error C602
Distance zero switch - reference marker wrong.
In this case, this parameter shows the distance, by which the zero switch
must be shifted, to get the optimal distance.
You can either
• input the value in the parameter S-0-0299, Home switch offset to
shift the active zero switch (virtually) referred to the real one, or
• shift the zero switch mechanically by the value displayed in S-0-0298.
If the distance between zero switch and reference marker is good, then
S-0-0298, Reference cam shift by.. displays a 0.
Para. Name: DE Referenzschalter-Offset
EN Home switch offset
FR Décalage contact origine
ES Offset de interruptor de referencia
IT Offset FC di Zero
Input min/max: S-0-0076 / S-0-0076
S-0-0301, Allocation of real-time control Bit 1

In order to assign a signal to the real-time control bit 1, the ID number of
the signal is written to the operating data of the assignment for the real-
time control bit 1.
If such an assignment is made, the assigned signal (bit 0) will be
controlled by the real-time control bit 1 ( = component of the master
control word).
If the selected IDN is not available, the drive responds with the service
channel error message "IDN not available"
If the programmed IDN is available but is not editable in phase 4, then
the drive responds with the error message "Data not correct"
See also the functional description: "Real-Time Control and Status Bits"
Para. Name: DE Zuweisung Echtzeitsteuerbit 1
EN Allocation of real-time control Bit 1
FR Allocation bit contrôle temps réel 1
ES Asignacion bit de mando tiempo real 1
IT Allocazione del Real Time Control Bit 1
S-0-0303, Allocation of real-time control Bit 2

In order to assign a signal the real-time control bit 2, the ID number of the
signal is written to the operating data of the assignment for the real-time
control bit 2.
If such an assignment is made, the assigned signal (bit 0) will be
controlled by the real-time control bit 2 ( = component of the master
control word).
Para. Name: DE Zuweisung Echtzeitsteuerbit 2
EN Allocation of real-time control Bit 2
FR Allocation bit contrôle temps réel 2
IT Allocazione del Real Time Control Bit 2
S-0-0305, Allocation of real-time status Bit 1

In order to assign a signal to the real-time status bit 1, the ID number of
time status bit 1.
If such an assignment is made, the assigned signal (bit 0) thereafter
appears in the real-time status bit 1 ( = component of the drive status
word).
If the programmed IDN is not available, the drive responds with the
service channel error message "IDN not available".
Para. Name: DE Zuweisung Echtzeitstatusbit 1
EN Allocation of real-time status Bit 1
FR Allocation bit état temps réel 1
IT Allocazione del Real Time Status Bit 1
S-0-0307, Allocation of real-time status Bit 2

In order to assign a signal to the real-time status bit 2, the ID number of
time status bit 2.
If such an assignment is made, the assigned signal (bit 0) thereafter
appears in the real-time status bit 2 (component of the drive status word).
Para. Name: DE Zuweisung Echtzeitstatusbit 2
EN Allocation of real-time status Bit 2
FR Allocation bit état temps réel 2
ES Asignacion bit de estado tiempo real 2
IT Allocazione del Real Time Status Bit 2
S-0-0328, Config. list signal status word, bit number

The configuration of the signal status word (S-0-0144) is done with the
parameters S-0-0026, Configuration list signal status word and S-0-
0328, Config. list signal status word, bit number. These parameters
have variable length with 16-bit data elements. The parameter S-0-0026,
Configuration list signal status , bit number determines, which bit in
the data is copied into the signal status word.
The position in the respective Configuration list determines, to which
position in the signal status word the chosen bit is copied.
Para. Name: DE Konfig.-Liste Signal-Statuswort, Bitnummer
EN Config. list signal status word, bit number
FR Liste de config. pour statut des signaux, numéro du bit
ES Lista de config. Estado de señal, número de bit
IT Lista di Config. per Stato Segnali, Numero di Bit
Input min/max: -/-
S-0-0346, Setup flag for relative command values

When the operation mode Relative drive-internal interpolation is
active, the drive performs the distance parametrized in S-0-0282, Travel
distance, as soon as the bit 0 in S-0-0346, Setup flag for relative
command values toggles (changes).
Para. Name: DE Übernahme relative Sollwerte
EN Setup flag for relative command values
FR Drapeau pour changer la distance relative de la broche
ES Indicador de ajuste para valores nominales relativos
IT Indicatore per cambiare la Distanza Mandrino
Input min/max: 0/1
S-0-0347, Speed deviation

Parameter S-0-0347 indicates the difference between the velocity
command value and the velocity feedback value in the velocity controller.
Vcomm
S-0-0347
Vfeed
Fig. 2-35: S-0-0347, Speed deviation
See also the functional description: "Velocity Controller"
Para. Name: DE Geschwindigkeits-Regelabweichung
EN Speed deviation
FR Ecart de vitesse
ES Desviación de velocidad
IT E.I. di Velocità
S-0-0348, Acceleration feedforward prop. gain

The acceleration feedforward helps to reduce the following error during
the acceleration phase in operating modes without following error. The
current acceleration command value is multiplied by the "Proportional
gain acceleration feed forward" and added to the current command value
of the velocity controller.
S-0-0348, Proportional Amplification

Acceleration Anticipatory Control
Position Position Velocity Current

command controller controller controller
value
Fig. 2-36: Acceleration feedforward
Activation:
Writing a value greater than 0 to the parameter activates the acceleration
feed forward.
Note: The acceleration feedforward is only possible in the operating

modes without following error.
Correct input value:

KR = (Jm +JL) / Km [ • 1000 mA/A]
where: KR = proportional gain acceleration feed forward
Jm = moment of inertia of the rotor
JL= reflected moment of inertia from the load
Km = torque constant
See also the functional description: "Basic Drive Functions - Setting the
Acceleration Feed Forward - Setting the Acceleration Feed Forward"
Para. Name: DE Proportionalverst. Beschleunigungsvorsteuerung
EN Acceleration feedforward prop. gain
FR Anticipation d'accélération, gain prop.
ES Ajuste proporcional mando adelante de aceleracion
IT Guadagno proporzionale Accellerazione
Unit: mA/(rad/s²) Extrem value check: yes
S-0-0349, Jerk limit bipolar

The Jerk limit bipolar limits the acceleration change per time during
"Drive Halt"
See also the functional description: "Drive Stop"
Para. Name: DE Ruck-Grenzwert bipolar
EN Jerk limit bipolar
FR Limite de Jerk bipolaire
ES Límite sacudida bipolar
IT Limite di Jerk bipol.
Input min/max: 0 / 4000000.000
S-0-0382, Intermediate power

Display of the DC-bus power.
Para. Name: DE Zwischenkreisleistung
EN Intermediate power
FR Puissance circuit interméd.
ES Potencia de circuito intermedio
IT Potenza sul Bus DC
Unit: KW Extrem value check: no
S-0-0383, Motor temperature

This parameter contains the measured motor temperature which is
obtained from the motor temperature sensor attached to plug X6.
Remark:
For all motors except 2AD motors, a PTC resistor is used as the
temperature sensor .
As the temperature curve in this case shows a considerable tolerance
and in higher temperature ranges a considerable progression, the value
in
S-0-0383, Motor temperature is not usable for these motor types.
Para. Name: DE Motor-Temperatur
EN Motor temperature
FR Température moteur
ES Temperatura de motor
IT Temperatura Motore
S-0-0390, Diagnostic message number

In the parameter Diagnostic message number, the same number is
stored as it can be seen in the seven segment display. This makes it
possible for the control to generate its own diagnostics according to the
diagnostic message number (for example in languages which are not
stored as diagnostics in the drive).
Example:
Diagnostic Message: "F822 Motor encoder failure: signal too small" in
parameter S-0-0095
Seven Segment Display: changing "F8" <=> "22"
Diagnostic message number: "F822(hex)" in parameter S-0-0390
See also "S-0-0095, Diagnostic Message"
See also the functional description: "Diagnostic Message Composition"
Para. Name: DE Diagnose Nummer
EN Diagnostic message number
FR Numéro message diagnostique
ES Numero de diagnostico
IT Numero Messaggio Diagnosi
S-0-0391, Monitoring window ext. feedback

Description:
This parameter defines the maximum allowable deviation of the S-0-
0051, Actual feedback value 1 and S-0-0053, Actual feedback value 2.
If this value is exceeded for longer than 20ms, then the error F236,
Excessive position feedback difference will be generated.
The monitoring can be turned off by writing 0 to this parameter.
See also the functional description: "Actual Feedback Value Monitoring"
Para. Name: DE Überwachungsfenster externer Geber
EN Monitoring window ext. feedback
FR Fenêtre de surveillance du capteur ext.
ES Ventana de control de encoder absoluto
IT Finestra di Controllo del Encoder esterno
Data length: Memory: Param. EE
Format: Validity check: Phase3
Unit: Extrem value check: yes
S-0-0393, Command value mode for modulo format

The interpretation of position command values such as S-0-0047,
Position command value and S-0-0258, Target position when the
modulo function has been activated is dependent on the selected mode.
This parameter has an effect only when S-0-0076, Position data
scaling type had been activated in the modulo format.
The following values can be parametrized:
S-0-0393: Meaning:
0 Shortest Path
1 Positive Direction
2 Negative Direction
Fig. 2-37: Parametrizeable Values for S-0-0393
See also the functional description: "Processing Command Values in

Modulo Format, Shortest Path - Direction Selection"
Para. Name: DE Sollwertmodus im Moduloformat
EN Command value mode for modulo format
FR Mode consigne pour modulo
ES Modo de valor nominal en formato de módulo
IT Modo per Valori comandati modulo
Input min/max: 0/2
S-0-0400, Home switch

This parameter is used to assign an ID number to the home switch
(external signal).
Application:
The IDN (and thus the feedback status of the home switch) can be
assigned to a real-time status bit.
Bit 0: Home switch

0: not activated
1: activated
Fig. 2-38: S-0-0400, Home switch
See also the functional description: "Evaluation of the Home Switch"
Para. Name: DE Referenzpunktschalter
EN Home switch
FR Contact d'origine
ES Interruptor de punto de referencia
IT FC di Zero
S-0-0401, Probe 1
This parameter is used to assign an ID number to Probe 1 (external
signal). This makes it possible to assign Probe 1 to a real-time status bit,
for example.
The signal Probe 1 is only polled by the drive and considered valid if the
S-0-0170, Probing cycle procedure command is active and S-0-0405,
Probe 1 enable is present.
Bit 0: Probe
0: not activated
1: activated
Fig. 2-39: S-0-0401, Probe 1
Para. Name: DE Messtaster 1
EN Probe 1
FR Sonde 1
ES Teclas de medicion 1
IT Probe 1
S-0-0402, Probe 2
This parameter is used to assign an ID number to Probe 2 (external
signal). This makes it possible to assign Probe 2 to a real-time status bit,
for example.
The signal Probe 2 is only polled by the drive and considered valid if the
S-0-0170, Probing cycle procedure command is active and S-0-0406,
Probe 2 enable is present.
Bit 0 : Probe
0: not activated
1: activated
Fig. 2-40: S-0-0402, Probe 2
Para. Name: DE Messtaster 2
EN Probe 2
FR Sonde 2
ES Teclas de medicion 2
IT Probe 2
S-0-0403, Position feedback value status

When the bit 3 of S-0-0147, Homing parameter is set high, bit 0 of this
parameter will be set high when the position feedback value is fixed in
feference to the machine’s zero point.
When the drive performs the commands S-0-0148, C600 Drive
controlled homing procedure or P-0-0012, C300 Command 'Set
absolute measurement', the bit will be reset when they are started and
then set 1 again once the command has been successfully completed.
The bit position feedback value status corresponds to the output signal
"In reference".
In drives with Sercos interface, the position feedback value status can be
assigned to a real-time status bit and thus be continuously
communicated to the NC in the drive status word (see S-0-0305,
Allocation of real-time status bit 1).
Bit 0 : Position feedback values

0: are relative.
1: are in reference to the machine’s
zero point.
Fig. 2-41: S-0-0403, Position feedback value status
Para. Name: DE Status Lageistwerte
EN Position feedback value status
FR Etat de la valeur de retour de position
ES Estado valores reales de posicion
IT Stato del Feedback di Posizione
S-0-0405, Probe 1 enable

This parameter is used to enable a probe input.
Changing this signal from 0 to 1 activates the trigger mechanism for
evaluating the positive and/or negative slope of the probe signal.
The probe 1 enable can be assigned to a real-time control bit and thus be
communicated to the master control word in the drive.
Bit 0: Probe 1
0: not enabled
1: enabled
Fig. 2-42: S-0-0405, Probe 1 enable
Para. Name: DE Messtaster 1 Freigabe
EN Probe 1 enable
FR Validation de la sonde 1
ES Desbloqueo de teclas de medicion 1
IT Probe 1 abilitato
S-0-0406, Probe 2 enable

This parameter is used to enable a probe input.
Changing this signal from 0 to 1 activates the trigger mechanism for
evaluating the positive and/or negative slope of the probe signal.
The probe 2 enable can be assigned to a real-time control bit and thus be
communicated to the drive in the master control word.
Bit 0: Probe 2
0: not enabled
1: enabled
Fig. 2-43: S-0-0406, Probe 2 enable
Para. Name: DE Messtaster 2 Freigabe
EN Probe 2 enable
FR Validation de la sonde 2
ES Desbloqueo de teclas de medicion 2
IT Probe 2 abilitato
S-0-0409, Probe 1 positive latched

Bit 0 in this parameter will be set by the drive if
• the S-0-0170, Probing cycle procedure command is active,
• bit 0 in S-0-0169, Probe control parameter is set,
• S-0-0405, Probe 1 enable is present and
• the positive edge of S-0-0401, Probe 1 is recognized.
The drive simultaneously stores the value of the selected signal in

S-0-0130, Probe value 1 positive edge.
The drive clears the bit if the NC clears the S-0-0170, Probing cycle
procedure command or if S-0-0405, Probe 1 enable has been set from
1 to 0.
The parameter "Probe 1 positive latched" can be assigned to a real-time
status bit and thus be continuously communicated to the NC in the drive
status word (see S-0-0305, Allocation of real-time status bit 1).
Bit 0: Probe 1 positive

0: not latched
1: latched
Fig. 2-44: S-0-0409, Probe 1 positive latched
Para. Name: DE Messtaster 1 positiv gelatcht
EN Probe 1 positive latched
FR Sonde 1 déclenchée sur front montant
ES Teclas de medicion 1 bloqueado positivo
IT Probe 1 positivo rilevato
S-0-0410, Probe 1 negative latched

• S-0-0405, Probe 1 enable is present and
• the negative edge of S-0-0401, Probe 1 is recognized.
The drive simultaneously stores the value of the selected signal in S-0-
0131, Probe value 1 negative edge.
1 to 0.
The parameter "probe 1 negative latched" can be assigned to a real-time
Bit 0: Probe 1 negative

0: not latched
1: latched
Fig. 2-45: S-0-0410, Probe 1 negative latched
Para. Name: DE Messtaster 1 negativ gelatcht
EN Probe 1 negative latched
FR Sonde 1 déclenchée sur front descendant
ES Teclas de medicion 1 bloqueado negativo
IT Probe 1 negativo rilevato
S-0-0411, Probe 2 positive latched

• S-0-0406, Probe 2 enable is present, and
• the positive edge of S-0-0402, Probe 2 is recognized.
The drive simultaneously stores the value of the selected signal in S-0-
0132, Probe value 2 positive edge.
1 to 0.
The parameter "Probe 2 positive latched" can be assigned to a real-time
Bit 0: Measurement 2 positive

0: not latched
1: latched
Fig. 2-46: S-0-0411, Probe 2 positive latched
Para. Name: DE Messtaster 2 positiv gelatcht
EN Probe 2 positive latched
FR Sonde 2 déclenchée sur front montant
ES Teclas de medicion 2 bloqueado positivo
IT Probe 2 positivo rilevato
S-0-0412, Probe 2 negative latched

Description:
• S-0-0406, Probe 2 enable is present, and
• the negative edge of S-0-0402, Probe 2 is recognized.
The drive simultaneously stores the value of the selected signal in

S-0-0133, Probe value 2 negative edge.
procedure command or if S-0-0406, Probe 2 enable is set from 1 to 0.
The parameter "probe 2 negative latched" can be assigned to a real-time
Bit 0; Measurement 2 negative

0: not latched
1: latched
Fig. 2-47: S-0-0412, Probe 2 negative latched
Para. Name: DE Messtaster 2 negativ gelatcht
EN Probe 2 negative latched
FR Sonde 2 déclenchée sur front descendant
ES Teclas de medicion 2 bloqueado negativo
IT Probe 2 negativo rilevato

S-7-0109, Motor peak current

Value in the feedback memory which specifies the maximum current
which may flow in the motor for a short period without damaging it.
For MHD, MKD and MKE motors, the value will be copied into the active
parameter S-0-0109, Motor peak current when the amplifier is turned on.
Para. Name: DE Spitzenstrom Motor
EN Motor peak current
FR Courant crête du moteur
ES Corriente punta de motor
IT Corrente di Picco Motore
Data length: 4Byte Memory: Feedb. EE
Unit: A Extrem value check: no
Input min/max: 0.001 / 500.000
S-7-0111, Motor current at standstill

Value in the feedback memory for the current which can continuously
flow in the motor without damaging it.
parameter S-0-0111, Motor current at standstill when the amplifier is
turned on.
Para. Name: DE Stillstandstrom Motor
EN Motor current at standstill
FR Courant du moteur à l'arrêt
ES Corriente de parada motor
IT Corrente Motore con Asse fermo
Input min/max: 0.001 / 500.000
S-7-0113, Maximum motor speed (nmax)

Value in the feedback memory for the maximum possible motor speed.
parameter S-0-0113, Maximum motor speed (nmax) when the amplifier
is turned on.
Para. Name: DE Maximalgeschwindigkeit des Motors
EN Maximum motor speed (nmax)
FR Vitesse maximale du moteur
ES Velocidad maxima del motor
IT Velocità massima Motore (nmax)
Input min/max: 0 / 214738.3647
S-7-0116, Resolution of motor feedback

Value in the feedback memory for resolution of the motor encoder.
parameter S-0-0116, Resolution of motor feedback when the amplifier is
turned on.
Para. Name: DE Auflösung Motorgeber
EN Resolution of motor feedback
FR Résolution du codeur moteur
ES Resolucion encoder de motor
IT Risoluzione Feedback Motore
Unit: Cycles/Rev Extrem value check: no
S-7-0141, Motor type

Text in the feedback memory for the motor type.
parameter S-0-0141, Motor type when the amplifier is turned on.
Examples:
MKD 071B-061-KP1-BN
MKE 096B-047-GG0-KN
Para. Name: DE Motortyp
EN Motor type
FR Type de moteur
ES Tipo de motor
IT Tipo Motore
Data length: 1Byte variabel Memory: Feedb. EE
Decimal places: - Combination check: no
DIAX04 Drive With Electric Gear Function Supplement A: Product-specific parameters 111
3 Product-specific parameters
P-0-0004, Velocity loop smoothing time constant
The time constant that can be activated in this parameter affects the
output of the velocity loop controller. It can be used to suppress
quantization effects and limit the bandwidth of the velocity loop
controller.The limit frequency is derived from smoothing time constant T
resulting from the relationship
1
fg =
2 ⋅π ⋅ Τ
Inputting the minimum input value turns the filter off.
P-0-0004 - Attributes
Para. Name: DE Drehzahlregler-Glättungszeitkonstante
EN Velocity loop smoothing time constant
FR Constante de temps de filtrage boucle de vitesse
ES Constante de tiempo de suavizado n.d.r.
IT Costante di Tempo per Smorzamento nell'Anello di Velocità
P-0-0008, Activation E-Stop function

Parameter P-0-0008 can be used to activate the E-Stop input and to
select a response for bringing the drive to standstill.
Bit 0: E-Stop activation

0: inactive
1: active
Bit 1: Type of reaction
0: Best possible standstill (P-0-0159)
1: Set velocity command value to zero
Fig. 3-1: P-0-0008, Activation of E-Stop function
The input polarity cannot be selected. It is always 0-active i.e., 0V on E6

of the X12 connector means the E-Stop is active.
Note: In addition, bit 0 activates monitoring of the external 24V

current.
See also the functional description: "Activation and Polarity of the E-Stop
Input"
112 Supplement A: Product-specific parameters DIAX04 Drive With Electric Gear Function
Para. Name: DE Aktivierung E-Stop-Funktion
EN Activation E-Stop function
FR Activation fonction Arrêt d'Urgence
ES Activacion funcion parada de emergencia
IT Attivazione della Funzione E-Stop
P-0-0009, Error message number

If the drive diagnosis a class 1 diagnostic error, then a bit gets in
parameter S-0-0011, Class 1 diagnostics. Bit 13 is set in the operation
status word for ‘’Error in class 1 diagnostic’’.
Additionally, for a precise diagnosis:
• the diagnosis number is displayed in the 7-segment display and
stored in parameter S-0-0390, Diagnostic message number,
• the clear text diagnosis is stored in parameter S-0-0095, Diagnostic
message
• and the relevant error number is stored in paramter P-0-0009, Error
message number.
If no error is pending, then the value of parameter P-0-0009 Error
message number is 0.
Example:
Pending error:
S-0-0095: "F822 Motor encoder failure: signal too small"
Diagnostics:
S-0-0390 F822 (hex)
P-0-0009: 822 (decimal)
7-segment display: Changing between F8 and 22
See also the functional description: "Error Number"
Para. Name: DE Fehler-Nummer
EN Error message number
FR Numéro erreur
ES Error numero
IT Numero Messaggio Errore
P-0-0010, Excessive position command value

In position control mode (S-0-0032..35 = 0x0003, 0x0004, 0x000B or
0x000C), the NC sets position commands at constant intervals (all S-0-
0001, NC Cycle time (TNcyc)). Within the drive, the difference of two
sequential position commands are monitored for excessive values, i.e.,
the position commands must satisfy:
X Soll ( k ) − X Soll ( k − 1)
≤ S − 0 − 0091
S − 0 − 0001
whereby:
Xsoll(k) = NC position command in current cycle
Xsoll(k-1) = NC position command in previous cycle
Fig. 3-2: Monitoring of the position command for excessive values for in the
position control mode
If the above condition is violated, then error F237, Excessive position

command difference is triggered and the drive decelerantes as set in
parameter P-0-0119, Best possible decleration.
The error triggering excessive position command value (Xsoll(k))is stored
in parameter P-0-0010, Excessive position command value, the last
valid position command (Xsoll(k-1)) in parameter P-0-0011, Last valid
position command value.
Para. Name: DE Exzessiver Lagesollwert
EN Excessive position command value
FR Consigne de position excessive
ES Valor nominal de posicion excesivo
IT Posizione comandata eccessiva
P-0-0011, Last valid position command value

In position control mode (S-0-0032...35 = 0x0003, 0x0004, 0x000B or
0x000C), the NC sets position commands at constant intervals (all
S-0-0001, NC Cycle time (TNcyc)). The difference of two sequential
position commands is monitored for excessive value. The positions
command values must satisfy.
X Soll ( k ) − X Soll ( k − 1)
≤ S − 0 − 0091
S − 0 − 0001
whereby:
Xsoll(k) = NC-position command in current cycle
Xsoll(k-1) = NC-position command in previous cycle
Fig. 3-3: Monitoring of the position command for excessive values in the position
control mode
If the above condition is violated, then error F237, Excessive position

command difference is triggered and the drive decelerantes as set in
parameter P-0-0119, Best possible decleration.
The error triggering excessive position command value (Xsoll(k))is stored
in parameter P-0-0010, Excessive position command value, the last
valid position command (Xsoll(k-1)) in parameter P-0-0011, Last valid
position command value.
Para. Name: DE Letzter gültiger Lagesollwert
EN Last valid position command value
FR Dernière consigne de position valable
ES Valor nominal de posicion ultimo valido
IT Ultima Posizione comandata valida
P-0-0012, C300 Command 'Set absolute measurement'

When an absolute measuring system is started for the first time, the drive
will indicate a random feedback value that is not referenced to the
machine zero-point.
The position feedback of this measuring system can be set to the desired
value with the command "Set absolute measurement". After the "Set
absolute measurement" command is executed, the position feedback
value of the measurement-supplied encoder will contain a defined
reference to the machine zero-point. In this case, the value of parameter
S-0-0403, Position feedback value status is 0.
All information will be available after reset because all necessary data
from the absolute measurement system is buffered in feedback data
memory or in parameter data memory. The position feedback value
permanently retains its reference to the machine zero-point.
Parameter P-0-0012, C300 Command 'Set absolute measurement' can
be used to execute this function.
See also the functional description: "Set Absolute Measuring"
Para. Name: DE C300 Kommando Absolutmaß setzen
EN C300 Command 'Set absolute measurement'
FR C300 Commande du chargement de valeur absolue
ES C300 Poner medicion absoluta de comando
IT C300 Comando Azzeramento Encoder assoluto
P-0-0014, D500 Command determine marker position

The command P-0-0014, D500 Command determine marker position
is used to check the detection of the reference marker of an incremental
measuring system. If there is an incremental measuring system and the
command has been activated, then the actual position of the measuring
system, once detected is stored in parameter S-0-0173, Marker position
A. It is then signalled that the command is completed. Given 2 measuring
systems,the bit 3 in S-0-0147, Homing parameter determines which
measuring system is used.
See also the functional description: "Command - detect marker position"
Para. Name: DE D500 Kommando Markerposition ermitteln
EN D500 Command determine marker position
FR D500 Commande évaluation position marqueur
ES D500 Comando calcular posicion de marcador
IT D500 Comando prendere posizione marca
Input min/max: 0/3
P-0-0015, Memory address

This parameter can be used to select a memory address in the drive for
operation-internal test purposes. The contents will be displayed in
parameter P-0-0016, Content of memory address.
Para. Name: DE Speicheradresse
EN Memory address
FR Adresse mémoire
ES Direccion de memoria
IT Indirizzo Memoria
Input min/max: 0 / 0xffff
Default value: 0x8000 Cyc. transmittable: no
P-0-0016, Content of memory address

This parameter displays the contents of the memory address set in
parameter P-0-0015, Memory address (for operation-internal test
purposes only!).
Para. Name: DE Inhalt der Speicheradresse
EN Content of memory address
FR Contenu de l'adresse mémoire
ES Contenido de la direccion de memoria
IT Contesto degli Indirizzi di Memoria
P-0-0018, Number of pole pairs/pole pair distance

This indicates the number of pole pairs per motor revolution for
rotating motors.
For linear motors, the length of a pole pair must be indicated here.
This value does not need to be indicated here for motors with motor
feedback data memory, like MKD.
Para. Name: DE Polpaarzahl/Polpaarweite
EN Number of pole pairs/pole pair distance
FR Nombre de paires de pôles/distance polaire
ES Numero de par de polo/espacio de par de polo
IT Numero di Coppie Poli
Unit: pairs of poles/mm Extrem value check: no
P-0-0019, Position start value

The position start value sets a parameter for a defined initialization value
for position feedback values 1 and 2 in non-absolute measurement
systems.
During initialization of the position feedback value with command S-0-
0128, C200 Communication phase 4 transition check, the drive
checks whether the position start value was written in communications
phase 2 or 3. Only then will position feedback values 1 and 2 be set to
that value. The position start value is used only for non-absolute
encoders.
See also the functional description: "Actual Feedback Values of Non-
Absolute Measurement Systems After Initialization"
Para. Name: DE Lageanfangswert
EN Position start value
FR Position à la mise sous tension
ES Valor inicial de posicion
IT Valore di Posizione di Partenza
Input min/max: -2147483648 / 2147483647
P-0-0021, List of scope data 1

The measured values of channel 1 of the oscilloscope function are stored
in chronological sequence in parameter P-0-0022, List of scope data 2
(the oldest scope value is the first element of the list).
See also the functional description: "Oscilloscope Feature"
Para. Name: DE Messwertliste 1
EN List of scope data 1
FR Liste des valeurs mesurées 1
ES Lista de valor de medicion 1
IT Lista Misure 1
Format: P-0-0023 Validity check: no
Unit: P-0-0023 Extrem value check: no
Decimal places: P-0-0023 Combination check: no
P-0-0022, List of scope data 2

The measured values of channel 2 of the oscilloscope function are stored
in chronological sequence in parameter P-0-0022, List of scope data 2
(the oldest scope value is the first element of the list).
Para. Name: DE Messwertliste 2
EN List of scope data 2
FR Liste des valeurs mesurées 2
ES Lista de valor de medicion 2
IT Lista Misure 2
Format: P-0-0024 Validity check: no
Unit: P-0-0024 Extrem value check: no
Decimal places: P-0-0024 Combination check: no
P-0-0023, Signal select scope channel 1

Parameter P-0-0023 determines the signal that will be recorded. The
following fixed, defined signals are available:
Unit of the
Number Signal selection scope data list
0 x 00 Channel not activated --
0 x 01 Actual feedback value Dependent on position
dependent on operating mode scaling
S-0-0051 or S-0-0053
0 x 02 Velocity value parameter Dependent on
(S-0-0040) velocity scaling
0 x 03 Velocity control Dependent on
deviation (-S-0-0347) velocity scaling
0 x 04 Following error Dependent on position
parameter (S-0-0189) scaling
0 x 05 Torque/force command value Percent
parameter S-0-0080
0 x 06 Not in use --
Fig. 3-4: P-0-0023, Signal numbers
Expanded oscilloscope recording feature:

In addition to fixed, defined signal selection, it is also possible to record
any memory addresses of the drive. To do this, bit 12 = 1 must be set. Bit
13 defines the data length of the memory signal in question.
Bit 12: Expanded oscilloscope "on" function
Bit 13: Data width of measurements

0 = 16 bits
0 = 32 bits
Fig. 3-5: P-0-0023, & P-0-0024, Oscilloscope function signal selection
Para. Name: DE Signalauswahl 1 Oszilloskopfunktion
EN Signal select scope channel 1
FR Fonction oscilloscope, sélection signal 1
ES Seleccion de señal 1 funcion de osciloscopio
IT Segnale Selezionato Canale 1
Format: HEX Validity check: Phase3
Decimal places: -- Combination check: no
P-0-0024, Signal select scope channel 2

Parameter P-0-0024 determines the signal that will be recorded. The
Unit of the scope
Number Signal selection data (probe value) list
0 x 00 Channel not activated --
0 x 01 Actual feedback value Dependent on position scaling
dependent on operating
mode
S-0-0051 or S-0-0053
0 x 02 Velocity value Dependent on
parameter (S-0-0040) velocity scaling
0 x 03 Velocity control Dependent on
deviation (-S-0-0347) velocity scaling
0 x 04 Following error Dependent on position scaling
parameter (S-0-0189)
0 x 05 Torque/force command Percent
value
parameter S-0-0080
0 x 06 Not in use --
Fig. 3-6: P-0-0024, Signal numbers
Expanded oscilloscope recording feature:

In addition to fixed, defined signal selection, it is also possible to record
any memory addresses of the drive. To do this, bit 12 = 1 must be set. Bit
13 defines the data length of the memory signal in question.
Bit 12: Expanded oscilloscope "on" function
Bit 13: Data width of measurements

0 = 16 bits
0 = 32 bits
Fig. 3-7: P-0-0023, and P-0-0024, Oscilloscope function signal selection
Para. Name: DE Signalauswahl 2 Oszilloskopfunktion
EN Signal select scope channel 2
FR Fonction oscilloscope, sélection signal 2
ES Seleccion de señal 2 funcion de osciloscopio
IT Segnale Selezionato Canale 2
P-0-0025, Trigger source

Parameter P-0-0025 defines the source that initiates the trigger signal.
There is a choice between
• External trigger
• Internal trigger
External trigger (P-0-0025 = 0x01)
If an external trigger is chosen, then the trigger will be initiated by bit 0 of
the trigger command word.
Internal trigger (P-0-0025 = 0x02)
If an internal trigger is selected, then the trigger signal set by parameter
will be monitored for the trigger condition, and the trigger will be initiated
as soon as the condition is met.
Para. Name: DE Triggerquelle Oszilloskopfunktion
EN Trigger source
FR Source de déclenchement pour fonction oscilloscope
ES Origen de trigger osciloscopio
IT Sorgente Trigger
Input min/max: 1/2
P-0-0026, Trigger signal selection

For internal trigger sources, parameter P-0-0026 defines the signal that
is monitored for the trigger condition that was set by parameter. The
Trigger signal Corresponding
numbers Trigger signal trigger threshold
0 x 00 Not defined Not defined
0 x 01 Actual feedback value Position data (P-0-
based on 0027)
mode of operation
0 x 02 Velocity feedback value Velocity data (P-0-
Parameter S-0-0040 0028)
0 x 03 Velocity deviation Velocity data (P-0-
parameter -- 0028)
0 x 04 Following error Position data (P-0-
parameter S-0-0189 0027)
0 x 05 Torque command value Torque data (P-0-0029)
parameter S-0-0080
Fig. 3-8: P-0-0026, Trigger signal selection
Additional trigger signals can also be defined by setting bit 12.
Bit 12: Expanded "on" trigger function
Fig. 3-9: P-0-0026, Trigger signal selection
Para. Name: DE Triggersignalauswahl Oszilloskopfunktion
EN Trigger signal selection
FR Fonction oscilloscope, sélection signal de déclenc.
ES Seleccion de señal de trigger funcion osciloscopio
IT Segnale di Trigger selezionato
Input min/max: 0 / 0x5
P-0-0027, Triggerlevel for position data

Parameter P-0-0027 determines given P-0-0026, Trigger signal
selection oscilloscope function=“1“or “4“, the position value at which the
trigger will be released as long as the correct edge has been recognized.
Para. Name: DE Triggerschwelle für Lagedaten
EN Triggerlevel for position data
FR Seuil de déclenchement données de position
ES Umbral de trigger para datos de posicion
IT Livello di Trigger per Dati di Posizione
Input min/max: S-0-0076 / S-0-0076
P-0-0028, Triggerlevel for velocity data

selection oscilloscope function = “2“ or “3“, the actual speed value at
which the trigger will be released as long as the correct edge has been
recognized.
Para. Name: DE Triggerschwelle für Geschwindigkeitsdaten
EN Triggerlevel for velocity data
FR Seuil de déclenchement données de vitesse
ES Umbral de trigger para datos de velocidad
IT Livello di Trigger per Dati di Velocità
Input min/max: S-0-0044 / S-0-0044
P-0-0029, Triggerlevel for torque/force data

selection oscilloscope function = “5“, the torque force value at which the
trigger will be released as long as the correct edge has been recognized.
Para. Name: DE Triggerschwelle für Drehmoment-/Kraftdaten
EN Triggerlevel for torque/force data
FR Seuil de déclenchement données de couple/force
ES Umbral de trigger para datos de par/fuerza
IT Livello di Trigger per Dati Coppia/Forza
Unit: % Extrem value check: yes
Input min/max: S-0-0086 / S-0-0086
P-0-0030, Trigger edge

Parameter P-0-0030 trigger edge defines the signal change at which a
trigger event can be initiated.
Number: Trigger edge:

1 Triggering on the positive edge of the trigger signal
2 Triggering on the negative edge of the trigger signal
3 Triggering on both the positive edge and
negative edge of the trigger signal
4 Triggering if the trigger signal equals the trigger level
Fig. 3-10: Selection of trigger edges
Para. Name: DE Triggerflanke
EN Trigger edge
FR Front de déclenchement
ES Lado de trigger
IT Fronte di Trigger
Input min/max: 1/4
P-0-0031, Timebase
Timebase defines the time intervals within which the probe values of the
selected signals are defined. Possible time intervals range from 250 µs to
100 ms.
Note that in general:
Recording duration = Time resolution • Size of memory [µs]
Para. Name: DE Zeitauflösung
EN Timebase
FR Base de temps
ES Resolucion de tiempo
IT Base dei Tempi
P-0-0032, Size of memory

The size of memory determines the number of recorded probe values per
measurement. A maximum of 512 probe values can be recorded per
channel.
The memory size and time resolution together determine the recording
duration. The minimum recording duration is 128 ms, and the maximum
duration is 51.2 s.
Note that in general:
Recording duration = Time resolution • Size of memory [us]
Para. Name: DE Speichertiefe
EN Size of memory
FR Taille mémoire
ES Tamaño de memoria
IT Dimensione Memoria
P-0-0033, Number of samples after trigger

Parameter P-0-0033 defines the number of probe values, or samples,
that will be entered in the probe value list after the trigger event. In this
way it is possible to set a parameter to define a trigger delay. Parameter
P-0-0033 is used for this.
Trigger
threshold Trigger signal
Trigger status
(bit 0)
P-0-0033: Number of
measurements after
Trigger delay the trigger action
Recording duration
Fig. 3-11: Triggering
Para. Name: DE Anzahl der Messwerte nach Triggerereignis
EN Number of samples after trigger
FR Nombre de mesures après déclenchement
ES Numero de muestras despues de trigger
IT Numero di Campionamenti dopo Trigger
P-0-0034, Position command additional actual value

This parameter is used as the starting value for synchronization in a
synchronization operating mode with underlying position control.
It contains the difference between the position feedback (actual) value
and the synchronous position command value derived from the master
drive position. (The phase offset command is stored here.)
Para. Name: DE Lagesollwert additiv Istwert
EN Position command additional actual value
FR Consigne de position additive, valeur actuelle
ES Valor nominal de posicion valor real
IT Comando di Posizione Addizzionale
Input min/max: -214748.3648 / 214748.3647
P-0-0035, Delay from trigger to start

Parameter P-0-0035 indicates the number of cycles between the trigger
event (internal) and the release of the trigger (bit 0 trigger control word) in
external triggering.
Trigger signal
Trigger
Trigger status
(bit 0)
P-0-0033:
Number of measurements
Trigger delay after the trigger action
Triggersteuer
(Bit 0)
P-0-0035
Trigger control mixing
Recording duration
Fig. 3-12: Triggering
Since there is a delay between transmission of the trigger event by the

control system and release of the trigger, the delay is measured by the
drive controller and stored in parameter P-0-0035, Delay from trigger to
start. A time-correct display of signals is ensured by using this parameter
for visualizing the probe values.
Para. Name: DE Triggersteuerversatz
EN Delay from trigger to start
FR Délai de déclenchement
ES Retardo de mando de trigger
IT Ritardo del Trigger dopo Start
P-0-0036, Trigger control word

Parameter P-0-0036 controls the oscilloscope function.
• Bit 2 activates the function, i.e., the lists of scope data are filled with
the selected data.
• Bit 1 activates trigger monitoring.
• Bit 0 can initiate a trigger event. If a valid edge is recognized, the
probe-value memory will be completed as specified by parameter
P-0-0033, Number of samples after the trigger, and the
oscilloscope function will be deactivated by resetting bits 1 and 2 in
the trigger control word.
Parameter structure
Bit 0: Trigger action (input with

external triggering)
Bit 1: Trigger release

Bit 2: Oscilloscope
function active
Fig. 3-13: P-0-0036, Trigger control word
Para. Name: DE Triggersteuerwort
EN Trigger control word
FR Mot de commande déclenchement
ES Palabra de mando de trigger
IT Controllo Trigger
P-0-0037, Trigger status word

Status messages for the oscilloscope function.
Parameter P-0-0037 offers various pieces of information about the
current status of the oscilloscope function.
Parameter structure

external: message to control
system
internal: activation of the trigger
delay function
Bit 1: Signal < Trigger threshold

Bit 2: is recording
Bit 3: Signal > Trigger threshold
Fig. 3-14: P-0-0037, Trigger status word
Para. Name: DE Triggerstatuswort
EN Trigger status word
FR Mot d'état déclenchement
ES Palabra de estado de trigger
IT Stato Trigger
P-0-0049, Target position pattern ctrl profile

This parameter works only in the operating mode "Pattern Ctrl Profile
(Transmission)".
When a change is made to the P-0-0079, Info-Target Position value,
the current value is taken from P-0-0049 and saved in the shift register
developed from 6 target positions.
See also the functional description: "Electronic Pattern Control"
Para. Name: DE Zielposition Mustergetriebe
EN Target position pattern ctrl profile
FR Position à atteindre registre échantillon
ES Posicion objeto perfil ctrl de muestra
IT Riduttore Modello, Posizione da raggiungere

Input min/max: -214748.3648 / 214748.3647
P-0-0051, Torque/force constant

The torque/force constant determines what drive torque or force the
motor will deliver at a specific effective current.
For synchronous motors, this value depends entirely on the design of the
motor.
In asynchronous motors, this value is valid only when the motor is not
operated in the field-weakening range.
For MHD, MKD and MKE motors, this parameter is stored in feedback
data memory and cannot be changed.
Ma[ Nm; N ] = ( P − 0 − 0051) ⋅ (S − 0 − 0111) ⋅ (S − 0 − 0080)

where:
Ma = Drive torque
P-0-0051 = Torque/force constant [N/A]
S-0-0111 = Motor current at standstill [A]
S-0-0080 = Torque/force command [%]
Fig. 3-15: Drive torque
Para. Name: DE Drehmoment-/Kraft-Konstante
EN Torque/force constant
FR Constante de couple/force
ES Constante de par/fuerza
IT Costante di Coppia/Forza
Unit: Nm/A Extrem value check: no
P-0-0052, Position feedback value 3

If the control drive is operated by a Master drive, parameter P-0-0052
displays the current position of the Master drive and sends it to the
control system.
Since only digital servo feedbacks are designated as Master-drive
encoders, "Position Feedback Value 3" deals with an absolute value
within one encoder rotation.
The position feedback value format amounts to 2^20 increments per
rotation and cannot be set.
See also the functional description: "Masteraxis position output"
Para. Name: DE Lage-Istwert 3
EN Position feedback value 3
FR Position réelle 3
IT Feedback di Posizione Valore 3
P-0-0053, Master drive position

The Master drive position is either
• determined in the drive by evaluating the master drive encoder
(operation with real master axis), or
• given cyclically from the NC in equidistant time intervals (virtual
master axis).
This parameter serves as the command value default for the control
drive in the following operating modes:
• Velocity synchronization
• Phase synchronization
• Electronic curve pattern disk
• Electronic pattern transmission
Para. Name: DE Leitachsposition
EN Master drive position
FR Position axe maître
ES Posicion eje conductor
IT Posizione Master
Unit: Inkr Extrem value check: no
P-0-0059, SSI-Emulator resolution

Parameter P-0-0059, SSI-Emulator Resolution indicates with how many
increments per encoder rotation the P-0-0059, Master drive position is
transmitted over the interface (DSA) in SSI format.
The SSI format of 25 bits (12 bits per rotation, 12 bits for rotations,
1 monitoring bit for transmitting errors) is not affected.
See also the functional description: "Masteraxis position output"
Para. Name: DE SSI-Emulator-Auflösung
EN SSI-Emulator resolution
FR Résolution émulation codeur SSI
ES Resolucion de emulador SSI
IT Risoluzione Emulatore SSI
P-0-0060, Filter time constant additional pos. command

If the P-0-0155, Synchronization Mode 1 is set, then the dynamic
synchronization will be switched off after the absolute synchronization is
reached for the first time.
Changes to the S-0-0048, additional position command value will be
smoothed with a filter of the first order. The time constant of the filter can
be set with this parameter.
See also the functional description: "Dynamic Synchronization in the
Phase Synchronization Operating Mode"
Para. Name: DE Filterzeitkonstante Lagesollwert additiv
EN Filter time constant additional pos. command
FR Cste de temps de filtrage consigne de pos. addit.
ES Constante tiempo de filtro valor nominal posicion adicional
IT Costante di Tempo su Comandi add. di Avanzamento
P-0-0061, Angle offset begin of profile

The profile (table) will be shifted by this angle in relation to the Master
drive position.
The offset is used in the cam shaft or pattern transmission operating
modes.(Master Phase Adjust)
Para. Name: DE Winkelverschiebung Tabellenanfang
EN Angle offset begin of profile
FR Début de table de décalage angulaire
ES Desplazamiento de fase inicio de tabla
IT Offset del Angolo per Inizio Profili
Unit: Deg Extrem value check: yes
P-0-0062, Pattern ctrl profile 2A

This is a table with 512 data samples for the "Electronic Pattern Ctrl
Profile (Transmission)" function.
This table is used if the following criteria are met:
• 2 steps
• Range A (Master drive position from 0° to 180°)
Para. Name: DE Mustergetr. Tabelle 2A
EN Pattern ctrl profile 2A
FR Table registre échantillon 2A
ES Perfil ctrl muestra 2A
IT Riduttore Modello, Tabella Profilo 2A
P-0-0063, Pattern ctrl profile 2A, switch angle 1

This parameter contains the limiting angle (switch angle) for the transition
to the second table position within the P-0-0062, Pattern Ctrl Profile
Table 2A in the "Electronic Pattern Transmission" functional.
Para. Name: DE Mustergetr. Tabelle 2A, Grenzwinkel 1
EN Pattern ctrl profile 2A, switch angle 1
FR Table registre échantillon 2A angle limite 1
ES Perfil ctrl muestra 2A-Angulo limite 1
IT Riduttore Modello, Tabella 2A, Angolo Int. 1

Data length: 4Byte Memory: -
Input min/max: 0 / 214748.3647
P-0-0064, Pattern ctrl profile 2B

This is a table with 512 data samples for the "Electronic Pattern Ctrl
Profile (Transmission)" function.
• 2 steps
• Range B (Master drive position from 180° to 360°)
Para. Name: DE Mustergetr. Tabelle 2B
EN Pattern ctrl profile 2B
FR Table registre échantillon 2B
ES Perfil ctrl muestra 2B
IT Riduttore Modello, Tabella Profilo 2B
P-0-0065, Pattern ctrl profile 2B, switch angle 1

This parameter contains the limiting angle (switch angle) for the transition
to the second table position within the P-0-0064, Pattern Ctrl Profile
Table 2B in the "Electronic Pattern Transmission" functional.
Para. Name: DE Mustergetr. Tabelle 2B, Grenzwinkel 1
EN Pattern ctrl profile 2B, switch angle 1
FR Table registre échantillon 2B angle limite 1
ES Perfil ctrl muestra 2B-Angulo limite 1
IT Riduttore Modello, Tabella 2B, Angolo Int. 1
Input min/max: 0 / 214748.3647
P-0-0066, Pattern ctrl profile 3A

512 data samples for the "Electronic Pattern Transmission" functional are
saved in this parameter.
• 3 steps
• Range A (Master drive position from 0° to 180°)
Para. Name: DE Mustergetr. Tabelle 3A
EN Pattern ctrl profile 3A
FR Table registre échantillon 3A
ES Perfil ctrl muestra 3A
IT Riduttore Modello, Tabella Profilo 3A

This parameter contains the limiting angle (switch angle) for the transfer
from the first to the second table position within the P-0-0066, Pattern
Ctrl Profile Table 3A in the "Electronic Pattern Transmission" functional.
Input min/max: 0 / 214748.3647

from the second to the third table position within the P-0-0066, Pattern
Ctrl Profile Table 3A in the "Electronic Pattern Transmission" functional.
Input min/max: 0 / 214748.3647
P-0-0069, Pattern ctrl profile 3B

512 data samples for the "Electronic Pattern Transmission" functional are
saved in this parameter.
• 3 steps
• Range B (Master drive position from 180° to 360°)
Para. Name: DE Mustergetr. Tabelle 3B
EN Pattern ctrl profile 3B
FR Table registre échantillon 3B
ES Perfil ctrl muestra 3B
IT Riduttore Modello, Tabella Profilo 3B

from the first to the second table position within the P-0-0069, Pattern
Ctrl Profile Table 3B in the "Electronic Pattern Transmission" functional.

Input min/max: 0 / 214748.3647

from the second to the third table position within the P-0-0069, Pattern
Ctrl Profile Table 3B in the "Electronic Pattern Transmission" functional.
Input min/max: 0 / 214748.3647
P-0-0072, Cam shaft profile 1

This parameter contains a table with 1024 elements with tab( ϕ ) data
points for the cam shaft profile.
The distance between the data points dϕ is derived from the number of
elements:
dϕ = 360° / 1024 = 0.35°
The first element in the table is the data point for ϕ = 0°. The last element
of the table is the data point for ϕ = 360° - dϕ.
See also the functional description: "Electronic Cam Shaft"
Para. Name: DE Kurvenscheibe Tabelle 1
EN Cam shaft profile 1
FR Table arbre à came 1
ES Perfil eje de leva tabla 1
IT Tabella Profilo Camma
Input min/max: -199.999999 / 199.999999
P-0-0074, Interface feedback 1

This parameter determines the encoder interface to which the motor
encoder is connected. The number of the corresponding interface
module should be entered in this parameter.
Module: P-0-0074: Measurement system:

- 0 None (only with rotary asynchronous motors)
Standard 1 Digital servo feed back or resolver
DLF01.1M 2 Incremental encoder with sine signals from
the Heidenhain company, with either µA or 1V
signals
DZF02.1M 3 Indramat gear-type encoder
DEF01.1M 5 Incremental encoder with square-wave
DAG01.2M 8 Encoder with EnDat interface from the
Heidenhain company
DZF03.1M 9 Gearwheel with 1Vpp signals
Standard 10 Resolver without feedback data memory
Standard + 11 Resolver without feedback data memory plus
DLF01.1M incremental encoder with sine signals
Restrictions:
Modules DLF, DZF, DRF and DEF 1 must not be operated
simultaneously in a controller. => Danger of Damage!
It is not possible to combine DLF and DZF.
Module DEF 2 can be used to operate an incremental encoder along with
DLF or DZF.
See also the functional description: "Determining the Feedback Interface
of the Motor Feedback"
Para. Name: DE Motorgeberinterface
EN Interface feedback 1
FR Interface codeur moteur
ES Interface encoder de motor
IT Interfaccia Feedback 1
Input min/max: --- / --
P-0-0075, Interface feedback 2, external

This parameter determines the encoder interface to which the external
encoder is connected. The number of the corresponding interface
module should be entered in this parameter.
Module: P-0-0075: Measurement system:

-- 0 None
Standard 1 Digital servo feedback
DLF01.1M 2 Incremental encoder with sine signals from the
Heidenhain Company, with either uA or 1V
signals
DZF02.1M 3 Indramat gear-type encoder
DFF01.1M 4 Digital servo feedback from the Heidenhain or
Stegmann companies
DEF01.1M 5 Incremental encoder with square-wave signals
DEF02.1M 6 Incremental encoder with square-wave signals
DAG01.2M 7 Encoder with SSI interface
DAG01.2M 8 Encoder with EnDat interface
DZF03.1M 9 Gearwheel encoder with 1Vpp signals
Fig. 3-16: P-0-0075, Interface feedback 2, external
Restrictions:
Modules DLF, DZF, DRF and DEF 1 must not be operated
simultaneously in a controller. => Danger of Damage!
It is not possible to combine DLF and DZF.
Module DEF 2 can be used to operate an incremental encoder along with
DLF or DZF.
See also the functional description: "Determining the Feedback Interface

of the Motor Feedback"
Para. Name: DE Externes Geberinterface
EN Interface feedback 2, external
FR Interface 2, codeur externe
ES Interface 2, encoder externo
IT Interfaccia Feedback 2, esterno
Input min/max: 0/9
P-0-0079, Info destination position

The "Info Destination (Target) Position" parameter contains the signal
type and information in whose range the shift register for the target
positions of the value in the parameter P-0-0049, Target Position
Pattern Ctrl Profile should be placed.
Bits 2-0: Target position selection

001: Target position 1
Bit 3: Range selection
0: Range A (0° .. 180°)
1: Range B (180° .. 360°)
Bit 8: Step type selection
0: Triple step
1: Double step
Fig. 3-17: P-0-0079, Info Target Position
Note: The acceptance of a target position will only occur after a

change in the P-0-0079, Info Destination Position
parameter.Only the bits indicated here will be supported by
the software.
Para. Name: DE Info Zielposition
EN Info destination position
FR Info position à atteindre
ES Info posicion objeto
IT Informazioni Posizione Destinazione
P-0-0081, Parallel I/O output 1

The control system can use this parameter to address the outputs of the
DEA 4.1 I/O card.
See also the functional description: "Digital Input/Output"
Para. Name: DE Paralleler Ausgang 1
EN Parallel I/O output 1
FR Sortie parallèle 1
ES Salida paralela 1
IT Uscita parallela 1
P-0-0082, Parallel I/O input 1

The control system can use this parameter to address the inputs of the
DEA 4.1 I/O card.
Para. Name: DE Paralleler Eingang 1
EN Parallel I/O input 1
FR Entrée parallèle 1
ES Entrada paralela 1
IT Ingressi paralleli 1
P-0-0083, Gear ratio fine adjust

With this parameter, the gear ratio of the electronic gear is changed. The
proportional change of the gear ratio is indicated in this parameter in a
percentage value.
The parameter only works with velocity synchronization.
See also the functional description: "Velocity synchronization"
Para. Name: DE Feinabgleich Getriebeübersetzung
EN Gear ratio fine adjust
FR Ajustement fin rapport de réduction
ES Ajuste fino reduccion de engranaje
IT Regolazione fino Riduttore
Input min/max: -327.68 / 327.67
P-0-0085, Dynamical phase offset

With this parameter, the operative Master-drive position can be offset
dynamically as shown in the following equation:
n Lead drive
ϕLead drive, = ϕLead drive * * dynamic angle displacement
active Position control KV
Fig. 3-18: Offset of an operative Master-Drive Position
This function is available in the cam plate and pattern transmission

operating modes.
The following graph show the offset position command value and
feedback value when P-0-0085 = 100 %.
x
Xcomm, displaced
Xcomm
Xfeed, displaced
Xfeed
ϕLA
Fig. 3-19: Offset Position Command Value and Feedback Value when P-0-0085
= 100%.
Para. Name: DE Dynamische Winkelverschiebung
EN Dynamical phase offset
FR Décalage angulaire dynamique
ES Desplazamiento angular dinamico
IT Offset di Fase dinamico
P-0-0087, Offset position feedback value 3

The analysis of a Master-drive encoder occurs in absolute terms over an
encoder rotation. If this parameter is set to 0, then the absolute position
will be displayed in P-0-0052, Position Feedback Value 3.
With the P-0-0087, Offset Position Feedback Value 3 parameter, the raw
position can be acted upon by an offset.
2^20 = 1048575 ⇒ 360° (real master drive)
Para. Name: DE Lageistwert 3 Offset
EN Offset position feedback value 3
FR Décalage de position réelle 3
ES Offset valor real de posicion 3
IT Offset Feedback Posizione Valore 3

Unit: Incr Extrem value check: no
Input min/max: -1048575 / 1048575
P-0-0088, Cam shaft control

An active cam profile of a drive can be selected in this parameter.
Bit 0: Pre-selection
0: Profile 1 (P-0-0072)
1: Profile 2 (P-0-0092)
Fig. 3-20: P-0-0088, Cam Shaft Control
The drive will make a preselection if the master drive position goes
beyond the P-0-0094, cam shaft switch angle.
Para. Name: DE Steuerwort Kurvenscheibe
EN Cam shaft control
FR Mot de contrôle arbre à came
ES Control de eje de leva
IT Controllo Camma
Input min/max: 0 / 0xFFFF
P-0-0089, Cam shaft status

The drive indicates the active cam profile with this parameter.
Bit 0: Return message

0: Profile 1 active (P-0-0072)
1: Profile 2 active (P-0-0092)
Fig. 3-21: P-0-0089, Cam Shaft Status
Para. Name: DE Statuswort Kurvenscheibe
EN Cam shaft status
FR Statut arbre à came
ES Palabra de status eje de leva
IT Stato Camma
Function: Parameter Editability: -
Input min/max: 0 / 0xFFFF
P-0-0090, Travel limit parameter

Parameter P-0-0090 activates the travel limit switch. In addition, the
inputs can be inverted (0V on E2/3 => Trave l limit exceeded).
Bit 0 : Negation
24 V => travel range exceeded
1: E2/3 inverted,
0 V => travel range is exceeded
Bit 1 : Activation
Bit 2 : Response
Fig. 3-22: P-0-0090, Travel limit parameter
Note: In addition, bit 1 activates monitoring of the external 24V

current.
See also the functional description: "Travel Range Limits"
Para. Name: DE Fahrbereichsgrenzschalter-Parameter
EN Travel limit parameter
FR Paramètres de butées hardware
ES Parametros limite de desplazamiento
IT Parametro Limite Percorso
Input min/max: 0/0
P-0-0092, Cam shaft profile 2

This parameter contains a table with 1024 elements with tab( ϕ ) data
points for the cam shaft profile.
The distance between the data points dϕ is derived from the number of
elements:
dϕ = 360° / 1024 = 0.35°
The first element in the table is the data point for ϕ = 0°. The last element
of the table is the data point for ϕ = 360° - dϕ.
Para. Name: DE Kurvenscheibe Tabelle 2
EN Cam shaft profile 2
FR Table arbre à came 2
ES Eje de leva tabla 2
IT Tabella Profilo Camma 2
Input min/max: -199.999999 / 199.999999
P-0-0093, Cam shaft distance

This parameter determines the factor with which the cam profile will be
multiplied.
Para. Name: DE Kurvenscheibe Hub
EN Cam shaft distance
FR Distance arbre à came
ES Eje de leva carrera
IT Distanza Camma
Input min/max: -2147483648 / 2147483647
P-0-0094, Cam shaft switch angle

If the Master-drive position passes this angle in a positive or negative
direction, then a switch will be made to the cam-profile table that was
preselected by the parameter P-0-0088, Cam Shaft Control.
Parameter P-0-0089, Cam Shaft Status will be set to the activated cam-
profile table.
When the control drive is first initialized, the cam profile set in P-0-0088
will be activated. Parameter P-0-0089 also will be set.
Para. Name: DE Umschaltwinkel Kurvenscheibe
EN Cam shaft switch angle
FR Angle commutation arbre à came
ES Angulo de conmutacion eje de leva
IT Angolo di Commutazione Camma
Input min/max: 0 / 214748.3647
P-0-0096, Distance to move in error situation

By inputting a 3 in parameter P-0-0119, Best possible declaration, the
reaction "return motion“ can be set. A switch into best possible standstill
takes place and the path parametrized here starting with the current
feedback position value is traversed (the qualifying sign is noted). The S-
0-0091, Bipolar velocity limit value, S-0-0138, Bipolar acceleration
limit value and S-0-0349, Jerk limit bipolar hereby not exceeded.
It is necessary to parametrize a sufficiently sized value in P-0-0126,
Maximum braking time to give the drive enough time to traverse the
spezified path.
If the position limit values are active, then the drive keeps the return
motion from traversing them. The drive then stops at the S-0-0057,
Position window at the respective position limit value.
See also the functional description: "Return motion"
Para. Name: DE Verfahrweg im Fehlerfall
EN Distance to move in error situation
FR Déplacement en cas de défaut
ES Recorrido de desplazamiento en caso de error
IT Distanza Movimento in Caso di Errore
Input min/max: S-0-0076 / S-0-0076
P-0-0097, Absolute encoder monitoring window

When absolute encoder monitoring is used, the switch command 3 → 4
compares the saved feedback value with the current feedback value of
the axis.
If the difference is greater than what is set in parameter P-0-0097, error
message C224 Absolute encoder error will be generated.
If a "0“ is parametrized in P-0-0097, Absolute encoder monotoring
window, then this is deactivated.
As a standard value, 0.1 motor rotation (= 36 degrees in reference to the
motor shaft) can be programmed if the axis has an electrically released
brake or a self braking mechanism.
See also the functional description: "Absolute Encoder Monitoring"
Para. Name: DE Absolutgeber-Überwachungsfenster
EN Absolute encoder monitoring window
FR Fenêtre de surveillance du codeur absolu
ES Ventana de control de encoder absoluto
IT Finestra di Controllo del Encoder assoluto
P-0-0098, Max. model deviation

The maximum model deviation is the maximum deviation between the
real position feedback value and the model position feedback value
calculated by the drive.
This parameter can be read out by the user to help set parameters for S-
0-0159, Monitoring window.
Two cases must be distinguished for determining the model position
feedback value:
1) Position control with following (lag) error

In this operating mode, the controlled system is simulated by a model.
The maximum deviation between the calculated position feedback module
value and the real position feedback value is stored in parameter P-0-0098.
The control system model represents a delayed component of the first
order, which is dependent only on the Kv factor of the position controller.
2) Position control without following (lag) error

In this operating mode, the position command value is compared to the
position feedback value. The maximum deviation encountered is stored
in P-0-0098.
A model for the controlled system is not necessary in this case.
Note: This parameter can be write accessed so that it can be set

back to 0, for example.
See also the functional description: "Position Control Loop Monitoring"
Para. Name: DE Max. Modellabweichung
EN Max. model deviation
FR Ecart maxi. au modèle
ES max. desviacion de modelo
IT Deviazione mass. da Modello
P-0-0099, Position command smoothing time constant

The position command smoothing time constant determines the
maximum jerk possible with a cyclical position command setting.
The maximum jerk is determined by:
2nd derivative of the position
command values
max. jerk =
P-0-0099 Position command value
smoothing filter time constant
Fig. 3-23: Max. jerk
If S-0-0001, NC Cycle time (TNcyc), is equal or greater than P-0-0099

then no filter is active.
See also the functional description: "Generator Feature: Position

Command Value Interpolator"
Para. Name: DE Lagesollwert-Glättungsfilter-Zeitkonstante
EN Position command smoothing time constant
FR Constante de temps de filtrage consigne de pos.
ES Posicion comando constante temporal
IT Costante di Tempo per Smorzamento Comandi Posiz.
1 Product-specific parameters
P-0-0108, Master drive polarity

This parameter can invert master drive position polarity. This means that
an inverted, electronic gearbox can be implemented.
Bit 0: Master drive position

Fig. 3-24: P-0.0108, Master Drive Polarity
See also Function Description: "Speed and Angle Synchronization"

Speed and Angle Synchronization
Para. Name: DE Polarität Leitantrieb
EN Master drive polarity
FR Polarité entraînement maître
ES Polaridad accionamiento conductor
IT Polarità Master
Input min/max: 0/1
P-0-0109, Torque/force peak limit

The maximum peak torque of a drive can be limited in a manner suitable
to an application with the use of parameter P-0-0109, Torque/ force peak
limit. In other words, the parameter ensures that the max. torque specific
to the application is not exceeded even if S-0-0092, Bipolar
torque/force limit value is set high.
See function description: "Torque/Force Limiting"
Para. Name: DE Spitzendrehmoment-/Kraft-Begrenzung
EN Torque/force peak limit
FR Limitation couple/force crête
ES Limite par/fuerza punta
IT Limitazione Picco Coppia/Forza

DEA 4.1 I/O card.
IT Uscite parallele 2

The input signals of DEA 5.1 are produced in this parameter.

DEA 6.1 I/O card.
IT Uscite parallele 3


The input signals of DEA 6.1 are produced in this parameter.
P-0-0117, NC reaction on error

This parameter allows the NC 30 seconds to bring the drive controller to
a coordinated deceleration in an error situation if the parameter is set
with a "1“. The drive follows the command for this period. The drive
reacts with the preset P-0-0119, Best possible deceleration.
This feature works for non-fatal errors and interface errors.
Bit 0: Activation
0: instant control drive reaction to
non-fatal errors with
"best possible standstill"
1: reaction to non-fatal errors delayed
30 sec
Fig. 3 25: P-0-0117, NC reaction on error
See also the functional description: "NC Response in Error Situation"
Para. Name: DE Aktivierung NC-Reaktion im Fehlerfall
EN NC reaction on error
FR Activation réaction CN en cas de défaut
ES Activacion reaccion NC en caso de error
IT Reazione in Presenza Errore NC
Input min/max: 0/1
P-0-0118, Power off on error

If a Class 1 Diagnostic error is recognized, the drive reacts either with the
preset P-0-0119, Best possible deceleration or, in the case of a fatal
error, with an immediate switch to torque-free state. If this parameter is
set to "1", then the X1.2 signal for the supply module will be removed. As
a result, the signal and the DC bus voltage will be switched off on all
other drives connected to the same supply module. These drives react
with their P-0-0119 preset Best possible deceleration.
If power off is set with bit 0 in the event of an error, the bit 2 should be set
to 1 in the DKR compact machines. The drive error message causes a
mains disconnect and thus the option of feeding the decel energy back
into the mains.The drives coast without a bleeder.
With bit 1 it is possible to set when the error message can be removed
by the drive from power supply unit for the first time. If this bit is a 1, then
the error message is immediataly removed after the basic initialization of
the drive making a powering up possible already in communications
phase 0.If the bit is 1= 0, then the drive must be in communications
phase 4 without an error before the error message to the power supply
unit can be removed for the first time.
Bits 3 and 4 offer options for handling undervoltage. There is

undervoltage if the drive is enabled (with torque) and the PC bus voltage
signal disappears.
Undervoltage can be handled as a "fatal warning“ if bit 3= 1.The drive
does not signal a C1D error and P-0-0119, Best possible decleration is
not executed. The motor is switched off and the DC bus voltage slowly
drops. Thus, asynchronous motors can still have a magnetic field when
the control starts bringing the drives to an synchronized stand still.
Acceleration takes place in generator mode.
If undervoltage is treated as an error, then bit 4 can be used to set an
automatic reset of error once the control removes the drive enable. This
can be used if the error occus with normal shutdowns as well and this is
because the control does not remove the enable quickly enough.
Bit 0 : Message to supply module with error

0: no message via X1.2 with error
1: message via X1.2 with error
Bit 1 : First signal to supply module
0: first signal if no error and comm.
phase 4
(X1.2 is 1 when comm. Phase first
reached no C1D)
1: first signal if no error ("passive
axis“) (X1.2 is 1 if no C1D)
Bit 2 : Start power off with error
(only if bit 0=1)
0: X1.2 immediatly goes to 0 with
error (total response of all
controllers nounted to the same
supply module, prefered setting for
modular units)
1: X1.2 first goes to 0 with error if
drive goes torque free
(prefered setting for compact DKR)
Bit 3 : Reaction to DC bus undervoltage

0: undervoltage is non-fatal error
1: undervoltage is fatal warning
prevents operation of motor
Bit 4 : Automatic reset of undervoltage error
0: undervoltage error is stored
1: undervoltage error reset by drive
upon removal of enable
prevents operation of motor
Bit 5 : Undervoltage as warning
0: undervoltage with reaction
1: undervoltage error treated as
non-fatal warning
Fig.3-26: P-0-0118, Power off on error
See also the functional description: "Power Supply Shutdown in Error

Situation"
Para. Name: DE Leistungsabschaltung im Fehlerfall
EN Power off on error
FR Mise hors tension en cas de défaut
ES Desconexion de potencia en caso de error
IT Spegnimento Potenza in Caso di Errore
Data length: -- Memory: Param. EE
P-0-0119, Best possible deceleration

This parameter specifies the type of braking to a standstill for the drive in
the event of
• a non-fatal error
• an interface error
• a phase relapse
• switching off the controller enable signal
P-0-0119: Reaction mode:

0 Velocity command value set to zero, i.e., the motor
brakes in regard to the torque limit value. The Braking
time is set in parameter P-0-0126. 100 milliseconds
before the brake time elapses, the blocking brake is
activated. If the velocity has previously fallen below 10
rpm (rotational motors) or below 10 mm/min (linear
motors), then the blocking brake will be engaged
immediately. 100 milliseconds after the mechanical brake
is set, the motor is torque free.
1 Switch to torque-free state
2 Velocity command to zero with command ramp and filter
The ramp, i.e., the maximum accel is set via P-0-1201
Ramp 1 pitch, the jerk filter via P-0.1222, Velocity
command filter
3 Return motion
The drive generates a position command profile for
traversing the set path with error in which case a relative
path is activated which is defined with P-0-0096,
Distance to move in error situation, S-0-0091, Bipolar
Velocity Limit Value, S-0-0138, Bipolar acceleration
limit value and S-0-0349, Jerk Limit bipolar
Fig. 3-27: Deceleration mode for the drive
See also the functional description: "Best Possible Deceleration"
Para. Name: DE Bestmögliche Stillsetzung
EN Best possible deceleration
FR Arrêt au plus vite
ES La mejor parada posible
IT Decellerazione massima
Input min/max: 0/3
P-0-0121, Velocity mixfactor Feedback 1 & 2

The Velocity mix factor parameter determines the relation of the velocity
feedback values between the motor encoder and the external encoder.
The input is percentage-based. Note the following:
0 %: The velocity controller works solely with the velocity of the motor
encoder (= encoder 1)
100 %: The velocity controller works solely with the velocity of the
external encoder (= encoder 2)
If no external encoder is available, then the parameter will be set to 0 %.
See also the functional description: "Setting the Velocity Mix Factor"
Para. Name: DE Geschwindigkeits-Mischfaktor Geber 1 & Geber 2
EN Velocity mixfactor Feedback 1 & 2
FR Facteur de mixage vitesse codeur 1 & codeur 2
ES Factor mixto de velocidad encoder 1 & 2
IT Fattore di Correzione Feedback 1 & 2
P-0-0123, Absolute encoder buffer

All the data that the absolute encoder needs for position initialization is
stored in this parameter.
See also the functional description: "Other Settings for Absolute

Measurement Systems"
Para. Name: DE Absolutgeber-Puffer
EN Absolute encoder buffer
FR Tampon codeur absolu
ES Buffer de encoder absoluto
IT Buffer Encoder assoluto
P-0-0124, Assignment IDN -> DEA-output

This parameter is used to assign a parameter value to a DEA output. If
the data capacity of the assigned parameter is greater than that of the
DEA port, then the higher-valued bits will be truncated.
Bits 0-15: ID number of the assigned

parameter
Bits 16-19: DEA selection
4 : DEA 4.1
5 : DEA 5.1
6 : DEA 6.1
Fig. 3-28: P-0-0124, Assignment IDN -> DEA output
The contents of the parameter are written to the DEA output.
Note: If an ID number is assigned to DEA 4.1, then parameter

P-0-0081, Parallel I/O output 1 can no longer be used.
The same restriction applies to:

• Assignment DEA 5.1 <> P-0-0110, Parallel I/O output 2
• Assignment DEA 6.1 <> P-0-0112, Parallel I/O output 3
Para. Name: DE Zuweisung Identnummer -> DEA-Ausgang
EN Assignment IDN -> DEA-output
FR Assignation IDN -> sortie DEA
ES Asignacion numero ident -> salida DEA
IT Assegnazione IDN -> DEA Uscite
P-0-0125, Assignment DEA-input -> IDN

This parameter can be used to assign a DEA input to the value of a
parameter.
The input status of the DEA is written in the corresponding parameter.
Bits 0-11: ID number of

the assigned
parameter
Bit 12 - 14: = 0
Bit 15:
0: S-Parameter
1: P-Parameter
Bits 16-19: DEA selection
4 : DEA 4.1
5 : DEA 5.1
6 : DEA 6.1
Fig. 3-29: P-0-0125, Assignment DEA-input -> IDN
Note: If a DEA is assigned an ID number using parameter P-0-

0125, then the operating data of the assigned ID number will
be cyclically overwritten by the DEA input.
Para. Name: DE Zuweisung DEA-Eingang -> Identnummer
EN Assignment DEA-input -> IDN
FR Assignation entrée DEA -> IDN
ES Asignacion entrada DEA -> Numero de ident
IT Assegnazione Ingressi DEA -> IDN
P-0-0126, Maximum braking time

The maximum braking time for the drive is set in this parameter.
The value should always be set higher then the time needed, considering
the maximum possible velocity, to decelerate the shaft using velocity
command value zero-switching.
The velocity command value is switched to zero if P-0-0119, Best

possible deceleration is set to 0 and either:
• The controller enable (RF) is removed
• The drive is switched to Set parameter mode with RF switched on
• A drive error is recognized that still allows a reaction from the drive (all
non-fatal errors)
• In the case of separately supplied devices (HDS), a drive connected
to the same supply module reports an error to that module, so that the
intermediate voltage is switched off.
See also the functional description: "Velocity Command Value Reset"
Para. Name: DE Maximale Bremszeit
EN Maximum braking time
FR Temps de freinage max.
ES Tiempo max. de frenado
IT Tempo massimo di Frenata
P-0-0127, Overload warning

To protect the power stage, the temperature is calculated with a
temperature model for the transistor final stage. If the temperature
exceeds 125°C, then the torque-producing command current will be
limited.
To avoid an unexpected disruption of the torque from the drive, a warning
threshold can be set in this parameter.
If the thermal load rises above the set value, warning E261 Continuous
current limiting prewarning will be generated.
If 100% is entered, this warning will be deactivated since then the
message E257 Continuous current limit active will be generated.
See also the functional description: "Monitoring the Thermal Load"
Para. Name: DE Überlastwarnung
EN Overload warning
FR Alerte surcharge
ES Aviso de sobrecarga
IT Preallarme Sovracarico
P-0-0131, Signal select position switch

This parameter can be used to activate and to select the signal for the
programmable limit switch.
The following values can be entered:
P-0-0131: Function:
0 The programable limit switch is not activated.
1 The programable limit switch is activated; the reference
signal is
S-0-0051, Position feedback value 1
2 The programable limit switch is activated; the reference
signal is
S-0-0053, Position feedback value 2
Fig. 3-30: Activation and Signal Selection for the programmable Limit Switch
See also the functional description: "Programmable Limit Switch"
Para. Name: DE Nockenschaltwerk-Signalauswahl
EN Signal select position switch
FR Boîte à cames, Sélection de signal
ES Señal seleccionar interruptor de posicion
IT Selezione Segnale Interr. di Posizione
Input min/max: 0/2
P-0-0132, Switch on threshold position switch

This parameter list can be used to set the switch-on positions for the
It consists of 8 elements: Element 1 is allocated for position switch bit 1,
element 2 is allocated for bit 2, and so forth.
Para. Name: DE Nockenschaltwerk-Einschaltschwelle
EN Switch on threshold position switch
FR Boîte à cames, seuil d'enclenchement
ES Conectar en umbral interruptor de posicion
IT Attivazione Interr. Mantenimento Posizione
Input min/max: -214748.3648 / 214748.3647
P-0-0133, Switch off threshold position switch

This parameter list can be used to set the switch-off position for the
It consists of 8 elements: Element 1 is allocated for position switch bit 1,
element 2 is allocated for bit 2, and so forth.
Para. Name: DE Nockenschaltwerk-Ausschaltschwelle
EN Switch off threshold position switch
FR Boîte à cames, seuil de déclenchement
ES Desconectar en umbral interruptor de posicion
IT Disattivazione Interr. Mantenimento Posizione
Input min/max: -214748.3648 / 214748.3647
P-0-0134, Position switch lead times

By parameterizing a rate time, a time delay can be compensated for an
external, position-driven switch element. In that way, a theoretical
adjustment value can be calculated from the rate time and the current
drive velocity for the on- and off-switch Positions.
The programmable limit switch switches by the rate time before reaching
the trigger position.
Note:
The velocity must remain constant in the range between the theoretical
and actual on-switch or off-switch threshold.
Para. Name: DE Nockenschaltwerk-Vorhaltezeiten
EN Position switch lead times
FR Boîte à cames, temps d'anticipation
ES Interruptor de posicion tiempo avanzado
IT Interr. di Posiz. Tempo principale
P-0-0135, Status position switch

The status of the programmable limit switch bits is displayed in this
parameter.

Bit 4 :PLS bit 5 status
Fig. 3-31: P-0-0135, Position Switch Status
Para. Name: DE Nockenschaltwerk-Statuswort
EN Status position switch
FR Boîte à cames, message d'état
ES Interruptor de posicion - palabra de estado
IT Stato Interr. di Posizione
P-0-0139, Analog output 1

Parameter P-0-0139, Analog output 1 sets the voltage value given to
the drive controller via analog output 1. It can be directly write accessed
intervally by selecting a signal via P-0-0420, Analog output 1 signal
selectior and P-0-0421, Analog output 1, expanded signal selection
or by the control. The voltage value output is quantizied with 78mV.
See also the functional description: "Analog Output"
Para. Name: DE Analogausgang 1
EN Analog output 1
FR Sortie analogique 1
ES Salida analogica 1
IT Uscita analogica 1

Unit: V Extrem value check: yes
Input min/max: -10000 / 10000
P-0-0140, Analog output 2

Parameter P-0-0140, Analog output 2 sets the voltage value given to
the drive controller via analog output 2. It can be directly write accessed
intervally by selecting a signal via P-0-0423, Analog output 2 signal
selectior and P-0-0424, Analog output 2, expanded signal selection
or by the control. The voltage value output is quantizied with 78mV.
Para. Name: DE Analogausgang 2
EN Analog output 2
FR Sortie analogique 2
ES Salida analogica 2
IT Uscita analogica 2
Input min/max: -10000 / 10000
P-0-0141, Thermal drive load

The parameter P-0-0141, Thermal drive load is for diagnostic purposes.
In this parameter, 0% corresponds to a chip over-temperature of 0
Kelvin, 100% corresponds to the maximum chip over-temperature. The
thermal load should not exceed a value of 80% for the applied operating
cycles if the drive is set up correctly.It typically takes about 10 minutes to
warm up a drive controller end stage to its final temperature. To check
the thermal load of a drive during installation without having to run
operating cycles during this period of time, the drive controller load can
be preset with 80%. This can happen by writing an arbitrary value to the
parameter P-0-0141, Thermal drive load.
See also the functional description: "Checking the Thermal Load"
Para. Name: DE Thermische Regelgeräte-Auslastung
EN Thermal drive load
FR Charge thermique variateur
ES Descarga termica de reguladores
IT Carico termico Azionamento


Acceleration or deceleration with which the synchronous velocity is
accepted in dynamic synchronization (Ramp up and lock on).
Acceleration and delay is performed with synchronization acceleration in
the second step of dynamic synchronization (ramp up and lock on). This
affects device operating modes with underlying position control.
This is only operational in the drive operating modes: velocity
synchronization, phase synchronization, curve pattern disk (cam plate)
and pattern transmission.
Para. Name: DE Aufsynchronisier-Beschleunigung
EN Synchronization acceleration
FR Accélération de synchronisation
ES Aceleracion de sincronizacion
IT Accellerazione di Sincronizzazione
Input min/max: 0 / 2147483647

The velocity that leads to absolute synchronization in dynamic
synchronization (ramp up and lock on).
This is only operative in the operating modes

• phase synchronization
• curve pattern disk (cam plate)
• pattern transmission
Para. Name: DE Aufsynchronisier-Geschwindigkeit
EN Synchronization velocity
FR Vitesse de synchronisation
ES Velocidad de sincronizacion
IT Velocità di Sincronizzazione

Input min/max: 0 / 2147483647
P-0-0144, Cam shaft distance switch angle

A new value for the P-0-0093, Cam Shaft Distance will become active
only when the P-0-0053, Master Drive Position passes the cam shaft
switch angle.
This works only in the curve pattern disk (Cam profiile) operating mode.
Para. Name: DE Umschaltwinkel Kurvenscheibe Hub
EN Cam shaft distance switch angle
FR Angle de commutation course profil de came
ES Angulo de conmutacion distancia eje de leva
IT Distanza Angolo di Commutazione Camma
Input min/max: 0 / 214748.3647
P-0-0145, Expanded trigger level

This parameter is for service purposes only.
If bit 12, Expanded trigger level is selected using parameter P-0-0026,
Trigger signal selection, then an address can be selected with
parameter P-0-0145 that is monitored for the threshold parameter value.
31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1 0
16 bit mask for 16 bit threshold for

Fig. 3-32: P-0-0145, Expanded trigger level (oscilloscope function)
Para. Name: DE Triggerschwelle erw.Oszilloskopfunktion
EN Expanded trigger level
FR Seuil de déclenchement fonction oscill. élargie
ES Umbral de trigger funcion ampliada de osciloscopio
IT Superamento Soglia Fronte di Trigger
P-0-0146, Expanded trigger address

This parameter is for service purposes only.
If bit 12 Expanded trigger level is selected in using parameter P-0-0026,
Trigger signal selection, then an address can be selected with
parameter P-0-0146 that is monitored for the threshold parameter value.
31 30 29 28 27 2625 2423 2221 2019 1817 16 15 14 13 1211 10 9 8 7 6 5 4 3 2 1 0
16 bit mask for 16 bit threshold for

Fig. 3-33: P-0-0146, Expanded trigger address
The 16-bit value of the trigger edge is monitored, and the trigger signal
will have been previous ANDed via the mask for trigger signals.
Para. Name: DE Triggersignaladresse erw. Oszilloskopfunktion
EN Expanded trigger address
FR Adresse déclenchement fonction ocill. élargie
ES Direccion de trigger funcion de osciloscopio ampliada
IT Superamento Indirizzo del Segnale di Trigger
P-0-0147, Expanded signal K1 address

If an expanded signal selection is made with parameters P-0-0023,
Signal select scope channel 1 and P-0-0024, Signal select scope
channel 2, then an address to be recorded can be chosen in the drive
with parameter P-0-0147.
Para. Name: DE Signaladresse K1 erw. Oszilloskopfunktion
EN Expanded signal K1 address
FR Adresse signal K1 fonction oscill. élargie
ES Direccion de señal K1 funcion de osciloscopio ampliada
IT Indirizzo Segnale K1
P-0-0148, Expanded signal K2 address

If an expanded signal selection is chosen with parameters P-0-0023,
Signal select scope channel 1 and P-0-0024, Signal select scope
channel 2, then an address to be recorded can be chosen in the drive
with parameter P-0-0148.
Para. Name: DE Signaladresse K2 erw. Oszilloskopfunktion
EN Expanded signal K2 address
FR Adresse signal K2 fonction oscill. élargie
ES Direccion de señal K2 funcion de osciloscopio ampliada
IT Indirizzo Segnale K2
P-0-0149, List of selectable signals for oscilloscope function

The control system can read drive-supported, defined signals with
parameter P-0-0149.This permits a user interface to prepare a signal
select menu using the informationin the listed parameters in the drive.
List entries: ID number of:

1 S-0-0051 or S-0-0053
2 S-0-0040
3 S-0-0347
4 S-0-0189
5 S-0-0080
6 P-0-0147
7 P-0-0148
Fig. 3-34: P-0-0149, List of selectable signals for oscilloscope function
Para. Name: DE Signalauswahlliste für Oszilloskopfunktion
EN List of selectable signals for oscilloscope function
FR Liste sélection signaux pour fonction oscilloscope
ES Lista de seleccion de señal para funcion de osciloscopio
IT Lista dei Segnali validi per Funzione Oscilloscopio
P-0-0150, Number of valid samples for oscilloscope function

If the oscilloscope function is activated then the signal to be recorded is
continously fed to a value memory. If triggering occurs, then the
recording procedure is stored and the value list can be read out. The
oldest measured value is the first element of this list, the newest value
the last. If triggering occurs before the memory is completely filled, then a
number of values at the start of the list are invalid.The number of valid
values before triggering is available in parameter P-0-0150, Number of
valid samples for oscilloscope function.
Para. Name: DE Anzahl gültiger Messwerte für Oszilloskopfunktion
EN Number of valid samples for oscilloscope function
FR Nombre de mesures valides pour fonction oscilloscope
ES Numero de valores de medicion validos para funcion oscilosco
IT Numero dei Campionamenti validi per Funz. Oscill.
P-0-0151, Synchronization init window for modulo format

The second step of dynamic synchronization (ramp up and lock on)
establishes a path that must be crossed to reach absolute
synchronization.
With rotary axes, the drive can move in a positive or negative direction.
P-0-0154, Synchronization Direction determines the direction for the
drive.
If the shortest path to absolute synchronization is smaller than the
synchronization window, then the shortest path will be taken and the
preset synchronization direction will be ignored.
This parameter is only operative in the operating modes

• cam shaft (curve pattern disk)
• pattern transmission.
Para. Name: DE Aufsynchronisierfenster bei Modulo-Format
EN Synchronization init window for modulo format
FR Fenêtre de sync. pour format modulo
ES Ventana de sincronizacion en formato de modulo
IT Inizializzazione Sincronizzazione per Formato Modulo
Format: S-0-0076 Validity check: Phase3
Input min/max: 0 / 2147483647
P-0-0153, Optimal distance home switch - reference mark

During command "Drive-controlled homing" when the zero-switch and
homing mark evaluation are activated, the distance between the zero-
switch edge and the homing mark is monitored. For reference marks
(home reference) with equal intervals, the optimal distance is half the
home-reference interval. The optimal distance can be entered in
parameter P-0-0153, Optimal distance home switch - reference mark as
per the following table:
Encoder type P-0-0153 Function

Rotational 0 The zero-switch - reference mark interval is monitored. The optimal
distance will be calculated internally, and is equal to 1/2 of an encoder
revolution for DSF or incr. rotary encoders, or 1/2 of an encoder
revolution / S-0-0116, Rotary encoder resolution - 1 for resolvers.
Rotational x The zero-switch - reference mark interval is monitored. Half the reference
mark distance must be entered in P-0-0153, Optimal distance home
switch - reference mark.
Linear 0 The zero-switch - reference mark interval is not monitored. The linear
encoder does not affect reference marks with constant intervals. The real
distance between the zero-switch and the reference mark must be large
enough to ensure recognition of the zero-switch edge, taking into
account the maximum homing velocity and the cycle time for the zero-
switch input request.
Linear x The zero-switch - reference mark interval is monitored. Half the reference
mark distance must be entered in P-0-0153, Optimal distance home
switch - reference mark.
Fig. 3-35: Interval monitoring, home switch - reference mark
Para. Name: DE Optimaler Abstand Referenzschalter-Referenzmarke
EN Optimal distance home switch - reference mark
FR Distance optimale entre contact d'origine et marque de réf.
ES Distancia optima marca de puesta a cero
IT Distanza ottimale Camma di Zero
Format: S-0-0076 Validity check: Phase3
Input min/max: S-0-0076 / S-0-0076

The second step of dynamic synchronization (ramp up and lock on)
establishes a path that must be crossed to reach absolute
synchronization.
With rotary axes, the drive can move in a positive or negative direction.
The synchronization direction determines the direction for the drive.
If the shortest path to absolute synchronization is smaller than the
P-0-0151, Synchronization Init Window for Modulo Format, then the
shortest path will be taken and the preset synchronization direction will be
ignored.
This parameter is only operative in the operating modes
• cam shaft (curve pattern disk)
• pattern transmission

Para. Name: DE Aufsynchronisier-Richtung
EN Synchronization direction
FR Sens de synchronisation
ES Sincronizacion direccion
IT Direzione di Sincronismo
Input min/max: 0/2

The drive will start the dynamic synchronization automatically after one of
the following operating modes is activated: phase synchronization, cam
shaft or pattern transmission. The S-0-0047, Position Command
Values will be generated by the drive until the absolute synchronization
(S-0-0047= XSynch + S-0-0048) is reached. The P-0-0142,
Synchronization Acceleration and P-0-0143, Synchronization
Velocity will be taken into consideration.
The synchronization mode then will be examined.
If synchronization mode 1 is set, then parameters P-0-0142 and
P-0-0143 will be inoperative after absolute synchronization is reached.
The following changes of the S-0-0048, Position Command Value
Additional will then be smoothed through a filter of the first order. The
time constant for the filter will be set with the parameter P-0-0060, Filter
Time Constant Additional Position Command Value.
In synchronization mode 0 is selected, a path will be created after every
change of the position command value based on the equation (phase
adjusting)
Path = XSynch + S-0-0048 - S-0-0047,
and the path will be taken with regard to the synchronization acceleration
and velocity.
Para. Name: DE Aufsynchronisier-Modus
EN Synchronization mode
FR Mode de synchronisation
ES Sincronizacion modo
IT Modo di Sincronizzazione
P-0-0156, Master drive gear input revolutions

This parameter determines together with the parameter P-0-0157 Master
drive gear output revolutions the master drive gear.
A master axis position (P-0-0053) sent to the drive will be multiplied with
the master drive gear transmission ratio before the processing, and will
then be limited to the standardized range of 2^20.
The master axis position and therefore also this parameter are only
active in the operation modes
• speed synchronization
• angular synchronization
• cam shaft
• pattern control
See also the functional description: "Phase synchronization"
Para. Name: DE Leitachsgetriebe Eingangsumdrehungen
EN Master drive gear input revolutions
FR Entrée réducteur master, nombre de tours
ES Giros de entrada de engranaje master
IT No. di Giri in Ingresso al Riduttore Master
P-0-0157, Master drive gear output revolutions

This parameter determines together with the parameter P-0-0156 Master
drive gear input revolutions the master drive gear.
A master axis position (P-0-0053) sent to the drive will be multiplied with
the master drive gear transmission ratio before the processing, and will
then be limited to the standardized range of 2^20.
The master axis position and therefore also this parameter are only
active in the operation modes
• speed synchronization
• angular synchronization
• cam shaft
• pattern control
See also the functional description: "Phase synchronization"
Para. Name: DE Leitachsgetriebe Ausgangsumdrehungen
EN Master drive gear output revolutions
FR Sortie réducteur master, nombre de tours
ES Giros de salida de engranaje master
IT No. di Giri in Uscita del Riduttore Master


In the operation modes Cam shaft and Pattern control, P-0-0061, Angle
Offset Begin of Profile affects the access angle to the table. If this
angular shift should be changed in a greater range, with the given
increment in the active table, then a slow approach towards the new
value must be done, because every change means a jump in the position
command.
A new value for the parameter P-0-0061, Angle Offset Begin of Profile
does not become active immediately. Outgoing from the actualn value, a
ramp shaped approach to the new value is done.
The approach is made on the shortest way.
The slope of the ramp is determined with the parameter P-0-0158, Phase
offset velocity.
See also the functional description: "The generator function: cam shaft
Para. Name: DE Änderungsgeschwindigkeit Winkelverschiebung
EN Phase offset velocity
FR Vitesse modification décalage angulaire
ES Velocidad de modificación desplazamiento angular
IT
Unit: Rpm Extrem value check: yes
P-0-0159, Slave drive feed travel

During the linear angle synchronization, the slave axis performs one
feed per revolution of the master axis. The parameter P-0-0159, Slave
drive feed travel together with the parameter S-0-0236, Master drive 1
revs. determines the distance to go per revolution of the master axis.
It will then automatically be taken instead of S-0-0237, Slave drive 1 revs.
to calculate the electronic gear factor and the modulo value, as far as the
position scaling is parametrized as linear and modulo.
When the position data refer to the load, the S-0-0103, Modulo value
calculated by the drive is the quotient of P-0-0159, Slave drive feed travel
and S-0-0236, Master drive 1 revs.
See also the functional description: "The generator function: cam shaft
Para. Name: DE Vorschubweg Folgeantrieb
EN Slave drive feed travel
FR Déplacement entraînement suiveur
ES Recorrido de avance accionamiento esclavo
IT Distanza Avanzamento
Input min/max: 1 / 214748.3647

Parameter P-0-0170, Parallel I/O Output 4 displayes the parallel outputs
of the DEA. 8.1 I/O module which can adress the outputs of this module.
Input min/max: 0 / 0xffffffff

Parameter P-0-0171, Parallel I/O Input 4 displayes the parallel inputs of
the DEA. 5.1 I/O module which can adress the inputs of this module.
FR Entrée parallele 4

of the DEA. 9.1 I/O module which can adress the outputs of this module.


of the DEA. 10.1 I/O module which can adress the outputs of this
module.

P-0-0180, Rejection frequency velocity loop

To supress the mechanical resonance frequency a band filter can be
activated at the output of the relocity controler .It is parametrized with
parameters P-0-0180, Rejection frequency velocity loop and P-0-
0181, Rejection bandwidth velocity loop.
P-0-0180, Rejection frequency velocity loop indicates the frequency
most attenuated.
See also the functional description: "Filtering oscillations from
mechanical resonance"
Para. Name: DE Sperrfrequenz Geschwindigkeitsregler
EN Rejection frequency velocity loop
FR Fréquence á supprimer, boucle de vitesse
ES Frecuencia a eliminar Regulador de velocidad
IT Frequenza da sopprimere, Anello di Velocità

Unit: Hz Extrem value check: yes
P-0-0181, Rejection bandwidth velocity loop

To supress the mechanical resonance frequency a band filter can be
activated at the output of the relocity controler. It is parametrized with
parameters P-0-0180, Rejection frequency velocity loop and P-0-
0181, Rejection bandwidth velocity loop.
P-0-0181, Rejection bandwidth velocity loop sets the frequency range
for the locking frequency with an attenuation smaller than -3dB.
Example : P-0-0180 = 500 Hz,
P-0-0181 = 200 Hz,
then : attenuation<-3dB in range of 400..600 Hz
See also the functional description: "Filtering oscillations from

mechanical resonance"
Para. Name: DE Bandbreite Sperrfilter Geschwindigkeitsregler
EN Rejection bandwidth velocity loop
FR Gamme de bande à supprimer, boucle de vitesse
ES Ancho de banda a eliminar regulador de velocidad
IT Larghezza Banda da sopprimere, Anello di Velocità
Unit: Hz Extrem value check: yes
P-0-0185, Function of ext. encoder

Parameter P-0-0185, can be used to allocate a specific funktion to an
external encoder. The following funktions are defined:
Contents of P-0-0185 Ext. encoder function
0 ext. control function
1 Leitachsgeber
2 Lod side motor enc.
3 Messradgeber
Fig. 3-36: Ext. enc. function
See also the functional description: "External encoder"
Explanation:
• If the ext. encoder is used as a control encoder, then it can be used to
close the control loop. All modes are possible with ext. enc. The
position value is set in S-0-0053, Position Feedback Value 2 (Ext.
Feedback)
• Bei Verwendung des externen Gebers als Leitachsgeber wird die
Position im fest definiertem Format (2^20 Inkr./Umd) gebildet. Die
Position erscheint im Parameter P-0.0052 Lageistwert 3
• If the ext. enc. is used as a motor enc., then the control loop and
commutation are generated via this encoder. Only S-0-0053, Position
Feedback Value 2 (Ext. Feedback) is supported.
• Bei Verwendung des externen Gebers als Messradgeber kann dieser
zeitweilig ohne starre Kopplung mit dem Motorgeber sein. Bei
Aktivierung des Messradbetriebs wird der S-0-0053, Lageistwert 2
gesetzt und für die Lageregelung benutzt. (siehe auch:
Funktionsbeschreibung: Messradbetrieb).
Para. Name: DE Funktion des ext. Gebers
EN Function of ext. encoder
FR Fonction du codeur externe
ES Función del encoder externo
IT Funzione del Encoder esterno
P-0-0190, Operating hours control section

The operating hours of the control section are displayed here. With this
parameter, the entire on time of control electronics since installation of
the unit can be displayed. If C1D occurs, then the contents of this
parameter at that time is first stored in P-0-0193, Error recorder,
operating hours control section.
See also the functional description: "Error memory and operating hour
counter"
Para. Name: DE Betriebsstunden Steuerteil
EN Operating hours control section
FR Heures de fonctionnement contrôle
ES Horas de servicio sesión de control
IT Ore d'Operazione Sezione Controllo
Unit: h Extrem value check: no
P-0-0191, Operating hours power section

With this parameter, the entire on time of control electronics since
installation of the unit can be displayed. This is the time over which the
drive was operated with control enable on.
counter"
Para. Name: DE Betriebsstunden Leistungsteil
EN Operating hours power section
FR Heures de fonctionnnement puissance
ES Horas de servicio parte de potencia
IT Ore d'Operazione Sezione Potenza
Unit: h Extrem value check: no
P-0-0192, Error recorder, diagnosis number

If the drive diagnosis a C1D, then a bit is set in S-0-0011, Class 1
diagnostics C1D. Bit 13 for "Error C1D“ is set in the drive status word.
Additionally for a precise diagnosis:
• the diagnosis number is shown in the 7- segment display and stored
in S-0-0390, Diagnostic message number,
• the clear text diagnosis is stored in S-0-0095, Diagnostic message,
• and the relevant error number in P-0-0009, Error message number.
If the error is reset, then the diagnosis number of the error displayed in
S-0-0390, Diagnostic message number is stored in P-0-0192, Error
recorder diagnosis number. This parameter shows the diagnosis
numbers of the last 19 errors in chronological order. The last error is first.
The status of P-0-0190, Operating hours control section at the time
the error was detected is srored in P-0-0193, Error recorder, operating
hours control section.
counter"
Para. Name: DE Fehlerspeicher Diagnosenummer
EN Error recorder, diagnosis number
FR Enregistrement d'erreurs, numéros de diagnostique
ES Memoria de errores número de diagnóstico
IT Memoria dei Guasti, Numeri Diagnosi
P-0-0193, Error recorder, operating hours control section

If the drive diagnosis a C1D, then a bit is set in S-0-0011, Class 1
diagnostics C1D. Bit 13 for "Error C1D“ is set in the drive status word.
Additionally for a precise diagnosis:
• the diagnosis number is shown in the 7- segment display and stored
in S-0-0390, Diagnostic message number,
• the clear text diagnosis is stored in S-0-0095, Diagnostic message,
• and the relevant error number in P-0-0009, Error message number.
If the error is reset, then the status of P-0-0190, Operating hours
control section at the time the error was detected is srored in P-0-0193,
Error recorder, operating hours control section. This parameter
shows the diagnosis numbers of the last 19 errors in chronological order.
The last error is first
The status of P-0-0192, Error recorder diagnosis number at the time
the error was detected in the order in S-0-0390, Diagnostic message
number.
counter"
Para. Name: DE Fehlerspeicher Betriebstunden Steuerteil
EN Error recorder, operating hours control section
FR Enregistrement d'erreurs, heures de fonctionnement cont.
ES Memoria de errores horas de servicio parte de control
IT Memoria dei Guasti, Ore d'Operazione
P-0-0200, Signal select probe 1

This parameter is used to select what measured quantity will be used for
probe input 2.
The following signals can be selected:

P-0-0200: Selected signal:
0 Position feedback value 1 or 2, dependent on
S-0-0169, Probe control parameter bit 4
1 Time measurement in µs
2 Leitachsposition
3 Lageistwert 1 oder 2 mit aktivem Erwartungsfenster
4 Leitachsposition mit aktivem Erwartungsfenster
Fig. 3-37: P-0-0200, Measurement value for probe input 2
Para. Name: DE Signal-Auswahl Messtaster 1
EN Signal select probe 1
FR Sélection signal pour sonde 1
ES Seleccion de señal muestra 1
IT Selezione Segnale Probe 1
Input min/max: 0/4
P-0-0201, Signal select probe 2

This parameter is used to select what measured quantity will be used for
probe input 2.
The following signals can be selected:
P-0-0201: Selected signal:
0 Position feedback value 1 or 2, dependent on
S-0-0169, Probe control parameter bit 4
1 Time measurement in µs
2 Leitachsposition
3 Lageistwert 1 oder 2 mit aktivem Erwartungsfenster
4 Leitachsposition mit aktivem Erwartungsfenster
Fig. 3-38: P-0-0201, Measurement quantity for the probe input 2
Para. Name: DE Signal-Auswahl Messtaster 2
EN Signal select probe 2
FR Sélection signal pour sonde 2
ES Seleccion de señal muestra 2
IT Selezione Segnale Probe 2
Input min/max: 0/2
P-0-0202, Difference probe values 1

The difference between the positive probe value and the negative probe
value of probe 1 is stored in this parameter. The value is always
recalculated when a new positive or negative probe value is latched.
Para. Name: DE Differenz Messwerte 1
EN Difference probe values 1
FR Différence mesure 1
ES Diferencia valores de medicion 1
IT Differenza Valore Misurato 1
P-0-0203, Difference probe values 2

The difference between the positive probe value and the negative probe
value of probe 2 is stored in this parameter. The value is always
recalculated when a new positive or negative probe value is latched.
Para. Name: DE Differenz Messwerte 2
EN Difference probe values 2
FR Différence mesure 2
ES Diferencia valores de medicion 2
IT Differenza Valore Misurato 2
P-0-0204, Start position for active probe

Probe 1 has the option to ignore the edge of the measuring signal at the
probe 1 input.
Using P-0-0204, Start position for active probe and P-0-0205, End
position for active probe opens a window. Only those positions within
this window are latched.
To activate this functions one of selection numbers 4 in the signal select
for probe 1 (P-0-0200) (act. Pos. Values 1 or 2 with activated window) or
5 (lead axis position with active window) is set.
Para. Name: DE Startposition Messtasterfunktion aktiv
EN Start position for active probe
FR Position de départ pour sonde active
ES Posición inicial para sonda activa
IT Posizione Inizio per Funzione Probe

Data length: 4Byte Memory: Prog.Modul
P-0-0205, End position for active probe

Probe 1 has the option to ignore the edge of the measuring signal at the
probe 1 input.
Using P-0-0204, Start position for active probe and P-0-0205, End
position for active probe opens a window. Only those positions within
this window are latched.
To activate this functions one of selection numbers 4 in the signal select
for probe 1 (P-0-0200) (act. Pos. Values 1 or 2 with activated window) or
5 (lead axis position with active window) is set.
Para. Name: DE Endposition Messtasterfunktion aktiv
EN End position for active probe
FR Position finale pour sonde active
ES Posición final para sonda activa
IT Posizione Fine per Funzione Probe

The analog voltage can be read in volts with 3 decimal places applied at
the DAE02.1 analog channel 1 (E1+, E1-) via this parameter.
See also the functional description: "Analog Inputs"
Para. Name: DE Analog-Eingang 1
EN Analog input 1
FR Entrée analogique 1
ES Entrada analogica 1
IT Ingresso analogico 1
Unit: V Extrem value check: no


The analog voltage can be read in volts with 3 decimal places applied at
the DAE02.1 analog channel 2 (E2+, E2-) via this parameter.
Para. Name: DE Analog-Eingang 2
EN Analog input 2
FR Entrée analogique 2
ES Entrada analogica 2
IT Ingresso analogico 2
Unit: V Extrem value check: no
P-0-0212, Analog inputs, IDN list of assignable parameters

The digitalized values of both analog inputs of the DEA02.1 module are
stored in P-0-0210, Analog input 1 and P-0-0211, Analog input 2.
These can be allocated via settable scaling to other drive parameters or
cyclically copied. The allowable parameters for allocation are listed in P-
0-0212, Analog inputs, IDN list of assignable parameters.
Para. Name: DE Analog-Eingänge, IDN-Liste der zuweisbaren Parameter
EN Analog inputs, IDN list of assignable parameters
FR Entrées analogiques, liste des param.s pouvant être assignés
ES Entradas analógicas, lista IDN de parámetros asignables
IT Ingressi analogichi, Lista dei Parametri assignabili
P-0-0213, Analog input 1, assignment

cyclically copied.
To copy cyclically analog input one to a drive parameter the ID no. of this
parameter must be entered.
If the ID no. Entered in P-0-0213, Analog input 1, assignment not in P-
0-0212, Analog inputs, IDN list of assignable parameters, then the
service channel error message "data not correct“ is generated.
If the allocation is to be deleted, the enter ID no. S-0-0000.
Para. Name: DE Analog-Eingang 1, Zuweisung
EN Analog input 1, assignment
FR Entrée analogique 1, Assignation
ES Entrada analógica 1, asignación
IT Ingresso analogico 1, Assignazione
P-0-0214, Analog input 1, scaling per 10V full scale

These can be assigned to other drive parameters via settable scalings,
i.e., copied.
If analog input 1 is cyclically copied to adrive parameter, i.e., an ID no.
Has been entered in P-0-0213, Analog input 1, assignment, then
avalue of 10V of the analog voltage in terms of the assigned parameter is
entered.
The unit and the number of decimal places of P-0-0214, Analog input 1,
scaling per 10V full scale correspond to those of P-0-0213, Analog
input 1, assignment.When inputting P-0-0213, Analog input 1,
assignment, both unit and decimal places of P-0-0214, Analog input 1,
scaling per 10V full scale are appropriately switched.
Para. Name: DE Analog-Eingang 1, Bewertung pro 10V
EN Analog input 1, scaling per 10V full scale
FR Entrée analogique 1, Calibrage pour 10V
ES Entrada analógica 1, calibrado
IT Ingresso analogico 1, Scala per 10V

Data length: --- Memory: Param. EE
Format: --- Validity check: no
Unit: --- Extrem value check: no
Decimal places: --- Combination check: no
Input min/max: 0 / 2147483647
P-0-0215, Analog input 2, assignment

cyclically copied.
The parameter in the P-0-0212, Analog inputs, IDN list of assignable
parameters, which is to be manipulated via analog channel 2 of the
DAE02.1, is assigned to this parameter.If the function of the free
assignable analog channels is not needed for channel 2, then S-0-0000
should be entered here to switch the function off and make operating
time available for other functions.
Para. Name: DE Analog-Eingang 2, Zuweisung
EN Analog input 2, assignment
FR Entrée analogique 2, Assignation
ES Entrada analógica 2, asignación
IT Ingresso analogico 1, Assignazione
P-0-0216, Analog input 2, scaling per 10V full scale

These can be assigned to other drive parameters via settable scalings,
i.e., copied.
If analog input 1 is cyclically copied to a drive parameter, i.e., an ID no.
Has been entered in P-0-0215, Analog input 2, assignment, then
avalue of 10V of the analog voltage in terms of the assigned parameter is
entered.
The unit and the number of decimal places of P-0-0216, Analog input 2,
scaling per 10V full scale correspond to those of P-0-0215, Analog
input 2, assignment. When inputting P-0-0215, Analog input 2,
assignment, both unit and decimal places of P-0-0216, Analog input 2,
scaling per 10V full scale are appropriately switched.
Para. Name: DE Analog-Eingang 2, Bewertung pro 10V
EN Analog input 2, scaling per 10V full scale
FR Entrée analogique 2, Calibrage pour 10V
ES Entrada analógica 2, calibrado
IT Ingresso analogico 1, Scala per 10V
Format: --- Validity check: no
Input min/max: 0 / 2147483647
P-0-0217, Analog input 1, offset

The analog channels can be processed with an offset. It is substracted.
Para. Name: DE Analog-Eingang 1, Offset
EN Analog input 1, offset
FR Entrée analogique 1, offset
ES Entrada analogica 1, offset
IT Ingresso analogico 1, Offset
Input min/max: -10000 / 10000
P-0-0218, Analog input 2, offset

The analog channels can be processed with an offset. Actual unit is
millivolt and this value will be substracted from the analog command
value.
Para. Name: DE Analog-Eingang 2, Offset
EN Analog input 2, offset
FR Entrée analogique 2, offset
ES Entrada analogica 2, offset
IT Ingresso analogico 2, Offset
Input min/max: -10000 / 10000
P-0-0220 D800 Command Measuring Wheel Operation

Setting and enabling this command gives a transition from position
control with feedback 1 to position control with feedback 1 and 2. At first,
the position feedback 2 is set to the same value as the position feedback
1. The monitoring for the position and speed loop are switched off!
The command is only accepted when the following three conditions are
met:
• External feedback present
• External feedback announced as measuring wheel (P-0-0185 = 3)
• Position control is active.
If one of the conditions is not met, the command error message „D801
Measuring wheel operation not possible“ is generated.
If the operation mode is deactivated while the command is active, e.g. by
taking away the drive enable or by an error reaction, the command will be
terminated with the error message „D802 Operation mode cancelled“.
When cancelling the command, the drive sets the value of position
feedback 1 to the value of position feedback 2 and switches back again
to position control with the motor encoder. The monitoring of the control
loops is activated again.
See also the functional description: "Measuring Wheel mode".
Para. Name: DE D800 Kommando Messradbetrieb
EN D800 Command Measuring wheel operation mode
FR D800 Commande Fonctionnement Roue de mesure
ES D800 Comando Servicio de rueda de medición
IT D800 Comando Ruota di Misura
P-0-0221, Actual position filter time const. for measuring wheel mode
When the command Measuring wheel operation is active, the position
loop is closed with the sum of the position feedback value 1 and the
filtered difference between the values of position feedback 2 and position
feedback 1. Filtering is done with a low pass of 1st order. The time
constant of this filter is determined by this parameter.
The aim of damping the differential position feedback is to smoothen
negative effects from a bad coupling between the encoder 2 and the
motor shaft (only material).
The final position is determined by the position feedback value 2 only.
See also the functional description: "Measuring Wheel mode".
Para. Name: DE Lageistwert-Glättungszeitkonstante im Messradbetrieb
EN Actual position filter time const. for measuring wheel mode

FR Roue de mesure, filtrage de position réelle
ES Rueda de medición, filtro de pos. real constante temporal
IT Ruota di Misura, Smorzamento per Posizione di Feedback
Data length: 2Byte Memory: Prog.Modul
Format: DEC_OV Validity check: P3-4
P-0-0420, Analog output 1 signal selection

Using P-0-0420, Analog output 1 signal selection, an ID no. can be
assigned to the analog AK1 output channel on the X3 connector.The
parameter with the assigned ID no. can be visualized with an
oscilloscope in the form of an analog voltage. Only those ID no. in the list
P-0-0426, Analog outputs, IDN list of assignable parameters can be
used.
Para. Name: DE Analog-Ausgang 1, Signalauswahl
EN Analog output 1 signal selection
FR Sortie analogique 1, sélection de signal
ES Salida analógica 1, selección de señal
IT Uscita analogica 1, Scelta del Segnale
P-0-0421, Analog output 1, expanded signal selection

To be able to show signals as analog voltages, but which are not in P-0-
0426, Analog outputs, IDN list of assignable parameters, then the
option of an expanded signal select is possible. This becomes active as
long as no parameter is assigned via P-0-0420, Analog output 1 signal
selection.
The following expended signal select options are available:
• expanded signal select with permanently defind signals
• byte output
• bit output
1) Expanded signal selection with permanently- defind signals

Internal signal numbers are assigned which are not in the drive in the
form of ID numbers. These signals have permanent units making an
evaluation via P-0-0422, Analog output 1, scalling per 10V full scale
possible. The evaluation factor 1.0 equals the permanent unit. The
following permanently defined signals are possible:
Signalnumber Ref. Unit:

P-0-0421 Output signal eval factor=1.0
0x00000001 motor encoder sine signal 0.5V/10V
0x00000002 motor encoder cosine 0.5V/10V
signal
0x00000005 Position command rot. =>1000rpm/10V
difference on the pos. lin. =>100m/min/10V
controler
0x00000007 absolute DC bus power 1kW/10V
amount
0x0000000a thermal load 100%/10V
0x0000000b motor temperature 150^C/10V
0x0000000d velocity command at the rot. =>1000rpm/10V
velocity controller lin. => 100m/min/10V
Fig. 3-39: Signal select list with predefined signal selection
The outputs are scaling dependent and always relate to the motor shaft
given position and relocity data
2) Byte output
It is possible herewith to output memory cells of the data memory as
analog voltage. It can only be practically applied if the data storage
stuctures is familiar. As this is, however, different from version to version,
the the function can only be used by the respective developer. The
function is activated by setting bit 28 in P-0-0421, Analog output 1,
expanded signal selection. The adress of the memory cell is defined in
the low word of the expanded signal selection.
31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1

0
Bit 0..15:
16 Bit adress
Bit 28 :
byte output
Fig. 3-40: Definition P-0-0421, Analog output 1, enlarged signal selection

with byte output- definition
3) Bit output
Individual bits of the data memory can be shown as analog voltage
herewith.If the respective bit is set, then 10V voltage is output at the
analog output. A reset bit outputs -10V. The function is activated by
setting bit 29 and inputting the desired memory address in P-0-0421,
Analog output 1, expanded signal selection.
31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1

0
Bit 0..15:
16 Bit adress
Bit 29 :
bit output
Fig. 3-41: Definition P-0-0421, Analog output 1, enlarged signal selection

Para. Name: DE Analog-Ausgang 1, erweiterte Signalauswahl
EN Analog output 1, expanded signal selection
FR Sortie analogique 1, sélection de signal élargie
ES Salida analógica 1, selección de señal ampliada
IT Uscita analogica 1, Superamento Scelta
P-0-0422, Analog output 1, scaling per 10V full scale

P-0-0420, Analog output 1 signal selection, the The resolution of the
selected signal can be varied with parameter P-0-0422, Analog output 1
scaling per 10V full scale. If an ID no. was assigned via evalution is
assigned the same unit as the parameter with the assigned ID number.
The output of pre- defined signals means that the evalution has a
decimal fuctior of 4 decimal places. It has a permanent referance with
permanent unit.
The evaluation defines the least- significal bit with bit and byte outputs, if
such are output. The input is decimal without decimal places.
Para. Name: DE Analog-Ausgang 1, Bewertung [1/10V]
EN Analog output 1, scaling per 10V full scale

FR Sortie analogique 1, calibrage [1/10V]
ES Salida analógica 1, calibrado [1/10V]
IT Uscita analogica 1, Scala per 10V fondo scala
Format: P-0-0420/P-0-0421 Validity check: no
Unit: P-0-0420/P-0-0421 Extrem value check: no
Decimal places: P-0-0420/P-0-0421 Combination check: no
P-0-0423, Analog output 2, signal selection

Using P-0-0423, Analog output 2, signal selection, an ID no. can be
assigned to the analog AK2 output channel on the X3 connector.The
parameter with the assigned ID no. can be visualized with an
oscilloscope in the form of an analog voltage. Only those ID no. in the list
P-0-0426, Analog outputs, IDN list of assignable parameters can be
used.
Para. Name: DE Analog-Ausgang 2, Signalauswahl
EN Analog output 2, signal selection
FR Sortie analogique 2, sélection de signal
ES Salida analógica 2, selección de señal
IT Uscita analogica 2, Scelta del Segnale
P-0-0424, Analog output 2, expanded signal selection

To be able to show signals as analog voltages, but which are not in P-0-
0426, Analog outputs, IDN list of assignable parameters, then the
option of an expanded signal select is possible. This becomes active as
long as no parameter is assigned via P-0-0423, Analog output 2 signal
selection.
The following expended signal select options are available:
• expanded signal select with permanently defind signals
• byte output
• bit output
1) Expanded signal selection with permanently- defind signals
Internal signal numbers are assigned which are not in the drive in the
form of ID numbers. These signals have permanent units making an
evaluation via P-0-0425, Analog output 2, scalling per 10V full scale
possible. The evaluation factor 1.0 equals the permanent unit. The
following permanently defined signals are possible:
Signalnumber Ref. Unit:

P-0-0424 Output signal eval factor=1.0
0x00000001 motor encoder sine signal 0.5V/10V
0x00000002 motor encoder cosine 0.5V/10V
signal
0x00000005 Position command rot. =>1000rpm/10V
difference on the pos. lin. =>100m/min/10V
controler
0x00000007 absolute DC bus power 1kW/10V
amount
0x0000000a thermal load 100%/10V
0x0000000b motor temperature 150^C/10V
0x0000000d velocity command at the rot. =>1000rpm/10V
velocity controller lin. => 100m/min/10V
Fig. 3-42: Signal select list with predefined signal selection
The outputs are scaling dependent and always relate to the motor shaft
given position and relocity data
2) Byte output
It is possible herewith to output memory cells of the data memory as
analog voltage. It can only be practically applied if the data storage
stuctures is familiar. As this is, however, different from version to version,
the the function can only be used by the respective developer. The
function is activated by setting bit 28 in P-0-0424, Analog output 2,
expanded signal selection. The adress of the memory cell is defined in
the low word of the expanded signal selection.
31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1 0
Bit 0..15:
16 Bit adress
Bit 28 :
byte output
Fig. 3-43: Definition P-0-0424, Analog output 2, expanded signal selection

3) Bit output
Individual bits of the data memory can be shown as analog voltage
herewith.If the respective bit is set, then 10V voltage is output at the
analog output. A reset bit outputs -10V. The function is activated by
setting bit 29 and inputting the desired memory address in P-0-0424,
Analog output 2, expanded signal selection.
31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1 0
Bit 0..15:
16 Bit adress
Bit 29 :
bit output
Fig. 3-44: Definition P-0-0424, Analog output 2, expanded signal selection

Para. Name: DE Analog-Ausgang 2, erweiterte Signalauswahl
EN Analog output 2, expanded signal selection
FR Sortie analogique 2, sélection de signal élargie
ES Salida analógica 2, selección de señal ampliada
IT Uscita analogica 2, Superamento Scelta
P-0-0425, Analog output 2, scaling per 10V full scale

The resolution of the selected signal can be varied with parameter P-0-
0425, Analog output 2 scaling per 10V full scale. If an ID no. was
assigned via P-0-0423, Analog output 2, signal selection, the evalution
is assigned the same unit as the parameter with the assigned ID number.
The output of pre- defined signals means that the evalution has a
decimal fuctior of 4 decimal places. It has a permanent referance with
permanent unit.
The evaluation defines the least- significal bit with bit and byte outputs, if
such are output. The input is decimal without decimal places.
Para. Name: DE Analog-Ausgang 2, Bewertung [1/10V]
EN Analog output 2, scaling per 10V full scale
FR Sortie analogique 2, calibrage [1/10V]
ES Salida analógica 2, calibrado [1/10V]
IT Uscita analogica 2, Scala per 10V fondo scala
Data length: Memory: Param. EE
Format: P-0-0420/P-0-0421 Validity check: no
Unit: P-0-0420/P-0-0421 Extrem value check: no
Decimal places: P-0-0420/P-0-0421 Combination check: no
P-0-0426, Analog outputs, IDN list of assignable parameters

Parameter P-0-0426, Analog outputs, IDN list of assignable parameters
contains a list of parameters assignable via P-0-0420, Analog output 1
signal selection or P-0-0423, Analog output 2, signal selection.
Para. Name: DE Analog-Ausgabe, IDN-Liste der zuweisbaren Parameter
EN Analog outputs, IDN list of assignable parameters
FR Sorties analog., liste des paramètres pouvant être assignés
ES Salida analógica, lista IDN de los números ID asignables
IT Uscite analogiche, Lista IDN dei Parametri assignabili
Input min/max: -/-
P-0-0502, Encoder emulation, resolution

The function Incremental encoder emulation can output the signals
• P-0-0053, Master drive position and
• S-0-0051, position feedback value 1
as incremental encoder signals. For this, the plug-in module DAE02.1 is
necessary. The parameter P-0-0502, Encoder emulation, resolution
defines the line count per emulated revolution.
See also the functional description: "Incremental Encoder Emulation"
Para. Name: DE Geber-Emulation Auflösung
EN Encoder emulation, resolution
FR Emulation codeur, résolution
ES Emulacion de encoder, resolucion
IT Emulazione Encoder, Risoluzione

Unit: Striche/Umdr Extrem value check: yes
P-0-0503, Marker pulse offset

With this parameter, the position of the reference pulse of the emulated
incremental encoder output can be shifted within one turn.
Para. Name: DE Referenzimpuls-Offset
EN Marker pulse offset
FR Décalage du top 0 pour emul. codeur incr.
ES Desviacion impulso de referencia
IT Offset Impulso di Zero
P-0-0505, Signal selection incremental encoder

The function Incremental encoder emulation can output the signals
• P-0-0053, Master drive position and
• S-0-0051, position feedback value 1
as incremental encoder signals. For this, the plug-in module DAE02.1 is
necessary. The parameter P-0-0505, Signal selection incremental
encoder selects the signal for the output of the incremental encoder
emulation.
Value in P-0-0505 Funktion
0 Incremental encoder emulation not active
1 Emulation of P-0-0053, Master drive position
2 Emulation of S-0-0051, position feedback value 1
Fig. 3-45: Function of P-0-0505, Signal selection incremental encoder emulator
Para. Name: DE Signalauswahl Inkrementalgeber-Emulator
EN Signal selection incremental encoder
FR Sélection de signal pour emul. codeur incr.
ES Selección de señal emulador de encoder incremental
IT Emulazione Encoder incr., Selezione Segnale

Input min/max: 0/2
P-0-0508, Commutation offset

For synchronous motors, this parameter indicates the offset between the
raw value of the motor encoder and the resulting absolute electrical angle
between the stator current vector and the rotor flux vector.
For motors with motor feedback data memory, the commutator offset is
stored in memory and therefore does not need to be entered.
For linear synchronous motors, this value must always be redetermined if
• The motor probe system encounters a change in its mechanical
structure.
• A mechanical restructuring of primary and secondary portions is takes
place.
See also the functional description: "Synchronous-Asynchronous"
Para. Name: DE Kommutierungs-Offset
EN Commutation offset
FR Offset de commutation
ES Offset de conmutacion
IT Offset di Commutazione
P-0-0509, Slot angle

This parameter is not currently available for use.
See also the functional description: "Synchronous-Asynchronous"
Para. Name: DE Passfedernut-Winkel
EN Slot angle
FR Angle de clavette
ES Angulo de chavetero
IT Angolo di Inserzione
P-0-0510, Moment of inertia of the rotor

This parameter indicates the moment of inertia of the rotor without load.
For motors with feedback memory (e.g. MKD), it is saved in the
feedback.
Para. Name: DE Rotorträgheitsmoment
EN Moment of inertia of the rotor
FR Couple d'inertie du rotor
ES Par de inercia de rotor
IT Coppia di Inerzia del Rotore
Unit: kgm² Extrem value check: no
P-0-0511, Brake current

The brake current is monitored by the drive controller if the motor is
equipped with a blocking brake and a value other than 0 is entered in this
parameter. If the brake current lies outside the range
(0.7 . . . 1.3) • P-0-0511,
then error message F268 Brake fault will be generated.
See also the functional description: "Motor Holding Brake"
Para. Name: DE Haltebremsenstrom
EN Brake current
FR Courant frein
ES Corriente de frenado de parada
IT Corrente Freno
P-0-0518, Amplifier nominal current 2

This parameter specifies the maximum nominal current of the amplifier at
reduced peak current.
It specifies together with the parameters
• S-0-0110, Amplifier peak current
• S-0-0112, Amplifier nominal current
• P-0-0519, Amplifier peak current 2
the length of the peak current characteristics line for the peak current
limit of the amplifier.
No value can be entered since it is permanently programmed within the
amplifier.
Para. Name: DE Verstärker-Nennstrom 2
EN Amplifier nominal current 2
FR Courant nominal variateur 2
ES Amplificador corriente nominal 2
IT Corrente Nominale Azionamento 2
P-0-0519, Amplifier peak current 2

The drive allows you to define a changed continuous peak current
characteristic line with reduced amplifier peak current, and therefore an
increased amplifier continuous current.
Parameter P-0-0519 specifies an amplifier peak current for this case.
It determines the working points on the peak current characteristic line.
No value for this parameter can be entered, since it is permanently
programmed in the amplifier.
Para. Name: DE Verstärker-Spitzenstrom 2
EN Amplifier peak current 2
FR Courant crête variateur 2
ES Amplificador corriente punta 2
IT Corrente di Picco Azionamento 2
P-0-0523, Commutation, probe value

If the commutation offset for linear synchronous motors is to be set with
the P-0-0524, Commutation command, then the setting probe value
should be entered in the P-0-0532, Premagnetization factor parameter.
The parameter can be written if the feature is opened with the input of the
appropriate password.
ee also the functional description: "Determining the commutation offset"
Para. Name: DE Kommutierungseinstellung Messwert
EN Commutation, probe value
FR Mesure reglage de commutation
ES Ajuste de conmutacion, valor de medicion
IT Commutazione, Valore di Probe
Input min/max: -2147483648 / 2147483647
P-0-0524, Commutation command

Parameter P-0-0524 can activate the command for setting the
commutator offset. The command can only be used when:
• the appropriate password is entered
• torque control mode is active
• drive enable is on
If these criteria are met, the drive will automatically set the appropriate
commutator offset for synchronous motors.
See also the functional description: "Determining the commutation offset"
Para. Name: DE Kommutierungseinstellung Kommando
EN Commutation command
FR Commande reglage de commutation
ES Comando ajuste de conmutacion
IT Commutazione - Comando
Function: Command Editability: no
P-0-0525, Type of motor brake

This parameter specifies whether a electrically released or electrically
applied brake is being used. If an MHD or MDK motor is used, then the
brake will be self-stopping, if there is a brake. The parameter will be set
automatically to 0. If other motor types are used, this parameter must be
entered during the startup procedure.
Para. Name: DE Haltebremsentyp
EN Type of motor brake
FR Type de frein
ES Tipo de freno de motor
IT Tipo di Freno
Input min/max: 0/1
P-0-0526, Brake control delay

If a holding brake is being used, the time delay between the start of the
brake and when it becomes effective must be set in this parameter. This
value is entered automatically when MHD, MKD or MKE motors are
used. If Indramat brakes are used in conjunction with asynchronous
motors, then the standard value to be entered is 100 ms.
Para. Name: DE Haltebremsen-Verzugszeit
EN Brake control delay
FR Délai frein
ES Retardo de control de freno
IT Ritardo Freno
P-0-0530, Slip increase

In asynchronous motors, the rotor resistance and the rotor time constant
change with the temperature. The slip increase compensates for this
change.
The slip increase per 100K(elvin) is motor-specific and is specified by
Indramat for each individual motor.
See also the functional description: "Asynchronous Motors"
Para. Name: DE Schlupfanhebung
EN Slip increase
FR Accroissement de glissement par température
ES Aumento de deslizamiento
IT Incremento Slip

Unit: 1/100K Extrem value check: yes
P-0-0531, Stall current limit

The stall current limit is used to limit the peak current of the motor to
reasonable values when operating at high velocities. Higher currents lead
only to higher losses, not to more wave power.
This limit value is set by Indramat. If 0 is entered, the limit is inactive.
Para. Name: DE Kippstromgrenze
EN Stall current limit
FR Limite du courant bascule
ES Limite de corriente de volcado
IT Limite di Corrente di Inversione
Unit: A/Vmin Extrem value check: yes
Input min/max: 0 / 4294967295
P-0-0532, Premagnetization factor

The pre-magnetization factor is used for application-dependent
decreases in the Servo magnetization current. Together with parameter
P-0-4004, Magnetizing current, it specifies the motor's magnetization
current.
Effective magnetization current = magnetization current • pre-magnetization scaling factor
With a pre-magnetizing factor of 100%, the Servo magnetization current
in the motor will flow so that a torque proportional to the momentum-
producing current will result in the basic rotation range.
See also the functional description: "Scaling Factor Pre-Magnetizing"
Para. Name: DE Vormagnetisierungsfaktor
EN Premagnetization factor
FR Facteur de pré-magnétisation
ES Factor de magnetizacion previa
IT Fattore di Premagnetizzazione
P-0-0533, Flux loop prop. gain

The flux loop controls the magnetization current in the field-weakening
range.
The parameter value is set by Indramat.
Para. Name: DE Feldregler Prop.verst.
EN Flux loop prop. gain
FR Gain prop. de l'asservissement de flux
ES Regulador de campo amplificacion proporcional
IT Guadagno prop. Anello di Flusso
Unit: A/V Extrem value check: yes
P-0-0534, Flux loop integral action time

The flux loop controls the magnetization current in the field-weakening
range.
The parameter value is set by Indramat.
Para. Name: DE Feldregler Nachstellzeit
EN Flux loop integral action time
FR Part intégrale de l'asservissement de flux
ES Regulador de campo tiempo de reajuste
IT Tempo Integrazione Anello di Flusso
P-0-0535, Motor voltage at no load

The motor voltage in the field-weakening range is set so that it reaches a
value lower than the DC bus voltage.
Under load, the motor voltage will be raised to the maximum motor
voltage.
Para. Name: DE Motorleerlaufspannung
EN Motor voltage at no load
FR Tension moteur á vide
ES Tension de marcha en vacio de motor
IT No Carico Tensione Motore
Unit: %Uzwk Extrem value check: yes
P-0-0536, Motor voltage max.

The motor voltage in the field-weakening range is set so that it reaches a
value lower than the DC bus voltage.
During full load, the motor voltage will rise to the maximum motor
voltage. The output voltage will be sinusoidal up to a value of 90%.
Para. Name: DE Motormaximalspannung
EN Motor voltage max.
FR Tension max. moteur
ES Tension maxima de motor
IT Tensione Motore massima
Unit: %Uzwk Extrem value check: yes
P-0-0537, S1-Kink-speed
Starting with the S1 kink speed, core losses result in.a drop in power.
This motor-specific velocity determined by Indramat is only useful for the
"S1 operating mode". From this velocity on, the field quickly weakens so
as to keep the motor temperature low.
Para. Name: DE S1-Eckdrehzahl
EN S1-Kink-speed
FR Vitesse coin S1
ES S1-N.d.r. angular
IT S1 Velocità di Curvatura

Unit: Rpm Extrem value check: yes
Input min/max: 0 / 4294967295
P-0-0538, Motor function parameter 1

Bit 0: 1 = Function S1 Operation active
See also the functional description: "S1-Operation"
Para. Name: DE Motorfunktionsparameter 1
EN Motor function parameter 1
FR Paramètre de fonctions 1 moteur
ES Parametros de funcion 1 de motor
IT Parametro Funzioni 1 Motore
Decimal places: -- Combination check: yes
P-0-1201, Ramp 1 pitch

Parameter P-0-1201, Ramp 1 pitch, takes effect in "Velocity control"
operating mode and during execution of error response "Velocity
command value, zero-switch with pitch and filter".
The acceleration and delay entered here are used to create a pitch
starting from the last effective command value to the new command
value.
In "Velocity control" operating mode, the resulting velocity command
value is derived from the sum of the value resulting from the pitch
function in S-0-0036, Velocity command value and the direct value in
S-0-0037, Additive velocity command value.
When error response "Velocity command value, zero-switch with pitch
and filter" is executed, velocity proceeds from the current feedback
velocity to 0, using the effective velocity command value with the delay
specified by the parameter in P-0-1201, Ramp 1 pitch.
See also the functional description: "Velocity command value reset with
filter and slope"
Para. Name: DE Steigung Rampe 1
EN Ramp 1 pitch
FR Montée Rampe 1
ES Rampa de velocidad 1
IT Velocità Rampa 1

Input min/max: 0 / 2147483647
P-0-1222, Velocity command filter

Parameter P-0-1222, Velocity command filter works in "Velocity
control" operating mode and in response to the error "Velocity command
value zero-switch with slope and filter."
The time constant entered here is used in velocity control operating
mode to pass the value in S-0-0036, Velocity command value which
has been pitched by P-0-1201, Ramp 1 pitch, through a deep-pass filter.
This serves to diminish surges in acceleration over the course of
command values.
The resulting velocity command value results from the sum of the sloped
and filtered value in S-0-0036, Velocity command value and the direct
value in S-0-0037, Additive velocity command value.
When error response "Velocity command value, zero-switch with pitch
and filter" is executed, velocity proceeds from the current feedback
velocity to 0, using the effective velocity command value with the delay
specified by the parameter in P-0-1201, Ramp 1 pitch. It is also passes
through the deep pass filter specified by P-0-1222, Velocity command
filter.
See also the functional description: "Velocity command value reset with
filter and slope"
Para. Name: DE Geschwindigkeits-Sollwert-Filter
EN Velocity command filter
FR Filtrage de consigne vitesse
ES Constante temporal de alisado de valor nominal
IT Filtro su Velocità comandata
P-0-4000, Current-zero-trim phase U

This parameter serves to display the determined result of the zero-trim
procedure for the current feedback sensor of phase U.
Para. Name: DE Strommess-Nullabgleich Phase U
EN Current-zero-trim phase U
FR Reglage courant nul phase U
ES Compensacion cero de medicion de corriente fase U
IT Regolazione Corrente 0 Fase U
P-0-4001, Current-zero-trim phase V

This parameter serves to display the determined result of the zero-trim
procedure for the current feedback sensor of phase V.
Para. Name: DE Strommess-Nullabgleich Phase V
EN Current-zero-trim phase V
FR Reglage courant nul phase V
ES Compensacion cero de medicion de corriente fase V
IT Regolazione Corrente 0 Fase V
P-0-4002, Current-amplify-trim phase U

For trimming of the current sensor regarding its gain error, this parameter
is determined in the test area for the Indramat drive controllers.
Para. Name: DE Strommess-Verst.abgleich Phase U
EN Current-amplify-trim phase U
FR Reglage amplification courant phase U
ES Compensacion de amplif. de medicion de corriente fase U
IT Regolaz. Aplif. Corrente Fase U
P-0-4003, Current-amplify-trim phase V

For trimming of the current sensor regarding its gain error, this parameter
is determined in the test area for the Indramat drive controllers.
Para. Name: DE Strommess-Verst.abgleich Phase V
EN Current-amplify-trim phase V
FR Reglage amplification courant phase V
ES Compensacion de amplif. de medicion de corriente fase V
IT Regolaz. Amplif. Corrente Fase V
P-0-4004, Magnetizing current

This parameter indicates the nominal or servo-magnetization current set
by Indramat for asynchronous motors. The magnetizing current actually
flowing is also dependent on the premagnetization scaling factor.
For synchronous motors, this parameter is automatically set to 0.
Para. Name: DE Magnetisierungsstrom
EN Magnetizing current
FR Courant de magnétisation
ES Corriente de magnetizacion
IT Corrente di Magnetizzazione
P-0-4011, Switching frequency

This parameter is used to set the switching frequency of the pulse with
modulation controller to 4 kHz or 8 kHz.
Current"
Para. Name: DE Schaltfrequenz
EN Switching frequency
FR Fréquence de coupure
ES Frecuencia de conexion
IT Frequenza di Commutazione
Unit: kHz Extrem value check: yes
Input min/max: 4/8
P-0-4012, Slip factor

The slip factor is the most important parameter for asynchronous motors.
It indicates the rotor frequency in relation to the torque-producing current.
The lower the rotor time constant is, the higher the slip factor.
This parameter is set motor-specifically by Indramat.
Para. Name: DE Schlupffaktor
EN Slip factor
FR Facteur de glissement
ES Factor de deslizamiento
IT Fattore di Slip
Unit: Hz/100A Extrem value check: yes
P-0-4014, Motor type

The motor type can be selected with this parameter.
• 1: MHD
• 2: 2AD / 1MB with NTC sensor
• 3: LSF
• 4: LAR / LAF
• 5: MKD / MKE
• 6: 2AD /1MB with PTC sensor
• 7: synchron kit motor
See also the functional description: "Setting of the Motor Type through P-
0-4014, Motor Type"
Para. Name: DE Motorart
EN Motor type
FR Type de moteur
ES Tipo de motor
IT Tipo Motore
Input min/max: 1/7
P-0-4015, Intermediate voltage

The Intermediate voltage is stored in the amplifier as a parameter.
The parameter cannot be edited and is only for display and internal
calculations (PWM).
Para. Name: DE Zwischenkreisspannung
EN Intermediate voltage
FR Tension du circuit intermédiaire
ES Tension de circuito intermedio
IT Tensione sul Bus DC
P-0-4021, Baud rate RS-232/485

Various baud rates (transmission speeds) can be set for communications
via the serial interfaces.
Setting in parameter
Baud rate [Baud] P-0-4021
9600 0
19200 1
Fig. 3-46: Settable baud rates
Note: Do not change the baud rate in the list of all parameters in
DriveTop. Doing so would lock out all further communications
in DriveTop versions < 3.
Para. Name: DE Baud-Rate RS-232/485
EN Baud rate RS-232/485
FR Baud-Rate RS-232/485
ES Frecuencia de baudios RS-232/485
IT Baud Rate RS-232/485
P-0-4022, Drive address

When communicating via RS485-interface with more than one drive,
each drive must have different addresses, so that only the addressed
drive reacts.
Addresses can be set from 0 to 99.
In a terminal program, the selection of the drive with the desired address
is done through BCD: Drive Address .
and Receive Times"
Para. Name: DE Antriebsadresse
EN Drive address
FR Adresse entraînement
ES Direccion de accionamiento
IT Indirizzo Azionamento
P-0-4023, C400 Communication phase 2 transition

Switching command from drive mode (i.e., out of phase 3 (P3)) to
parameter mode (Phase 2(P2)).
The command can only be processed when the drive enable is off.
Para. Name: DE C400 Umschaltung auf Komm.-Phase 2
EN C400 Communication phase 2 transition
FR C400 Passage en phase 2
ES C400 Conmutacion a fase 2
IT C400 Comando Selezione Modo Parametri

P-0-4035, Trim-current
In this parameter, the current value is stored with which the current
measurement of the drive control is precisely adjusted in the factory.
This eliminates systematical errors in the current measurement. The
value has no meaning to the user and cannot be changed.
Para. Name: DE Abgleichstrom
EN Trim-current
FR Courant pour le calibrage
ES Corriente para calibrado
IT Regolazione Corrente
P-0-4036, Contacted motor type

The value of parameter S-0-0141, Motor type is stored in this parameter
every time the "Basic load" function is executed.
Every time the controller is turned on, the value of parameter S-0-0141
Motor type from the motor feedback data memory is compared to P-0-
4036. If the data differ, then a different motor has been contacted. The
message "UL" will then appear on the SS display. By pressing "S1", the
default control parameters of the new motor will be activated.
This feature is relevant only for motors with motor feedback data
memory, such as MHD-, MKD or MKE motors.
See also the functional description: "Automatic Execution of the Load
Default Feature"
Para. Name: DE Angeschlossener Motortyp
EN Contacted motor type
FR Type du moteur raccordé
ES Tipo de motor conectado
IT Tipo di Motore Collegato

P-0-4045, Active permanent current

This value is used to display the continuous current that has been set.
The device is not overloaded with this current. It is also the current to
which the current limit reduces.
Current"
Para. Name: DE Wirksamer Dauerstrom
EN Active permanent current
FR Courant permanent actuel
ES Corriente continua activa
IT Corrente continuativa attiva
P-0-4046, Active peak current

The effective peak current parameter P-0-4046 indicates the maximum
current that the amplifier can currently deliver. This value is limited by the
current limiter. Additional factors are
• S-0-0092, Bipolar torque limit value
• S-0-0109, Motor peak current
See also the functional description: "Setting the Active Peak Current"
Para. Name: DE Wirksamer Spitzenstrom
EN Active peak current
FR Courant crête actuel
ES Corriente punta activa
IT Corrente di Picco Attiva
P-0-4094, C800 Command Base-parameter load

With the execution of this command, all parameters in S-0-0192, IDN list
of backup operation data are set to their base values.
If the firmware in the prog. module is replaced and the parameter
memory is incompatible, then error F209 PL Load parameter default
values is generated.“PL“ appears on the display.
The command is executed by pressing the S1 button.
See also the functional description: "Basic parameter block"
Para. Name: DE C800 Kommando Basisparameter laden
EN C800 Command Base-parameter load
FR C800 Commande chargement des paramètres de base
ES C800 Comando cargar parametro base
IT C800 Comando Caricare Parametri di Base
P-7-0018, Number of pole pairs/pole pair distance

For motors with feedback data memory, e.g. MKD, this parameter shows
the value stored there for the number of pole pairs of the motor.
Para. Name: DE Polpaarzahl/Polpaarweite
EN Number of pole pairs/pole pair distance
FR Nombre de paires de pôles/distance polaire
ES Numero de par de polo/espacio de par de polo
IT Numero di Coppie Poli
Format: DEC_OV Validity check: -
Unit: pairs of poles/mm Extrem value check: -
P-7-0051, Torque/force constant

The Torque/Force constant indicates, how much torque or force the
motor delivers at a certain real current.
the value stored there for the torque constant of the motor.
Para. Name: DE Drehmoment-/Kraft-Konstante
EN Torque/force constant
FR Constante de couple/force
ES Constante de par/fuerza
IT Costante di Coppia/Forza
Unit: Nm/A Extrem value check: no
P-7-0508, Commutation offset

the value stored there for the Commutation Offset of the motor.
Para. Name: DE Kommutierungs-Offset
EN Commutation offset
FR Offset de commutation
ES Offset de conmutacion
IT Offset di Commutazione
P-7-0509, Slot angle

the value stored there for the Slot (keyway) Angle of the motor.
Para. Name: DE Passfedernut-Winkel
EN Slot angle
FR Angle de clavette
ES Angulo de chavetero
IT Angolo di Inserzione

P-7-0510, Moment of inertia of the rotor

the value stored there for the Moment of inertia of the motor’s rotor.
Para. Name: DE Rotorträgheitsmoment
EN Moment of inertia of the rotor
FR Couple d'inertie du rotor
ES Par de inercia de rotor
IT Coppia di Inerzia del Rotore
Unit: kgm² Extrem value check: no
P-7-0511, Brake current

the value stored there for the Brake Current of the motor.
Para. Name: DE Haltebremsenstrom
EN Brake current
FR Courant frein
ES Corriente de frenado de parada
IT Corrente Freno
P-7-0512, Default value for Kv-factor of position control

the value stored there for the default value for the Kv factor of the
position controller. By the command S-0-0262, C700 Command basic
load, this value is taken into the active parameter S-0-0104, Position
loop Kv-factor.
Para. Name: DE Defaultwert für Lageregler Kv-Faktor
EN Default value for Kv-factor of position control
FR Valeur défaut pour gain asservissement de pos. Kv
ES Regulador de posicion factor Kv, default
IT Fattore Kv Anello di Posizione, Default
Unit: 1000/min Extrem value check: no
P-7-0513, Feedback type

the value stored there for the kind and type of the feedback.
Para. Name: DE Feedback-Typ
EN Feedback type
FR Type de feedback
ES Tipo de retroalimentacion
IT Tipo di Feedback
P-7-0514, Absolute encoder offset

the value stored there for the Absolute Encoder Offset. This value is
changed by the command P-0-0012, C300 Command 'Set absolute
measurement.
Para. Name: DE Absolutgeber-Offset
EN Absolute encoder offset
FR Offset du codeur absolu
ES Offset de encoder absoluto
IT Offset Encoder assoluto

Unit: Incr Extrem value check: no
P-7-4028, Impulse wire feedback - offset

The offset of the impulse wires referred to the resolver is saved in this
parameter.
It is set in the factory and stored in the feedback memory.
Para. Name: DE Impulsdrahtgeber-Offset
EN Impulse wire feedback - offset
FR Offset codeur impulsionnel câblé
ES Offset de encoder de cable de impulso
IT Offset Impulso di Zero
P-7-4029, Impulse wire feedback - PIC counter value

This parameter contains the information of the absolute position of the
encoder.
The value is updated at every position initialization. The value is read-
only and cannot be edited by the user.
Para. Name: DE Impulsdrahtgeber-Zählerstand
EN Impulse wire feedback - PIC counter value
FR Valeur du compteur codeur impulsionnel câblé
ES Nivel de contador encoder de cable de impulso
IT
P-7-4037, Velocity loop prop. gain, default

The default value for the velocity encoder proportional amplifier. The
parameter is set at the factory and cannot be changed. With "default
parameter load", the value of the parameter will be copied into parameter
S-0-0100, Velocity loop proportional gain. (The latter has a different
unit.)
With the default values, an operation of the motor is possible; for optimal
adaptation to the conditions of the machine, the parameter S-0-0100
must still be optimized.
Para. Name: DE Drehzahlregler-Prop.verst. Default
EN Velocity loop prop. gain, default
FR Gain prop. de l'asservissement de vitesse, défaut
ES Amplificacion prop. de regulador de velocidad, default
IT Guadagno prop. Anello di Velocità, Default
Unit: mAs/rad Extrem value check: no
P-7-4038, Velocity loop integral action time, default

The default value for the velocity loop integral action time. The parameter
is set at the factory and cannot be changed. With the "default parameter
load", the value of the parameter will be copied into the parameter S-0-
0101, Velocity loop integral action time.
With the default values, an operation of the motor is possible; for optimal
adaptation to the conditions of the machine , the parameter S-0-0101
must still be optimized.
Para. Name: DE Drehzahlregler-Nachstellzeit Default
EN Velocity loop integral action time, default
FR Part intégrale de l'asservissement de vitesse, défaut
ES Tiempo de reajuste de regulador de velocidad, default
IT Tempo Integrazione Anello di Velocità, Default
Unit: ms Extrem value check: no
P-7-4039, Current loop prop. gain, default

The default value for the current loop proportional gain. The parameter
will set in the factory and cannot be changed. With the "default parameter
0106, Current loop proportional gain 1.
The current loop gain is already optimized and may not be changed.
Para. Name: DE Stromregler-Prop.verst. Default
EN Current loop prop. gain, default
FR Gain prop. de l'asservissement de courant, défaut
ES Regulador de corriente amplificacion proporcional, default
IT Guadagno prop. Anello di Corrente, Default
Unit: V/A Extrem value check: no
P-7-4042, Speed control smoothing time, default

The default value for the velocity loop delay time. The parameter is set at
the factory and cannot be changed. With the "default parameter load",
the value of the parameter will be copied into the parameter P-0-0004,
Velocity loop smoothing time constant.
Para. Name: DE Drehzahlregler-Glättungszeitkonst. Default
EN Speed control smoothing time, default
FR Temps de filtrage vitesse, défaut
ES Constante temporal de alisamiento, default
IT Tempo di Smorzamento Velocità, Default
P-7-4047, Motor inductance

Inductance of the motor, measured between two clamps.
The parameter is set at the factory and cannot be changed.
Para. Name: DE Motor-Induktivität
EN Motor inductance
FR Inductance moteur
ES Inductividad de motor
IT Induttanza Motore
Unit: mH Extrem value check: no
P-7-4049, Current loop integral action time, default

The default value for the current loop integral action time. The parameter
is set at the factory and cannot be changed. With the "default parameter
0107, Current regulator 1 integral action time.
The current loop integral action time is already optimized and may not be
changed any more.
Para. Name: DE Stromregler-Nachstellzeit Default
EN Current loop integral action time, default
FR Part intégrale de l'asservissement de courant, défaut
ES Tiempo de reajuste de regulador de corriente, default
IT Tempo Integrazione Anello di Corrente, Default
Unit: ms Extrem value check: no
Assignment DEA-input -> IDN 154

4 Index Assignment IDN -> DEA-output 154
AT Transmission starting time (T1) 5
A
B
Absolute distance 1 74
Baud rate RS-232/485 207
Absolute distance 2 74
Beginning address in master data
Absolute encoder buffer 153 telegram 7
Absolute encoder monitoring window Best possible deceleration 152
145
Bipolar acceleration limit value 61
Absolute encoder offset 214
Bipolar torque/force limit value 41
Acceleration data scaling exponent 70
Bipolar velocity limit value 41
Acceleration data scaling factor 70
Brake control delay 198
Acceleration data scaling type 69
Brake current 195, 213
Acceleration feedforward prop. gain 97
Activation E-Stop function 111
Active peak current 210 C
Active permanent current 210 C100 Communication phase 3
Actual position filter time const. for transition check 57
measuring wheel mode 185 C200 Communication phase 4
Additive velocity command value 23 transition check 58
Allocation of real-time control Bit 1 93 C300 Command 'Set absolute

measurement' 114
Allocation of real-time control Bit 2 94
C400 Communication phase 2
Allocation of real-time status Bit 1 94 transition 208
Allocation of real-time status Bit 2 95 C500 Reset class 1 diagnostic 45
Amplifier nominal current 52 C600 Drive controlled homing
Amplifier nominal current 2 195 procedure command 66
Amplifier peak current 51 C700 Command basic load 86
Amplifier peak current 2 196 C800 Command Base-parameter load
211
Analog input 1 180
Cam shaft control 141
Analog input 1, assignment 182
Cam shaft distance 143
Analog input 1, offset 184
Cam shaft distance switch angle 162
Analog input 1, scaling per 10V full
scale 182 Cam shaft profile 1 135
Analog input 2 181 Cam shaft profile 2 143
Analog input 2, assignment 183 Cam shaft status 141
Analog input 2, offset 184 Cam shaft switch angle 143
Analog input 2, scaling per 10V full Class 1 diagnostics 8
scale 183 Class 2 diagnostics 9
Analog inputs, IDN list of assignable Class 3 diagnostics 10
parameters 181
Command valid time (T3) 6
Analog output 1 159
Command value mode for modulo
Analog output 1 signal selection 186 format 100
Analog output 1, expanded signal Command value transmit time
selection 186 (TMTSG) 40
Analog output 1, scaling per 10V full Commutation command 197
scale 188
Commutation offset 194, 212
Analog output 2 160
Commutation, probe value 196
Analog output 2, expanded signal
selection 189 Config. list of the master data telegram
16
Analog output 2, scaling per 10V full
scale 191 Config. list signal status word, bit
number 95
Analog output 2, signal selection 189
Configuration list signal status word 17
Analog outputs, IDN list of assignable
parameters 192 Contacted motor type 209
Angle offset begin of profile 130 Content of memory address 115
Application type 64 Controller type 63
Current loop integral action time 1 49 Flux loop integral action time 200
Current loop integral action time, Flux loop prop. gain 200
default 218 Following error 79
Current loop prop. gain, default 217 Function of ext. encoder 174
Current loop proportional gain 1 49
Current-amplify-trim phase U 204
Current-amplify-trim phase V 205
G
Current-zero-trim phase U 203 Gear ratio fine adjust 139
Current-zero-trim phase V 204
Custom amplifier telegram H
configuration list 13
Home switch 101
Home switch offset 92
D
Homing acceleration 25
D500 Command determine marker Homing parameter 65
position 115
Homing velocity 24
D600 Cancel reference point procedure
command 80
D700 Command Parking axis 62 I
D800 Command Measuring wheel
operation mode 185 IDN-list of all operation data 13
Default value for Kv-factor of position IDN-list of all procedure commands 16

control 213 IDN-list of backup operation data 80
Delay from trigger to start 125 IDN-list of invalid op. data for comm.
Diagnostic message 43 Ph. 2 15
Diagnostic message number 99 IDN-list of invalid op. data for comm.

Ph. 3 15
Difference probe values 1 178
IDN-list of operation data for CP2 14
Difference probe values 2 179
IDN-list of operation data for CP3 14
Distance coded reference offset 1 71
Impulse wire feedback - offset 215
Distance coded reference offset 2 71
Impulse wire feedback - PIC counter
Distance to move in error situation 144 value 215
Drive address 208 Info destination position 137
Drive status word 61 Input revolutions of load gear 55
Dynamical phase offset 139 Interface feedback 1 136
Interface feedback 2, external 136
E Interface status 11
Intermediate power 98
Encoder emulation, resolution 192
Intermediate voltage 207
End position for active probe 180
Error message number 112
Error recorder, diagnosis number 176 J
Error recorder, operating hours control Jerk limit bipolar 98
section 177
Excessive position command value 113
Expanded signal K1 address 164 L
Expanded signal K2 address 164 Language selection 87
Expanded trigger address 163 Last valid position command value 113
Expanded trigger level 162 Length of master data telegram 7
Length of the configurable data record
in the AT 77
F Length of the configurable data record
Feed constant 56 in the MDT 77
Feedback acquisition starting time (T4) Linear position data scaling exponent
6 36
Feedback type 214 Linear position data scaling factor 35
Feedrate override 50 List of all operation modes 91
Filter time constant additional pos. List of configurable data in the AT 78
command 130 List of configurable data in the MDT 78
List of scope data 1 117 Number of samples after trigger 124

List of scope data 2 117 Number of valid samples for
List of selectable signals for oscilloscope function 165
oscilloscope function 164
O
M Offset position feedback value 3 140
Magnetizing current 205 Operating hours control section 175
Manufacturer class 3 diagnostics 75 Operating hours power section 176
Manufacturer version 18 Optimal distance home switch -
Marker position A 73 reference mark 166
Marker pulse offset 193 Output revolutions of load gear 55
Mask class 2 diagnostic 44 Overload warning 156
Mask class 3 diagnostic 44

Master control word 60 P
Master drive 1 revs. 83
Parallel I/O input 1 139
Master drive gear input revolutions 169
Master drive gear output revolutions
169
Master drive polarity 147
Master drive position 129
Max. model deviation 145
Parallel I/O output 1 138
Maximum braking time 155
Maximum motor speed (nmax) 53, 109
Maximum travel range 90
MDT error counter 18
MDT Transmit starting time (T2) 40
Memory address 115
Parameter buffer mode 88
Minimum AT transmit starting time
(T1min) 4 Password 88
Minimum feedback acquisition Pattern ctrl profile 2A 131
time(T4min) 4 Pattern ctrl profile 2A, switch angle 1
Modulo value 48 131
Moment of inertia of the rotor 195, 213 Pattern ctrl profile 2B 132
Monitoring window 68 Pattern ctrl profile 2B, switch angle 1
132
Monitoring window ext. feedback 99
Pattern ctrl profile 3A 133
Motor current at standstill 52, 108
Pattern ctrl profile 3A, switch angle 1
Motor function parameter 1 202
133
Motor inductance 217
Pattern ctrl profile 3A, switch angle 2
Motor peak current 51, 108 133
Motor shutdown temperature 82 Pattern ctrl profile 3B 134
Motor temperature 98 Pattern ctrl profile 3B, switch angle 1
Motor type 63, 109, 206 134
Motor voltage at no load 200 Pattern ctrl profile 3B, switch angle 2
135
Motor voltage max. 201
Phase offset velocity 170
Motor warning temperature 81
Position command additional actual
MST error counter 17 value 125
Multiplication 1 84 Position command smoothing time
Multiplication 2 85 constant 146
Position command value 28
Position command value additional 28
N
Position data scaling type 34
NC Cycle time (TNcyc) 3 Position feedback 1 type parameter 89
NC reaction on error 149 Position feedback 2 type parameter 53
Negative position limit value 29 Position feedback value 1 (motor
Number of pole pairs/pole pair distance feedback) 30
116, 211
Position feedback value 2 (ext. Setup flag for relative command values
feedback) 31 96
Position feedback value 3 128 Signal select position switch 157
Position feedback value status 103 Signal select probe 1 177
Position loop Kv-factor 48 Signal select probe 2 178
Position polarity parameter 32 Signal select scope channel 1 118
Position start value 116 Signal select scope channel 2 119
Position switch lead times 158 Signal selection incremental encoder
Position synchronization window 82 193
Position window 33 Signal status word 65
Positioning Acceleration 86 Size of memory 123
Positioning Jerk 81 Slave arrangement (SLKN) 43
Positioning Velocity 86 Slave drive 1 revs. 84
Positive position limit value 28 Slave drive feed travel 170
Power off on error 150 Slip factor 206
Premagnetization factor 199 Slip increase 198
Primary mode of operation 19 Slot angle 194, 212
Probe 1 101 Speed control smoothing time, default

217
Probe 1 enable 103
Speed deviation 96
Probe 1 negative latched 105
SSI-Emulator resolution 129
Probe 1 positive latched 105
Stall current limit 199
Probe 2 102
Standstill window 57
Probe 2 enable 104
Start position for active probe 179
Probe 2 negative latched 107
Status position switch 159
Probe 2 positive latched 106
Switch off threshold position switch 158
Probe control parameter 71
Switch on threshold position switch 157
Probe value 1 negative edge 59
Switching frequency 205
Probe value 1 positive edge 59
Synchronization acceleration 161
Probe value 2 negative edge 60
Synchronization direction 167
Probe value 2 positive edge 59
Synchronization init window for modulo
Probing cycle procedure command 72 format 166
Synchronization mode 168
R Synchronization velocity 161

System interface version 64
Ramp 1 pitch 202
Receive to receive recovery time
(TMTSG) 39 T
Reference cam shift by.. 92
Target position 85
Reference distance 1 30
Target position pattern ctrl profile 127
Reference distance 2 31
Telegram type parameter 12
Reference offset 1 67
Thermal drive load 160
Reference offset 2 67
Timebase 123
Rejection bandwidth velocity loop 174
Torque/force command 37
Rejection frequency velocity loop 173
Torque/force constant 128, 211
Resolution of external feedback 54
Torque/force data scaling exponent 42
Resolution of motor feedback 54, 109
Torque/force data scaling factor 42
Rotational position resolution 36
Torque/force data scaling type 39
Torque/force feedback value 37
S Torque/force peak limit 147
S1-Kink-speed 201 Torque/force polarity parameter 38
Secondary operation mode 1 20 Transmit/receive transition time
(TATMT) 4
Secondary operation mode 2 21
Travel distance 91
Secondary operation mode 3 22
Travel limit parameter 142
SERCOS Cycle time (Tscyc) 3
Trigger control word 126
Trigger edge 122

Trigger signal selection 120
Trigger source 120
Trigger status word 127
Triggerlevel for position data 121
Triggerlevel for torque/force data 122
Triggerlevel for velocity data 121
Trim-current 209
Type of motor brake 197
V
Velocity command filter 203
Velocity command value 23
Velocity data scaling exponent 27
Velocity data scaling factor 27
Velocity data scaling type 26
Velocity feedback value 24
Velocity loop integral action time 47
Velocity loop integral action time,
default 216
Velocity loop prop. gain, default 216
Velocity loop proportional gain 47
Velocity loop smoothing time constant
111
Velocity mixfactor Feedback 1 & 2 153
Velocity polarity parameter 25
Velocity synchronization window 76
Velocity threshold nx 57
Velocity window 68
Notes
DIAX04
Drive With
Electric Gear Function
Supplement B
Diagnostic Message Description
ELS 05VRS
About this documentation DIAX04Drive With Electric Gear Function
DIAX04Drive With Electric Gear Function Contents I
Contents
1 Diagnostic Message Descriptions 1
1.1 Overview of the diagnostic message descriptions .................................................................................. 1
Diagnostic Message Types .............................................................................................................. 1
Construction of a diagnostic message ............................................................................................. 1
1.2 Error diagnostic messages ..................................................................................................................... 3
F207 Switching to uninitialized operation mode ............................................................................... 3
F208 UL The motor type has changed............................................................................................. 4
F209 PL Load parameter default values .......................................................................................... 4
F218 Amplifier overtemp. shutdown................................................................................................. 5
F219 Motor overtemp. shutdown ..................................................................................................... 5
F221 Error Motor temp. surveillance defective ................................................................................ 6
F226 Undervoltage in power section................................................................................................ 7
F228 Excessive deviation................................................................................................................. 7
F229 Motor encoder failure: quadrant error ..................................................................................... 8
F233 External power supply error .................................................................................................... 9
F236 Excessive position feedback difference.................................................................................. 9
F237 Excessive position command difference............................................................................... 10
F242 External encoder failure: signal too small ............................................................................. 11
F245 External encoder failure: quadrant error ............................................................................... 12
F248 Low battery voltage ............................................................................................................... 12
F249 Master drive encoder failure: signal too small....................................................................... 14
F252 Master drive encoder failure: quadrant error......................................................................... 14
F253 Incr. encoder emulator: pulse frequency too high................................................................. 15
F254 Incr. encoder emulator: hardware fault ................................................................................. 15
F255 External power supply DAE 02 error..................................................................................... 15
F267 Erroneous internal hardware synchronization....................................................................... 16
F268 Brake fault............................................................................................................................. 16
F270 Error power supply home switch ........................................................................................... 17
F271 Error power supply travel limit switch.................................................................................... 18
F272 Error power supply probe input ............................................................................................. 18
F273 Error power supply E-Stop .................................................................................................... 19
F276 Absolute encoder out of allowed window .............................................................................. 19
F280 Short circuit to earth.............................................................................................................. 20
F316 Softstart fault power supply unit ............................................................................................ 21
F318 Heatsink overtemp. fault power supply unit .......................................................................... 21
F320 Bleeder overload ................................................................................................................... 22
F360 Overcurrent power supply unit .............................................................................................. 22
F369 +24V/+-15V/+5V fault power supply unit............................................................................... 23
F380 Short to ground power supply unit ........................................................................................ 23
II Contents DIAX04Drive With Electric Gear Function
F381 Mains failure.......................................................................................................................... 24

F382 Mains phase loss fault .......................................................................................................... 24
F383 Line voltage fault ................................................................................................................... 24
F384 Connection error at power supply unit .................................................................................. 25
F385 Line frequency fault............................................................................................................... 25
F394 Checksum error power supply unit ....................................................................................... 26
F401 Double MST error shutdown ................................................................................................. 26
F402 Double MDT error shutdown................................................................................................. 26
F403 Invalid communication phase shutdown ............................................................................... 27
F404 Error during phase progression ............................................................................................ 27
F405 Error during phase regression .............................................................................................. 28
F406 Phase switching without ready signal ................................................................................... 28
F434 Emergency-Stop ................................................................................................................... 29
F629 Positive travel limit exceeded................................................................................................ 29
F630 Negative travel limit exceeded .............................................................................................. 30
F634 Emergency-Stop ................................................................................................................... 31
F643 Positive travel limit switch detected....................................................................................... 31
F644 Negative travel limit switch detected ..................................................................................... 32
F822 Motor encoder failure: signal too small ................................................................................. 33
F827 Drive interlock while drive activated ...................................................................................... 34
F860 Overcurrent: short in power stage......................................................................................... 34
F861 Overcurrent: short to ground................................................................................................. 35
F869 +/-15Volt DC error................................................................................................................. 35
F870 +24Volt DC error ................................................................................................................... 36
F871 +10Volt DC error ................................................................................................................... 36
F878 Velocity loop error ................................................................................................................. 37
F879 Velocity limit S-0-0091 exceeded.......................................................................................... 37
1.3 Warning diagnostic messages.............................................................................................................. 39
E219 Warning Drive temp. surveillance defective ......................................................................... 39
E221 Warning Motor temp. surveillance defective......................................................................... 39
E225 Motor overload ...................................................................................................................... 40
E226 Undervoltage in power section.............................................................................................. 40
E247 Interpolation velocity = 0 ....................................................................................................... 41
E248 Interpolation acceleration = 0................................................................................................ 41
E249 Positioning velocity S-0-0259 > S-0-0091............................................................................. 42
E250 Drive overtemp. prewarning.................................................................................................. 42
E251 Motor overtemp. prewarning................................................................................................. 43
E253 Target position out of travel zone.......................................................................................... 43
E255 Feedrate-override S-0-0108 = 0 ........................................................................................... 44
E257 Continuous current limit active.............................................................................................. 45
E259 Command velocity limit active .............................................................................................. 45
E261 Continuous current limit prewarning ..................................................................................... 46
E263 Velocity command value > limit S-0-0091............................................................................. 46
E324 Option module error power supply unit ................................................................................. 47
E325 Recovery overload power supply unit ................................................................................... 47
E326 Bus power overload .............................................................................................................. 48
E350 Heat sink overtemp. warning power supply unit ................................................................... 48
DIAX04Drive With Electric Gear Function Contents III
E352 Bleeder overload warning power supply unit ........................................................................ 49

E353 Diagnostic message power supply erroneous ...................................................................... 49
E387 Control voltage supply fault power supply unit...................................................................... 50
E410 Slave not scanned or adress 0 ............................................................................................. 50
E825 Overvoltage in power stage .................................................................................................. 51
E826 Undervoltage in power section.............................................................................................. 51
E829 Positive position limit exceeded ............................................................................................ 52
E830 Negative position limit exceeded .......................................................................................... 52
E834 Emergency-Stop ................................................................................................................... 53
E843 Positive limit switch activated................................................................................................ 53
E844 Negative limit switch activated .............................................................................................. 54
1.4 Command diagnostic messages........................................................................................................... 55
C100 Communication phase 3 transition check............................................................................. 55
C101 Invalid communication parameter (S-0-0021) ...................................................................... 55
C104 Config. IDN for MDT not configurable .................................................................................. 55
C105 Configurated length > max. length for MDT ......................................................................... 56
C106 Config. IDN for AT not configurable...................................................................................... 56
C107 Configurated length > max. length for AT............................................................................. 57
C108 Time slot parameter > Sercos cycle time ............................................................................. 57
C109 Position of data record in MDT (S-0-0009) even .................................................................. 58
C110 Length of MDT (S-0-0010) odd............................................................................................. 58
C111 ID9 + Record length - 1 > length MDT (S-0-0010) ............................................................... 59
C112 TNcyc (S-0-0001) or TScyc (S-0-0002) error ....................................................................... 59
C113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error ......................................................... 60
C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005).......................................................................... 60
C115 T2 too small .......................................................................................................................... 61
C200 Communication phase 4 transition check............................................................................. 61
C201 Invalid parameter(s) (->S-0-0022) ........................................................................................ 62
C202 Parameter limit error (->S-0-0022) ....................................................................................... 62
C203 Parameter calculation error (->S-0-0022)............................................................................. 62
C204 Motor type P-0-4014 incorrect .............................................................................................. 63
C210 External feedback required (->S-0-0022) ............................................................................. 63
C211 Invalid feedback data (->S-0-0022) ...................................................................................... 64
C212 Invalid amplifier data (->S-0-0022) ....................................................................................... 65
C213 Position data scaling error .................................................................................................... 65
C214 Velocity data scaling error .................................................................................................... 66
C215 Acceleration data scaling error ............................................................................................. 66
C216 Torque/force data scaling error ............................................................................................ 67
C217 Motor feedback data reading error ....................................................................................... 68
C218 External feedback data reading error ................................................................................... 68
C220 Motor feedback initializing error............................................................................................ 69
C221 Ext. feedback initializing error............................................................................................... 70
C223 Input value for max. range too high ...................................................................................... 71
C225 Coprocessor not ready for initialization................................................................................. 71
C226 Coprocessor acknowledge failed.......................................................................................... 71
C227 Modulo range error ............................................................................................................... 72
C228 Controller type S-0-0140 wrong............................................................................................ 72
IV Contents DIAX04Drive With Electric Gear Function
C231 Emulator not loadable........................................................................................................... 73

C232 Motor encoder interface not present..................................................................................... 73
C233 External encoder interface not present................................................................................. 74
C234 Encoder combination not possible........................................................................................ 74
C235 Load-side motor encoder with inductance motor only .......................................................... 75
C236 Motor feedback required (P-0-0074) .................................................................................... 75
C300 Set absolute measuring........................................................................................................ 76
C302 Absolute measuring system not installed ............................................................................. 76
C400 Command: switch to parameter mode ................................................................................. 76
C401 Drive active, switching not allowed ....................................................................................... 77
C402 Only allowed without master................................................................................................. 77
C500 Reset class 1 diagnostic, error reset .................................................................................... 78
C501 Error delet only in parameter mode ...................................................................................... 78
C600 Drive controlled homing procedure command...................................................................... 78
C601 Homing only possible with drive enable................................................................................ 79
C602 Distance home switch - reference mark erroneous.............................................................. 79
C604 Homing of absolute encoder not possible ............................................................................ 79
C700 Basic load ............................................................................................................................. 80
C701 Basic load not possible if drive is enabled ............................................................................ 80
C702 Default parameters not available.......................................................................................... 81
C703 Default parameters invalid.................................................................................................... 81
C704 Parameters not copyable...................................................................................................... 82
C705 Locked with password .......................................................................................................... 82
C800 Default parameter load ......................................................................................................... 82
C801 Parameter default value erroneous (-> S-0-0021)................................................................ 83
C802 Locked with password .......................................................................................................... 83
D300 Command adjust commutation............................................................................................. 84
D301 Drive not ready for commutation command ......................................................................... 84
D500 Command 'get mark position' ............................................................................................... 85
D501 Incremental encoder required............................................................................................... 85
D600 Cancel reference point procedure command ....................................................................... 85
D700 Parking axis command ......................................................................................................... 86
D800 Command measuring wheel operation mode....................................................................... 86
D801 Measuring wheel operation not possible .............................................................................. 87
D802 Operation mode cancelled.................................................................................................... 87
1.5 Status diagnostic messages ................................................................................................................. 88
A000 Communication phase 0 ....................................................................................................... 88
A010 Drive HALT ........................................................................................................................... 90
A011 Drive interlock open .............................................................................................................. 90
A012 Control and power sections ready for operation ................................................................... 90
A013 Ready for power on............................................................................................................... 91
A100 Drive in TORQUE control ..................................................................................................... 91
A101 Drive in VELOCITY control ................................................................................................... 91
A102 Position mode with encoder 1............................................................................................... 92
DIAX04Drive With Electric Gear Function Contents V
A103 Position mode with encoder 2............................................................................................... 92

A104 Position mode lagless, encoder 1......................................................................................... 92
A105 Position control lagless, feedback 2 ..................................................................................... 93
A106 Drive controlled interpolation, encoder 1 .............................................................................. 93
A107 Drive controlled interpolation, encoder 2 .............................................................................. 93
A108 Drive controlled interpolation, lagless, encoder 1 ................................................................. 94
A109 Drive controlled interpolation, lagless, encoder 2 ................................................................. 94
A110 Velocity Synchronization, virtuell Lead drive ......................................................................... 95
A112 Phase synchronization, encoder 1, virtual master drive ....................................................... 95
A113 Phase synchronization, encoder 2, virtual master drive ....................................................... 95
A116 Phase synchr. lagless, encoder 1, virtual master drive ........................................................ 96
A117 Phase synchr. lagless, encoder 2, virtual master drive ........................................................ 96
A120 Pattern control, encoder 1, virtual master drive .................................................................... 97
A121 Pattern control, encoder 2, virtual master drive .................................................................... 97
A124 Pattern control lagless, enc. 1, virtual master drive .............................................................. 98
A125 Pattern control lagless, enc. 2, virtual master drive .............................................................. 98
A128 Cam shaft, encoder 1, virtual master drive........................................................................... 99
A129 Cam shaft, encoder 2, virtual master drive........................................................................... 99
A132 Cam shaft, lagless, encoder 1, virt. master drive ................................................................. 99
A133 Cam shaft, lagless, encoder 2, virt. master drive ............................................................... 100
A146 Relative drive controlled interpolation, encoder 1 ............................................................... 100
A147 Relative drive controlled interpolation, encoder 2 ............................................................... 101
A148 Relative drive contr. interpolation, enc. 1, lagless............................................................... 101
A149 Relative drive contr. interpolation, enc. 2, lagless............................................................... 102
A800 Unknown operation mode................................................................................................... 102
1.6 Diagnostic messages for basic initialization and after fatal System errors ......................................... 103
Diagnostic Message Display: -0 ................................................................................................... 103
Diagnostic Message Display: Watchdog ................................................................................ 104
1.7 Operation Status ................................................................................................................................. 105
bb ................................................................................................................................................. 105
Ab ................................................................................................................................................. 105
AF................................................................................................................................................. 105
AS................................................................................................................................................. 105
AH ................................................................................................................................................ 105
P0 ................................................................................................................................................. 105
P1 ................................................................................................................................................. 106
P2 ................................................................................................................................................. 106
P3 ................................................................................................................................................. 106
2 Index 2-1
VI Contents DIAX04Drive With Electric Gear Function
Notes
DIAX04 Drive With Electric Gear Function Supplement B: Diagnostic Message Description 1
1 Diagnostic Message Descriptions
1.1 Overview of the diagnostic message descriptions
Diagnostic Message Types

Each operational state of the drive will be characterized with a diagnostic
message.
Differentiations will be made between:
• Error diagnostic messages
• Warning diagnostic messages
• Command diagnostic messages
• Drive Mode diagnostic messages
• Operation status
Construction of a diagnostic message

A diagnostic message consists of:
• A diagnostic number and a
• diagnostic text
F228 Excessive Control Deviation
Diagnostic message
Diagnostic message number
Fig. 1-1: Diagnostic message with a diagnostic number and text.
For the example in the graphic, "F2" and "28" are shown alternately on
the H1-Display.
The control system can read out the diagnostic number in hexadecimal
form with the S-0-0390, Diagnostic message number parameter.
In addition, the drive allocates to the control system the diagnostic
number and diagnostic text as a string F228 Excessive deviation with
the S-0-0095, Diagnostic message parameter.
H1-Display
The H1-Display serves as an optical display of the diagnostic message
on the drive.
H1-Display
H2-Display
DANGE
High V oltage.
for
manual,
HDD HDS
FA5012d1.fh7
Fig. 1-2: H1-/H2-Display on HDS- and HDD-Drive
2 Supplement B: Diagnostic Message Description DIAX04 Drive With Electric Gear Function
The diagnostic number appears on this two-positional seven-segment

display. The image can be seen on the "Diagnostic Message Priority
Display".
This display quickly shows the current operation status without the use of
a communications interface.
The operating mode cannot be seen from the H1-Display. If the drive
follows the operating mode and no command was activated, then the
symbol "AF" appears on the display.
Diagnostic Message If more than one diagnostic message is waiting, then the message with
Output Priority the highest priority will be displayed.
The following graphic classifies operation status in order of importance.
Error
P
R
Warning
I
O
R Command error
I
T Command active
Y
Ready to operate ?
yes no
Operation lock
active
Ready to Communicationphase
operate
Drive ready
Drive stop
Drive is
following
operating mode Da0001f1.fh5
Fig. 1-3: Diagnostic message priority diagram
Clear Coded Diagnostic Message

The clear coded diagnostic message contains the diagnostic number
followed by the diagnostic text, as shown in the example, "Excessive
Output Error" (Fig. 1-1). It can be read out with the S-0-0095, Diagnostic
message parameter and directly displays the operation status on an
operator surface.
The clear coded diagnostic message will be switched to the current
language.
1 Diagnostic Message Descriptions
1.2 Error diagnostic messages
F207 Switching to uninitialized operation mode

Cause:
0 has been selected in at least one of the four mode parameters S-0-
0032..35. This mode was selected by the bits 8 and 9 in the master
control word when the drive controller was on.
Remedy:
Enter the required mode in the activated mode parameter.
Valid modes are:

Bit list of the mode
Meaning: parameters:
Torque control 0000 0000 0000 0001
Velocity control 0000 0000 0000 0010
Position control with act. feedback val. 1 0000 0000 0000 x011
Position control with act. feedback val. 2 0000 0000 0000 x100
Drive-internal interpolation with actual 0000 0000 0001 x011
feedback value 1
Drive-internal interpolation with actual 0000 0000 0001 x100
feedback value 2
Relative drive-internal interpolation with 0000 0010 0001 x011
actual feedback value 1
Relative drive-internal interpolation with 0000 0010 0001 x100
actual feedback value 2
Fig. 1-1: Modes
Parameter: Primary mode of operation S-0-0032

Secondary operation mode 1 S-0-0033
Check for input of the permissible interpolation method.

Parameters"
F207 - Attributes
H1 Display : F2/07
Diag. mess.: DE F207 Umschaltung auf nicht initialisierte Betriebsart
EN F207 Switching to uninitialized operation mode
FR F207 Changement à un mode d'opération non initialisé
ES F207 Conmutación a modo de servicio no inicializado
IT F207 Selezione di un Modo Operativo non inizializzato
Mess. no.: F207 (hex)
Error no: 207
Class: non-fatal
F208 UL The motor type has changed.

Description:
The settings for current regulation, velocity command, and position loop
are stored in the eedback of the motor. After powering up, the drive
motor type. If the two do not match, the drive remains in this state.
By pressing the S1 key, the drive overwrites its stored parameters with
the control loop parameters from the motor feedback.
Cause:
• The motor has been exchanged.
• A parameter file has been loaded, but the parameter P-0-4036,
Contacted motor type contained a different motor type.
Remedy:
Command C700 Basic Load or press the S1 button.
See also the functional description: "Automatic Execution of the Load

Default Feature"
F208 - Attributes
H1 Display : UL
Diag. mess.: DE F208 UL Der Motortyp hat sich geändert.
EN F208 UL The motor type has changed.
FR F208 UL Le type de moteur a changé.
ES F208 UL El tipo de motor ha cambiado.
IT F208 UL Cambiato Tipo di Motore
Error no: 208
Class: non-fatal
F209 PL Load parameter default values

Description:
After the firmware is replaced (EPROMs), if the parameters have been
changed in regards to the old product, the drive displays “PL”. By
pressing the S1 button on the drive or by starting the command “load
basic parameters”, all the parameters will be erased and restored with
the default values.
Cause:
Product was replaced. The number of parameters in comparison to the
new products has changed.
Remedy:
Press S1 button on the drive controller and all the paramters will be
erased and restored with default values
⇒ This overwrites all parameters and positioning blocks.
WARNING
F209 - Attributes
H1 Display : PL
Diag. mess.: DE F209 PL Defaultwerte der Parameter laden
EN F209 PL Load parameter default values
FR F209 PL Charger les valeurs init. des paramètres
ES F209 PL Cargar valores init.
IT F209 PL Caricare le Valori init. dei Parametri
Error no: 209
Class: nicht Fatal
F218 Amplifier overtemp. shutdown

Description:
The temperature of the DKC heatsink will be monitored. If the
temperature of the heatsink is too high, the drive will power down in order
to protect against damage.
Cause:
1. Ambient temperature is too high. The specified operational data
is valid up to an ambient temperature of 45°C.
2. The DKC's heatsink is dirty.
3. Air flow is prevented by other assembly parts or a
control cabinet panel assembly.
4. Heatsink blower may be defective
Remedy:
For 1. Reduce the ambient temperature; for example, through cooling
of the control cabinet
For 2. Remove any obstruction or dirt from the heatsink.
For 3. Install the device vertically and clear a large enough area for
proper heatsink ventilation.
For 4. Exchange drive.
F218 - Attributes
H1 Display : F2/18
Diag. mess.: DE F218 Verstärker-Übertemp.-Abschaltung
EN F218 Amplifier overtemp. shutdown
FR F218 Surchauffe ampli
ES F218 Desconexión por exceso de temperatura de amplificador
IT F218 Spegnimento per Sovratemp. Dissapatore
Error no: 218
Class: non-fatal
F219 Motor overtemp. shutdown

If the motor temperature exceeds the value in S-0-0204, Motor
shutdown temperature, the drive will generate this error message. The
value in S-0-0204 is fixed at 150°C for MHD-,MKD- and MKE motors.
The appropriate value must be entered from the motor's technical
specifications for all other types of motors.
For motors of series: 2AD, 1MB, LAF, LAR, and MBW, the current motor
temperature can be called up with parameter S-0-0383, Motor
temperature.
Cause:
1. The motor became overloaded. The effective torque demand on
the motor was above its permissible continuous torque level for
too long.
2. Short circuit or ground in the connection to
motor temperature monitoring.
3. Instability in the velocity control loop.
Remedy:
For 1. Check the layout of the motor. For motors which have been in
operation for longer periods of time, check to see if the operating
conditions have changed (in regards to cleanliness, friction,
moved components, etc.).
For 2. Check the wiring to the motor temperature monitor X6/1 and
X6/2 for grounds and short circuits.
For 3. Check the velocity control loop parameters (see
the functional description).
F219 - Attributes
H1 Display : F2/19
Diag. mess.: DE F219 Motor-Übertemp.-Abschaltung
EN F219 Motor overtemp. shutdown
FR F219 Surchauffe moteur
ES F219 Desconexión por exceso de temperatura de motor
IT F219 Spegnimento per Sovratemp. Motore
Error no: 219
Class: non-fatal
F221 Error Motor temp. surveillance defective

Cause:
Short-circuit in the wiring to the motor temperature monitoring.
Remedy:
Check the wiring to the motor temperature monitoring X6/1 and X6/2 for
short-circuits.
F221 - Attributes
H1 Display : F2/21
Diag. mess.: DE F221 Fehler Motor-Temp.überwachung defekt
EN F221 Error Motor temp. surveillance defective
FR F221 Erreur dans la surveillance température moteur
ES F221 Error control de temperatura de motor defectuos
IT F221 Errore nel Controllo della Temperatura Motore
Error no: 221
Class: Nicht fatal
F226 Undervoltage in power section

The DC bus voltage is monitored in the power supply module. The drive
controller is notified via the control voltage bus whether the DC bus
voltage is above a minimum permissible value. If the CD bus voltage falls
below that threshold, the DC bus voltage message will be removed by
the power supply unit and the selected P-0-0119, Best possible
deceleration will be performed.
Requirement: The P-0-0118, Power off on error parameter has been
set such that the undervoltage condition is handled as a fault.
Cause:
1. The power is switched off without having de-activated the drive
via the controller enabling signal (RF) before.
2. The drive has been activated via the controller enabling signal
(RF) without having activated the power section before.
3. Malfunction of the power supply unit.
Remedy:
Ref. 1.+2. Checking the logic that is used for activating the drive in the
connected controller.
Ref. 3. Eliminate the malfunction of the power supply unit. See
Applications Manual of the power supply unit.
See also the functional description: "Clearing Errors When Controller
Enable Is Set"
F226 - Attributes
H1 Display : F2/26
Diag. mess.: DE F226 Unterspannung im Leistungsteil
EN F226 Undervoltage in power section
FR F226 Sous-tension puissance
ES F226 Tensión baja en parte de potencia
IT F226 Errore Alimentazione bassa nello Stadio di Potenza
Error no: 226
Class: non-fatal
F228 Excessive deviation

When the position loop is closed, the drive monitors whether it is able to
follow the specified command value. This is done by calculating a model
position value in the drive and comparing that value with the actual
feedback value. This error is generated if the difference between
theoretical and actual position value permanently exceeds the value of
the S-0-0159, Monitoring window parameter.
Cause:
1. The drive's acceleration capacity is exceeded.
2. The axis is blocked.
3. Incorrect parameter values set in the drive parameters.
4. Incorrect parameter values in S-0-0159, Monitoring window
5. The power supply has been switched of while the controller
enabling signal is applied. Possible cause: Malfunction in an AC
servo drive at the common power supply module.
Remedy:
Ref. 1. Check the S-0-0092, Bipolar torque/force limit value
parameter and set it to the maximum permissible value of the
application. Reduce the specified acceleration value from the
controller (see controller Manual).
Ref. 2. Check the mechanical system and eliminate jamming of the axis.
Ref. 3. Check the drive parameters.
Ref. 4. Set the parameter values of S-0-0159, Monitoring window.
Ref. 5. Check AC servo drive with error message different than "28".
See also the functional description "Position Control Loop Monitoring"
F228 - Attributes
H1 Display : F2/28
Diag. mess.: DE F228 Exzessive Regelabweichung
EN F228 Excessive deviation
FR F228 Déviation de posit. excessive
ES F228 Desviación de regulación excesiva
IT F228 Deviazione eccessiva
Error no: 228
Class: non-fatal
F229 Motor encoder failure: quadrant error

A hardware error was discovered in the motor encoder interface being
used.
Cause:
1. Defective encoder cable.
2. Disruptive electro-magnetic interference on the encoder cable.
3. Defective motor encoder interface.
4. Defective drive controller.
Remedy:
For 1. Exchange the encoder cable.
For 2. Keep the encoder cable well away from the power cables.
For 3. Exchange the motor encoder interface.
For 4. Exchange the drive controller.
F229 - Attributes
H1 Display : F2/29
Diag. mess.: DE F229 Motorgeberfehler: Quadrantenfehler
EN F229 Motor encoder failure: quadrant error
FR F229 Erreur codeur moteur: erreur de quadrant
ES F229 Error de encoder de motor: error de cuadrante
IT F229 Errore Encoder Motore: Errore Quadrante
Error no: 229
Class: non-fatal
F233 External power supply error

Cause:
The DEA plug-in modules have isolated inputs and outputs. Proper
operation of those inputs and outputs requires an external 24-V voltage
to be applied. The drive monitors that voltage as soon as a DEA plug-in
module has been installed.
Remedy:
Check the external 24-V power supply.
Name: Unit: min.: typ.: max.:
External operating V 18 24 32
voltage +UL
Fig. 1-2: External power supply
See also the functional description: "Digital I/O Functional Principle"
F233 - Attributes
H1 Display : F2/33
Diag. mess.: DE F233 Fehler Spannungsversorgung extern
EN F233 External power supply error
FR F233 Erreur dans l'alimentation externe
ES F233 Error de suministro de potencia externa
IT F233 Errore Alimentatore esterno
Error no: 233
Class: non-fatal
F236 Excessive position feedback difference

Cause:
In the communication phase 4 transition check command, position
feedback value 1 and position feedback value 2 are set to the same
value and the cyclic evaluation of both encoders is started. In cyclic
operation (phase 4), the position feedback difference of both encoders is
compared with S-0-0391, Monitoring window ext. feedback. If the
amount of the difference exceeds the monitoring window, error F236
Excessive position feedback difference is diagnosed, the parameter-
selected error response performed, and the reference bits of both
encoders are cleared.
1. Incorrect parameter for the external encoder
(S-0-0115, Position feedback 2 type parameter,
S-0-0117, Resolution of external feedback).
2. Incorrect parameter setting of mechanical system between motor
shaft and external encoder.
(S-0-0121, Input revolutions of load gear;
S-0-0122, Output revolutions of load gear
S-0-0123, Feed constant).
3. The mechanical system between motor shaft and external
encoder is not rigid (e.g. gear play).
5. Defective module (DLF or DEF) for the evaluation of the external
measuring system.
6. Maximum input frequency of the encoder interface exceeded.
7. External encoder is not mounted to the driven axis.

8. Incorrect reference dimension of an absolute encoder.
Remedy:
Ref. 1. Check S-0-0115, Position feedback 2 type parameter and
S-0-0117, Resolution of external feedback
Ref. 2. Check S-0-0121, S-0-0122, Input/Output revolutions of load
gear and S-0-0123, Feed constant
Ref. 3. Increase S-0-0391, Monitoring window ext. feedback.
Ref. 4. Replace encoder cable.
Ref. 5. Replace module for the evaluation of the external measuring
system.
Ref. 6. Reduce the velocity.
Ref. 7. Set S-0-0391, Monitoring window ext. feedback to 0 (de-
activate monitoring function)
Ref. 8. Perform P-0-0012, C300 Command 'Set absolute
measurement'.
See also the functional description "Actual Feedback Value Monitoring"
F236 - Attributes
H1 Display : F2/36
Diag. mess.: DE F236 Exzessive Lageistwertdifferenz
EN F236 Excessive position feedback difference
FR F236 Différence excessive en position réelle
ES F236 Diferencia excesiva de valor real de posición
IT F236 Eccessiva diff. nel Feedback di Posizione
Error no: 236
Class: non-fatal
F237 Excessive position command difference

Cause:
When the drive is operating in position control, position command values
which come via the SERCOS interface are monitored. If the velocity
required of the drive by two successive position command values is
greater than or equal to the value in S-0-0091, Bipolar velocity limit
value, position command value monitoring is initiated. The Excessive
position command value is stored in parameter P-0-0010. The last
valid position command value is stored in parameter P-0-0011.
If position data are to be processed in modulo format, then the
interpreation of the command values is also dependent on the value set
in S-0-0393, Command value mode for modulo format. The
parameter should be set for the "shortest path" (0).
Remedy:
Compare S-0-0091, Bipolar velocity limit value with the velocity in the
program and adjust to match it, if necessary.
See also the functional description: "Position Command Value

Monitoring"
F237 - Attributes
H1 Display : F2/37
Diag. mess.: DE F237 Exzessive Lagesollwertdifferenz
EN F237 Excessive position command difference
FR F237 Différence excessive en position consigne
ES F237 Diferencia excesiva de valor nominal de posición
IT F237 Eccessiva diff. nella Posizione comandata
Error no: 237
Class: non-fatal
F242 External encoder failure: signal too small

Cause:
The analog signals of an external measurement system are used for high
resolution analysis of that measurement system. These are monitored
according to two criteria:
1. The pointer length, which is calculated from the sine and cosine
signals, must be at least 1 V.
2. The maximum pointer length resulting from the sine and cosine
signals must not exceed 11.8 V.
pointer length = sin2 + cos2
Fig. 1-3: Pointer length
Fig. 1-4: Correct Signal amplitude
Example:
Ucos = -6.5V
Usin = 6.5V
pointer length = (- 6.5V)2 + 6.5V 2 ≈ 9.2V

Remedy:
1. Check the measurement system cable.
2. Check the measurement system.
F242 - Attributes
H1 Display : F2/42
Diag. mess.: DE F242 Fehler des ext. Gebers: Signalamplitude fehlerhaft
EN F242 External encoder failure: signal too small
FR F242 Erreur codeur externe: signal trop faible
ES F242 Error del encoder ext.: señal demasiado pequeña
IT F242 Errore Encoder esterno: Ampiezza troppo bassa
Error no: 242
Class: non-fatal
F245 External encoder failure: quadrant error

A hardware error was discovered in the high resolution position interface
for "DLF" sine signals of the external measurement system.
Cause:
2. Disruptive electro-magnetic interference on the encoder cable.
3. Defective DLF module.
Remedy:
For 1. Exchange the encoder cable.
For 2. Keep the encoder cable well away from the power cables.
For 3. Exchange the DLF module.
F245 - Attributes
H1 Display : F2/45
Diag. mess.: DE F245 Fehler des ext. Gebers: Quadrantenfehler
EN F245 External encoder failure: quadrant error
FR F245 Erreur codeur externe: erreur de quadrant
ES F245 Error del encoder ext.: error de cuadrante
IT F245 Errore Encoder esterno: Errore di Quadrante
Error no: 245
Class: non-fatal
F248 Low battery voltage

Cause:
For motors of series MKD and MKE, the absolute position information is
stored by a battery-powered buffer in the motor feedback. The battery is
designed for a 10-year life span. If the battery voltage falls below 2.8 V,
this message appears. The absolute encoder function will still be

preserved for about 2 weeks.
CAUTION
Source of danger: Malfunction in the control of motors and
moving elements
Possible damages: Mechanical injuries
Precautionary measures: Replace the battery as soon as possible
Instructions for Exchanging Batteries
Have the following tools and accessories ready:
• Torx screwdriver size 10
• Needle-nose pliers, torque wrench
• New packaged battery (Part No.: 257101)
CAUTION
Source of danger: A malfunction in the control of motors
and moving elements
Possible damages: Mechanical injuries
Precautionary measures: Turn off the power supply.
Make sure it will not be turned back on.
Exchange the battery while the
control voltage is turned on.
If the control voltage is turned off while the battery is taken out, the
absolute reference point will be lost.
The reference point must then be reestablished.
Removing the Battery

• Unscrew torx screw with a size 10 screwdriver.
• Pull out the resolver feedback (RSF) lid by hand.
• Pull off the battery connection.
• Loosen battery clamp and remove the battery.
• Place the factory-made battery (Part No.: 257101) in the housing and
screw on the clamp. WARNING! Do not kink the battery cable.
• Attach connection to the battery.
Close the resolver feedback lid, screw in 4 torx screws and tighten to 1.8
Nm with the torque wrench.
F248 - Attributes
H1 Display : F2/48
Diag. mess.: DE F248 Batterie-Unterspannung
EN F248 Low battery voltage
FR F248 Sous-tension batterie
ES F248 Batería baja
IT F248 Tensione Batteria bassa
Error no: 248
Class: non-fatal
F249 Master drive encoder failure: signal too small

The signals of the master encoder are monitored. If its signal amplitude
falls below a minimum threshold value, then this error message appears.
The drive performs the best possible deceleration, as selected in the
parameter P-0-0119.
Criteria for correct encoder signals:
1. The pointer addition of the sine and cosine signals
must give at least 1 V.
2. The maximum pointer sum of the sine and cosine signals may not
exceed 11.8 V.
Cause:
The analog signals of the measurement system at the master axis do not
have the correct amplitude.
Remedy:
1. Check the encoder cable.
2. Check the encoder.
F249 - Attributes
H1 Display : F2/49
Diag. mess.: DE F249 Fehler des Leitachsgebers: Signalamplitude fehlerhaft
EN F249 Master drive encoder failure: signal too small
FR F249 Erreur codeur guide: signal trop faible
ES F249 Error de encoder de eje cond.: señal demasiado pequeña
IT F249 Errore Encoder Master: Ampiezza troppo bassa
Error no: 249
Class: non-fatal
F252 Master drive encoder failure: quadrant error

A hardware error was discovered in the high resolution position interface
for "DLF" sine signals of the external measurement system.
Cause:
1. Defective encoder cable
2. Insulation distrubance on the encoder cable
3. Defective DLF plug-in card
Remedy:
For 1. Exchange the encoder cable
For 2. Separate the encoder cable from the power cables.
For 3. Exchange the DLF plug-in card
F252 - Attributes
H1 Display : F2/52
Diag. mess.: DE F252 Fehler des Leitachsgebers: Quadrantenfehler
EN F252 Master drive encoder failure: quadrant error
FR F252 Erreur codeur guide: erreur de quadrant
ES F252 Error de encoder de eje cond.: error de cuadrante
IT F252 Errore Encoder Master: Errore di Quadrante
Error no: 252
Class: non-fatal
F253 Incr. encoder emulator: pulse frequency too high

The incremental encoder emulator can process a maximum of 1023 lines
per scan period (250 µs). This value was exceeded.
Remedial action:
1. Reduce the number of lines of the incremental encoder emulator
(P-0-0502).
or
2. Reduce the travel velocity.
See also the functional description: "Incremental encoder emulation"
F253 - Attributes
H1 Display : F2/53
Diag. mess.: DE F253 Inkrementalgeberemulator: Frequenz zu hoch
EN F253 Incr. encoder emulator: pulse frequency too high
FR F253 Erreur émulation de codeur incr.: fréquence trop haute
ES F253 Emulador encoder incr.: frecuencia demasiado alta
IT F253 Encoder incrementale: Frequenza troppo alta
Error no: 253
Class: non-fatal
F254 Incr. encoder emulator: hardware fault

Before the next increment output is started, the system checks at the end
of each scan interval (250 µs) whether all increments have been output.
this error is generated if the outputs overlap.
Remedial action:
Write down the number of lines (P-0-0502) and the travel velocity at
which the error has occurred, and notify INDRAMAT Service.
F254 - Attributes
H1 Display : F2/54
Diag. mess.: DE F254 Inkrementalgeberemulator: Hardware-Fehler
EN F254 Incr. encoder emulator: hardware fault
FR F254 Erreur émulation de codeur incr.: hardware cassé
ES F254 Emulador encoder incr.: hardware defectuoso
IT F254 Encoder incrementale: Guasto nel Hardware
Error no: 254
Class: non-fatal
F255 External power supply DAE 02 error

The analog interface DAE 02.1 requires an external 24-V power supply
that must be connected to terminal X75, pin 8 (+24 V) and pin 9 (0 V).
This error message is issued if the external power supply is missing or
outside the range 18...32 V. This function also detects transient faults,
caused by spikes, etc.
Remedial action:
1. Provide power to the interface from a regulated power supply
unit.
2. Use different power supply units or motor brake and interface; in
particular if long motor cables are used.
F255 - Attributes
H1 Display : F2/55
Diag. mess.: DE F255 Fehler externe Spannungsversorgung DAE 02
EN F255 External power supply DAE 02 error
FR F255 Erreur alimentation externe DAE 02
ES F255 Error Suministro de potencia externa DAE 02
IT F255 Guasto nell'Alimentazione esterna DAE 02
Error no: 255
Class: non-fatal
F267 Erroneous internal hardware synchronization

Cause:
The drive control of all drives in a SERCOS ring is synchronized by a
phase control loop. Proper functioning of the synchronization is
monitored. This error is generated if the average deviation is greater than
5 usec.
Remedy:
• Exchange DSS module.
• Exchange the drive controller.
F267 - Attributes
H1 Display : F2/67
Diag. mess.: DE F267 Hardware-Synchronisation fehlerhaft
EN F267 Erroneous internal hardware synchronization
FR F267 Faute de synchronisation du matériel interne
ES F267 Sincronización de hardware interno defectuosa
IT F267 Sincronizz. Hardware interna errata
Error no: 267
Class: non-fatal
F268 Brake fault

The drive controller takes control of the brake for motors with an
integrated holding brake. The braking current is monitored.
If the braking current is outside of the permissible range between:
0.4 -1.6 * P-0-0511, Break current
this error message will be generated.
Cause:
1. The power supply for the brake is not
connected properly or is outside of the
(24 V +/- 10%) tolerance.
2. The motor cable is incorrectly connected

(wiring error).
3. Defective brake.
4. Defective drive controller.
Note: A metallic connector between the 0V brake supply and the 0V of

the drive controller is required.
Remedy:
For 1. Check the power supply.
For 2. Check the motor cable.
For 3. Exchange the motor.
See also the functional description: "Setting the Motor Brake Current"
F268 - Attributes
H1 Display : F2/68
Diag. mess.: DE F268 Fehler Bremse
EN F268 Brake fault
FR F268 Erreur du frein
ES F268 Fallo freno
IT F268 Errore Freno
Error no: 268
Class: non-fatal
F270 Error power supply home switch

To be able to monitor the home switch in drive-controlled homing, the
DSS2.1 plug-in module requires an external 24-V power supply. The
drive monitors the external 24-V power supply if homing with home
switch has been selected via S-0-0147, Homing parameter (bit 5).
Cause:
The external 24-V power supply of the DSS2.1 plug-in module is missing.
Remedy:
1. Set S-0-0147, Homing parameter to "Homing without home
switch" (bit 5 = 1).
2. Check the 24-V power supply at connector X12 of the DSS2.1
module.
Name: Unit: min.: typ.: max.:
External operating V 18 24 32
voltage +UL
External current mA 100
consumption IL
Fig. 1-5: External power supply
See also the functional description: "Connection and Configuration of the

Home switch"
F270 - Attributes
H1 Display : F2/70
Diag. mess.: DE F270 Fehler Spannungsversorgung Referenzschalter
EN F270 Error power supply home switch
FR F270 Erreur de l'alimentation du contact d'origine
ES F270 Error suministro de potencia de contacto cero
IT F270 Guasto nell'Alimentazione del interruttore di Zero
Error no: 270
Class: non-fatal
F271 Error power supply travel limit switch

To be able to monitor the travel limit switches, the DSS2.1 plug-in
module requires an external 24-V power supply. The drive monitors the
external 24-V power supply if the travel limit switches have been
activated via the P-0-0090, Travel limit parameter.
Cause:
Remedy:
1. De-activate P-0-0090, Travel limit parameter.
2. Check the 24-V power supply at connector X12 of the DSS2.1
module.
See also the functional description: "Travel Zone Limit Switches -
Activation and Polarity"
F271 - Attributes
H1 Display : F2/71
Diag. mess.: DE F271 Fehler Spannungsversorgung Fahrbereichsgrenzschalter
EN F271 Error power supply travel limit switch
FR F271 Erreur de l'alimentation des fins de course
ES F271 Error suministro de potencia de fin de carrera
IT F271 Guasto nell'Alimentazione Finecorsa
Error no: 271
Class: non-fatal
F272 Error power supply probe input

The probe inputs of the DSS2.1 plug-in module require an external 24-V
power supply. The drive monitors the external 24-V power supply if the
probes are activated via the S-0-0170, Probing cycle procedure
command.
Cause:
Remedy:
Connect the 24-V power supply to the connector X12 of the DSS2.1
module.
See also the functional description: "Connecting the Probe Inputs"
F272 - Attributes
H1 Display : F2/72
Diag. mess.: DE F272 Fehler Spannungsversorgung Messtaster
EN F272 Error power supply probe input
FR F272 Erreur de l'alimentation de la sonde
ES F272 Error suministro de potencia de la sonda
IT F272 Guasto nell'Alimentazione del Probe
Error no: 272
Class: non-fatal
F273 Error power supply E-Stop

The emergency stop input of the DSS2.1 plug-in module requires an
external 24-V power supply. The drive monitors the external 24-V power
supply if the emergency stop function is activated via the P-0-0008,
Activation E-Stop-Function parameter.
Cause:
Remedy:
1. Connect 24-V power supply to the connector X12 of the DSS2.1
module.
2. Use the P-0-0008, Activation E-Stop-function parameter to de-
activate the emergency stop function.
See also the functional description: "Connection of the Emergency-Stop
Input"
F273 - Attributes
H1 Display : F2/73
Diag. mess.: DE F273 Fehler Spannungsversorgung E-Stop
EN F273 Error power supply E-Stop
FR F273 Erreur de l'alimentation pour l'arrêt d'urgence
ES F273 Error suministro de potencia para parada de emergencia
IT F273 Guasto nell'Alimentazione dello Stop Emergenza
Error no: 273
Class: non-fatal
F276 Absolute encoder out of allowed window

When a drive controller with an absolute encoder motor (multiturn) is
switched off, the actual feedback position is saved. When it is turned
back on, the position determined by the absolute encoder evaluation is
compared with this stored position. This error is given if the deviation is
greater than the value set by parameter in P-0-0097, Absolute encoder
control window.
Cause:
1. Turning on for the first time (invalid stored position).
2. The axis was moved further in switched-off state than allowed by
parameter P-0-0097, Absolute encoder monitoring window.
3. Incorrect position initialization.
Remedy:
For 1. Clear the error and set the reference point.
For 2. The axis was moved while turned off and is located
outside of its permissible position.
Check to see if a new travel command would cause damage.
Then clear errors.
For 3. Danger of Accident through Unwanted Axis Motion
Check reference point. If the reference point is incorrect, there is
a problem with the feedback. The feedback should be
exchanged (with MHD-, MKD- or MKE absolute motor encoders,
exchange the whole motor).
See also the functional description: "Absolute Encoder Monitoring"
F276 - Attributes
H1 Display : F2/76
Diag. mess.: DE F276 Absolutgeber außerhalb des Überwachungsfensters
EN F276 Absolute encoder out of allowed window
FR F276 Codeur absolu hors du fenêtre de surveillance
ES F276 Encoder absoluto fuera de la ventana de control
IT F276 Encoder Assoluto fuori Finestra
Error no: 276
Class: non-fatal
F280 Short circuit to earth

Cause:
Ground short in the DC bus or in the motor.
This error is reported only in compact devices.
Remedy:
- Isolation test of the motor and motor power supply cable.
- Disconnect the power supply cable from the motor to the drive and turn
on the drive and the power. If the error recurs, the drive should be
exchanged.
F280 - Attributes
H1 Display : F2/80
Diag. mess.: DE F280 Erdschluss
EN F280 Short circuit to earth
FR F280 Court circuit à la terre
ES F280 Cortocircuito a tierra
IT F280 Corto a Terra
Error no: 280
Class: non-fatal
F316 Softstart fault power supply unit

The DC bus cannot be loaded.
Cause:
1. Short-circuit in power supply or drive controller.
2. Too many additional capacitors have been connected.
3. Interrupt in DC bus choke (only applies to HVE)
Remedy:
1. Release connection to drive controllers and turn power back
on. If unit is defective, replace it.
2. Number of additional capacitor must be reduced or a
separate loading device must be used.
3. DC bus choke and lines must be checked, possibly replaced.
F316 - Attributes
H1 Display : F3/16
Diag. mess.: DE F316 Softstartfehler Versorgungsmodul
EN F316 Softstart fault power supply unit
FR F316 Erreur su soft-start dans l'alimentation
ES F316 Error inicio de soft módulo de alimentación
IT F316 Guasto nel Softstart del Alimentatore
Error no: 316
Class: Not fatal
F318 Heatsink overtemp. fault power supply unit

Power switched off due to excessive heatsink temperature.
Cause:
The unit is overloaded over ambient temperature is too high.
Remedy:
Check load and ambient temperature. Temperature pre-warning contact
of the unit must be checked.
F318 - Attributes
H1 Display : F3/18
Diag. mess.: DE F318 Kühlkörper-Übertemp. Versorgungsmodul
EN F318 Heatsink overtemp. fault power supply unit
FR F318 Surchauffe module d'alimentation
ES F318 Sobretemperatura
IT F318 Sovratemp. nel Alimentatore
Error no: 318
Class: Not fatal
F320 Bleeder overload

Power off due to high bleeder load.
Cause:
1. In the HVR, too much regenerated drive energy even with
power off.
2. In the HVE, continuous regenerated power or rotary drive
energy is too high.
3. Unit is defective.
Remedy:
On 1: Reduce drive speed. Delay power off in the case of OFF or and
emergency stop.
On 3: Replace unit.
F320 - Attributes
H1 Display : F3/20
Diag. mess.: DE F320 Bleeder-Überlast
EN F320 Bleeder overload
FR F320 Surcharge bleeder
ES F320 Sobrecarga Bleeder
IT F320 Sovracarico Bleeder
Error no: 320
Class: Not fatal
F360 Overcurrent power supply unit

With HVR only!
Cause:
Short-circuit in power supply unit, drive controller, motor or a cable.
Remedy:
Disconnect power supply lines on the drive controller one at a time.
Replace a unit if it is defective.
F360 - Attributes
H1 Display : F3/60
Diag. mess.: DE F360 Überstrom Versorgungsmodul
EN F360 Overcurrent power supply unit
FR F360 Courant excessif dans l'alim. puissance
ES F360 Corriente excesiva en módulo de alimentación
IT F360 Sovracorrente nel Alimentatore
Error no: 360
Class: Not fatal
F369 +24V/+-15V/+5V fault power supply unit

Control voltage interference.
Cause:
1. Maximum permissible load has been exceeded
2. Short-circuit in wiring if control voltage is used outside
of drive system.
3. Unit is defective.
Recovery
On 1: Release bus connections to drive controller one after the other.
On 2: Release control voltage taps and check for short-circuits.
On 3: Replace unit.
F369 - Attributes
H1 Display : F3/69
Diag. mess.: DE F369 +24V/+-15V/+5V Fehler Versorgungsmodul
EN F369 +24V/+-15V/+5V fault power supply unit
FR F369 Erreur +24V/+-15V/+5V dans l'alim. puissance
ES F369 Error +24V/+-15V/+5V en alimentación de potencia
IT F369 Guasto +24V/+-15V/+5V nel Alimentatore
Error no: 369
Class: Not fatal
F380 Short to ground power supply unit

Cause:
Ground short: in power supply unit
in drive controller
in motor or motor cable
Remedy:
Release connections to motor and power supply unit one at a time.
Replace defective drive components.
F380 - Attributes
H1 Display : F3/80
Diag. mess.: DE F380 Erdschluss Versorgungsmodul
EN F380 Short to ground power supply unit
FR F380 Court circuit à terre de l'alim. puissance
ES F380 Cortocircuito a tierra de la alimentación de potencia
IT F380 Corto verso Terra del Alimentatore
Error no: 380
Class: Not fatal
F381 Mains failure

With HVR only !
Cause:
At least one phase of the power supply is missing.
Remedy:
Check mains fuses and replace, if necessary.
F381 - Attributes
H1 Display : F3/81
Diag. mess.: DE F381 Netzausfall
EN F381 Mains failure
FR F381 Alimentation de puissance manque
ES F381 Fallo en la red
IT F381 Guasto Alimentazione Potenza
Error no: 381
Class: Not fatal
F382 Mains phase loss fault

With HVE only !
Cause:
At least one phase of the power supply is missing.
Remedy:
Check mains fuses and replace, if necessary.
F382 - Attributes
H1 Display : F3/82
Diag. mess.: DE F382 Netz-Phasen-Fehler
EN F382 Mains phase loss fault
FR F382 Perte de phase à l'entrée puissance
ES F382 Fallo en fase de red
IT F382 Guasto di Fase dell'Alimentazione Potenza
Error no: 382
Class: Not fatal
F383 Line voltage fault

With HVR only !
Cause:
Mains voltage exceeds permissible tolerance (3x 380 ... 480V, ± 10 %).
Remedy:
Check mains voltage, use matching transformer, if necessary.
F383 - Attributes
H1 Display : F3/83
Diag. mess.: DE F383 Netzspannungsfehler
EN F383 Line voltage fault
FR F383 Tension à l'entrée de puissance fausse
ES F383 Tensión incorrecta en entrada de tensión
IT F383 Tensione falsa dell'Alimentazione Potenza
Error no: 383
Class: Not fatal
F384 Connection error at power supply unit

With HVR only !
Cause:
Power and control voltage connects are not phase coincident.
Remedy:
Check connection voltage. Terminals X5/U and X8/1, X5/V and X8/2,
X5/W and X8/3 may not conduct voltage to each other.
F384 - Attributes
H1 Display : F3/84
Diag. mess.: DE F384 Anschlussfehler am Versorgungsmodul
EN F384 Connection error at power supply unit
FR F384 Alimentation de puissance faussement branchée
ES F384 Error de conexión en módulo de alimentación
IT F384 Connezione falsa al Alimentatore
Error no: 384
Class: Not fatal
F385 Line frequency fault

With HVR only !
Cause:
Mains frequency exceeds permissible tolerance (± 2Hz).
F385 - Attributes
H1 Display : F3/85
Diag. mess.: DE F385 Netzfrequenzfehler
EN F385 Line frequency fault
FR F385 Fréquence de l'alim. puissance fausse
ES F385 Error en frecuencia de red
IT F385 Frequenza de l'Alimentazione Potenza falsa
Error no: 385
Class: Not fatal
F394 Checksum error power supply unit

With HVR only !
Cause:
Unit failure.
Remedy:
Replace unit.
F394 - Attributes
H1 Display : F3/94
Diag. mess.: DE F394 Checksummenfehler Versorgungsmodul
EN F394 Checksum error power supply unit
FR F394 Checksum faux dans l'alim. puissance
ES F394 Error suma de verificación en alimentación de potencia
IT F394 Checksum falsa nel Alimentatore
Error no: 394
Class: Not fatal
F401 Double MST error shutdown

The master sync telegram was not received in the drive controller in two
successive SERCOS cycles.
Cause:
1. Disruption in the LWL transmission line.
2. Too much attenuation in the light signal.
3. Malfunction in the SERCOS interface (general).
Remedy:
For 1. Check all LWL connections in the SERCOS ring.
For 2. Measure the attenuation in the LWL cable.
The maximum attenuation between TX and RX must not fall
below 12.5 dB.
For 3. Exchange the SERCOS interface module in the drive controller.
See also the functional description: "SERCOS Interface Error"
F401 - Attributes
H1 Display : F4/01
Diag. mess.: DE F401 Abschaltung zweifacher MST-Ausfall
EN F401 Double MST error shutdown
FR F401 MST manqué 2 fois
ES F401 Desconexión por error doble MST
IT F401 Spegnimento per doppia mancanza MST
Error no: 401
Class: Interface
F402 Double MDT error shutdown

The master data message frame (MDT) has not been received in the
drive in two consecutive SERCOS cycles.
Causes:
1. Fault in the fiber optics transmission line.
2. Excessive damping of the light signals.
3. Malfunction in the SERCOS interface (general).
Remedy:
Ref. 1. Check all fiber optics connections in the SERCOS loop.
Ref. 2. Measure the damping in the fiber optics cable.
The maximum damping between TX and RX may not be less
than 12.5 dB.
Ref. 3. Replace the SERCOS interface module in the drive.
F402 - Attributes
H1 Display : F4/02
Diag. mess.: DE F402 Abschaltung zweifacher MDT-Ausfall
EN F402 Double MDT error shutdown
FR F402 MDT manqué 2 fois
ES F402 Desconexión por error doble MDT
IT F402 Spegnimento per doppia mancanza MDT
Error no: 402
Class: Interface
F403 Invalid communication phase shutdown

An invalid communications phase was given by the SERCOS master
module (phase > 4).
Cause:
Error in the SERCOS master module of the control system.
Remedy:
Consult the control system manufacturer.
F403 - Attributes
H1 Display : F4/03
Diag. mess.: DE F403 Abschaltung ungültige Komm.-Phase
EN F403 Invalid communication phase shutdown
FR F403 Phase de communication fausse
ES F403 Desconexión por fase de comunicación no válida
IT F403 Spegnimento per Fase di Comunicazione invalide
Error no: 403
Class: Interface
F404 Error during phase progression

The prescribed order was not maintained during phase progression.
Cause:
Remedy:
F404 - Attributes
H1 Display : F4/04
Diag. mess.: DE F404 Fehler bei Phasenhochschaltung
EN F404 Error during phase progression
FR F404 Erreur pendant progression de phase comm.
ES F404 Error durante progresión de fase
IT F404 Errore durante la Progressione delle Fasi
Error no: 404
Class: Interface
F405 Error during phase regression

Switching back from a communication phase did not switch to phase 0.
Cause:
Malfunction in the SERCOS master module of the controller.
Remedy:
Contact the controller manufacturer.
F405 - Attributes
H1 Display : F4/05
Diag. mess.: DE F405 Fehler bei Phasenrückschaltung
EN F405 Error during phase regression
FR F405 Erreur pendant regression de phase comm.
ES F405 Error en regresión de fase
IT F405 Errore durante la Regressione delle Fasi
Error no: 405
Class: Interface
F406 Phase switching without ready signal

The SERCOS master attempted a phase switch without waiting for the
drive controller's ready signal.
Cause:
Remedy:
F406 - Attributes
H1 Display : F4/06
Diag. mess.: DE F406 Phasenumschaltung ohne Bereitmeldung
EN F406 Phase switching without ready signal
FR F406 Changement de phase sans signal prêt
ES F406 Conmutación de fase sin señal de listo

IT F406 Cambio Fasi senza Segnale di Pronto
Error no: 406
Class: Interface
F434 Emergency-Stop
Pressing the emergency stop switch has caused the drive to perform the
emergency stop function that was selected in the P-0-0119, Best
possible deceleration parameter. Setting bit 15 of S-0-0011, Class 1
diagnostics causes an error message to be issued to the controller.
Cause:
The emergency stop switch has been pressed.
Remedy:
Eliminate the malfunction that has caused the emergency switch to be
actuated, and clear the error.
See also the functional description: "Emergency stop feature"
F434 - Attributes
H1 Display : F4/34
Diag. mess.: DE F434 E-Stop aktiviert
EN F434 Emergency-Stop
FR F434 Arrêt d'urgence
ES F434 Parada de emergencia activada
IT F434 Stop per Emergenza
Error no: 434
Class: Interface
F629 Positive travel limit exceeded

The drive has received a command value which has led to an axis
position outside the positive travel range. The axis was brought to a
standstill with the error response "Set velocity command value to zero".
Bit 2 of paramater P-0-0090, Travel limit parameter is set for
"Exceeding travel range is an error", or after exceeding the position limit
a drive control command has been started (such as the drive-controlled
homing procedure).
Cause:
S-0-0049, Positive position limit value exceeded.
Remedy:
1. Check S-0-0049, Positive position limit value.
2. Check the software limits of the control system.
3. Activate the axis after the error response.
Procedure:
• Clear the error.
• If the power supply was turned off, turn it back on.
• Move the axis into the permissible working range.
Note: Only such command values will be accepted which lead back
into the allowed working range. With other command values, the
drive will stop again. - The parameter S-0-0057, Position
window defines a hysteresis for the travel limits.
F629 - Attributes
H1 Display : F6/29
Diag. mess.: DE F629 Lagegrenzwert positiv überschritten
EN F629 Positive travel limit exceeded
FR F629 Limite de position positive dépassée
ES F629 Valor límite de posición positiva excedido
IT F629 Limite positiva massimo superato
Error no: 629
Class: Nr. 1
F630 Negative travel limit exceeded

The drive has received a command value which has led to an axis
position outside the negative travel range. The axis was brought to a
standstill with the error response "Set velocity command value to zero".
Bit 2 of paramater P-0-0090, Travel limit parameter is set for
"Exceeding travel range is an error", or after exceeding the position limit
a drive control command has been started (such as the drive-controlled
homing procedure).
Cause:
S-0-0050, Negative travel limit value exceeded.
Remedy:
1. Check S-0-0050, Negative travel limit value.
2. Check the software limits of the control system.
3. Activate the axis after the error response.
Procedure:
• Clear the error.
• If the power supply was turned off, turn it back on.
• Move the axis into the permissible working range.
F630 - Attributes
H1 Display : F6/30
Diag. mess.: DE F630 Lagegrenzwert negativ überschritten
EN F630 Negative travel limit exceeded
FR F630 Limite de position négative dépassée
ES F630 Valor límite de posición negativa excedido
IT F630 Limite negativa massimo superato
Error no: 630
Class: Travel range
F634 Emergency-Stop
Pressing the emergency stop switch has caused the drive to stop the
drive by setting the velocity command value to zero. An error is reported
in the S-0-0011, Class 1 diagnostics parameter.
Cause:
The emergency stop switch has been pressed.
Remedy:
Eliminate the malfunction that has caused the emergency switch to be
actuated, and clear the error.
F634 - Attributes
H1 Display : F6/34
Diag. mess.: DE F634 E-Stop aktiviert
EN F634 Emergency-Stop
FR F634 Arrêt d'urgence
ES F634 Parada de emergencia activada
IT F634 Stop per Emergenza
Error no: 634
Class: Travel range
F643 Positive travel limit switch detected

The positive travel limit switch was encountered. The axis was brought to
a standstill with the "Set velocity command value to zero" error response.
Bit 2 of parameter P-0-0090, Travel limit parameter is set for
"Exceeding travel range as error," or exceeding the position limit began a
drive control command (such as the drive-controlled homing procedure).
Cause:
The positive range limit switch is detected.
Remedy:
1. Reset the error.
2. Turn the power supply on again.
3. Move the axis into the permissible travel region.
Note: The drive will not accept command values which lead out of the
permissible travel range. Entering these command values in the
drive controller will result in this error.
See also the functional description: "Travel Zone Limit Switch Monitoring"
F643 - Attributes
H1 Display : F6/43
Diag. mess.: DE F643 Fahrbereichsendschalter positiv betätigt
EN F643 Positive travel limit switch detected
FR F643 Fin de course positive
ES F643 Interruptor de fin de desplazamiento positivo activado
IT F643 Rilevati Finecorsa positivo
Error no: 643
Class: Nr. 1
F644 Negative travel limit switch detected

The negative travel limit switch was encountered. The axis was brought
to a standstill with the "Set velocity command value to zero" error
response. Bit 2 of parameter P-0-0090, Travel limit parameter is set for
"Exceeding travel range as error," or exceeding the position limit began a
drive control command (such as the drive-controlled homing procedure).
Cause:
The negative travel limit switch was detected.
Remedy:
1. Reset the error.
2. Turn the power supply on again.
3. Move the axis into the permissible travel region.
Note: The drive will not accept command values which lead out of the
permissible travel range. Entering these command values in the
drive controller will result in this error.
F644 - Attributes
H1 Display : F6/44
Diag. mess.: DE F644 Fahrbereichsendschalter negativ betätigt
EN F644 Negative travel limit switch detected
FR F644 Fin de course négative
ES F644 Interruptor de fin de desplazamiento negativo activado
IT F644 Rilevati Fine Corsa negativo
Error no: 644
Class: Travel range
F822 Motor encoder failure: signal too small

The analog signals of an external measurement system are used for high
resolution analysis of that measurement system. These are monitored
according to two criteria:
1. The pointer length, which is calculated from the sine and cosine
signals, must equal at least.> 1 V.
2. The maximum pointer length resulting from the sine and cosine
ignals must not exceed 11.8 V.
pointer length = sin2 + cos2

Fig. 1-6: Pointer length
Fig. 1-7: Correct signal amplitude
Example:
Ucos = -6,5V
Usin = 6,5V
pointer length = (- 6.5V)2 + 6.5V 2 ≈ 9.2V
Note: The error cannot be cleared in communications phase 4. Before

clearing the error, switch to communications phase 2.
Remedy:
• Check the measurement system cable.
• Lay the feedback cable well away from the motor power cable. The
cover must be placed over the drive controller (see drive controller
project specifications.)
• Check the measurement system and exchange, if necessary.
F822 - Attributes
H1 Display : F8/22
Diag. mess.: DE F822 Motorgeberfehler: Signalamplitude fehlerhaft
EN F822 Motor encoder failure: signal too small
FR F822 Erreur codeur moteur: signal trop faible
ES F822 Error de encoder de motor: señal demasiado pequeña
IT F822 Errore Encoder Motore: Ampiezza troppo bassa
Error no: 822
Class: Fatal
F827 Drive interlock while drive activated

Cause:
The drive interlock was activated while controller enable was set. The
drive controller switches to torque-free state immediately.
Remedy:
The drive interlock should not be activated when controller enable is set.
Check the control system of the drive interlock input.
See also the functional description: "Drive Interlock Open"
F827 - Attributes
H1 Display : F8/27
Diag. mess.: DE F827 Anlaufsperre bei gesetzter Reglerfreigabe
EN F827 Drive interlock while drive activated
FR F827 Démarrage bloqué pendant RF = 1
ES F827 Bloqueo de marcha cuando el accionamiento está activado
IT F827 Drive asservito durante Abilatazione
Error no: 827
Class: Fatal
F860 Overcurrent: short in power stage

The current in the power transistor bridge has exceeded the twofold
value of the device peak current. The drive is immediately set to no
torque. An optional blocking brake is applied immediately.
Cause:
1. Short-circuit in the motor cable.
2. Power stage of the drive controller is defective.
3. Parameter values of the current regulator do not comply.
Remedy:
Ref. 1. Check the motor cable for short-circuit
Ref. 2. Replace the drive controller.
Ref. 3. The current regulator parameters and the initial values from the
feedback should not differ.
F860 - Attributes
H1 Display : F8/60
Diag. mess.: DE F860 Brückensicherung
EN F860 Overcurrent: short in power stage
FR F860 Courant excessif: Court circuit à l'étage puissance
ES F860 Seguro en puente
IT F860 Sovracorr.: Corto Circuito nello Stadio di Potenza
Error no: 860
Class: Fatal
F861 Overcurrent: short to ground

The phase current sum is monitored. Sum = 0 in normal mode. The
ground-fault fuse responds if the current sum exceeds 0.5 x IN.
Cause:
1. Defective motor cable.
2. Ground fault in the motor.
Remedy:
Check motor cable and motor for ground fault; replace if necessary.
F861 - Attributes
H1 Display : F8/61
Diag. mess.: DE F861 Erdschluss-Sicherung
EN F861 Overcurrent: short to ground
FR F861 Courant excessif: Court circuit à terre
ES F861 Seguro de conexión a tierra
IT F861 Sovracorr.: Corto Circuito verso Terra
Error no: 861
Class: Fatal
F869 +/-15Volt DC error

The drive controller found a malfunction in the ± 15 V power supply.
Cause:
1. Defective control voltage bus cable.
2. Defective supply module.
Remedy:
For 1. Check the control voltage bus cable or plug connection and
exchange if necessary.
For 2. Check supply module (see supply moduleinstructions for use).
F869 - Attributes
H1 Display : F8/69
Diag. mess.: DE F869 +/- 15Volt-Fehler
EN F869 +/-15Volt DC error
FR F869 Erreur +/-15V
ES F869 +/-15Volt Error
IT F869 Guasto +/-15Volt
Error no: 869
Class: Fatal
F870 +24Volt DC error

The drive controller requires a 24-V control voltage. The drive's torque is
released immediately when the maximum permissible tolerance of +20%
is exceeded. An optional blocking brake is applied.
Causes:
1. Defective cable for the control voltages.
2. 24-V power supply overload.
3. Defective power supply unit.
4. Short-circuit in the emergency stop circuit.
Remedy:
Ref. 1. Check and, if necessary, replace the cable and connections of
the control voltages.
Ref. 2. Check the 24-V power at the power supply unit.
Ref. 3. Check the power supply unit.
Ref. 4. Check the emergency stop circuit for a short-circuit.
F870 - Attributes
H1 Display : F8/70
Diag. mess.: DE F870 +24Volt-Fehler
EN F870 +24Volt DC error
FR F870 Erreur +24V
ES F870 +24Volt Error
IT F870 Guasto +24Volt
Error no: 870
Class: Fatal
F871 +10Volt DC error

The power supply voltage for the current sensors has been disrupted.
Cause:
A defect in the drive controller.
Remedy:
Exchange the drive controller.
F871 - Attributes
H1 Display : F8/71
Diag. mess.: DE F871 +10Volt-Fehler
EN F871 +10Volt DC error
FR F871 Erreur +10V
ES F871 +10Volt Error
IT F871 Guasto +10Volt
Error no: 871
Class: Fatal
F878 Velocity loop error

If the difference between velocity command value and feedback value is
greater than 10% of the maximum motor velocity while the velocity
control loop is active, then the feedback velocity value must move in the
direction of the command value. This error is generated if the feedback
value does not come closer to the command value within 20 ms and the
effective torque/force command value is at the limit (=P-0-4046, Active
peak current).
Cause:
1. Motor cable is connected incorrectly.
2. Defective power section of the drive.
3. Defective feedback.
4. Parameters set incorrectly for velocity controller.
5. Parameters for acceleration or brake slope are too steep.
6. Effective peak current is too low.
Remedy:
For 1. Check motor cable connection.
For 4. Check the velocity controller according to the user instructions
(see the velocity controller chapter).
For 5. Decrease the maximum acceleration in the control system or
decrease P-0-1201, Ramp 1 pitch.
See also the functional description: "Determining the Velocity Controller
Setting"
F878 - Attributes
H1 Display : F8/78
Diag. mess.: DE F878 Fehler im Drehzahlregelkreis
EN F878 Velocity loop error
FR F878 Erreur dans la boucle de vitesse
ES F878 Error en el círculo de regulación de velocidad
IT F878 Errore nell'Anello di Velocità
Error no: 878
Class: Fatal
F879 Velocity limit S-0-0091 exceeded

In torque control, the actual velocity is monitored. This error is generated
if the programmed velocity in the S-0-0091, Bipolar velocity limit value
parameter is exceeded by the 1.125-fold value and/or a minimum of 100
rpm (rotary motor) or 100 mm/min (linear motor).
Cause:
The torque command value was for too long a time greater than the load
torque. This causes the actual speed to be increased up to the maximum
possible motor speed.
Remedy:
Assign the correct torque command value to the required task. Reduce
the S-0-0092, Bipolar torque/force limit value parameter value.
See also the functional description "Limiting to Bipolar Velocity Limit
Value"
F879 - Attributes
H1 Display : F8/79
Diag. mess.: DE F879 Geschwindigkeits-Grenzwert S-0-0091 überschritten
EN F879 Velocity limit S-0-0091 exceeded
FR F879 Limite de vitesse S-0-0091 dépassée
ES F879 Valor límite de velocidad S-0-0091 excedido
IT F879 Valore di Massimo di Velocità S-0-0091 superato
Error no: 879
Class: Fatal
1.3 Warning diagnostic messages
E219 Warning Drive temp. surveillance defective

Temperature monitoring checks to see if the measured drive controller
temperature is within reasonable bounds. If it determines that it is lower
than -10°C, then it is assumed the measuring unit is defective. Warning
E219 Warning Drive temp. surveillance defective will appear for 30
seconds. Afterwards the drive will be brought to a standstill according to
the selected error response and message F220 Bleeder overload
shutdown will be generated.
Cause:
1. Sensor not connected to the DRP3 circuit board.
2. Broken cable in the drive controller, or defective sensor.
Remedy:
Exchange or repair the drive controller.
E219 - Attributes
H1 Display : E2/19
Diag. mess.: DE E219 Warnung Verstärker-Temp.überwachung defekt
EN E219 Warning Drive temp. surveillance defective
FR E219 Alerte erreur dans la surveillance température ampli
ES E219 Aviso control de temperatura de amplificador defectuos
IT E219 Preallarme Difetto nel Sovratemp. Azionamento
Mess. no.: E219 (hex)
Class: non-fatal
E221 Warning Motor temp. surveillance defective

Temperature monitoring checks to see if the measured motor
temperature is within reasonable bounds. If it determines that it is lower
than -10°C, then it is assumed the measuring unit is defective. Warning
E221 Warning Motor temp. surveillance defective will appear for 30
seconds. Afterwards the drive controller will be brought to a standstill
according to the selected error response and message F221 Error
Motor temp. surveillance defective will be generated.
Cause:
1. Motor temperature sensor not connected.
2. Broken cable.
3. Defective sensor.
4. Broken cable in drive controller.
Remedy:
For 1. Connect the sensor to the drive controller and to the motor
(see project planning specifications for the motor).
For 2. Exchange the wiring between the drive controller and the motor.
E221 - Attributes
H1 Display : E2/21
Diag. mess.: DE E221 Warnung Motor-Temp.überwachung defekt
EN E221 Warning Motor temp. surveillance defective
FR E221 Alerte erreur dans la surveillance température moteur
ES E221 Aviso control de temperatura de motor defectuos
IT E221 Preallarme Difetto nel Sovratemp. Motore
Class: non-fatal
E225 Motor overload

The maximum possible motor current is reduced in order to protect the
motor from being destroyed.
If a current flows in the that is greater than 2.2 times the motor current at
standstill S-0-0111, the maximum possible motor current (motor peak
current S-0-0109) is reduced. With 4-fold motor current at standstill, the
reduction starts after 400 ms. With 5-fold current it starts earlier, and with
3-fold current later.
The E225 Motor overload warning is issued when the motor peak
current is reduced by the limitation.
The reduction also has an effect on the active permanent current P-0-
4045.
See also the functional description: "Monitoring of the thermal Motor
Load"
E225 - Attributes
H1 Display : E2/25
Diag. mess.: DE E225 Motor-Überlast
EN E225 Motor overload
FR E225 Surcharge Moteur
ES E225 Sobrecarga de motor
IT E225 Sovracarico Motore
Class: non-fatal
E226 Undervoltage in power section

If bit 5 of the P-0-0118, Power off on error parameter has been set, an
undervoltage condition will be handled as a nonfatal warning. The drive
issues this warning if the drive enabling signal is present and the DC bus
voltage message disappears.
Cause:
Power supply unit is switched off or mains failure occurs while the drive
enabling signal is set.
Remedy:
Switch off the drive enabling signal before you switch off the power
supply unit.
E226 - Attributes
H1 Display : E2/26
Diag. mess.: DE E226 Unterspannung im Leistungsteil
EN E226 Undervoltage in power section
FR E226 Sous-tension puissance
ES E226 Tensión baja en parte de potencia
IT E226 Errore Alimentazione bassa nello Stadio di Potenza
Class: non-fatal
E247 Interpolation velocity = 0

The drive-internal position command value interpolator is active if
• the "drive-internal interpolation" mode,
• the "relative drive-internal interpolation" mode,
• drive halt
are active.
The E247 warning is issued if the employed velocity specification is 0.
Possible velocity specifications are:
• S-0-0041, Homing velocity
Interpolation"
E247 - Attributes
H1 Display : E2/47
Diag. mess.: DE E247 Interpolationsgeschwindigkeit = 0
EN E247 Interpolation velocity = 0
FR E247 Vitesse d'interpolation = 0
ES E247 Velocidad de interpolación = 0
IT E247 Velocità per Interpolazione = 0
E248 Interpolation acceleration = 0

The drive-internal position command value interpolator is active if
• the "drive-internal interpolation" mode,
• the "relative drive-internal interpolation" mode,
• drive halt
are active.
The E248 warning is issued if the employed acceleration specification is
0. Possible acceleration specifications are:
• S-0-0042, Homing acceleration
• S-0-0138, Bipolar acceleration limit value
Interpolation"
E248 - Attributes
H1 Display : E2/48
Diag. mess.: DE E248 Interpolationsbeschleunigung = 0
EN E248 Interpolation acceleration = 0
FR E248 Accélération d'interpolation = 0
ES E248 Aceleración de interpolaciòn = 0
IT E248 Accelerazione per Interpolazione = 0
E249 Positioning velocity S-0-0259 > S-0-0091

Cause:
A velocity that is used for approaching a target position is specified in the
S-0-0259, Positioning velocity parameter for the "drive-internal
interpolation" and "relative drive-internal interpolation" modes.
Message E249 is generated if this velocity is greater than the permissible
maximum value S-0-0091, Bipolar velocity limit value. At the same
time, bit 5 of S-0-0012, Class 2 diagnostics is set.
Remedy:
Reduce the value of S-0-0259, Positioning velocity.
See also the functional description "Drive Internal Interpolation"
E249 - Attributes
H1 Display : E2/49
Diag. mess.: DE E249 Positioniergeschw. S-0-0259 > S-0-0091
EN E249 Positioning velocity S-0-0259 > S-0-0091
FR E249 Vitesse de positionnement S-0-0259 > S-0-0091
ES E249 Velocidad de posicionamiento S-0-0259 > S-0-0091
IT E249 Velocità Posiz. S-0-0259 > S-0-0091
Class: non-fatal
E250 Drive overtemp. prewarning

The temperature of the heatsink in the drive controller has reached the
maximum permissible temperature. The drive controller follows the
command value input for a period of 30 seconds. This makes it possible
to bring the axis to a standstill with the control system while keeping true
to the process (for example, close the operation, leave the collision area,
etc.).
After 30 seconds, the response set in parameter P-0-0119, Best
possible deceleration will be performed by the drive controller.
Cause:
1. Failure of the drive's internal blower.
2. Failure of the control cabinet's climate control.
3. Incorrect control cabinet dimensioning in regards to
heat dissipation.
Remedy:
For 1. If the blower fails, exchange the drive controller.
For 2. Install climatization feature in the cabinet.
For 3. Check the dimensions of the control cabinet.
E250 - Attributes
H1 Display : E2/50
Diag. mess.: DE E250 Verstärker Übertemp.-Vorwarnung
EN E250 Drive overtemp. prewarning
FR E250 Préalerte surchauffe ampli
ES E250 Aviso exceso de temperatura de accionamiento
IT E250 Preallarme Sovratemp. Azionam.
Class: non-fatal
E251 Motor overtemp. prewarning

The motor is too hot. The motor temperature, which is displayed in
parameter S-0-0383, Motor temperature, has exceeded the value in S-
0-0201, Motor warning temperature. Warning E251 is generated. If the
temperature increases above the value in S-0-0204, Motor shutdown
temperature, error F219 Motor overtemp. shutdown will be generated.
The values for parameters S-0-0201, Motor warning temperature and
S-0-0204, Motor shutdown temperature are set at 140°C and 150°C
for MKD and MHD motors respectively.
Set MHD, MKD and MKE motors to 145°C or 155°C.
Cause:
The motor became overloaded. The effective torque required of the
motor was above the permissible continuous standstill torque for too
long.
Remedy:
Check the layout of the motor. For systems which have been in use for a
long time, check to see if the drive controller conditions have changed (in
regards to pollution, friction, components which have been moved, etc.).
E251 - Attributes
H1 Display : E2/51
Diag. mess.: DE E251 Motor Übertemp.-Vorwarnung
EN E251 Motor overtemp. prewarning
FR E251 Préalerte surchauffe moteur
ES E251 Aviso exceso de temperatura de motor
IT E251 Preallarme Sovratemp. Motore
Class: non-fatal
E253 Target position out of travel zone

Cause:
In "Drive-controlled interpolation" operating mode, a check is performed
to see whether the specified S-0-0258, Target position, is within the
possible travel region of the drive.
This is defined by parameters S-0-0049, Positive position limit value
and S-0-0050, Negative position limit value.
Message E253 is generated if the target position lies outside of the travel
range. Additionally, warning bit 13 is set in S-0-0012, Class 2
diagnostic.
Remedy:
Check the specified S-0-0258, Target position and correct it, if

necessary.
See also the functional description: "Drive Internal Interpolation"
E253 - Attributes
H1 Display : E2/53
Diag. mess.: DE E253 Zielposition außerhalb des Verfahrbereichs
EN E253 Target position out of travel zone
FR E253 Position à atteindre hors limites
ES E253 Posición objeto fuera del campo de desplazamiento
IT E253 Posizione inpostata fuori dai Limiti
Class: non-fatal
E255 Feedrate-override S-0-0108 = 0

The travel velocity used in drive-controlled travel commands can be
changed with parameter S-0-0108, Feedrate override.
This warning is given if the value of this parameter is 0, since the drive
cannot then follow command values.
Cause:
1. The control system's feed potentiometer is
set to zero or is being evaluated incorrectly.
2. The parameter was set to an incorrect value.
Remedy:
For 1. Check the feed potentiometer.
For 2. Set the parameter to the correct value for the application.
See also the functional description: "Sequence control Drive-Controlled

Homing"
E255 - Attributes
H1 Display : E2/55
Diag. mess.: DE E255 Feedrate-Override S-0-0108 = 0
EN E255 Feedrate-override S-0-0108 = 0
FR E255 Atténuation d'avance S-0-0108 = 0
ES E255 Override de alimentación S-0-0108 = 0
IT E255 Riduzione Velocità Avanz. S-0-0108 = 0
Class: non-fatal
E257 Continuous current limit active

The thermal controller load is monitored. If a rated current profile is
demanded of the drive controller which would require too high a power
transistor load over time (too much warming of the power output stage),
the drive controller will react by dynamically reducing the effective peak
current. This warning will be given at the same time. Parameter P-0-
4046, Active peak current is reduced. Before the peak current is
actually limited, the advance warning message E261 Continuous
current limitation prewarning should have been generated.
Cause:
The drive controller was overloaded.
Remedy:
1. Check the drive layout.
2. Reduce acceleration.
With systems which have been used for longer periods of time,
check to see if drive controller conditions have changed
in regards to:
- Friction
- Components which have been moved.
E257 - Attributes
H1 Display : E2/57
Diag. mess.: DE E257 Dauerstrombegrenzung aktiv
EN E257 Continuous current limit active
FR E257 Courant permanent limité
ES E257 Límite de corriente continua activo
IT E257 Limitazione Corr. continuativa attiva
Class: non-fatal
E259 Command velocity limit active

In the position control and velocity control operating modes, the effective
velocity command value is limited to the value in parameter S-0-0091,
Bipolar velocity limit value. The warning is given if the resulting velocity
command value reaches this limit.
Cause:
Parameter S-0-0091, Bipolar velocity limit value was set too low.
Remedy:
In normal operating conditions, set parameter S-0-0091, Bipolar
velocity limit value to a value 10% greater than the NC effective
velocity.
See also the functional description: "Limiting to Bipolar Velocity Limit
Value"
E259 - Attributes
H1 Display : E2/59
Diag. mess.: DE E259 Geschwindigkeitssollwertbegrenzung aktiv
EN E259 Command velocity limit active
FR E259 Vitesse de consigne limitée
ES E259 Límite de valor nominal de velocidad activo
IT E259 Limitazione Velocità comandata attiva
Class: non-fatal
E261 Continuous current limit prewarning

Digital drives are monitored by a continually operating temperature
model. If the thermal load reaches 100%, the continuous current limit will
be activated shortly thereafter.
Before the torque is reduced, a continuous current limit early warning is
given via a switching threshold, which is determined by parameter P-0-
0127, Overload warning.
To deactivate the warning, enter P-0-0127 = 100% into the parameter.
Cause:
The drive controller was overloaded.
Remedy:
1. Check the drive layout.
2. Reduce acceleration.
3. Increase the switching threshold in parameter
P-0-0127, Overload warning
4. With systems which have been used for longer periods of time,
check to see if drive controller conditions have changed
in regards to:
- Friction
- Components which have been moved
- Feed during processing.
E261 - Attributes
H1 Display : E2/61
Diag. mess.: DE E261 Dauerstrombegrenzung Vorwarnung
EN E261 Continuous current limit prewarning
FR E261 Préalerte limite de courant perm.
ES E261 Preaviso límite corriente continua
IT E261 Preallarme Limitazione Corrente contin.
Class: non-fatal
E263 Velocity command value > limit S-0-0091

Cause:
The value given to the drive for S-0-0036, Velocity command value was
greater than permissible.
Remedy:
It is limited to S-0-0091, Bipolar velocity limit value.
E263 - Attributes
H1 Display : E2/63
Diag. mess.: DE E263 Geschwindigkeitssollwert > Grenzwert S-0-0091
EN E263 Velocity command value > limit S-0-0091
FR E263 Vitesse consigne > limite S-0-0091
ES E263 Velocidad nominal mayor que S-0-0091
IT E263 Velocità comandata > S-0-0091
Class: non-fatal
E324 Option module error power supply unit

Cause:
A component that is connected to the HVE or HVR power supply unit
reports a malfunction.
Remedy:
Check the option module, and replace it if necessary.
E324 - Attributes
H1 Display : E3/24
Diag. mess.: DE E324 Zusatzkomponentenfehler Versorgungsmodul
EN E324 Option module error power supply unit
FR E324 Malfonction d'un composant optional dans l'alimentation
ES E324 Error en componente opcional en módulo alimentación
IT E324 Guasto in Modulo opz. del Alimentatore
Class: Not fatal
E325 Recovery overload power supply unit

Cause:
The regenerated load of the drives is excessive.
Remedy:
Reduce permitted delays. Use a drive controller with smaller peak
currents.
E325 - Attributes
H1 Display : E3/25
Diag. mess.: DE E325 Rückspeise-Überlast Versorgungsmodul
EN E325 Recovery overload power supply unit
FR E325 Surcharge rétroalimentation dans l'alim. puissance
ES E325 Sobrecarga retroalimentaciòn
IT E325 Sovracarico Retroalimentazione nel Alimentatore
Class: Not fatal
E326 Bus power overload

Error will be stored for no more than 500 ms!
Cause:
The input power required by the drives is excessive.
Remedy:
Reduce the permissible acceleration. Use drive controller with smaller
peak current.
E326 - Attributes
H1 Display : E3/26
Diag. mess.: DE E326 Einspeiseüberlast Versorgungsmodul
EN E326 Bus power overload
FR E326 Surcharge à l'entrée du module d'alimentation
ES E326 Potencia de bus sobrecargada
IT E326 Sovracarico a l'Entrata del Alimentatore
Class: Not fatal
E350 Heat sink overtemp. warning power supply unit

The permissible heatsink temperature has been reached. Temperature
prewarning contact open. Power off after 30 seconds.
Cause:
Load too high, ambient temperature too high.
Cooling air is blocked, blower in unit is defective.
Remedy:
Reduce load, reduce control cabinet temperture, check cooling air ducts,
replace unit.
E350 - Attributes
H1 Display : E3/50
Diag. mess.: DE E350 Kühlkörper-Übertemp.-Warnung Versorgungsmodul
EN E350 Heat sink overtemp. warning power supply unit
FR E350 Alerte Surchauffe du module d'alimentation
ES E350 Alarma sobretemp. refrig. del módulo de alimentación
IT E350 Allarme Sovratemp. nel Alimentatore
Class: Not fatal
E352 Bleeder overload warning power supply unit

Cause:
75% of the permissible bleeder ON time has been reached due to
excessive regenerated power.
Remedy:
• permissible acceleration (delay) must be reduced
• reduce drive speed
• reduce peak current of the drive
E352 - Attributes
H1 Display : E3/52
Diag. mess.: DE E352 Bleeder-Überlast-Warnung Versorgungsmodul
EN E352 Bleeder overload warning power supply unit
FR E352 Alerte Surcharge bleeder dans le module d'alim.
ES E352 Alarma sobrecarga de bleeder del módulo de alimentación
IT E352 Allarme Sovracarico Bleeder nel Alimentatore
Class: Not fatal
E353 Diagnostic message power supply erroneous

The power supply unit HVE or HVR cyclically sends status and error
messages via a serial connection to the connected controller. If the
controllers do not receive several sequential messages, then this warning
is generated.
Cause:
1. serial interface of power supply unit is defective
2. break in serial connection lines
3. serial interface of controller is defective
Remedy:
On 1. replace power supply unit.
On 2. check and replace bus cable, if necessary
On 3. replace controller, if necessary
E353 - Attributes
H1 Display : E3/53
Diag. mess.: DE E353 Diagnose des Versorgungsmoduls fehlerhaft
EN E353 Diagnostic message power supply erroneous
FR E353 Diagnostique fausse du module d'alimentation
ES E353 Diagnóstico del módulo de alimentación erróneo
IT E353 Diagnostica falsa del Alimentatore
Class: Not fatal
E387 Control voltage supply fault power supply unit

With HVE only !
Cause:
The power voltage supply in the HVE exceeds permissible tolerance (3x
380 ... 480V, ± 10 % ).
Remedy:
Check mains fuse in control cabinet and replace, if necessary.
E387 - Attributes
H1 Display : E3/87
Diag. mess.: DE E387 Ausfall Steuerspg.-Einspeisung Versorgungsmodul
EN E387 Control voltage supply fault power supply unit
FR E387 Manque d'alim. contrôle pour module d'alim.
ES E387 Fallo alimentación de control para módulo de alimentaci
IT E387 Guasto nell'Alim. di contr. per l'Alimentatore
Class: Not fatal
E410 Slave not scanned or adress 0

While the SERCOS ring is being initialized in communications phase 1,
each slave which is to participate in the additional phase uptake must be
addressed by the SERCOS master. Slaves which are not addressed or
which have been set to drive address "0" indicate this by generating
warning E410. Communication with these slaves in higher
communications phases is not possible. They work only in the repeater
mode.
Cause:
The slave was not scanned in phase 1, or "0" address is set.
Remedy:
• Set the correct slave address.
• Check the SERCOS master configuration.
See also the functional description: "Adjustments of the SERCOS

Interface"
E410 - Attributes
H1 Display : E4/10
Diag. mess.: DE E410 Slave nicht gescannt oder Adresse 0
EN E410 Slave not scanned or adress 0
FR E410 Esclave non reconnu ou adresse 0
ES E410 Esclavo no scaneado o dirección 0
IT E410 Drive non trovato o Indirizzo 0
E825 Overvoltage in power stage

The DC bus voltage has reached impermissibly high values. (Ud > 900
V). The drive controller was switched to torque-free operation so as not
to endanger the drive's power amplifier.
Cause:
The energy regenerated by a braking drive controller (a main-spindle
drive, for example) cannot be converted by the bleeder resistors quickly
enough.
Remedy:
The braking slope should have a flatter parameter, or the bleeder
capacity can be increased by adding an additional bleeder.
E825 - Attributes
H1 Display : E8/25
Diag. mess.: DE E825 Überspannung im Leistungsteil
EN E825 Overvoltage in power stage
FR E825 Tension excessive à l'étage puissance
ES E825 Sobretensión en la parte de potencia
IT E825 Sovratensione nello Stadio di Potenza
Class: Fatal
E826 Undervoltage in power section

If bit 3 of the P-0-0118, Power off on error parameter has been set, an
undervoltage condition will be handled as a "fatal warning", and the
motor-driven operation will be shut down. The drive issues this warning if
the drive enabling signal is present and the DC bus voltage message
disappears.
Cause:
Power supply unit is switched off or mains failure occurs while the drive
enabling signal is set.
Remedy:
Switch off the drive enabling signal before you switch off the power
supply unit.
See also the functional description: "Run the Load Default Settings
feature as a command"
E826 - Attributes
H1 Display : E8/26
Diag. mess.: DE E826 Unterspannung im Leistungsteil
EN E826 Undervoltage in power section
FR E826 Sous-tension puissance
ES E826 Tensión baja en potencia
IT E826 Errore Alimentazione Bassa
Class: Fatal
E829 Positive position limit exceeded

The drive received a command value which resulted in an axis position
outside the positive travel range. The axis was brought to a standstill by
setting the velocity command value to zero. A class 1 diagnostic error is
not generated. The drive will automatically follow command values which
lead into the allowable range after they are entered. "Handle travel range
exceeded as warning" is set in bit 2 of parameter P-0-0090, Command
value transmit time (TMTSG).
Cause:
S-0-0049, Positive position limit value exceeded.
Remedy:
Enter command values which lead back into the allowable range.
E829 - Attributes
H1 Display : E8/29
Diag. mess.: DE E829 Lagegrenzwert positiv überschritten
EN E829 Positive position limit exceeded
FR E829 Limite de position positive dépassée
ES E829 Valor límite de posición positiva excedido
IT E829 Limite di Posizione positiva superato
Class: Fatal
E830 Negative position limit exceeded

The drive received a command value which resulted in an axis position
outside the negative travel range. The axis was brought to a standstill by
setting the velocity command value to zero. A class 1 diagnostic error is
not generated. The drive will automatically follow command values which
lead into the allowable range after they are entered. "Handle travel range
exceeded as warning" is set in bit 2 of parameter P-0-0090, Travel limit
parameter.
Cause:
S-0-0050, Negative travel limit value exceeded.
Remedy:
Enter command values which lead back into the allowable range.
E830 - Attributes
H1 Display : E8/30
Diag. mess.: DE E830 Lagegrenzwert negativ überschritten
EN E830 Negative position limit exceeded
FR E830 Limite de position négative dépassée
ES E830 Valor límite de posición negativa excedido
IT E830 Limite di Posizione negativa superato
Class: Fatal
E834 Emergency-Stop
The emergency stop switch was pressed, thus causing the drive to
perform the emergency stop function that has been selected via the P-0-
0119, Best possible deceleration parameter. There is no error
message issued to the controller.
Cause:
The emergency stop switch was pressed.
Remedy:
Eliminate the malfunction that led to the activation of the emergency stop
switch. The warning will then extinguish.
E834 - Attributes
H1 Display : E8/34
Diag. mess.: DE E834 E-Stop aktiviert
EN E834 Emergency-Stop
FR E834 Arrêt d´urgence
ES E834 Parada de emergencia activada
IT E834 Stop per Emergenza
E843 Positive limit switch activated

The drive has been provided with a command value that leads to an axis
position outside the positive travel range. The axis is topped by setting
the velocity command value to zero. A status class 1 error is not
generated. The drive automatically follows command values that lead
back into the valid range. Bit 2 of P-0-0090, Travel limit parameter is set
to "Overtravelling is handled as a warning".
Cause:
Positive limit switch has been actuated.
Remedy:
Specify command values that lead back to the valid range.
E843 - Attributes
H1 Display : E8/43
Diag. mess.: DE E843 Fahrbereichsendschalter positiv betätigt
EN E843 Positive limit switch activated
FR E843 Fin de course positive
ES E843 Interruptor de fin de desplazamiento positivo activado
IT E843 Finecorsa positivo attivato
Class: Fatal
E844 Negative limit switch activated

The drive has been provided with a command value that leads to an axis
position outside the negative travel range. The axis is topped by setting
the velocity command value to zero. A status class 1 error is not
generated. The drive automatically follows command values that lead
back into the valid range. Bit 2 of P-0-0090, Travel limit parameter is set
to "Overtravelling is handled as a warning".
Cause:
Negative limit switch has been actuated.
Remedy:
Specify command values that lead back to the valid range.
E844 - Attributes
H1 Display : E8/44
Diag. mess.: DE E844 Fahrbereichsendschalter negativ betätigt
EN E844 Negative limit switch activated
FR E844 Fin de course négative
ES E844 Interruptor de fin de desplazamiento negativo activado
IT E844 Finecorsa negativo attivato
Class: Fatal
1.4 Command diagnostic messages
C100 Communication phase 3 transition check

Meaning:
The command S-0-0127, C1 Communication phase 3 transition
check has been activated.
3 Transition Check"
C100 - Attributes
H1 Display : C1
Diag. mess.: DE C100 Umschaltvorbereitung Phase 2 nach 3
FR C100 Préparation commutation phase 2 vers 3
ES C100 Comprobación conmutación fase 2 a 3
IT C100 Fase di Comunicazione 3 test di Transizione
Mess. no.: C100 (hex)
C101 Invalid communication parameter (S-0-0021)

Cause:
Communications parameters which are needed to operate the drive in
communication phase 3 are invalid.
Remedy:
A list of the invalid parameters can be seen in parameter S-0-0021, List
of invalid op. data for comm. ph. 2.
The invalid parameters must be rewritten so they are correct.
3 Transition Check"
C101 - Attributes
H1 Display : C1/01
Diag. mess.: DE C101 Kommunikations-Parameter unvollständig (S-0-0021)
EN C101 Invalid communication parameter (S-0-0021)
FR C101 Paramètres de communication invalides (S-0-0021)
ES C101 Parámetro de comunicación incompleto (S-0-0021)
IT C101 Parametro di Comunicazione invalido (S-0-0021)
Class: Command error
C104 Config. IDN for MDT not configurable

Cause:
Telegram type 7 was set in parameter S-0-0015, Telegram type
parameter. Parameters which are missing in S-0-0188, List of
configurable data in MDT are kept in S-0-0024, Configuration list for
the master data telegram.
Remedy:
You must either set a priority telegram (Telegram type = 0..6) or else
provide S-0-0024, Config. list of the master data telegram with
parameters. These parameters are also contained in S-0-0188, List of
configurable data in the MDT.
C104 - Attributes
H1 Display : C1/04
Diag. mess.: DE C104 Konfig. Identnummern für MDT nicht konfigurierbar
EN C104 Config. IDN for MDT not configurable
FR C104 config. IDN pour MDT non configurable
ES C104 Nº ident. de configuración para MDT no configurable
IT C104 IDN per MDT non configurabile
C105 Configurated length > max. length for MDT

Cause:
parameter. The length of the configured record in MDT, which is
determined by S-0-0024, Configurations list of the master data
telegram, exceeds the maximum permissible length S-0-0186, Length
of the configurable data record in the MDT.
Remedy:
You must either set a priority telegram in S-0-0015, Telegram type
parameter (telegram type = 0..6 ) or else reduce the number of
configurable parameters in MDT.
C105 - Attributes
H1 Display : C1/05
Diag. mess.: DE C105 Maximallänge für MDT überschritten
EN C105 Configurated length > max. length for MDT
FR C105 Longueur configurée > longueur. max. du MDT
ES C105 Superada la longitud máx. para MDT
IT C105 Lung. configurata > Lung. mass. per MDT
C106 Config. IDN for AT not configurable

Cause:
parameter. Parameters which are not contained in S-0-0187, List of
configurable data in AT can be seen in S-0-0016, Custom amplifier
telegram configuration list.
Remedy:
You must either set a priority telegram in parameter S-0-0015, Telegram
type parameter (telegram type = 0..6) or you must provide S-0-0016,
Custom amplifier telegram configuration list with parameters that are
contained in S-0-0187, List of configurable data in the AT.
C106 - Attributes
H1 Display : C1/06
Diag. mess.: DE C106 Konfig. Identnummern für AT nicht konfigurierbar
EN C106 Config. IDN for AT not configurable
FR C106 config. IDN pour AT non configurable
ES C106 Nº ident. de config. para AT no configurable
IT C106 IDN per AT non configurabile
C107 Configurated length > max. length for AT

Cause:
Message frame type 7 has been selected in S-0-0015, Telegram Type
Parameter. The length of the configured data record in the AT, that is
defined via S-0-0016, Custom amplifier telegram configuration list,
exceeds the maximum permissible S-0-0185, Length of the
configurable data record in the AT.
Remedy:
Either select the priority message frame via S-0-0015, Telegram Type
Parameter (message frame type = 0...6) or reduce the number of
configured parameters in the AT ( S-0-0016 ).
C107 - Attributes
H1 Display : C1/07
Diag. mess.: DE C107 Maximallänge für AT überschritten
EN C107 Configurated length > max. length for AT
FR C107 long. configurée > long. max de l' AT
ES C107 Superada la longitud máxima para AT
IT C107 Lung. config. > Lung. mass. per AT
C108 Time slot parameter > Sercos cycle time

Cause:
One of the time slot parameters:
• S-0-0006, AT transmission starting time (T1)
• S-0-0089, MDT transmission starting time (T2)
• S-0-0007, Feedback acquisition starting time (T4)
• S-0-0008, Command valid time (T3)
exceeds S-0-0002, SERCOS Cycle time (Tscyc).
Remedy:
Correct the appropriate parameter(s). These times are determined by the
manufacturer of the control system and are specified by the SERCOS
interface.
and Receive Times"
C108 - Attributes
H1 Display : C1/08
Diag. mess.: DE C108 Zeitschlitzparameter > Sercos-Zykluszeit
EN C108 Time slot parameter > Sercos cycle time
FR C108 Time Slot Parameter > Sercos Cycle Time
ES C108 Parámetro de ranura temporal > Tiempo ciclo Sercos
IT C108 Parametro Slot Time > Tempo Ciclo Sercos
C109 Position of data record in MDT (S-0-0009) even

Cause:
Parameter S-0-0009, Beginning address in master data telegram
contains an even value. This is not permitted.
Remedy:
Parameter S-0-0009, Beginning address in master data telegram
must be set to an odd value. These parameters are determined by the
manufacturer of the control system, and are specified by the SERCOS
interface.
and Receive Times"
C109 - Attributes
H1 Display : C1/09
Diag. mess.: DE C109 Anfangsadresse MDT (S-0-0009) gerade
EN C109 Position of data record in MDT (S-0-0009) even
FR C109 Adresse début du MDT (S-0-0009) paire
ES C109 Dirección inicial MDT (S-0-0009) plano
IT C109 Posizione del Data Record in MDT S-0-0009 pari
C110 Length of MDT (S-0-0010) odd

Cause:
Parameter S-0-0010, Length of master data telegram contains an odd
value. This is not permitted.
Remedy:
Parameter S-0-0010, Length of master data telegram must be set to
an even value. These parameters are determined by the manufacturer of
the control system, and are specified by the SERCOS interface.

and Receive Times"
C110 - Attributes
H1 Display : C1/10
Diag. mess.: DE C110 Länge MDT (S-0-0010) ungerade
EN C110 Length of MDT (S-0-0010) odd
FR C110 Longueur du MDT (S-0-0010) impaire
ES C110 Longitud MDT (S-0-0010) irregular
IT C110 Lunghezza di MDT (S-0-0010) dispari
C111 ID9 + Record length - 1 > length MDT (S-0-0010)

Cause:
Parameter(s) are set incorrectly for S-0-0009, Beginning address in
master data telegram and S-0-0010, Length of master data telegram.
The length of the record in MDT for the drive plus the starting address in
MDT is greater than the total length of the MDT.
Remedy:
The parameters for S-0-0009, Beginning address in master data
telegram and S-0-0010, Length of master data telegram must be
corrected. Those parameters are determined by the manufacturer of the
control system and are specified by the SERCOS interface.
and Receive Times"
C111 - Attributes
H1 Display : C1/11
Diag. mess.: DE C111 ID9 + Datensatzlänge - 1 > Länge MDT (S-0-0010)
EN C111 ID9 + Record length - 1 > length MDT (S-0-0010)
FR C111 ID9 + long. bloc données - 1 > Long. MDT (S-0-0010)
ES C111 ID9 + Longitud bloque datos - 1 > Long. MDT (S-0-0010)
IT C111 ID9 + Lung. Record - 1 > Lung. MDT (S-0-0010)
C112 TNcyc (S-0-0001) or TScyc (S-0-0002) error

Cause:
Only 500 us or even multiples of 1ms are permitted as valid values for S-
0-0001, NC Cycle time (TNcyc) and S-0-0002, SERCOS Cycle time
(Tscyc). Here, this is not the case.
Remedy:
S-0-0001, NC Cycle time (TNcyc) and S-0-0002, SERCOS Cycle time
(Tscyc) must be corrected. These parameters are determined by the
manufacturer of the control system, and are specified by the SERCOS
interface.
and Receive Times"
C112 - Attributes
H1 Display : C1/12
Diag. mess.: DE C112 TNcyc (S-0-0001) oder TScyc (S-0-0002) fehlerhaft
EN C112 TNcyc (S-0-0001) or TScyc (S-0-0002) error
FR C112 Erreur TNcyc (S-0-0001) ou TScyc (S-0-0002)
ES C112 Error en TNcyc (S-0-0001) o TScyc (S-0-0002)
IT C112 Errore in TNCyc S-0-0001 o in TSync S-0-0002
C113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error

Cause:
The value of S-0-0001, NC Cycle time (TNcyc) can only be equal to or
be a multiple of S-0-0002, SERCOS Cycle time (Tscyc). Here this is not
the case.
Remedy:
S-0-0001, NC Cycle time (Tncyc) and S-0-0002, SERCOS Cycle time
(Tscyc) must be corrected. These parameters are determined by the
manufacturer of the control system and are specified by the SERCOS
interface.
and Receive Times"
C113 - Attributes
H1 Display : C1/13
Diag. mess.: DE C113 Verhält. TNcyc (S-0-0001) zu TScyc (S-0-0002) Fehler
EN C113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error
FR C113 Erreur relation TNcyc (S-0-0001) p/r TScyc (S-0-0002)
ES C113 Error en relación TNcyc (S-0-0001) a TScyc (S-0-0002)
IT C113 Errore Rel. tra TNCyc S-0-0001 e TScyc S-0-0002
C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)

Cause:
The maximum permissible value for S-0-0007, Feedback acquisition
starting time (T4) is:
S-0-0002, SERCOS Cycle time (Tscyc) -
S-0-0005, Minimum feedback acquisition time(T4min).
The value for S-0-0007, Feedback acquisition starting time (T4) is
incorrect.
Remedy:
**Correct S-0-0007, Feedback acquisition starting time (T4). These
parameters are determined by the manufacturer of the control system,
and are specified by the SERCOS interface.

and Receive Times"
C114 - Attributes
H1 Display : C1/14
Diag. mess.: DE C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)
EN C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)
FR C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)
ES C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)
IT C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)
C115 T2 too small

Cause:
The value set for S-0-0089, MDT Transmit starting time (T2) is
incorrect. The drive cannot work with this value.
Remedy:
**Correct S-0-0089, MDT Transmit starting time (T2).
These parameters are determined by the manufacturer of the control
system, and are specified by the SERCOS interface.
and Receive Times"
C115 - Attributes
H1 Display : C1/15
Diag. mess.: DE C115 T2 zu klein
EN C115 T2 too small
FR C115 T2 trop petit
ES C115 T2 demasiado pequeño
IT C115 T2 troppo piccolo
C200 Communication phase 4 transition check

Meaning:
The command S-0-0128, C200 Communication phase 4 transition
check has been activated.
See also the functional description "S-0-0128, C2 Communication Phase
4 Transition Check"
C200 - Attributes
H1 Display : C2
Diag. mess.: DE C200 Umschaltvorbereitung Phase 3 nach 4
FR C200 Préparation commutation phase 3 vers 4
ES C200 Comprobación comunicación fase 3 a 4
IT C200 Fase di Comunicazione 4 Test di Transizione
C201 Invalid parameter(s) (->S-0-0022)

Cause:
Parameters which will be necessary to operate the drive in
communications phase 4 are invalid. The invalid parameters can be seen
in S-0-0022, IDN list of invalid op. data for comm. ph. 3.
Remedy:
The parameters of S-0-0022, IDN list of invalid op. data for comm. ph.
3 must be rewritten so they are correct.
4 Transition Check"
C201 - Attributes
H1 Display : C2/01
Diag. mess.: DE C201 Parametersatz unvollständig (->S-0-0022)
EN C201 Invalid parameter(s) (->S-0-0022)
FR C201 Paramètre(s) invalide(s) (->S-0-0022)
ES C201 Bloque de parámetro inválido (->S-0-0022)
IT C201 Parametro invalido (->S-0-0022)
C202 Parameter limit error (->S-0-0022)

Cause:
Parameters which are necessary to operate the drive in communications
phase 4 are either outside of their minimum or maximum input values or
the entered value can't be processed (for BIT bars). The incorrect
parameters are listed in S-0-0022, IDN list of invalid op. data for
comm. ph. 3.
Remedy:
The parameters of S-0-0022, IDN list of invalid op. data for comm. ph.
3 must be rewritten so they are correct.
4 Transition Check"
C202 - Attributes
H1 Display : C2/02
Diag. mess.: DE C202 Parameter Grenzwertfehler (->S-0-0022)
EN C202 Parameter limit error (->S-0-0022)
FR C202 Erreur valeur limite paramètres (->S-0-0022)
ES C202 Error límite en parámetro (->S-0-0022)
IT C202 Errore Limite Parametro (->S-0-0022)
C203 Parameter calculation error (->S-0-0022)

Cause:
Parameters that are required for phase-4 operation (operating mode)
cannot be processed in that way. The incorrect parameters are listed in
S-0-0022, IDN List of Invalid Op. Data for Comm. Ph. 3.
Remedy:
Write correct values to the parameters in S-0-0022, IDN List of Invalid
Op. Data for Comm. Ph. 3.
4 Transition Check"
C203 - Attributes
H1 Display : C2/03
Diag. mess.: DE C203 Parameter Umrechnungsfehler (->S-0-0022)
EN C203 Parameter calculation error (->S-0-0022)
FR C203 Erreur de calcul de paramètre (->S-0-0022)
ES C203 Error de cálculo en parámetro (->S-0-0022)
IT C203 Errore di Calcolo nel Parametro (->S-0-0022)
C204 Motor type P-0-4014 incorrect

An MHD-, MKD or MKE motor (value 1 or 5) is entered into parameter P-
0-4014, Motor type. The appropriate abbreviation "MHD", "MKD", or
MKE however, was not found in parameter S-0-0141, Motor type in the
motor feedback data memory.
Cause:
1. Incorrect parameter set for type of motor.
2. The motor feedback memory cannot be
read.
Remedy:
For 1. Enter the type of motor used in parameter P-0-4014, Motor type
For 2. Check feedback connection.
If feedback is defective, exchange motor.
See also the functional description: "Automatic Setting of the Motor Type
for Motors with Feedback Memory"
C204 - Attributes
H1 Display : C2/04
Diag. mess.: DE C204 Motorart P-0-4014 fehlerhaft
EN C204 Motor type P-0-4014 incorrect
FR C204 Type de moteur P-0-4014 faux
ES C204 Tipo de motor P-0-4014 incorrecto
IT C204 Tipo di Motore P-0-4014 falso
C210 External feedback required (->S-0-0022)

Cause:
Values that require an external encoder have been entered in S-0-0147,
Homing Parameter or in the S-0-0032...35, Mode of Operation
parameters. However, zero (not available) has been entered in the P-0-
0075, Interface Feedback 2, external parameter.
The ident number of the parameter that requires the external encoder is
entered in S-0-0022, IDN List of Invalid Op. Data for Comm. Ph. 3.
Remedial action:
Modify S-0-0147, Homing Parameter or the S-0-0032...35, Mode of
Operation parameters to utilization of the motor encoder instead of
external encoder.
Set P-0-0075, Interface Feedback 2, external to a value different than
zero to activate the external measuring system.
See also Function Description "S-0-0128, C2 Communication Phase 4
Transition Check"
C210 - Attributes
H1 Display : C2/10
Diag. mess.: DE C210 Externer Geber erforderlich (->S-0-0022)
EN C210 External feedback required (->S-0-0022)
FR C210 Feedback externe nécessaire (->S-0-0022)
ES C210 Requerida retroalimentación externa (->S-0-0022)
IT C210 Richiesto Feedback esterna (->S-0-0022)
C211 Invalid feedback data (->S-0-0022)

Invalid data has been encountered when the parameters stored in the
motor feedback were read, or an error has occurred when the data was
read.
Causes:
1. Motor feedback cable not connected or defective
2. Motor feedback defective
3. Drive controller defective
Remedy:
Ref. 1. Check motor feedback cable; connect both sides
Ref. 2. Replace motor
Ref. 3. Replace amplifier
4 Transition Check"
C211 - Attributes
H1 Display : C2/11
Diag. mess.: DE C211 Ungültige Feedbackdaten (->S-0-0022)
EN C211 Invalid feedback data (->S-0-0022)
FR C211 Donnée feedback incorrecte (->S-0-0022)
ES C211 Datos de retroalimentación inválidos (->S-0-0022)
IT C211 Dati di Feedback invalidi (->S-0-0022)
C212 Invalid amplifier data (->S-0-0022)

During drive initialization, the operating software fetches data from an
EEPROM in the drive controller. This error message is generated after
that access has failed.
Causes:
Defective hardware in the drive controller.
Remedial action:
Replace drive controller.
See also Function Description "S-0-0128, C2 Communication Phase 4
Transition Check"
C212 - Attributes
H1 Display : C2/12
Diag. mess.: DE C212 Ungültige Verstärkerdaten (->S-0-0022)
EN C212 Invalid amplifier data (->S-0-0022)
FR C212 Donnée variateur incorrecte (->S-0-0022)
ES C212 Datos de amplificador inválidos (->S-0-0022)
IT C212 Dati Azionamento invalidi (->S-0-0022)
C213 Position data scaling error

Cause:
The scaling parameters for position data permit the position data display
format to be selected. The drive-internal position data format depends on
the employed motor encoder and the encoder resolution. The factor used
for converting the position data from the drive-internal format into the
display format or vice versa is outside the processable range, because
either
• linear motor and rotary position scaling with motor reference, or
• rotary motor and linear position scaling with motor reference, or
• linear motor with modulo scaling has been selected; or
• the determined factor used for converting the position data from the
display format to the internal format, and vice versa, cannot be
represented.
Remedy:
Checking and correcting the relevant parameters, such as:
• S-0-0076, Position data scaling type
• S-0-0077, Linear position data scaling factor
• S-0-0078, Linear position data scaling exponent
• S-0-0079, Rotational position resolution
• S-0-0123, Feed constant
• P-0-0074, Interface feedback 1
4 Transition Check"
C213 - Attributes
H1 Display : C2/13
Diag. mess.: DE C213 Wichtung der Lagedaten fehlerhaft
EN C213 Position data scaling error
FR C213 Erreur calibrage données de position
ES C213 Error de escala de datos de posición
IT C213 Errore Taratura Dati Posizione
C214 Velocity data scaling error

Cause:
The scaling parameters for velocity data permit the velocity data display
format to be selected. The drive-internal velocity data format depends on
the employed motor encoder and the encoder resolution. The factor used
for converting the velocity data from the drive-internal format into the
display format or vice versa is outside the processable range.
Remedy:
Checking and correcting the relevant parameters, such as:
• S-0-0044, Velocity data scaling type
• S-0-0045, Velocity data scaling factor
• S-0-0046, Velocity data scaling exponent
4 Transition Check"
C214 - Attributes
H1 Display : C2/14
Diag. mess.: DE C214 Wichtung der Geschwindigkeitsdaten fehlerhaft
EN C214 Velocity data scaling error
FR C214 Erreur calibrage données de vitesse
ES C214 Error de escala de datos de velocidad
IT C214 Errore Taratura Dati di Velocità
C215 Acceleration data scaling error

Cause:
The display format of the acceleration data can be set for the
acceleration data using scaling parameters. The drive-controlled format
of the acceleration data is dependent on what motor encoder and

encoder resolution are used. The factor for converting acceleration data
from internal drive format to display format (or vice-versa) is outside the
workable range.
Remedy:
Check and set the relevant parameters correctly as follows:
• S-0-0160, Acceleration data scaling type
• S-0-0161, Acceleration data scaling factor
• S-0-0162, Acceleration data scaling exponent
4 Transition Check"
C215 - Attributes
H1 Display : C2/15
Diag. mess.: DE C215 Wichtung der Beschleunigungsdaten fehlerhaft
EN C215 Acceleration data scaling error
FR C215 Erreur calibrage données d'accélération
ES C215 Error de escala de datos de aceleración
IT C215 Errore Taratura Dati Accelerazione
C216 Torque/force data scaling error

Cause:
The display format of the torque/force data can be set for the
torque/force data using scaling parameters. The factor for converting
torque data from drive-controlled format to display format (or vice-versa)
is outside the workable area.
Remedy:
Check and set the relevant parameters correctly as follows:
• S-0-0086, Torque/force data scaling type
• S-0-0093, Torque/force data scaling factor
• S-0-0094, Torque/force data scaling exponent
• S-0-0110, Amplifier peak current
• S-0-0111, Motor current at standstill
4 Transition Check"
C216 - Attributes
H1 Display : C2/16
Diag. mess.: DE C216 Wichtung der Drehmoment/Kraftdaten fehlerhaft
EN C216 Torque/force data scaling error
FR C216 Erreur calibrage données de couple/force
ES C216 Error de escala de datos de par/fuerza
IT C216 Errore Taratura Dati Coppia/Forza
C217 Motor feedback data reading error

If you have entered these values into P-0-0074, Interface feedback 1:
• "1" for standard interface,
• "4" for DFF module, or
• "8" for DAG module (Endat)
then the attached encoder must have a feedback data memory. The
values for the encoder resolution and the feedback type are taken from
there. An error was discovered while reading these values.
Cause:
1. Defective motor feedback cable.
2. Defective motor feedback.
Remedy:
For 1. Check the motor feedback cable.

4 Transition Check"
C217 - Attributes
H1 Display : C2/17
Diag. mess.: DE C217 Fehler beim Lesen der Motorgeberdaten
EN C217 Motor feedback data reading error
FR C217 Erreur lecture données feedback moteur
ES C217 Error en lectura de datos retroalimentación de motor
IT C217 Errore nella Lettura dei Dati di Feedback
C218 External feedback data reading error

If P-0-0075, Interface feedback 2, external is set at
• "1" for standard interface,
• "4" for DFF module, or
• "8" for DAG module (Endat)
then the attached encoder must have a feedback data memory. The
values for the encoder resolution and the feedback type are taken from
there. An error was discovered while reading these values.
Cause:
1. Defective measurement system cable.
2. Defective measurement system.
Remedy:
For 1. Check the measurement system cable.
For 2. Exchange the measurement system.
4 Transition Check"
C218 - Attributes
H1 Display : C2/18
Diag. mess.: DE C218 Fehler beim Lesen der Daten des ext. Gebers
EN C218 External feedback data reading error
FR C218 Erreur lecture données feedback externe
ES C218 Error en lectura de datos de retroalimentación externa
IT C218 Errore nella Lettura dati Feedback esterno
C220 Motor feedback initializing error

A number of tests are performed when the motor encoder is initialized.
An error was detected during this process. This error may be:
• Error while reading the angle rectification data
• Error while copying the angle rectification data
• Interruption of communication with the encoder
• Assembly error with the position of an initialization track
• Error while reading the analog signal of an initialization track
• Error in the pointer length of the analog signal of an initialization track
• Invalid offset between the high and low resolution track
• Error in the measuring system micro-controller
Cause:
1. Defective motor feedback cable.
2. Defective motor feedback.
3. Defective measurement system interface.
Remedy:
For 1. Check the motor feedback cable.
For 3. Exchange the measuring system interface (module).
4 Transition Check"
C220 - Attributes
H1 Display : C2/20
Diag. mess.: DE C220 Fehler bei Motorgeber-Initialisierung
EN C220 Motor feedback initializing error
FR C220 Erreur initialisation feedback moteur
ES C220 Error al inicializar retroalim. de motor
IT C220 Errore nell' Inizializz. del Feedback Motore
C221 Ext. feedback initializing error

Several checks are performed during the initialization of an external
encoder. An error was detected during this process. This error may be:
• Error while reading the angle rectification data
• Error while copying the angle rectification data
Interruption of communication with the encoder
• Assembly error with the position of an initialization track
• Error while reading the analog signal of an initialization track
• Error in the pointer length of the analog signal of an initialization track
• Invalid offset between the high and low resolution track
• Error in the measuring system micro-controller
• External 24V set for SSI interface with DAG 1.2
Cause:
1. External encoder cable defect.
2. Defective feedback.
3. Defective measurement system interface.
Remedy:
For 1. Check the external feedback cable.
For 2. Exchange feedback.
For 3. Exchange the measuring system interface (module).

4 Transition Check"
C221 - Attributes
H1 Display : C2/21
Diag. mess.: DE C221 Fehler bei Ext.Geber-Initialisierung
EN C221 Ext. feedback initializing error
FR C221 Erreur initialisation feedback externe
ES C221 Error al inicializar retroalim. externa
IT C221 Errore nell' Inizializz. del Feedback esterno
C223 Input value for max. range too high

Cause:
An internal position resolution has been selected via the S-0-0278,
Maximum travel range parameter that no longer guarantees a correct
commutation of the motor.
Remedy:
Select a smaller value for the S-0-0278, Maximum travel range
parameter.
See also the functional description "Setting the drive-internal position

data format"
C223 - Attributes
H1 Display : C2/23
Diag. mess.: DE C223 Eingabewert max. Verfahrbereich zu groß
EN C223 Input value for max. range too high
FR C223 Entrée excessive pour champs de course
ES C223 Valor de entrada máx. campo desplazamiento excesivo
IT C223 Valore troppo alta per Campo mass.
C225 Coprocessor not ready for initialization

The drive controller has a coprocessor. This coprocessor is initialized
during the transfer command. The coprocessor signals that it is ready for
initialization. If it is not ready, this error is generated.
Cause:
Coprocessor failed.
Remedy:
4 Transition Check"
C225 - Attributes
H1 Display : C2/25
Diag. mess.: DE C225 Coprozessor nicht bereit zur Initialisierung
EN C225 Coprocessor not ready for initialization
FR C225 Coprocesseur pas prêt pour initialisation
ES C225 Coprocesador no listo para inicialización
IT C225 Coprocessore non pronto per Inizializzazione
C226 Coprocessor acknowledge failed

The drive controller has a coprocessor. This coprocessor is initialized
during the transfer command. If the coprocessor does not confirm the
initialization by the master processor, this error will be generated.
Cause:
The coprocessor failed.
Remedy:
4 Transition Check"
C226 - Attributes
H1 Display : C2/26
Diag. mess.: DE C226 Kein Acknowledge von Coprozessor
EN C226 Coprocessor acknowledge failed
FR C226 Erreur acquittement coprocesseur
ES C226 No hay confirmación de coprocesador
IT C226 Riconosc. Coprocessore fallita
C227 Modulo range error

Causes:
The selected modulo value is greater than half the position
representation range of the drive.
Remedy:
Decrease the modulo value.
See also the functional description: "Modulo Processing-Limiting
Conditions"
C227 - Attributes
H1 Display : C2/27
Diag. mess.: DE C227 Modulo-Bereichs-Fehler
EN C227 Modulo range error
FR C227 Erreur plage module
ES C227 Error de campo de módulo
IT C227 Errore nel Range del Modulo
C228 Controller type S-0-0140 wrong

Several internal software settings are made based on parameter S-0-
0140, Controller type. If the content of this parameter cannot be used,
then this error will be generated.
Cause:
1. The controller type cannot be processed by this software.
2. Amplifier EEProm defective.
Remedy:
For 1. Contact Indramat.
For 2. Exchange/repair the control device.

4 Transition Check"
C228 - Attributes
H1 Display : C2/28
Diag. mess.: DE C228 Regelgerätetyp S-0-0140 falsch
EN C228 Controller type S-0-0140 wrong
FR C228 Type de variateur S-0-0140 faux
ES C228 Tipo regulador S-0-0140 incorrecto
IT C228 Tipo di Azionamento S-0-0140 falso
C231 Emulator not loadable

Cause:
The position emulator on the DAE02.1 interface is loaded from a ROM
module according to the selection made in P-0-4020. With ELS firmware,
the incremental encoder firmware is always loaded; P-0-4020 does not
exist in this case. The loading process is monitored; this error message
is generated in the event of a malfunction. The cause is a hardware
defect on the DAE02.1 interface.
Remedial action:
Replace the DAE02.1 interface.
C231 - Attributes
H1 Display : C2/31
Diag. mess.: DE C231 Emulator lässt sich nicht laden
EN C231 Emulator not loadable
FR C231 Emulateur non chargeable
ES C231 No se puede cargar el emulador
IT C231 Emulatore non cargabile
C232 Motor encoder interface not present

Cause:
The encoder interface that was selected in the P-0-0074, Interface
feedback 1 parameter has not been installed or cannot be found by the
drive (due to a defect).
Remedy:
Install or replace the selected encoder interface.
3 Transition Check"
C232 - Attributes
H1 Display : C2/32
Diag. mess.: DE C232 Motorgeberinterface nicht vorhanden
EN C232 Motor encoder interface not present
FR C232 Interface du codeur moteur manque
ES C232 Interface de encoder de motor no existe
IT C232 Manca l'Interfaccia del Encoder Motore
C233 External encoder interface not present

Cause:
The encoder interface that has been selected in the P-0-0075, Interface
Feedback 2, external parameter has not been installed, or is defective
and can therefore not be recognized by the drive.
Remedy:
Install or replace the selected encoder interface.
3 Transition Check"
C233 - Attributes
H1 Display : C2/33
Diag. mess.: DE C233 Externes Geberinterface nicht vorhanden
EN C233 External encoder interface not present
FR C233 Interface du codeur externe manque
ES C233 Interface de encoder externo no existe
IT C233 Manca l'Interfaccia del Encoder esterno
C234 Encoder combination not possible

Cause:
The encoder interface that has been selected in the P-0-0075, Interface
Feedback 2, external parameter cannot be supported by the drive; it has
already been allocated to the motor encoder.
Remedy:
Select another external encoder.
See also the functional description: "Determining the Encoder Interface
of the External Encoder"
C234 - Attributes
H1 Display : C2/34
Diag. mess.: DE C234 Geberkombination nicht möglich
EN C234 Encoder combination not possible
FR C234 Combinaison des capteurs impossible
ES C234 Combinación de transmisor imposible
IT C234 Combinazione Encoder non possibile
C235 Load-side motor encoder with inductance motor only

Cause:
The functionality of the external encoder can be defined in the P-0-0185,
Function of ext. encoder parameter. If 'load-side motor encoder' has
been selected as the function of the external encoder, that function will
only be supported for asynchronous motors.
Remedy:
Set the P-0-4014, Motor type parameter according to the employed
motor type.
Check the P-0-0185, Function of ext. encoder parameter.
3 Transition Check"
C235 - Attributes
H1 Display : C2/35
Diag. mess.: DE C235 Lastseitiger Motorgeber nur bei Asynchronmotor
EN C235 Load-side motor encoder with inductance motor only
FR C235 Capteur moteur coté charge seulement pour moteur async.
ES C235 Encoder de motor lado de carga sólo con motor asíncrono
IT C235 Encoder Lato Carica solo con Motore asincrono
C236 Motor feedback required (P-0-0074)

Cause:
A motor encoder is not required (P-0-0074 = 0) if a load-sided motor
encoder has been selected via the P-0-0185, Function of ext. encoder
parameter. However, S-0-0147, Homing parameter or the S-0-
0032...35, Mode of Operation parameters contain values that require a
motor encoder.
Remedy:
Change S-0-0147, Homing parameter or the S-0-0032...35, Mode of
Operation parameters such that they are suitable for using an external
encoder.
Enter a value ≠ 0 in the P-0-0074, Interface feedback 1 parameter to
activate the motor encoder.
3 Transition Check"
C236 - Attributes
H1 Display : C2/36
Diag. mess.: DE C236 Motorgeber erforderlich (P-0-0074)
EN C236 Motor feedback required (P-0-0074)
FR C236 Feedback moteur nécessaire (P-0-0074)
ES C236 Requerida retroalimentación motor (P-0-0074)
IT C236 Richiesto Feedback Motore (P-0-0074)
C300 Set absolute measuring

Command P-0-0012, C300 Command 'Set absolute measurement'
was activated by the control system in use.
See also the functional description: "Set Absolute Measuring"
C300 - Attributes
H1 Display : C3
Diag. mess.: DE C300 Absolutmaß setzen
EN C300 Set absolute measuring
FR C300 Calage origine absolue
ES C300 Ajustar medición absoluta
IT C300 Set Misura Assoluta
C302 Absolute measuring system not installed

Command P-0-0012, C300 Command 'Set absolute measurement'
was started without an absolute measuring system being present.
The command cannot be processed because no absolute measuring
system is available.
Cause:
1. The command should not have been activated.
2. The contacted motor or the external measurement system was
not executed as an absolute encoder.
Remedy:
For 1. Stop execution of the command.
For 2. Equip the motor or external measurement system with an
absolute encoder function.
See also the functional description: "Possible error messages when
setting the absolute dimension"
C302 - Attributes
H1 Display : C3/02
Diag. mess.: DE C302 Kein absolutes Meßsystem vorhanden
EN C302 Absolute measuring system not installed
FR C302 Système de mesure absolue non disponible
ES C302 No existe sistema de medición absoluta
IT C302 Sistema di Misura assoluta non installato
C400 Command: switch to parameter mode

Description:
The command for transition is in parameter mode. While editing the
parameters that can be edited only in parameter mode, this command
must be processed.
C400 - Attributes
H1 Display : C4
Diag. mess.: DE C400 Umschalten auf Phase 2
EN C400 Command: switch to parameter mode
FR C400 Passage en phase 2
ES C400 Conmutación a fase 2
IT C400 Comando: commutazione in Modo Parametri
C401 Drive active, switching not allowed

Cause:
The command C400 Command: Switch to parameter mode would be
started without the control enable being activated.
Remedy:
End the command and turn off the drive enable, then the command can
be started from the beginning.
C401 - Attributes
H1 Display : C4/01
Diag. mess.: DE C401 Antrieb aktiv, Umschalten nicht zulässig
EN C401 Drive active, switching not allowed
FR C401 Entraînement validé, passage impossible
ES C401 Accionamiento activo, conmutación no permitida
IT C401 Azionamento abilitato, Commut. non consentita
C402 Only allowed without master

Cause:
The command P-0-4023, C400 Communication phase 2 transition
was started via the serial interface. The command is not executed and
terminated with this error message because the active SERCOS
interface is of a higher priority and was disturbed.
The command can only be executed if the SERCOS interface is inactive
(i.e. there are no signals applied to the receiver of the SERCOS
interface).
Remedy:
Perform phase selection via SERCOS interface or de-activate SERCOS
interface before the command is started.
C402 - Attributes
H1 Display : C4/02
Diag. mess.: DE C402 Nur ohne Master zulässig
EN C402 Only allowed without master
FR C402 Autorisé seulement sans maître
ES C402 Sólo permitido sin master
IT C402 Permesso solo senza Master
C500 Reset class 1 diagnostic, error reset

The command for clearing errors, S-0-0099, C500 Reset class 1
diagnostic was activated by the control system in use.
See also the functional description: "Clearing Errors"
C500 - Attributes
H1 Display : C5
Diag. mess.: DE C500 Reset Zustandsklasse 1, Fehler rücksetzen
EN C500 Reset class 1 diagnostic, error reset
FR C500 RAZ classe d'état 1
ES C500 Reset diagnóstico clase 1, reset de error
IT C500 Cancellazione Errori Classe 1
C501 Error delet only in parameter mode

Cause:
An attempt has been made of clearing the error F822 Motor encoder
failure: signal too small in communication phase 4 (operating mode).
This is only possible in communication phases < 4 (parameter setting
mode).
Remedy:
1. Switch back the communication phase.
2. Activate the command again.
C501 - Attributes
H1 Display : C5/01
Diag. mess.: DE C501 Fehler nur im Parametriermodus 1 löschbar
EN C501 Error delet only in parameter mode
FR C501 Effacement erreur seulement en mode paramètre
ES C501 Borrar error solamente en modo de parámetro
IT C501 Cancell. permessa solo In Modo Parametri
C600 Drive controlled homing procedure command

Command S-0-0148, C600 Drive controlled homing procedure
command was activated by the control system in use.
C600 - Attributes
H1 Display : C6
Diag. mess.: DE C600 Kommando Antriebsgeführtes Referenzieren
EN C600 Drive controlled homing procedure command
FR C600 Commande d'origine sous contrôle entraînement
ES C600 Comando referenciado controlado por accionamiento
IT C600 Procedura di Azzeramento Asse
C601 Homing only possible with drive enable

Cause:
The controller enabling signal was not active when the program was
started. This is not permitted.
Remedy:
1. Switch on the controller enable signal.
2. Start the command again.
See also the functional description: "Possible Error Messages During
Drive-Controlled Homing"
C601 - Attributes
H1 Display : C6/01
Diag. mess.: DE C601 Referenzieren nur mit Reglerfreigabe möglich
EN C601 Homing only possible with drive enable
FR C601 Prise d'origine seulement avec entraînement validé
ES C601 Referenciado no posible sin desbloque de accionamiento
IT C601 Azzeramento solo possibile con Azion. Abilit.
C602 Distance home switch - reference mark erroneous

Cause:
The evaluation of the homing switch has been activated. The distance
between the positive homing switch edge and the reference mark that
shall be interpreted is outside the valid range.
Remedy:
Read the value from the S-0-0298, Reference cam shift by.. parameter
and enter it in the S-0-0299, Home switch offset parameter.
See also the functional description: "Connection and Configuration of the
Home switch"
C602 - Attributes
H1 Display : C6/02
Diag. mess.: DE C602 Abstand Referenzschalter-Referenzmarke fehlerhaft
EN C602 Distance home switch - reference mark erroneous
FR C602 Erreur distance came origine top 0
ES C602 Error Distancia marca refer. de interr. puesta a cero
IT C602 Distanza errata tra camma di zero e Imp. Encod.
C604 Homing of absolute encoder not possible

Command S-0-0148, C600 Drive controlled homing procedure
command was activated. An absolute measuring system was selected
using the encoder selection in S-0-0147, Homing parameter. This
command can only run if command P-0-0012, C300 Command 'Set
absolute measurement' has been previously activated.
Remedy:
First activate command P-0-0012, C300 Command 'Set absolute
measurement', and then start command S-0-0148, C600 Drive
controlled homing procedure command. This procedure will define
the absolute reference point.
See also the functional description: "Possible Error Messages During
Drive-Controlled Homing"
C604 - Attributes
H1 Display : C6/04
Diag. mess.: DE C604 Referenzieren mit Absolutmaßgeber nicht möglich
EN C604 Homing of absolute encoder not possible
FR C604 Prise d'origine avec codeur absolu impossible
ES C604 Referenciado de encoder absoluto no posible
IT C604 Azzer. dell' Encoder Assoluto non permesso
C700 Basic load

With motors of the MHD, MKD and MKE series, the controller
parameters for the connected motor that are stored in the controller are
set to their default values by activating the controller parameters that are
stored in the motor feedback. The drive controller issues the C7
message to indicate that the C700 Basic load command has been
activated via the command parameter S-0-0262, C700 Command basic
load.
Cause:
The command C700 Basic load has been activated.
See also the functional description "Load Default Feature"
C700 - Attributes
H1 Display : C7
Diag. mess.: DE C700 Urladen
EN C700 Basic load
FR C700 Chargement initial
ES C700 Carga básica
IT C700 Caricamento iniziale
C701 Basic load not possible if drive is enabled

Cause:
Command S-0-0262, C700 Command basic load cannot be run if the
controller enable is set.
Remedy:
1. Disable controller enable.
2. Start the command again.
See also the functional description: "Error Conditions of the Load Default
Settings Procedure"
C701 - Attributes
H1 Display : C7/01
Diag. mess.: DE C701 Urladen bei Reglerfreigabe nicht möglich
EN C701 Basic load not possible if drive is enabled
FR C701 Chargement initial impossible avec RF actif
ES C701 Carga básica no posible si ajustado en bloqueo regulad
IT C701 Caricamento iniziale non poss. se Azion. abilitato
C702 Default parameters not available

With motors of the MHD, MKD and MKE series, adapting the control
loops to the connected digital drive is done by activating the speed
controller parameters that are stored in the motor feedback. The drive
controller employs the C702 message to signal that the S-0-0262, C700
Command basic load command has been activated, but that there is no
data memory at the connected motor.
Remedy:
Order the parameter sheet of the employed motor from INDRAMAT
Service, and enter the parameters.
Settings Procedure"
C702 - Attributes
H1 Display : C7/02
Diag. mess.: DE C702 Keine Defaultparameter vorhanden
EN C702 Default parameters not available
FR C702 Paramètres par défaut non disponibles
ES C702 Parámetros por defecto no disponibles
IT C702 Parametri Standard non disponibili
C703 Default parameters invalid

Cause:
The default parameters are read from the motor feedback data memory.
At least one of these parameters is invalid.
Remedy:
Check the connection to the motor feedback. Exchange motor if
necessary.
Settings Procedure"
C703 - Attributes
H1 Display : C7/03
Diag. mess.: DE C703 Default-Parameter ungültig
EN C703 Default parameters invalid
FR C703 Paramètres par défaut invalides
ES C703 Parámetro por defecto no válido
IT C703 Parametri Standard non validi
C704 Parameters not copyable

Cause:
The default parameters in use are not compatible with this software
version.
Remedy:
Contact Indramat.
Settings Procedure"
C704 - Attributes
H1 Display : C7/04
Diag. mess.: DE C704 Parameter nicht kopierbar
EN C704 Parameters not copyable
FR C704 Les paramètres ne peuvent pas être copiés.
ES C704 Parametros no se pueden copiar.
IT C704 Parametri non copiabili
C705 Locked with password

The parameter S-0-0267, Password offers the possibility to set a write
protection for the drive parameters. The diagnostic message C705
Locked with Password indicates, that the command C700 Basic Load
has been started, although the drive parameters are protected with the
customer password.
Settings Procedure"
C705 - Attributes
H1 Display : C7/05
Diag. mess.: DE C705 Verriegelt mit Passwort
EN C705 Locked with password
FR C705 Bloqué avec mot de passe
ES C705 Bloqueado con contraseña
IT C705 Bloccato con parola chiave
C800 Default parameter load

Default values of all parameters in the S-0-0192, IDN-list of backup
operation data are stored in the drive. Those values define a basic state
of the drive that permits the drives to be switched "operational".
Mechanical components and control loop settings are not taken into
consideration. Starting the C800 Default parameter load command
loads the default values into the related parameters and sets them valid.
Cause:
The C800 Default parameter load command has been activated.
C800 - Attributes
H1 Display : C8
Diag. mess.: DE C800 Default-Parameter laden
EN C800 Default parameter load
FR C800 Chargement des paramètres par défaut
ES C800 Cargar parámetros por defecto
IT C800 Caricamento Parametri di Default
C801 Parameter default value erroneous (-> S-0-0021)

Cause:
During the execution of P-0-4094, C800 Command Base-parameter
load, a default value that has been stored in the drive was recognized as
being incorrect. The related parameter is entered in S-0-0021, IDN-list of
invalid op. data for comm. Ph. 2.
C801 - Attributes
H1 Display : C8/01
Diag. mess.: DE C801 Parameter-Defaultwert fehlerhaft (-> S-0-0021)
EN C801 Parameter default value erroneous (-> S-0-0021)
FR C801 Valeur de défaut pour paramètre faux (voir S-0-0021)
ES C801 Valor por defecto para parámetro defectuoso
IT C801 Parametro di Default falso (-> S-0-0021)
C802 Locked with password

The parameter S-0-0267, Password offers the possibility to set a write
protection for the drive parameters. The diagnostic message C705
Locked with password indicates, that the command P-0-4094, C800
Command Base-parameter load has been started, although the drive
parameters are protected with the customer password.
C802 - Attributes
H1 Display : C8/02
Diag. mess.: DE C802 Verriegelt mit Passwort
EN C802 Locked with password
FR C802 Bloqué avec mot de passe
ES C802 Bloqueado con contraseña
IT C802 Bloccato con parola chiave
D300 Command adjust commutation

Meaning:
A correctly adjusted commutation offset is mandatory for the operation of
synchronous motors. The "D3“ message indicates that the command has
been activated, that is used for determining the commutation offset.
Cause:
The commutation setting command has been activated.
See also the functional description: "Determining the commutation offset"
D300 - Attributes
H1 Display : d3
Diag. mess.: DE D300 Kommando Kommutierungseinstellung
EN D300 Command adjust commutation
FR D300 Commande Justage de commutation
ES D300 Conmutación comando
IT D300 Comando di commutazione
Mess. no.: D300 (hex)

Cause with linear motor:
There must not be a controller enable signal when the command is
started. However, it must be in communication phase 4 ("bb“ or "Ab“
displayed).
Cause with rotary synchronous motor:
The drive must be in torque control mode when the "D3“ command is
started.
This error message is generated if those conditions are not satisfied.
Remedial action with linear motor:
Depending on the motor type, switch off the controller enable signal and
start the command again.
Remedial action with rotary synchronous motor:
Activate torque control and start the command again.
See also the functional description: "Determining the commutation offset
in rotary synchronous motors (MSB)"
D301 - Attributes
H1 Display : d3/01
Diag. mess.: DE D301 Antrieb für Komm.einstellung nicht bereit
EN D301 Drive not ready for commutation command
FR D301 Entraînement pas prêt pour justage de commutation
ES D301 Accionamiento no listo para comando conmutación
IT D301 Azionamento non Pronto per Com. di Commutazione
D500 Command 'get mark position'

Meaning:
The P-0-0014, D500 Command determine marker position command
can be used for checking the correct acquisition and position of the
reference marker of an incremental measuring system. The "d5“ display
shows that the command has been activated.
Cause:
The Determine marker position command has been activated.
See also the functional description: "Functional principle of command
detect marker position"
D500 - Attributes
H1 Display : d5
Diag. mess.: DE D500 Kommando Markerposition erfassen
EN D500 Command 'get mark position'
FR D500 Commande Obtenir la position du marqueur
ES D500 Comando 'Registrar posición de marcador'
IT D500 Comando prendere la Positione della Marca
D501 Incremental encoder required

Cause:
The command has been started for a measuring system that does not
possess real reference markers. These include measuring systems such
as DSF, EnDat, SSI or resolver measuring systems.
Remedy:
Check whether the correct encoder has been selected in S-0-0147,
Homing parameter.
Employ an encoder system with real reference markers.
See also the functional description: "Functional principle of command
detect marker position"
D501 - Attributes
H1 Display : d5/01
Diag. mess.: DE D501 Kein inkrementelles Meßsystem
EN D501 Incremental encoder required
FR D501 Un codeur incremental est nécessaire.
ES D501 Falta encoder incremental
IT D501 Encoder incrementale manca
D600 Cancel reference point procedure command

Meaning:
The reference of the encoder that has been selected via S-0-0147,
Homing parameter is canceled.
Cause:
The D600 Cancel reference point procedure command has been
activated.
D600 - Attributes
H1 Display : d6
Diag. mess.: DE D600 Kommando Referenzbezug loeschen
EN D600 Cancel reference point procedure command
FR D600 Commande Annulation de l'origine
ES D600 Comando cancelar proceso de punto de referencia
IT D600 Comando Annullazione Azzeramento
D700 Parking axis command

Meaning:
The command permits one or more drives of a drive package to be
stopped without error messages being issued to the controller and/or the
power supply module. The remaining drives of the package can be
handled without any restrictions.
Cause:
The S-0-0139, D700 Command parking axis command has been
activated.
See also the functional description: "Command Parking Axis"
D700 - Attributes
H1 Display : PA
Diag. mess.: DE D700 Kommando Parkende Achse
EN D700 Parking axis command
FR D700 Commande Axe stationnée
ES D700 Comando eje estacionado
IT D700 Comando Stazionamento Asse
D800 Command measuring wheel operation mode

Meaning:
The command is active.
The position loop is closed with encoder 1 and 2.
Control loop monitoring is de-activated.
Cause:
The P-0-0220, D800 Command measuring wheel operation mode
command has been activated.
D800 - Attributes
H1 Display : d8
Diag. mess.: DE D800 Kommando Messradbetrieb
EN D800 Command measuring wheel operation mode
FR D800 Commande Roue de mesure
ES D800 Comando Rueda de medición
IT D800 Comando Ruota di Misura
D801 Measuring wheel operation not possible

Meaning:
The measuring wheel command cannot be executed because one of the
following conditions is not satisfied:
• External encoder available
• External encoder logged on as measuring wheel encoder (P-0-0185 =
3)
• Position control is active.
Cause:
The P-0-0220, D800 Command measuring wheel operation mode
command has been activated without the above-mentioned conditions
being fulfilled.
D801 - Attributes
H1 Display : d8/01
Diag. mess.: DE D801 Messradbetrieb nicht möglich
EN D801 Measuring wheel operation not possible
FR D801 Mode Roue de mesure impossible
ES D801 Modo rueda de medición imposible
IT D801 Modo Ruota di Misura non possibile
D802 Operation mode cancelled

Meaning:
Processing the measuring wheel operation mode command cannot be
continued because the required position control mode has been
deactivated.
Cause:
The drive enabling signal has been removed while the measuring wheel
operation mode command was active; or an error has lead to an
erroneous reaction.
D802 - Attributes
H1 Display : d8/02
Diag. mess.: DE D802 Abbruch der Betriebsart
EN D802 Operation mode cancelled
FR D802 Mode d'opération annullé
ES D802 Modo de operación cancelado
IT D802 Modo operativo cancellato
1.5 Status diagnostic messages
A000 Communication phase 0

The communication process is divided into four communications phases:
Phases 0 and 1 are used to recognize the participants. Phase 2 is used
to provide the time and data protocols for communications phases 3 and
4.
Initialization is performed in ascending order of the sequence. The
defaults of the communications phase are set by the control system.
When the switch to communications phase 4 takes place, initialization is
completed and input power is enabled.
If the delayed phase switch is interrupted, the status display in the
communications phase which has already been reached freezes.
If diagnostic message A000 Communication phase 0 is active, the drive
is in phase 0 and is waiting for a phase transfer to 1 by the control
system.
See also the functional description: "Parameter Mode - Operation Mode"
A000 - Attributes
H1 Display : P0
Diag. mess.: DE A000 Kommunikationsphase 0
EN A000 Communication phase 0
FR A000 Phase de communication 0
ES A000 Fase de comunicación 0
IT A000 Fase di Comunicazione 0
Mess. no.: A000 (hex)

4.
communications phase which has already been reached freezes.
If diagnostic message A001 Communication phase 1 is active, the drive
is in phase 1, and transfer from phase 1 to 2 has not yet been initiated by
the control system.
A001 - Attributes
H1 Display : P1

4.
communications phase which has already been reached freezes. If
diagnostic message A002 Communication phase 2 is active, the drive
is in phase 2.Before the control system transfers to communications
phase 3, command S-0-0127, C100 Communication phase 3
transition check must be started. If the command is acknowledged
negatively, transfer to communications phase 3 is not possible. The
problems that were diagnosed by the drive must be solved first.
Note: The parameters are not checked to see if they are correct.
A002 - Attributes
H1 Display : P2

The communication connection is divided into four communication
phases: Phases 0 and 1 are used to recognize the participants. Phase 2
is used to provide the time and data protocols for communications
phases 3 and 4.
communications phase which has already been reached freezes. If
diagnostic message A003 Communication phase 3 is active, the drive
is in phase 3.
Before the control system transfers to communications phase 4
(operating mode), command S-0-0128, C200 Communication phase 4
transition check must be started. If the command is acknowledged
negatively, transfer to communications phase 4 is not possible. The
problems that were diagnosed by the drive must be solved first.
Note: The parameters are not checked to see if they are correct.
A003 - Attributes
H1 Display : P3
A010 Drive HALT

The feature "Halt drive" was activated. The halt drive feature serves to
stop the motor at a defined deceleration and a defined jerk.
This feature can either be activated by deleting the drive halt bits (BIT 13)
in the master control word or by interrupting a drive control command
(i.e., in drive-controlled homing).
See also the functional description: "Drive Halt Feature Description"
A010 - Attributes
H1 Display : AH
Diag. mess.: DE A010 Antrieb HALT
EN A010 Drive HALT
FR A010 Arrêt de l'entraînement
ES A010 Accionamiento parada
IT A010 Stop Azionamento
A011 Drive interlock open

Digital drive controllers are equipped with a starting lockout device that
prevents an unwanted start of a servo axis. Activating the starting lockout
device separates the power stage control electronics from the power
stage via a relay contact.
+24 V is applied to the AS+; AS– terminals of the X3 connector.
See also the functional description "Drive Interlock Open"
A011 - Attributes
H1 Display : A5
Diag. mess.: DE A011 Anlaufsperre aktiv
EN A011 Drive interlock open
FR A011 Démarrage bloqué
ES A011 Bloqueo de marcha
IT
A012 Control and power sections ready for operation

The drive is supplied with control voltage and the power is switched on.
The drive is ready for power delivery.
See also the functional description: "Drive enable"
A012 - Attributes
H1 Display : Ab
Diag. mess.: DE A012 Steuer- und Leistungsteil betriebsbereit
EN A012 Control and power sections ready for operation
FR A012 Commande et puissance prêts à fonctionner
ES A012 Secciones de mando y potencia listos para el servicio
IT A012 Azionamento pronto
A013 Ready for power on

The drive is supplied with a control voltage; there are no errors in the
drive controller. The drive is ready to be turned on.
A013 - Attributes
H1 Display : bb
Diag. mess.: DE A013 Bereit zur Leistungszuschaltung
EN A013 Ready for power on
FR A013 Prêt pour mise sous puissance
ES A013 Listo para conexión de potencia
IT A013 Sistema pronto per Inserzione Potenza
A100 Drive in TORQUE control

The drive is in the torque control operating mode. It follows the torque
command value sequence which was set by the control system.
See also the functional description: "Torque/Force Control"
A100 - Attributes
H1 Display : AF
Diag. mess.: DE A100 Antrieb in Momentenregelung
EN A100 Drive in TORQUE control
FR A100 Entraînement en asservissement de COUPLE
ES A100 Accionamiento en regulación de PAR
IT A100 Azionamento in Regolazione di COPPIA
A101 Drive in VELOCITY control

The drive is in the velocity control operating mode. It follows the velocity
command value sequence set by the control system. The RPM control
loop is closed in the drive.
A101 - Attributes
H1 Display : AF
Diag. mess.: DE A101 Antrieb in Geschwindigkeitsregelung
EN A101 Drive in VELOCITY control
FR A101 Entraînement en asservissement de VITESSE
ES A101 Accionamiento en regulación de VELOCIDAD
IT A101 Azionamento in Regolazione di VELOCITA
A102 Position mode with encoder 1

The drive is in position control mode. The position loop is closed in the
drive by a position encoder. The control system only sets the position
command value sequence; the drive follows the command value with
following (lag) error.
Encoder 1 indicates that the position encoder is installed on the motor
shaft (indirect measurement of the axis position).
See also the functional description: "Position Control"
A102 - Attributes
H1 Display : AF
Diag. mess.: DE A102 Lageregelung mit Geber 1
EN A102 Position mode with encoder 1
FR A102 Asservissement de position, codeur 1
ES A102 Regulación de posición, encoder 1
IT A102 Posizionamento con Encoder 1
A103 Position mode with encoder 2

command value sequence; the drive follows the command value with
Encoder 2 indicates that the position encoder is installed on the machine
axis (direct axis position measurement).
A103 - Attributes
H1 Display : AF
Diag. mess.: DE A103 Lageregelung mit Geber 2
EN A103 Position mode with encoder 2
FR A103 Asservissement de position, codeur 2
ES A103 Regulación de posición, encoder 2
IT A103 Posizionamento con Encoder 2
A104 Position mode lagless, encoder 1

command value sequence; the drive follows the command value without
shaft (indirect measurement of axis position).
A104 - Attributes
H1 Display : AF
Diag. mess.: DE A104 Lageregelung schleppabstandsfrei, Geber 1
EN A104 Position mode lagless, encoder 1
FR A104 Asserv. de pos., codeur 1, sans erreur poursuite
ES A104 Regulación de posición, encoder 1, sin retardo
IT A104 Posizionamento con Encoder 1, senza E.I.
A105 Position control lagless, feedback 2

command value sequence; the drive follows the command value without
A105 - Attributes
H1 Display : AF
Diag. mess.: DE A105 Lageregelung schleppabstandsfrei, Geber 2
EN A105 Position control lagless, feedback 2
FR A105 Asserv. de pos., codeur 2, sans erreur poursuite
ES A105 Regulación de posición, encoder 2, sin retardo
IT A105 Posizionamento con Encoder 2, senza E.I.
A106 Drive controlled interpolation, encoder 1

The drive receives a position command value from the control system
which is identical to the target position of the travel path. Then the drive
generates (interpolates) an internal position command value sequence,
which uses the control system to maintain maximum values for jerk,
velocity and acceleration sequences.
The drive moves with following (lag) error to the target position of the
travel path.
A106 - Attributes
H1 Display : AF
Diag. mess.: DE A106 Antriebsinterne Interpolation, Geber 1
EN A106 Drive controlled interpolation, encoder 1
FR A106 Interpolation interne, codeur 1
ES A106 Interpolación contr. por accionamiento, encoder 1
IT A106 Azionamento contr. in Interpolazione, Encoder 1
A107 Drive controlled interpolation, encoder 2

The drive moves with following (lag) error to the target position of the
travel path.
A107 - Attributes
H1 Display : AF
Diag. mess.: DE A107 Antriebsinterne Interpolation, Geber 2
EN A107 Drive controlled interpolation, encoder 2
FR A107 Interpolation interne, codeur 2
ES A107 Interpolación contr. por accionamiento, encoder 2
IT A107 Azionamento contr. in Interpolazione, Encoder 2
A108 Drive controlled interpolation, lagless, encoder 1

The drive moves without following error to the target position of the
travel path.
A108 - Attributes
H1 Display : AF
Diag. mess.: DE A108 Antriebsinterne Interpol. schleppfrei, Geber 1
EN A108 Drive controlled interpolation, lagless, encoder 1
FR A108 Interpolation interne, codeur 1, sans erreur poursuite
ES A108 Interpol. por accion. int., enc. 1, sin retardo
IT A108 Azionamento contr. in Interp., Enc. 1, senza E.I.
A109 Drive controlled interpolation, lagless, encoder 2

The drive moves without following error to the target position of the
travel path.
A109 - Attributes
H1 Display : AF
Diag. mess.: DE A109 Antriebsinterne Interpol. schleppfrei, Geber 2
EN A109 Drive controlled interpolation, lagless, encoder 2
FR A109 Interpolation interne, codeur 2, sans erreur poursuite
ES A109 Interpol. por accion. int., enc. 2, sin retardo
IT A109 Azionamento contr. in Interp., Enc. 2, senza E.I.
A110 Velocity Synchronization, virtuell Lead drive

The drive is in velocity control mode. The velocity command will be
determined in the drive under consideration of the gear ratio as well as
the master encoder position.
Virtual Master Encoder means that the position of the master encoder
is calculated by the control system.
See also function description: "Velocity synchronization"
A110 - Attributes
H1 Display : AF
Diag. mess.: DE A110 Drehzahlsynchronisation, virtuelle Leitachse
EN A110 Velocity synchronization, virtual master drive
FR A110 Synchronisation de vitesse, axe guide virtuel
ES A110 Sincronización de velocidad, eje conductor virtual
IT A110 Sincronizzazione di Velocità, Master virtuale
A112 Phase synchronization, encoder 1, virtual master drive

The drive is in Position mode. The position loop is closed at the drive
through a position encoder.The position command value is determined in
the drive under consideration of the gear ratio as well as the position of
the master encoder.
The drive follows the command value with lag error
Encoder 1 indicates that the position encoder is mounted at the motor
shaft (axis position measurement not directly)
Virtual Master Encoder means, that the position of the master encoder
will be calculated by the contro systeml.
See also function description: "Velocity synchronization"
A112 - Attributes
H1 Display : AF
Diag. mess.: DE A112 Winkelsynchronisation, Geber 1, virtuelle Leitachse
EN A112 Phase synchronization, encoder 1, virtual master drive
FR A112 Synchron. angulaire, codeur 1, axe guide virtuel
ES A112 Sincron. de fase, encoder 1, eje conductor virtual
IT A112 Sincron. di Fase, Encoder 1, Master virtuale
A113 Phase synchronization, encoder 2, virtual master drive

through a position encoder. The position command value will be
determined in the drive under consideration of the gear ratio as well as
the position of the master encoder.
The drive follows the command value with a lag error.
Encoder 2 indicates that the position encoder is mounted at the machine
axis (axis position measurement direcly).
will be calculated through the control.
See also function description: "Phase synchronization"
A113 - Attributes
H1 Display : AF
Diag. mess.: DE A113 Winkelsynchronisation, Geber 2, virtuelle Leitachse
EN A113 Phase synchronization, encoder 2, virtual master drive
FR A113 Synchron. angulaire, codeur 2, axe guide virtuel
ES A113 Sincron. de fase, encoder 2, eje conductor virtual
IT A113 Sincron. di Fase, Encoder 2, Master virtuale
A116 Phase synchr. lagless, encoder 1, virtual master drive

The drive is in position mode. The position loop is closed at the drive
through a position encoder. The position command value is determined
in the drive under consideration of the gear ratio as well as the position of
the master encoder.
The drive follows the command value without a lag error.
Encoder 1 indicates that the position encoder is mounted at the motor
will be calculated by the control system.
A116 - Attributes
H1 Display : AF
Diag. mess.: DE A116 Winkelsynch. schleppfrei, Geber 1, virt. Leitachse
EN A116 Phase synchr. lagless, encoder 1, virtual master drive
FR A116 Synchr. ang., cod. 1, sans err. pste, axe guide virt.
ES A116 Sincr. fase., enc. 1, sin retardo, eje conduct. virt.
IT A116 Sincron. di Fase, Enc. 1, senza E.I., Master virt.
A117 Phase synchr. lagless, encoder 2, virtual master drive

through a position encoder. The position set value is determined in the
drive under consideration of the gear ratio as well as the position of the
master encoder.
Encoder 2 indicates that the position encoder is mounted at the machine
will be calculated by the control.
A117 - Attributes
H1 Display : AF
Diag. mess.: DE A117 Winkelsynch. schleppfrei, Geber 2, virt. Leitachse
EN A117 Phase synchr. lagless, encoder 2, virtual master drive
FR A117 Synchr. ang., cod. 2, sans err. pste, axe guide virt.
ES A117 Sincr. fase., enc. 2, sin retardo, eje conduct. virt
IT A117 Sincron. di Fase, Enc. 2, senza E.I., Master virt.
A120 Pattern control, encoder 1, virtual master drive

The drive is now in operation mode Patterned gearing. The position set
points are depending on:
• the position of the master encoder
• stored tables in the drive
• a pattern calculator created from conveyed target positions
The drive follows the command with a lag error.
Encoder 1 indicates that the position feedback is mounted at the motor
See also function description: "Electronic Patterned Control"
A120 - Attributes
H1 Display : AF
Diag. mess.: DE A120 Mustergetriebe, Geber 1, virtuelle Leitachse
EN A120 Pattern control, encoder 1, virtual master drive
FR A120 Contrôle d'échantillon, cod. 1, axe guide virtuel
ES A120 Control de muestra, enc. 1, eje conductor virtual
IT A120 Percorso controllato, Encoder 1, Master virtuale
A121 Pattern control, encoder 2, virtual master drive

The drive is now in operation mode patterned gearing. The position
command values are dependent on:
The encoder 2 indicates that the position feedback is mounted at the
machine axis (axis position measurement direcly).
will be calculated by the control system.
A121 - Attributes
H1 Display : AF
Diag. mess.: DE A121 Mustergetriebe, Geber 2, virtuelle Leitachse
EN A121 Pattern control, encoder 2, virtual master drive
FR A121 Contrôle d'échantillon, cod. 2, axe guide virtuel
ES A121 Control de muestra, enc. 2, eje conductor virtual
IT A121 Percorso controllato, Encoder 2, Master virtuale
A124 Pattern control lagless, enc. 1, virtual master drive

command values are dependent on:
A124 - Attributes
H1 Display : AF
Diag. mess.: DE A124 Mustergetriebe schleppfrei, Geber 1, virt. Leitachse
EN A124 Pattern control lagless, enc. 1, virtual master drive
FR A124 Contr. d'éch., cod. 1, sans err. pste, axe guide virt.
ES A124 Control muestra, enc. 1, sin retardo, eje cond. virt.
IT A124 Perc. contr., Enc. 1, senza E.I., Master virt.
A125 Pattern control lagless, enc. 2, virtual master drive

command values are depending on:
The drive follows the set value lagless.
Encoder 2 indicates that the position feedback is mounted at the
A125 - Attributes
H1 Display : AF
Diag. mess.: DE A125 Mustergetriebe schleppfrei, Geber 2, virt. Leitachse
EN A125 Pattern control lagless, enc. 2, virtual master drive
FR A125 Contr. d'éch., cod. 2, sans err. pste, axe guide virt.
ES A125 Control muestra, enc. 2, sin retardo, eje cond. virt.
IT A125 Perc. contr., Enc. 2, senza E.I., Master virt.
A128 Cam shaft, encoder 1, virtual master drive

The drive is in operation mode cam shaft. The feature has it's origin
from the mechanical cam shaft. With this setting a set position relation
exists between master- and following axis. The position command values
are retrieved from a table, which will be created from the average
position of the master encoder.
wiil be calculated by the control.
See also function description: "Electronic Cam Shaft"
A128 - Attributes
H1 Display : AF
Diag. mess.: DE A128 Kurvenscheibe, Geber 1, virtuelle Leitachse
EN A128 Cam shaft, encoder 1, virtual master drive
FR A128 Profil de came, codeur 1, axe guide virtuel
ES A128 Eje de leva, encoder 1, eje conductor virtual
IT A128 Camma, Encoder 1, Master virtuale
A129 Cam shaft, encoder 2, virtual master drive

are retrieved from a table which will be created from the average
position. of the master encoder.
Encoder 2 indicates that the position feedback is mounted at the
See also function description: "Electronic Cam Shaft"
A129 - Attributes
H1 Display : AF
Diag. mess.: DE A129 Kurvenscheibe, Geber 2, virtuelle Leitachse
EN A129 Cam shaft, encoder 2, virtual master drive
FR A129 Profil de came, codeur 2, axe guide virtuel
ES A129 Eje de leva, encoder 2, eje conductor virtual
IT A129 Camma, Encoder 2, Master virtuale
A132 Cam shaft, lagless, encoder 1, virt. master drive

are retrieved from a table which willbe created from the average position
of the master encoder.
Virtual master Encoder means, that the position of the master encoder
See also function description: "Electronic cam shaft"
A132 - Attributes
H1 Display : AF
Diag. mess.: DE A132 Kurvenscheibe schleppfrei, Geber 1, virt. Leitachse
EN A132 Cam shaft, lagless, encoder 1, virt. master drive
FR A132 Profil de came, cod. 1, sans err. pste, axe guide virt.
ES A132 Eje de leva, enc. 1, sin retardo, eje cond. virt.
IT A132 Camma, Enc. 1, senza E.I., Master virt.
A133 Cam shaft, lagless, encoder 2, virt. master drive

are retrieved from a table which will be created from the average position
of the master encoder.
Encoder 2 indicates that the position feeback is mounted at the machine
Virtual Master Encoder means that the position of the master encoder
See also function description: "Electronic cam shaft"
A133 - Attributes
H1 Display : AF
Diag. mess.: DE A133 Kurvenscheibe schleppfrei, Geber 2, virt. Leitachse
EN A133 Cam shaft, lagless, encoder 2, virt. master drive
FR A133 Profil de came, cod. 2, sans err. pste, axe guide virt.
ES A133 Eje de leva, enc. 2, sin retardo, eje cond. virt.
IT A133 Camma, Enc. 2, senza E.I., Master virt.
A146 Relative drive controlled interpolation, encoder 1

In the S-0-0282, Travel distance parameter, the drive receives a
distance specification from the controller. When bit 0 of the S-0-0346,
Setup flag for relative command values parameter is toggled, this
distance is summed up to the value in S-0-0258, Target position. In
order to get from the current position to the new target position, the drive
now generates (interpolates) an internal position command value curve.
This is done taking the limit values of velocity, acceleration, and jerk in
the parameters
into account.
The drive approaches the target position with a position lag that is
proportional to the velocity.
Encoder 1 means that the position encoder is attached to the motor
A146 - Attributes
H1 Display : AF
Diag. mess.: DE A146 Relative antriebsinterne Interpolation, Geber 1
EN A146 Relative drive controlled interpolation, encoder 1
FR A146 Interpolation interne relative, codeur 1
ES A146 Interpol. relativa contr. por accion., enc. 1
IT A146 Azionam. contr. in Interp. relativa, Enc. 1
A147 Relative drive controlled interpolation, encoder 2

the parameters
The drive approaches the target position with a position lag that is
proportional to the velocity.
Encoder 2 means that the position encoder that is attached to the load is
used for closing the position control loop (direct axis position
measurement).
A147 - Attributes
H1 Display : AF
Diag. mess.: DE A147 Relative antriebsinterne Interpolation, Geber 2
EN A147 Relative drive controlled interpolation, encoder 2
FR A147 Interpolation interne relative, codeur 2
ES A147 Interpol. relativa contr. por accion., enc. 2
IT A147 Azionam. contr. in Interp. relativa, Enc. 2
A148 Relative drive contr. interpolation, enc. 1, lagless

the parameters
into account.
The drive approaches the target position of the travel path without a
position lag.
Encoder 1 means that the position encoder is attached to the motor

A148 - Attributes
H1 Display : AF
Diag. mess.: DE A148 Relative antriebsint. Interpol. Geber 1, schleppfrei
EN A148 Relative drive contr. interpolation, enc. 1, lagless
FR A148 Interpol. interne relative, cod. 1, sans err. pste.
ES A148 Interpol. rel. por accion. int., enc. 1, sin retardo
IT A148 Azionam. contr. in Interp. relat., Enc. 1, senza E.I.
A149 Relative drive contr. interpolation, enc. 2, lagless

the parameters
The drive approaches the target position of the travel path without a
position lag.
Encoder 2 means that the position encoder that is attached to the load is
used for closing the position control loop (direct axis position
measurement).
A149 - Attributes
H1 Display : AF
Diag. mess.: DE A149 Relative antriebsint. Interpol. Geber 2, schleppfrei
EN A149 Relative drive contr. interpolation, enc. 2, lagless
FR A149 Interpol. interne relative, cod. 1, sans err. pste.
ES A149 Interpol. rel. por accion. int., enc. 2, sin retardo
IT A149 Azionam. contr. in Interp. relat., Enc. 2, senza E.I.
A800 Unknown operation mode

There is no diagnosis for the activated mode.
A800 - Attributes
H1 Display : AF
Diag. mess.: DE A800 Unbekannte Betriebsart
EN A800 Unknown operation mode
FR A800 Mode d'opération inconnu
ES A800 Modo de operación desconocido
IT A800 Modo operativo non conosciuto
1.6 Diagnostic messages for basic initialization and after

fatal System errors
Diagnostic Message Display: -0

Cause:
The data storage for the controller is tested for its functional capability.
If an error is detected, this display will remain.
Remedy:
The drive controller is defective (DRP3) and must be exchanged.

Cause:
The data storage for the DSS 2.1 Module is tested for its functional
capability.
If an error is detected, this display will remain.
Remedy:
The DSS Module or the connection to the main device is defective.
• If DSS module is defective > exchange
• If drive controller is defective > exchange

Cause:
Makeup of the parameter structure.
If the EPROMS are exchanged for another version of the firmware, the
parameter memory on the programming module is erased (duration
appx. 5 sec.).

Cause:
The motor type and the type of the motor feedback are determined by
reading their parameter storage areas.

During basic initialization, an error was reported by the coprocessor.
Cause:
1. Control voltage error (+24 V or +/-15 V).
2. +/-10 V - error.
Remedy:
For 1. Check the control voltage supply.
For 2. Replace the drive.

Cause:
A fatal processor or program error was encountered.
Remedy:
The error in question is a system error. Please contact the appropriate
software development company.
Diagnostic Message Display: Watchdog

Cause:
A fatal processor or program error (Watchdog) was encountered.
Remedy:
Replace the drive.
1.7 Operation Status
bb
"read for operation"
The drive is ready to be turned on.
Diagnostic message text:

Ready to be turned on (ready for operation)
Ab
"Drive is ready"
The control and power components of the drive are ready for operation.

Control and power components are ready (drive is ready)
AF
"Drive enable"
The drive enable was issued and operated the activation of the drive.
This follows a command value input.

according to selected operating mode.
AS
"Drive interlock"
The power output was locked. This signal serves the secured torque free
switching of the drive independent from existing operating states of the
drive packs.

Drive interlock
AH
"Drive Halt"
The drive will be stopped under the conditions of the acceleration
parameter and stays in control.
P0
Phase 0
The drive is in phase 0 and is waiting on the phase transition from phase
0 to phase 1.

Phase 0
P1
Phase 1
The transition from phase 1 to phase 2 was still not initiated from the
control system.
Remedy:
see the control handbook
P2
Phase 2
Before the control system switches in the communications phase 3, the
controller checks inputted parameters for content of the input limits and
for completeness. If invalid parameter values were found, the phase
progression switch will stop the drive.
Note: The parameters are not checked for exactness.
Remedy:
In the parameter "Identification Number List Invalid Operating Data
Communications Phase 2", the ID numbers S-0-0021 are recorded which
were recognized as invalid from the drive before the phase progression
switch in communications phase 3. The completion of this parameter is
required in order for switching into communications phase 3.
P3
Phase 3
Before the control system switches in the communications phase 4, the
controller checks inputted parameters for content of the input limits and
for completeness. If invalid parameter values are recognized, the phase
progression switch will be stopped by the controller.
Note: The parameters are not checked for exactness.
Remedy:
In the parameter "ID Number Lists of Invalid Operating Data
Communications Phase 3", ID number S-0-0022 records the parameters
which were recognized as invalid by the drive before the phase
progression switch in communications phase 4. The completion of this
parameter is required in order for switching into communications
phase 4.
Command adjust commutation

2 Index 84
Command 'get mark position'
85
+ Command measuring wheel
+/-15Volt DC error 35 operation mode 86
+10Volt DC error 36 Command velocity limit active
45
+24V/+-15V/+5V fault power
supply unit 23 Communication phase 0 88
+24Volt DC error 36 Communication phase 1 88
Communication phase 2 89
A Communication phase 3 89
Ab 105 transition check 55
Absolute encoder out of allowed Communication phase 4
window 19 transition check 61
Absolute measuring system not Config. IDN for AT not
installed 76 configurable 56
Acceleration data scaling error Config. IDN for MDT not
66 configurable 55
AF 105 Configurated length > max.
AH 105 length for AT 57
Amplifier overtemp. shutdown 5 Configurated length > max.
AS 105 length for MDT 56
Connection error at power
supply unit 25
B
Continuous current limit active
Basic load 80 45
Basic load not possible if drive Continuous current limit
is enabled 80 prewarning 46
bb 105 Control and power sections
Bleeder overload 22 ready for operation 90
Bleeder overload warning power Control voltage supply fault
supply unit 49 power supply unit 50
Brake fault 16 Controller type S-0-0140 wrong
72
Bus power overload 48
Coprocessor acknowledge
failed 71
C Coprocessor not ready for
Cam shaft, encoder 1, virtual initialization 71
master drive 99
Cam shaft, encoder 2, virtual D
master drive 99
Default parameter load 82
Cam shaft, lagless, encoder 1,
virt. master drive 99 Default parameters invalid 81
Cam shaft, lagless, encoder 2, Default parameters not
virt. master drive 100 available 81
Cancel reference point Diagnostic Message Display
procedure command 85 -0 103
Checksum error power supply -1 103
unit 26 -2 103
Command -3 103
switch to parameter mode 76
-5 103 Error power supply probe input

-6 104 18
Watchdog 104 Error power supply travel limit
switch 18
Diagnostic message power
supply erroneous 49 Excessive deviation 7
Distance home switch - Excessive position command
reference mark erroneous difference 10
79 Excessive position feedback
Double MDT error shutdown 26 difference 9
Double MST error shutdown 26 Ext. feedback initializing error
70
Drive active, switching not
allowed 77 External encoder failure
Drive controlled homing quadrant error 12
procedure command 78 signal too small 11
Drive controlled interpolation, External encoder interface not
encoder 1 93 present 74
Drive controlled interpolation, External feedback data reading
encoder 2 93 error 68
Drive controlled interpolation, External feedback required (-
lagless, encoder 1 94 >S-0-0022) 63
Drive controlled interpolation, External power supply DAE 02
lagless, encoder 2 94 error 15
Drive HALT 90 External power supply error 9
Drive in TORQUE control 91
Drive in VELOCITY control 91 F
Drive interlock open 90 Feedrate-override S-0-0108 = 0
Drive interlock while drive 44
activated 34
Drive not ready for commutation H
command 84
Drive overtemp. prewarning 42 Heat sink overtemp. warning
power supply unit 48
Heatsink overtemp. fault power
E supply unit 21
Emergency-Stop 29, 31, 53 Homing of absolute encoder not
Emulator not loadable 73 possible 79
Encoder combination not Homing only possible with drive
possible 74 enable 79
Erroneous internal hardware
synchronization 16 I
Error delet only in parameter ID9 + Record length - 1 > length
mode 78 MDT (S-0-0010) 59
Error during phase progression Incr. encoder emulator
27
hardware fault 15
Error during phase regression
28 pulse frequency too high 15
Error Motor temp. surveillance Incremental encoder required
defective 6 85
Error power supply E-Stop 19 Input value for max. range too
high 71
Error power supply home switch
17 Interpolation acceleration = 0 41
Interpolation velocity = 0 41
Invalid amplifier data (->S-0- Negative position limit

0022) 65 exceeded 52
Invalid communication Negative travel limit exceeded
parameter (S-0-0021) 55 30
Invalid communication phase Negative travel limit switch
shutdown 27 detected 32
Invalid feedback data (->S-0-
0022) 64
O
Invalid parameter(s) (->S-0-
0022) 62 Only allowed without master 77
Operation mode cancelled 87
L Option module error power

supply unit 47
Length of MDT (S-0-0010) odd Overcurrent
58
short in power stage 34
Line frequency fault 25
short to ground 35
Line voltage fault 24
Overcurrent power supply unit
Load-side motor encoder with 22
inductance motor only 75
Overvoltage in power stage 51
Locked with password 82, 83
Low battery voltage 12
P
M P0 105
P1 106
Mains failure 24
P2 106
Mains phase loss fault 24
P3 106
Master drive encoder failure
Parameter calculation error (-
quadrant error 14 >S-0-0022) 62
signal too small 14 Parameter default value
Measuring wheel operation not erroneous (-> S-0-0021)
possible 87 83
Modulo range error 72 Parameter limit error (->S-0-
Motor encoder failure 0022) 62
quadrant error 8 Parameters not copyable 82
signal too small 33 Parking axis command 86
Motor encoder interface not Pattern control lagless, enc. 1,
present 73 virtual master drive 98
Motor feedback data reading Pattern control lagless, enc. 2,
error 68 virtual master drive 98
Motor feedback initializing error Pattern control, encoder 1,
69 virtual master drive 97
Motor feedback required (P-0- Pattern control, encoder 2,
0074) 75 virtual master drive 97
Motor overload 40 Phase switching without ready
signal 28
Motor overtemp. prewarning 43
Phase synchr. lagless, encoder
Motor overtemp. shutdown 5 1, virtual master drive 96
Motor type P-0-4014 incorrect Phase synchr. lagless, encoder
63 2, virtual master drive 96
Phase synchronization, encoder
N 1, virtual master drive 95
Negative limit switch activated Phase synchronization, encoder
54 2, virtual master drive 95
PL Load parameter default Switching to uninitialized

values 4 operation mode 3
Position control lagless,
feedback 2 93
T
Position data scaling error 65
T2 too small 61
Position mode lagless, encoder
1 92 T4 > TScyc (S-0-0002) - T4min
(S-0-0005) 60
Position mode with encoder 1
92 Target position out of travel
zone 43
Position mode with encoder 2
92 Time slot parameter > Sercos
cycle time 57
Position of data record in MDT
(S-0-0009) even 58 TNcyc (S-0-0001) or TScyc (S-
0-0002) error 59
Positioning velocity S-0-0259 >
S-0-0091 42 Torque/force data scaling error
67
Positive limit switch activated 53
Positive position limit exceeded
52 U
Positive travel limit exceeded 29 UL The motor type has
Positive travel limit switch changed. 4
detected 31 Undervoltage in power section
7, 40, 51
Unknown operation mode 102
R
Ready for power on 91
V
Recovery overload power
supply unit 47 Velocity command value > limit
Relation TNcyc (S-0-0001) to S-0-0091 46
TScyc (S-0-0002) error 60 Velocity data scaling error 66
Relative drive contr. Velocity limit S-0-0091
interpolation, enc. 1, exceeded 37
lagless 101 Velocity loop error 37
Relative drive contr. Velocity Synchronisation, virtuell
interpolation, enc. 2, Lead drive 95
lagless 102
Relative drive controlled
interpolation, encoder 1 W
100 Warning Drive temp.
Relative drive controlled surveillance defective 39
interpolation, encoder 2 Warning Motor temp.
101 surveillance defective 39
Reset class 1 diagnostic, error
reset 78
S
Set absolute measuring 76
Short circuit to earth 20
Short to ground power supply
unit 23
Slave not scanned or adress 0
50
Softstart fault power supply unit
21
DIAX04 Drive With Electric Gear Function Customer Service Locations
Customer Service Locations

Germany
Sales Area Central Sales Area East Sales Area West Sales Area North
INDRAMAT GmbH INDRAMAT GmbH INDRAMAT GmbH INDRAMAT GmbH

D-97816 Lohr am Main D-09120 Chemnitz D-40849 Ratingen D-22525 Hamburg
Bgm.-Dr.-Nebel-Str. 2 Beckerstraße 31 Harkortstraße 25 Kieler Str. 212
Telefon: 09352/40-0 Telefon: 0371/3555-0 Telefon: 02102/4318-0 Telefon: 040/853157-0
Telefax: 09352/40-4885 Telefax: 0371/3555-230 Telefax: 02102/41315 Telefax: 040/853157-15
Sales Area South Sales Area South-West INDRAMAT Service-Hotline
INDRAMAT GmbH INDRAMAT GmbH INDRAMAT GmbH

D-80339 München D-71229 Leonberg Telefon: D-0172/660 040 6
Ridlerstraße 75 Böblinger Straße 25
-or-
Telefon: 089/540138-30 Telefon: 07152/972-6
Telefon: D-0171/333 882 6
Telefax: 089/540138-10 Telefax: 07152/972-727
Directory of Customer Service Locations in Germany
Europe
Austria Austria Belgium Denmark
G.L.Rexroth Ges.m.b.H. G.L.Rexroth Ges.m.b.H. Mannesmann Rexroth N.V.-S.A. BEC AS

Geschäftsbereich INDRAMAT Geschäftsbereich INDRAMAT Geschäftsbereich INDRAMAT Zinkvej 6
Hägelingasse 3 Randlstraße 14 Industrielaan 8 DK-8900 Randers
A-1140 Wien A-4061 Pasching B-1740 Ternat
Telefon: +45 87/11 90 60
Telefon: +43 1/985 25 40-400 Telefon: +43 7229/644 01-36 Telefon: +32 2/582 31 80 Telefax: +45 87/11 90 61
Telefax:+43 1/985 25 40-93 Telefax: +43 7229/644 01-80 Telefax: +32 2/582 43 10
England Finnland France France
Mannesmann Rexroth Ltd. Rexroth Mecman OY Rexroth - Sigma S.A. Rexroth - Sigma S.A.
INDRAMAT Division Riihimiehentie 3 Division INDRAMAT Division INDRAMAT
Broadway Lane, South Cerney SF-01720 Vantaa Parc des Barbanniers 4, 17, Loree du Golf
Cirencester, Glos GL7 5UH Place du Village F-69380 Dommartin
Telefon: +358 9/84 91 11
F-92632 Gennevilliers Cedex
Telefon: +44 1285/86 30 00 Telefax: +358 9/84 63 87 Telefon: +33 4/78 43 56 58
Telefax: +44 1285/86 30 03 Telefon: +33 1/41 47 54 30 Telefax: +33 4/78 43 59 05
Telefax: +33 1/47 94 69 41
France Italy Italy Netherlands
Rexroth - Sigma S.A. Rexroth S.p.A. Rexroth S.p.A. Divisione Hydraudyne Hydrauliek B.V.
Division INDRAMAT Divisione INDRAMAT INDRAMAT Kruisbroeksestraat 1a
270, Avenue de lardenne Via G. Di Vittoria, 1 Via Borgomanero, 11 P.O. Box 32
F-31100 Toulouse I-20063 Cernusco S/N.MI I-10145 Torino NL-5280 AA Boxtel
Telefon: +33 5/61 49 95 19 Telefon: +39 2/923 65-270 Telefon: +39 11/771 22 30 Telefon: +31 41 16/519 51
Telefax: +33 5/61 31 00 41 Telex: 331695 Telefax: +39 11/771 01 90 Telefax: +31 41 16/514 83
Telefax: +39 2/92 36 55 12
Spain Spain Sweden Switzerland
Rexroth S.A. Goimendi S.A. AB Rexroth Mecman Rexroth SA

Centro Industrial Santiago División Indramat INDRAMAT Division Département INDRAMAT
Obradors s/n Jolastokieta (Herrera) Varuvägen 7 Chemin de l`Ecole 6
E-08130 Santa Perpetua de Apartado 11 37 S-125 81 Stockholm CH-1036 Sullens
Mogoda (Barcelona) San Sebastion, 20017
Telefon: +46 8/727 92 00 Telefon:+41 21/731 43 77
Telefon: +34 3/7 47 94 00 Telefon: +34 43/40 01 63 Telefax: +46 8/64 73 277 Telefax: +41 21/731 46 78
Telefax: +34 3/7 47 94 01 Telex: 361 72
Telefax: +34 43/39 93 95
Switzerland Russia
Rexroth AG Tschudnenko E.B.

Geschäftsbereich INDRAMAT Arsenia 22
Gewerbestraße 3 153000 Ivanovo
CH-8500 Frauenfeld Rußland
Telefon: +41 52/720 21 00 Telefon: +7 93/22 39 633
Telefax: +41 52/720 21 11
Directory of Customer Service Locations without Germany
DOK-DIAX04ELS-05VRS**-FKB1-DE-P
Customer Service Locations DIAX04 Drive With Electric Gear Function
Outside of Europe
Argentina Argentina Australia Brazil
Mannesmann Rexroth S.A.I.C. Nakase Australian Industrial Machinery Mannesmann Rexroth Automação
Division INDRAMAT Asesoramiento Tecnico Services Pty. Ltd. Ltda.
Acassusso 48 41/7 Diaz Velez 2929 Unit ¾5 Horne ST Divisão INDRAMAT
1605 Munro (Buenos Aires) 1636 Olivos Campbellfield VIC 2061 Rua Georg Rexroth, 609
Argentina (Provincia de Buenos Aires) Australia Vila Padre Anchieta
Argentina BR-09.951-250 Diadema-SP
Telefon: +54 1/756 01 40 Telefon: +61 3/93 59 0228
Argentina Caixa Postal 377
+54 1/756 02 40 Telefax: +61 3/93 59 02886
BR-09.901-970 Diadema-SP
Telex: 262 66 rexro ar Telefon +54 1/790 52 30
Telefax: +54 1/756 01 36 Telefon: +55 11/745 90 65
+55 11/745 90 70
Telefax: +55 11/745 90 50
Canada China China China
Basic Technologies Corporation Rexroth (China) Ltd. Rexroth (China) Ltd. Rexroth (China) Ltd.
Burlington Division Shanghai Office Shanghai Parts & Service Centre 1430 China World Trade Centre
3426 Mainway Drive Room 206 199 Wu Cao Road, Hua Cao 1, Jianguomenwai Avenue
Burlington, Ontario Shanghai Intern. Trade Centre Minhang District Beijing 100004
Canada L7M 1A8 2200 Yanan Xi Lu Shanghai 201 103 P.R. China
Shanghai 200335 P.R. China
Telefon: +1 905/335-55 11 Telefon: +86 10/50 50 380
P.R. China
Telefax: +1 905/335-41 84 Telefon: +86 21/622 00 058 Telefax: +86 10/50 50 379
Telefon: +86 21/627 55 333 Telefax: +86 21/622 00 068
Telefax: +86 21/627 55 666
China Hongkong India Japan
Rexroth (China) Ltd. Rexroth (China) Ltd. Mannesmann Rexroth (India) Ltd. Rexroth Co., Ltd.
A-5F., 123 Lian Shan Street 19 Cheung Shun Street INDRAMAT Division INDRAMAT Division
Sha He Kou District 1st Floor, Cheung Sha Wan, Plot. 96, Phase III I.R. Building
Dalian 116 023 Kowloon, Honkong Peenya Industrial Area Nakamachidai 4-26-44
P.R. China Bangalore - 560058 Tsuzuki-ku, Yokohama 226
Telefon: +852 2741 13 51/-54 und
Japan
Telefon: +86 411/46 78 930 +852 741 14 30 Telefon: +91 80/839 21 01
Telefax: +86 411/46 78 932 Telex: 3346 17 GL REX HX +91 80/839 73 74 Telefon: +81 45/942-72 10
Telefax: +852 786 40 19 Telex: 845 5028 RexB Telefax: +81 45/942-03 41
+852 786 07 33 Telefax: +91 80/839 43 45
Korea Korea Mexico
Rexroth-Seki Co Ltd. Seo Chang Corporation Ltd. Motorización y

1500-12 Da-Dae-Dong Room 903, Jeail Building Diseño de Controles, S.A. de C.V.
Saha-Gu, Pusan, 604-050 44-35 Yoido-Dong Av. Dr. Gustavo Baz No. 288
Youngdeungpo-Ku Col. Parque Industrial la Ioma
Telefon: +82 51/264 90 01
Seoul, Korea Apartado Postal No. 318
Telefax: +82 51/264 90 10
54060 Tlalnepantla
Telefon: +82 2/780-82 07 ~9
Estado de Mexico
Telefax: +82 2/784-54 08
Telefon: +52 /397 86 44
Telefax: +52 /398 98 88
USA USA USA USA
Rexroth Corporation Rexroth Corporation Rexroth Corporation Rexroth Corporation

INDRAMAT Division INDRAMAT Division INDRAMAT Division INDRAMAT Division
5150 Prairie Stone Parkway 2110 Austin Avenue Northeastern Sales Office Southeastern Sales Office
Hoffman Estates, Illinois 60192 Rochester Hills, Michigan 48309 7 Columbia Blvd. 3625 Swiftwater Park Drive
Peabody, MA 019660 Suwanee, GA 30174
Telefon: +1 847/645-36 00 Telefon: +1 810/853-82 90
Telefax: +1 847/645-62 01 Telefax: +1 810/853-82 90 Telefon: +1 508/531-25 74 Telefon: +1 770/932 3200
Telefax: +1 508/531-2574 Telefax: +1 770/932-1903
Directory of Customer Service Locations outside of Europa
.

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engineering

5 minutes after switching power

Instructions for Electrical Drives"

Titel DIAX04 Drive With Electric Gear Function

Type of documentation Functional description

Documentation Type DOK-DIAX04-ELS-05VRS**-FKB1-EN-P

Internal Filing Notation • Mappe 60-05V / Register 3

Course of modifications Document identification of previous Release Date Remarks

Copyright  INDRAMAT GmbH, 1997

Published by INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Dept. END (KT/HP)

2 Safety Instructions for Electrical Drives 2-1

3 General Instructions for Installation 3-1

4 Communication Through the SERCOS-interface 4-1

4.1 Overview of SERCOS Communication................................................................................................ 4-1

5 Motor Configuration 5-1

6 Operating Modes 6-1

Velocity Control ............................................................................................................................. 6-2

7 Basic Drive Functions 7-1

7.8 Control Loop Settings......................................................................................................................... 7-57

8 Extended Drive Functions 8-1

8.7 Masteraxis position output ................................................................................................................. 8-28

Supplement A: Parameter Description

1.1 Range of Applications

DIAX04 consists of:

1.2 Drive Controllers

Fig. 1-1: Drive controllers

The type of digital drive used is stored in parameter S-0-0140, Controller

Fig. 1-2: Rotary motors

Fig. 1-3: Linear motors

The motor type used is stored in parameter S-0-0141, Motor type.

1.4 Firmware Overview

The drive with electronic line shafting function (servo feature) is

1.5 Basic Operating Modes and General Features

Basic Operating Modes

1.6 Additional Firmware Features: Drive with Electric Gear

2 Safety Instructions for Electrical Drives

Improper use of this equipment, failure to follow the

INDRAMAT GmbH is not liable for damages resulting from failure to

• Operation is only permitted if the national EMC regulations for the

2.2 Protection against contact with electrical parts

High discharge current!

2.3 Protection by protective low voltage (PELV) against

High electrical voltages due to incorrect

2.4 Protection against dangerous movements

Dangerous movements can occur immediately after equipment is

Avoiding accidents, electrical shock, personal injury

- maintenance and repair work

2.5 Protection against magnetic and electromagnetic fields

Health hazard for persons with heart pacemakers,

2.6 Protection during handling and installation

Risk of injury due to incorrect handling!

2.7 Battery safety

Risk of injury due to incorrect handling!

⇒ Do not attempt to reactivate dead batteries by heating

Note: Environmental protection and disposal! The batteries contained

3 General Instructions for Installation

3.1 Explanation of Terms

• Setting the configuration

All of the drive's operating data are identified by ID numbers.